CN117657401A - Internal and external push-following robot adapted to multiple emergency postures and its center of gravity debugging method - Google Patents

Abstract

The invention discloses an internal and external push-following robot adapted to multiple emergency postures and a method for debugging its center of gravity, and relates to the field of robot technology; in the invention, swing adjustment members are installed on the four inner sides of the main casing, and the four swing adjustment members are Each side of the outer end is equipped with a propeller. A rear adjustment mechanism is installed at the rear end of the main casing. A rear propeller is installed on the rear adjustment mechanism. A counterweight adjustment mechanism is installed in the inner and middle part of the main casing. The front end of the main casing is sealed. A transparent cover is installed. A front camera is installed in the transparent cover. The battery and control mechanism are installed inside the main casing. An adjustable rotating observation follower is installed on the front top of the main casing. A signal transceiver is installed on the rear side of the top of the main casing. The battery is connected to the power supply end of the control mechanism, and the output end of the control mechanism is electrically connected to the swing adjustment member, the rear thruster, the rear adjustment mechanism, the counterweight adjustment mechanism, and the adjustable rotating observation follower.

Description

Internal and external push-following robot adapted to multiple emergency postures and its center of gravity debugging method

Technical field

The invention belongs to the field of robot technology, and specifically relates to an internal and external push-following robot adapted to multiple emergency postures and a method for debugging its center of gravity.

Background technique

Underwater robot, also known as unmanned remotely operated submersible, is an extreme operation robot that works underwater. The underwater environment is harsh and dangerous, and human diving depth is limited, so underwater robots have become an important tool for developing the ocean. There are two main types of unmanned remote-controlled submersibles: cable-operated remote-controlled submersibles and cable-free remote-controlled submersibles. Among them, cable-operated remote-controlled submersibles are divided into three types: self-propelled in water, towed and crawling on seabed structures. .

However, existing underwater robots have the following problems when observing and following targets underwater:

1. The speed is slow when switching between diving and ascending movements, and it cannot accurately reach the designated position. It is sometimes difficult to control and has poor stability.

2. Due to the influence of buoyancy during observation and following, the robot will shake during its movement, resulting in poor clarity of image information obtained during observation and following.

3. The adjustment method during travel is single, and there is a lack of debugging methods that can cope with different underwater travel conditions. The adjustment area using external water assistance has a blind area and cannot be effectively used.

4. When turning, it is necessary to turn into a large curve, which is often too far away from the observation and following target, reducing the observation effect, and it is difficult to quickly adjust the observation position in a short period of time.

Contents of the invention

In order to solve the problems in the background technology; the purpose of the present invention is to provide an internal and external push-following robot adapted to multiple emergency postures and a method for debugging its center of gravity, which improves the speed of diving and ascending, can accurately reach the designated position, and is stable. It has high stability, is not easy to shake, and can handle emergency debugging processes of various postures such as large bends and turns.

The present invention is an internal and external push-following robot adapted to multiple emergency postures, including a shell, a side thruster, a swing adjustment member, a rear thruster, a rear adjustment mechanism, a counterweight adjustment mechanism, a battery, a control mechanism, a front camera, Transparent cover body, adjustable rotating observation follower, signal transceiver; swing adjustment parts are installed on the four inner sides of the housing, side thrusters are installed on the outer ends of the four swing adjustment parts, and a rear adjustment is installed on the rear end of the housing. mechanism, a rear propeller is installed on the rear adjustment mechanism, a counterweight adjustment mechanism is installed in the middle of the shell, a transparent cover is installed in a sealed front end of the shell, a front camera is installed in the transparent cover, and the battery and control mechanism are installed in Inside the casing, an adjustable rotating observation follower is installed on the front top of the casing, and a signal transceiver is installed on the rear side of the top of the casing. The battery is connected to the power supply end of the control mechanism, and the output end of the control mechanism is connected to the swing adjuster and rear propulsion respectively. The device, rear adjustment mechanism, counterweight adjustment mechanism, and adjustable rotating observation follower are electrically connected, the front camera, the adjusting rotating observation follower are connected to the input end of the control mechanism, and the signal transceiver is connected to the control mechanism.

As a preferred solution, the four side thrusters are all externally pushing internal discharge thrusters. The four side thrusters are equipped with a self-storage and discharge core. The self-storage and discharge core is set in the main casing. Each inner discharge side propeller It includes a propeller body and an inlet and drain hose. One end of the inlet and drain hose is set on the propeller body. The other end of the inlet and drain hose passes through the swing adjustment member and is connected to the self-storage and discharge core.

As a preferred solution, the self-storage and discharge core body includes a front water storage core body and a rear water storage core body. The front water storage core body is located close to the front inner wall of the main casing. The front water storage core body is located on the counterweight adjustment mechanism. At one end of the body, the rear water storage core is set close to the rear end inner wall of the main casing, and the rear water storage core is penetrated at the other end of the counterweight adjustment mechanism;

The front water storage core body includes a semi-cylindrical shell. The bottom sides of the semi-cylindrical shell are respectively processed with first water inlet and outlet holes. The first water inlet and outlet holes are flat holes, and each first water inlet and outlet hole corresponds to Connected with a said inlet and drainage hose;

The rear water storage core body includes a rear shell and two double-layer water storage and release bladders. Two double-layer water storage and release bladders are provided in the rear shell. The two double-layer water storage and release bladders are arranged side by side to form a water storage core. Double-cavity water storage and drainage bladder. The shape of the double-cavity water storage and drainage bladder is matched with the shape of the rear shell. The bottom of each double-layer water storage and drainage bladder is processed with a second water inlet and outlet hole, and the second water inlet and outlet hole is flat. holes, and each second water inlet and outlet hole is correspondingly connected to one of the inlet and drainage hoses.

As a preferred solution: each double-layer water storage bladder includes an upper strip-shaped bladder, a flexible connecting tube and a lower strip-shaped bladder. The upper strip-shaped bladder and the lower strip-shaped bladder are arranged horizontally and side by side from top to bottom. The flexible The connecting pipe is arranged vertically. One end of the upper strip-shaped capsule is the first sealing end. The other end of the upper strip-shaped capsule is connected to one end of the lower strip-shaped capsule through a flexible connecting pipe. The other end of the lower strip-shaped capsule is The second sealing end is located below the first sealing end. The bottom of the second sealing end is processed with the second water inlet and outlet hole. The upper strip-shaped bladder, the flexible connecting pipe and the interior of the lower strip-shaped bladder are connected in sequence to form a U-shaped storage tank. Drainage cavity; one of the two double-layer water storage and discharge bladders close to the main shell has a U-shaped storage and drainage cavity with an arc-shaped side close to the inner wall of the rear end of the main shell. The U-shaped storage and drainage cavity The side of the cavity away from the inner wall of the rear end of the main casing is the straight side, and the straight sides of the two U-shaped storage and drainage cavities are arranged adjacent to each other.

As a preferred solution: a flat connecting plate is provided between the front water storage core and the rear water storage core. The flat connecting plate is processed with connecting holes along its thickness direction. The front water storage core is connected to the rear water storage core through the connecting holes. The water storage core bodies are connected.

As a preferred solution, the swing adjustment member includes a side adjustment motor base, a side adjustment motor, a side pinion, a side gear, and a side rotation shaft; the side adjustment motor base is installed on the inner wall of the housing, and the side adjustment motor is installed on the side adjustment On the motor base, a side pinion gear is installed on the rotating shaft of the side adjustment motor. The side pinion gear meshes with the side large gear. A side rotating shaft is installed on the side large gear. The side rotating shaft extends out of the outer shell. The side rotating shaft passes through the water. Seal, sealing ring and shell are sealed.

As a preferred solution, the rear adjustment mechanism includes a fixed rod, a mounting block, a mounting bolt, an arc-shaped tooth block, an adjusting gear, a rear adjusting motor, and a motor mounting plate; the upper end of the fixed rod is connected to the rear lower end of the mounting block, and the installation There is a mounting slot on the front side of the block. The mounting bolt is inserted into the mounting slot and connected to the shell. The front end of the mounting block is equipped with an arc-shaped tooth block. The teeth of the arc-shaped tooth block mesh with the adjusting gear. The adjusting gear is installed on the On the rotating shaft of the rear adjustment motor, a motor mounting plate is installed on the rear adjustment motor, and the motor mounting plate is installed on the casing through bolts.

As a preferred solution, the side propeller and the rear propeller have the same structure. The rear propeller includes a first front propelling shell, a first rear propelling shell, a first connecting rod, a first filter, a first propelling motor, a first Propulsion blade; the first propulsion motor is installed inside the front propulsion shell through brackets and bolts. The rotating shaft of the first propulsion motor extends from the outside of the front propulsion shell. The rotating shaft of the first propulsion shell is connected to the first forward propulsion shell through a water seal and a sealing ring. The shells are sealed and connected. The rotating shaft of the first propulsion shell is connected to the first propulsion blade. The first propulsion blade is arranged inside the first rear propulsion shell. The first front propulsion shell is connected to the first rear propulsion shell through several first connecting rods. The shells are connected, and filters are installed on the front and rear sides of the first rear push shell.

As a preferred solution, the counterweight adjustment mechanism includes a bearing seat, a screw rod, a counterweight adjustment motor, a counterweight block, and a guide rod; the two ends of the screw rod are installed inside the two bearing seats respectively, and one end of the screw rod passes through the shaft. The sleeve is connected to the rotating shaft of the counterweight adjustment motor. The counterweight adjustment motor is installed on the outer wall of the bearing seat through bolts. The screw rod is connected to the threaded hole on the counterweight block through threads. There are guide holes symmetrically provided on the screw rod. Two A guide rod is installed in the guide hole, and both ends of the guide rod are installed on the inner side walls of the two bearing seats respectively.

As a preferred solution, the adjustable rotating observation follower includes a sealed fixed base, a sealed transparent cover, a rotating motor, an observation following camera, and a detection sensor; the upper end of the sealed fixed base is sealed with a sealed transparent cover, and the top end of the sealed fixed base is installed with a sealed transparent cover. A rotating motor has an observation and following camera installed on the rotating shaft of the rotating motor, and a detection sensor is installed on the outer lower side of the sealed transparent cover.

A center of gravity debugging method is implemented using the internal and external push-following robot adapted to multiple emergency postures described in the first, second, third, fourth, fifth, seventh, eighth, ninth, tenth or eleventh embodiment, and the center of gravity represents Methods include:

Multiple single-ended co-directional adjustment process:

According to the specific posture or emergency requirements required to follow the target, when the inner and outer push following robot needs to quickly make a backward tilt action, it is urgent to quickly adjust the center of gravity of the inner and outer push following robot. The counterweight moves toward the rear end of the main shell, and the movement is simultaneous , the front water storage core is controlled to discharge the stored water into the external waters by using the inlet and outlet hoses in the swing shaft and the propeller body, thereby achieving weight reduction at the front and forming a weightless front to assist in tilting the rear. The rear water storage core at the rear of the robot is in the water inlet state when the internal and external displacement push follows the robot. The water in the external waters is pumped into the double-layer water storage bladder through the swing shaft and the inlet and outlet hose in the propeller body;

According to the specific posture or emergency requirements required to follow the target, when the internal and external displacement follower robot needs to make a forward tilt movement quickly, the counterweight moves toward the front end of the main shell. At the same time, the front water storage core is controlled to swing through The swing shaft in the adjustment part and the inlet and outlet hose of the propeller body pump water from the outside water area into the outside water area to increase the weight of the front and accelerate the forward posture of the front. At the same time, the internal and external discharge follows the rear water storage at the rear of the robot. The core body is in the drainage state, and the water in the double-layer water storage bladder is discharged to the outside water through the swing shaft in the swing adjustment member and the inlet and outlet hose of the propeller body;

Multiple single-ended allotropic regulation process:

The movement trend of the counterweight blocks forms an opposite direction with the water inflow and outflow trend of the front water storage core or the rear water storage core. According to the specific posture or emergency requirements required to follow the target, when the internal and external rows push the following robot, it needs to make relevant decisions quickly. When the inner and outer pushers are urgently needed to follow the center of gravity of the robot for quick and micro debugging, when the counterweight moves toward the rear end of the main shell, while moving, the front water storage core is controlled to softly inlet and drain water in the swing shaft and the propeller body. With the cooperation of the pipe, the water absorption treatment is performed to form an increase in weight at the front, and in conjunction with the tendency of the counterweight block to move backward, the process of rapid fine-tuning changes in the center of gravity of the overall structure is accelerated, and the center of gravity debugging process is evened and smoothed;

When the counterweight moves toward the rear end of the main casing, the front water storage core increases in weight. At this time, the rear water storage core is in a micro-flow state, forming a slight increase in weight, and cooperates with the counterweight to form a two-point-one movement. A static weight gain trend, the process of slight weight gain of the rear water storage core is to pump a small amount of water from the external waters into the double-layer storage through the swing shaft in the swing adjustment member and the inlet and drainage hose in the propeller body. Put it in the water capsule.

Compared with the prior art, the beneficial effects of the present invention are:

1. Through the arrangement of the positional relationship of the four side thrusters, front dive, front dive, and single side dive or dive actions can be realized. The conversion process is simple and the change speed is variable. By cooperating with the counterweight adjustment mechanism to increase the speed of diving while ensuring dynamic stability during movement transitions.

2. By adjusting the angle of the side thrusters to overcome the buoyancy and improve the dynamic stability during movement, large shaking can also be avoided during the switching between above-water and underwater movements.

3. Through the main casing, side thrusters, swing adjustment parts, rear thrusters, rear adjustment mechanism, counterweight adjustment mechanism, battery, control mechanism, front camera, transparent cover, adjustable rotating observation follower and signal transceiver They cooperate with each other to achieve large underwater turns and on-demand emergency turning movements. During the turning process, they can ensure their stable performance in various steering postures, improve the following quality, facilitate the acquisition of stable data, and achieve accurate water navigation. Effectively follow the dynamic position of the observation target underwater or in water, accurately trace and follow the target object, and ensure the quality of observation and following.

4. The side thrusters in the present invention are extrapolated inner row thrusters. The extrapolated inner row propellers, with the cooperation between the swing adjustment member and the counterweight adjustment mechanism, can not only boost the side parts of the overall structure. It can also adjust the process of adjusting its own water inlet and drainage at the same time. While pushing out the inner row propeller to achieve the normal propulsion process, it can also control its own weight according to the actual situation. The overall structure can adjust the center of gravity as needed. At the same time of adjustment, it can also realize the multi-mode adjustment process of multi-point driving and overlapping of multi-point inlet and drainage of the overall structure through the inlet and drainage at different positions, so as to realize the various adaptations of the overall structure's center of gravity changing as needed and the weight changing as needed. The structure formed by the matching form can realize the dynamic change process of front-heavy and rear-light, front-light and rear-heavy, front-light and rear-heavy, light on one side and heavy on the other in real time during the traveling process. It can adapt to a variety of posture conversions on the water surface and underwater, and the switching process is smooth and seamless. Shake.

5. The present invention consists of a main casing, a side propeller, a swing adjustment member, a rear propeller, a rear adjustment mechanism, a counterweight adjustment mechanism, a battery, a control mechanism, a front camera, a transparent cover, an adjustable rotating observation follower and a signal. The transceivers can achieve various postures by cooperating with each other, and can also implement a variety of center of gravity debugging methods, mainly multiple single-ended unidirectional adjustment processes and multiple single-ended anisotropic adjustment processes, thereby realizing the on-demand or emergency operation of the present invention. Multiple modes for focus debugging.

6. The present invention is suitable for dynamic target following in oil development, dynamic target following in maritime law enforcement and evidence collection, and dynamic target following in scientific research. It is suitable for adaptive real-time following of complex and diverse dynamic targets.

Description of drawings

For ease of explanation, the present invention is described in detail by the following specific embodiments and drawings.

Figure 1 is a top view of the internal structure of the present invention;

Figure 2 is a top structural view of the present invention;

Figure 3 is a front structural view of the present invention;

Figure 4 is a schematic three-dimensional structural diagram of the connection relationship between the propeller and the rear adjustment mechanism in the present invention;

Figure 5 is a schematic three-dimensional structural diagram of the counterweight adjustment mechanism in the present invention;

Figure 6 is a schematic front structural view of the adjustable rotating observation follower in the present invention;

Figure 7 is a schematic three-dimensional structural diagram of the sealed fixed base in the present invention;

Figure 8 is a schematic diagram of the component flow control of the control mechanism in the present invention;

Figure 9 is an enlarged structural schematic diagram of position A in Figure 1;

Figure 10 is a schematic cross-sectional structural diagram of a top view when the present invention is equipped with a self-storage and water-discharging core of a structural form;

Figure 11 is a schematic cross-sectional structural diagram of a top view when the present invention is configured with a self-storage and water-release core of another structural form;

Figure 12 is a schematic three-dimensional structural diagram of the connection relationship between the counterweight adjustment mechanism and the rear water storage core;

Figure 13 is a schematic three-dimensional structural diagram of the connection relationship between the self-storage and discharge core and the four inlet and drainage hoses;

Figure 14 is a schematic three-dimensional structural diagram of a structural form of a self-storing and releasing water core;

Figure 15 is a schematic diagram of the composition process of two double-layer water storage bladders;

Figure 16 is a schematic three-dimensional structural diagram of a double-layer water storage and release bladder, with one end of the double-layer water storage and release bladder in a longitudinally sectioned state;

Figure 17 is a schematic three-dimensional structural diagram of another structural form of a self-storage and water-discharging core;

Figure 18 is a schematic diagram of the appearance and structure of another structural form of the self-storage and water-discharging core after packaging;

Figure 19 is a schematic three-dimensional structural diagram of the connection relationship between the front water storage core, the rear water storage core and the flat connecting plate;

Figure 20 is a schematic front cross-sectional structural diagram of the self-storing and releasing water core;

Figure 21 is a schematic three-dimensional structural diagram of the self-storage and discharge core when an additional water tank is configured;

Figure 22 is an enlarged structural schematic diagram of position B in Figure 13;

Figure 23 is a schematic three-dimensional structural diagram of the side thruster;

Figure 24 is a schematic view of the position of multiple edge penetration holes arranged on the second rear propelling shell;

Figure 25 is a schematic diagram of the position of the cross-shaped end arranged in the side propeller.

In the picture: 1-main casing; 2-side propeller; 3-swing adjustment piece; 4-rear propeller; 5-rear adjustment mechanism; 6-counterweight adjustment mechanism; 7-battery; 8-control mechanism; 9 -Front camera; 10-transparent cover; 11-adjustable rotating observation follower; 12-signal transceiver; 20-self-storage and discharge core; 30-front water storage core; 40-rear water storage core ; 50-flat connecting plate; 60-equipped water tank; 70-edge penetration hole; 80-center penetration hole;

2-1-Propulser body; 2-1-1-Second front propeller shell; 2-1-2-Second rear propeller shell; 2-1-3-Second connecting rod; 2-1-4-Second propeller shell Second filter; 2-1-5-second propulsion motor; 2-1-6-second propulsion blade;

2-2-inlet and drainage hose; 2-3-cross-shaped end; 2-4-bifurcated end;

3-1-side adjusting motor base; 3-2-side adjusting motor; 3-3-side small gear; 3-4-side large gear; 3-5-side rotating shaft;

4-1-front propulsion shell; 4-2-rear propulsion shell; 4-3-connecting rod; 4-4-filter; 4-5-propulsion motor; 4-6-propulsion blades;

5-1-fixing rod; 5-2-installation block; 5-3-installation bolt; 5-4-arc tooth block; 5-5-adjustment gear; 5-6-rear adjustment motor; 5-7-motor Use installation disk;

6-1-Bearing seat; 6-2-Screw rod; 6-3-Counterweight adjustment motor; 6-4-Counterweight block; 6-5-Guide rod;

8-1-Control housing; 8-2-Connector; 8-3-Controller; 8-4-Data storage; 8-5-GPS positioning module; 8-6-Data transceiver module;

11-1-Sealed fixed base; 11-2-Sealed transparent cover; 11-3-Rotating motor; 11-4-Observation and following camera; 11-5-Detection sensor;

11-11-Sealing gasket; 11-12-Sealing ring; 11-13-Fixed through hole; 11-14-Wiring groove;

30-1-semi-cylindrical shell; 30-2-first water inlet and outlet hole;

40-1-rear shell; 40-2-double-layer water storage bladder; 40-2-1-upper strip bladder; 40-2-2-flexible connecting tube; 40-2-3-lower strip Cylindrical body; 40-3-the second water inlet and outlet hole; 40-4-the third water inlet and outlet hole;

50-1-Connecting holes.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention is described below through the specific embodiments shown in the drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the invention. The structures, proportions, sizes, etc. shown in the drawings of this specification are only used to coordinate with the content disclosed in the specification and are for the understanding and reading of those familiar with this technology. They are not used to limit the conditions under which the present invention can be implemented. Therefore, It has no technical substantive significance. Any structural modifications, changes in proportions or adjustments in size shall still fall within the scope of the technology disclosed in the present invention as long as it does not affect the efficacy and purpose of the present invention. within the scope of the content. Furthermore, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily confusing the concepts of the present invention.

Here, it should also be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the solution according to the present invention are shown in the drawings, and the details related to them are omitted. Other details are less relevant to the invention.

Specific Embodiment 1: As shown in Figures 1 to 25, this specific implementation adopts a rear push method to push, and specifically adopts the following technical solution: including a main housing 1, a rear propeller 4, a rear adjustment mechanism 5, and a counterweight Adjustment mechanism 6; a rear adjustment mechanism 5 is installed at the rear end of the main housing 1, and a rear propeller 4 is installed on the rear adjustment mechanism 5. The rear adjustment mechanism 5 can adjust the position of the rear propeller 4, which can change the flow of water. direction, as shown in Figure 4, the rear adjustment mechanism 5 includes a fixed rod 5-1, a mounting block 5-2, a mounting bolt 5-3, an arc tooth block 5-4, an adjustment gear 5-5, a rear adjustment Motor 5-6 and motor mounting plate 5-7; the upper end of the fixed rod 5-1 is connected to the rear lower end of the mounting block 5-2, the lower end of the fixed rod 5-1 is connected to the rear propeller 4, and the mounting block 5-2 There is a mounting slot on the front side, and the mounting bolt 5-3 is inserted into the mounting slot and connected to the main housing 1. The mounting bolt 5-3 can install the mounting block 5-2 on the rear end of the main housing 1. The mounting bolt The upper side of 5-3 is a polished rod, the lower side is threaded, and the thread is the connecting end. The polished rod can match the installation groove to facilitate the rotation of the installation block 5-2. The front end of the installation block 5-2 is equipped with an arc-shaped tooth block. 5-4, the teeth of the arc tooth block 5-4 mesh with the adjusting gear 5-5, the adjusting gear 5-5 is installed on the rotating shaft of the rear adjusting motor 5-6, and the rear adjusting motor 5-6 is equipped with a motor for The mounting plate 5-7 and the motor mounting plate 5-7 can be installed on the rear end of the main housing 1 through bolts. The motor mounting plate 5-7 can be installed on the main housing 1 through bolts. When adjusting, adjust the motor 5-7 after starting. 6. Adjustment is achieved by rotating the adjustment gear 5-5 to drive the arc-shaped tooth block 5-4 to swing left and right.

As shown in Figure 1, Figure 2, Figure 3 and Figure 9, this specific embodiment adds lateral push in the rear propulsion mode, and uses lateral push to increase speed, turn and dive up and down, and realize unilateral driving as needed. The process of realizing the attitude of pushing, bilateral synchronous pushing and bilateral alternating pushing adopts the following specific plan: including side propeller 2 and swing adjustment piece 3; the four sides of the main housing 1 are equipped with swing adjustment pieces 3, and the four swing The side thruster 2 is installed on the outer end of the adjustment member 3. The swing adjustment member 3 can rotate the side thruster 2 counterclockwise and clockwise to facilitate the control of descent and ascent. At the same time, it can achieve steering according to the rotation speed of the side thruster 2. , as shown in Figure 1, the swing adjustment member 3 includes a side adjustment motor base 3-1, a side adjustment motor 3-2, a side pinion 3-3, a side large gear 3-4, and a side rotation shaft 3-5; The side adjustment motor base 3-1 is installed on the inner wall of the main housing 1, the side adjustment motor 3-2 is installed on the side adjustment motor base 3-1, and the side pinion gear 3-2 is installed on the rotating shaft of the side adjustment motor 3-2. 3. The side small gear 3-3 meshes with the side large gear 3-4. A side rotating shaft 3-5 is installed on the side large gear 3-4. The side rotating shaft 3-5 extends out of the main housing 1 and rotates sideways. The shaft 3-5 is sealed with the main housing 1 through a water seal and a sealing ring. The side rotation shaft 3-5 is connected to the side propeller 2. When it is controlled, the forward or reverse rotation of the side-adjusted motor 3-2 is controlled. The side small gear 3-3 drives the side large gear 3-4 to rotate, and the side large gear 3-4 can drive the side rotation shaft 3-5 to rotate.

Specific Embodiment 2: As shown in FIGS. 1 to 22 , this implementation is a further limitation of Specific Embodiment 1. In this implementation, the four side thrusters 2 are all externally pushed inner row thrusters. The four side thrusters 2. A self-storage and discharge core 20 is provided in conjunction with the self-storage and discharge core 20. The self-storage and discharge core 20 is arranged in the main casing 1. Each inner discharge side propeller 2 includes a propeller body 2-1 and an inlet and drainage hose 2-2. One end of the hose 2-2 is arranged on the propeller body 2-1, and the other end of the inlet and outlet hose 2-2 passes through the swing adjustment member 3 and is connected to the self-storage and discharge core 20.

In this embodiment, the propeller body 2-1 in the side propeller 2 includes a second front propelling shell 2-1-1, a second rear propelling shell 2-1-2, a second connecting rod 2-1-3, and a second propelling shell 2-1-1. The second filter 2-1-4, the second propulsion motor 2-1-5 and the second propulsion blade 2-1-6; the second propulsion motor 2-1-5 is installed on the second front propulsion shell through brackets and bolts. Inside 2-1-1, the second propulsion motor 2-1-5 is a waterproof speed-regulating motor, which is convenient for adjusting the speed. The rotating shaft of the second propulsion motor 2-1-5 extends out of the second front propulsion shell 2-1- 1, the rotating shaft of the second propelling housing 2-1-5 is sealed with the second front propelling housing 2-1-1 through a water seal and a sealing ring, and the rotating shaft of the second propelling housing 2-1-5 is connected with the second propelling housing 2-1-5. The fan blades 2-1-6 are connected, and the second propulsion motor 2-1-5 can drive the second propulsion fan blade 2-1-6 to rotate, which is convenient for pushing the robot to walk. The second propulsion fan blade 2-1-6 is set at Inside the second rear propulsion shell 2-1-2, the second front propulsion shell 2-1-1 is connected to the second rear propulsion shell 2-1-2 through several second connecting rods 2-1-3. A second filter screen 2-1-4 is installed on both the front and rear sides of the rear propelling shell 2-1-2.

In this embodiment, each inlet and drainage hose 2-2 in the self-storage and discharge core 20 is equipped with a pump body. The drive motor of the pump body is controlled by the controller 8-3 in the control mechanism 8, thereby controlling each inlet and drainage hose. The water inlet and outlet volume and state conversion of pipe 2-2.

Further, the self-storage and discharge core 20 includes a front water storage core 30 and a rear water storage core 40. The front water storage core 30 is provided close to the front inner wall of the main housing 1. The front water storage core 30 is provided At one end of the counterweight adjustment mechanism 6, the rear water storage core 40 is provided close to the rear end inner wall of the main housing 1, and the rear water storage core 40 is penetrated at the other end of the counterweight adjustment mechanism 6;

The front water storage core 30 includes a semi-cylindrical shell 30-1. The bottom sides of the semi-cylindrical shell 30-1 are respectively processed with first water inlet and outlet holes 30-2. The first water inlet and outlet holes 30- 2 is a flat hole, and each first water inlet and outlet hole 30-2 is connected to one of the inlet and drainage hoses 2-2;

Furthermore, a water-retaining sealing diaphragm can also be provided inside the semi-cylindrical housing 30-1 to form a fully sealed water-containing cavity structure inside the semi-cylindrical housing 30-1. The texture of the water-receiving sealing diaphragm is consistent with that of the semi-cylindrical housing 30-1. The texture of the water storage bladder is the same.

Further, the semi-cylindrical housing 30-1 is a self-sealing housing. It is equipped with a ventilation structure for adjusting air pressure, which is beneficial to the air pressure balance during the inlet and drainage process of the semi-cylindrical housing 30-1.

The rear water storage core 40 includes a rear shell 40-1 and two double-layer water storage bladders 40-2. The shape of the rear shell 40-1 is consistent with the shape of the two double-layer water storage bladders 40-2. The structural form is the same. Two double-layer water storage and discharge bladders 40-2 are provided in the rear shell 40-1. The two double-layer water storage and release bladders 40-2 are arranged side by side to form a double-cavity storage and drainage bladder. The shape of the storage and drainage bladder is matched with the shape of the rear shell 40-1. The bottom of each double-layer water storage and drainage bladder 40-2 is processed with a second water inlet and outlet hole 40-3, and a second water inlet and outlet hole 40-3. 3 is a flat hole, and each second water inlet and outlet hole 40-3 is connected to one of the inlet and drainage hoses 2-2. The rear water storage core 40 provides space for curved inlet and outlet. The two double-layer water storage bladders 40-2 each correspond to a propeller body 2-1. The inlet and outlet mode of the rear water storage core 40 is bottom flat. The flow mode is more suitable for fast and space-saving flow in a small structure. It is suitable for the structural shape of the inlet and drain hose 2-2, and also facilitates the stable installation of the inlet and drain hose 2-2 on the propeller body 2- 1, the impact on the propulsion action of the propeller body 2-1 itself during the water supply and drainage process is reduced, and the process of synergistic realization of the water supply and drainage action and the propulsion action is realized.

Further, each double-layer water storage bladder 40-2 includes an upper strip-shaped bladder 40-2-1, a flexible connecting tube 40-2-2 and a lower strip-shaped bladder 40-2-3. The body 40-2-1 and the lower strip-shaped capsule 40-2-3 are arranged horizontally and side by side from top to bottom. The flexible connecting pipe 40-2-2 is arranged vertically. One end of the upper strip-shaped capsule 40-2-1 As the first sealing end, the other end of the upper strip-shaped bladder 40-2-1 is connected with one end of the lower strip-shaped bladder 40-2-3 through a flexible connecting tube 40-2-2. The lower strip-shaped bladder 40 -2-3 The other end is the second sealing end located below the first sealing end. The bottom of the second sealing end is processed with the second water inlet and outlet hole 40-3, and the upper strip-shaped capsule 40-2-1 and flexible connection The insides of the tube 40-2-2 and the lower strip-shaped bladder 40-2-3 are connected in sequence to form a U-shaped storage and drainage cavity; one of the two double-layer water storage and discharge bladders 40-2 is close to the main shell 1. The side of the U-shaped storage and drainage cavity of the water release bladder 40-2 close to the rear end inner wall of the main casing 1 is the arc side, and the side of the U-shaped storage and drainage cavity away from the rear end inner wall of the main casing 1 is the straight side. The straight sides of two U-shaped storage and drainage cavities are arranged close to each other.

Furthermore, a third water inlet and outlet hole 40-4 connected with the second water inlet and outlet hole 40-3 is processed on the rear housing 40-1.

Specific Embodiment 3: As shown in Figure 10, Figure 13, Figure 19, Figure 22 and Figure 23, the structural form of the inlet and drainage hose 2-2 adapted to the propeller body 2-1 in the side propeller 2 is: Two types, one structure is that the end of each inlet and drainage hose 2-2 that matches the propeller body 2-1 is a cross-shaped end 2-3, and the cross-shaped end 2-3 is installed on the propeller. The rotating shaft in the body 2-1 is an existing hollow rotating shaft, and the cross-shaped end 2-3 is coaxially connected to the rotating shaft through a built-in bearing, so that the rotation of the rotating shaft and the cross-shaped end 2-3 do not affect each other. , no interference occurs, thereby achieving the effect of centrally located centralized flow inlet and drainage, which is conducive to cooperating with the propulsion action of the side propeller 2, and achieving the composite synchronization and simultaneous start of the central inlet and drainage action and the circumferential edge propulsion action. action posture process.

Further, the rotating shaft is an existing hollow rotating shaft, and the rotating shaft is processed with a central through hole 80 along its axial direction. The central through hole 80 can be realized by inserting a bearing in the existing rotating shaft, that is, the inner hole of the bearing is the central through hole. 80, the central through hole 80 in the axial direction can also be formed on the rotating shaft by other existing methods. The central through hole 80 is provided to facilitate the installation of the cross-shaped end heads 2-3.

Another structural form is that the end of each inlet and drainage hose 2-2 that is adapted to the propeller body 2-1 is a multi-branch end 2-4, and the multi-branch end 2-4 is one end. There are 2-4 terminals connected, and the 2-4 terminals are respectively arranged in the second rear propelling shell 2-1-2 in the propeller body 2-1, and the second rear propelling shell 2-1-2 is arranged along the A plurality of edge through holes 70 are respectively processed in the length direction. The length direction of each edge through hole 70 is in the same direction as the length direction of the second rear propelling shell 2-1-2. Each edge through hole 70 is along the diameter of The cross-sectional shape in the direction is an arc shape, which is used to adapt to the shape of the inlet and drainage hose 2-2, and the rotating shaft is an existing solid shaft body, thereby achieving the composite effect of the edge circumferential inlet and drainage and the pushing action of the side propeller 2, achieving external A process that combines multi-point inlet and drainage with axial propulsion action.

Specific Embodiment 4: As shown in FIGS. 1 to 22 , this embodiment is a further limitation of Embodiment 1, 2 or 3. The structural form of the rear water storage core 40 can be at the single end or the tail end of the present invention. It can also be used at the front end or the rear end of the present invention at the same time. The trends of the water inflow and drainage of the double-layer water storage bladder 40-2 are consistent or inconsistent, so that the tail end can be made according to specific needs or dynamic target trajectories according to the overall structure of the present invention. When corresponding to different adapted action postures or when multiple action postures are continuously implemented and converted, the corresponding configuration program controls related actions.

Specific Embodiment 5: This implementation is a further limitation of Specific Embodiment 2, 3 or 4. A flat connecting plate 50 is provided between the front water storage core 30 and the rear water storage core 40. The flat connecting plate 50 is provided between the front water storage core 30 and the rear water storage core 40. 50 is processed with a communication hole 50-1 along its thickness direction, and the front water storage core 30 is connected with the rear water storage core 40 through the communication hole 50-1. The connecting plate 50 plays a connecting process and has the effect of balancing the water volume of the front water storage core 30 and the rear water storage core 40. The connecting plate 50 is erected on the counterweight adjustment mechanism 6. It is a thin plate structure and does not affect Movement of counterweights 6-4.

Furthermore, a water tank 60 may be added to the connecting plate 50 to increase the internal capacity of the connecting plate 50 .

When the invention is in the flipping motion posture, the water inlet and drainage states of the front water storage core 30 and the rear water storage core 40 are consistent;

When the present invention is in the floating posture, the front water storage core 30 is in a drainage state, and the rear water storage core 40 is in a drainage state. The drainage speed and drainage volume of the front water storage core 30 are higher than those of the rear water storage core. The drainage speed and displacement of the body 40;

When the present invention is in the diving posture, the front water storage core 30 is in a water inlet state, and the rear water storage core 40 is in a water inlet state. The water inlet speed and water inflow volume of the front water storage core 30 are higher than those in the rear water storage core 30 . Set the water inflow speed and water inflow volume of the water storage core 40.

Specific Embodiment 6: This embodiment is a further limitation of Specific Embodiment 1, 2, 3, 4 or 5. In this embodiment, one of the counterweight adjustment mechanism 6, the self-storage and discharge core 20 and the four side propellers 2 A multi-point adjustment weighting process is realized in a short period of time, in which the front water storage core 30 and the rear water storage core 40 in the self-storage and discharge core 20 are respectively set up on the counterweight adjustment mechanism 6, and the self-storage and discharge core The body 20 is arranged above the counterweight adjustment mechanism 6 using the limited space of the main shell 1, and is respectively arranged at both ends of the counterweight adjustment mechanism 6. The position of the erection space does not affect the movement of the counterweight blocks 6-4, and at the same time, the front storage The water inlet and outlet volume and the inlet and outlet timing of the water core body 30 and the rear water storage core body 40 form a cooperative multi-mode cooperation method with the movement of the counterweight block 6-4. The movement distance and position of the counterweight block 6-4 after movement are , the water inlet and drainage actions performed by the front water storage core 30 and the rear water storage core 40 during the movement of the counterweight 6-4 realize the multi-point axis radial synchronization adjustment process of the present invention, and cooperate with emergency situations according to the present invention. As well as the change process of real-time corresponding to various posture movements during large turns or emergency turns on demand, the emergency debugging method process implemented by the present invention is:

Multiple single-ended co-directional adjustment process:

According to the specific posture or emergency requirements required to follow the target, when the overall structure of the present invention needs to quickly make a backward tilt action, there is an urgent need for rapid adjustment of the overall center of gravity of the present invention, and the counterweights 6-4 move toward the rear end of the main housing 1, and the movement simultaneously , control the front water storage core 30 to discharge the stored water into the external waters by utilizing the inlet and drainage hose 2-2 located in the swing shaft 3-5 and the propeller body 2-1, thereby achieving front weight reduction. Accelerate the front weight loss and assist the rear tilt posture. At the same time, the rear water storage core 40 in the rear part of the overall structure of the present invention is in a water inlet state. Through the swing shaft 3-5 in the swing adjustment member 3 and the propeller body The water inlet and drainage hose 2-2 of 2-1 pumps the water in the external waters into the double-layer water storage bladder 40-2.

According to the specific posture or emergency requirements required to follow the target, when the overall structure of the present invention needs to make a forward tilt action quickly, the counterweight block 6-4 moves toward the front end of the main housing 1, and at the same time, controls the front water storage core 30 Through the swing shaft 3-5 in the swing adjustment member 3 and the inlet and drain hose 2-2 of the propeller body 2-1, the water in the external waters is pumped in, thereby increasing the weight of the front part and accelerating the forward leaning posture of the front part. At the same time, the rear water storage core 40 in the rear part of the overall structure of the present invention is in a drainage state, and the double water storage core 40 is connected through the swing shaft 3-5 in the swing adjustment member 3 and the inlet and drain hose 2-2 of the propeller body 2-1. The water in the water storage bladder 40-2 is discharged into the external waters.

Through the front water storage core 30 and the rear water storage core 40 performing different amounts of water inlet and drainage processes as needed, the effect of secondary replenishment and center-of-gravity adjustment for the counterweight blocks 6-4 can be achieved, thus broadening the The scope of the center of gravity adjustment and the overlapping control method of the present invention, the process of secondary or multiple center of gravity adjustment are adapted to the emergency rapid adjustment process in a small space in deep waters, the adaptation process of sudden posture conversion and emergency turning, multiple The process of adjusting the center of gravity.

Multiple single-ended allotropic regulation process:

The movement trend of the counterweight block 6-4 forms an opposite direction with the water inflow and outflow trend of the front water storage core 30 or the rear water storage core 40. According to the specific posture or emergency requirements required to follow the target, when the overall structure of the present invention When it is necessary to make relevant actions quickly and there is an urgent need for quick and micro debugging of the overall center of gravity of the present invention, when the counterweight block 6-4 moves toward the rear end of the main housing 1, and at the same time, the front water storage core 30 is controlled to move it in the swing adjustment member 3 The swing shaft 3-5 in the center and the inlet and drain hose 2-2 of the propeller body 2-1 are used to absorb water to increase the weight of the front part. In conjunction with the backward movement trend of the counterweight block 6-4, the center of gravity of the overall structure is accelerated. Quickly fine-tune the process of change, and the center of gravity debugging process is evened and smoothed.

Further, when the counterweight block 6-4 moves toward the rear end of the main housing 1, the front water storage core 30 increases in weight. At this time, the rear water storage core 40 is in a micro-flow state, forming a slight weight gain. , in conjunction with the counterweight block 6-4, a weight-increasing trend of two points, one moving and one static, is formed. The specific process of slight weight-increasing of the rear water storage core 40 is through the swing shaft 3-5 and the propeller in the swing adjustment member 3. The inlet and drain hose 2-2 of the body 2-1 pumps a small amount of water in the external waters into the double-layer water storage bladder 40-2.

The above principle can also realize the following process:

The movement trend of the counterweight block 6-4 forms an opposite direction with the water inflow and outflow trend of the front water storage core 30 or the rear water storage core 40. According to the specific posture or emergency requirements required to follow the target, when the overall structure of the present invention When it is necessary to make relevant actions quickly and there is an urgent need for quick and micro debugging of the overall center of gravity of the present invention, when the counterweight block 6-4 moves toward the front end of the main housing 1, while moving, the rear water storage core 40 is controlled to move it in the swing adjustment member 3 The swing shaft 3-5 and the inlet and drain hose 2-2 of the propeller body 2-1 cooperate to absorb water to increase the weight of the rear part, and cooperate with the forward movement trend of the counterweight block 6-4 to accelerate the center of gravity of the overall structure. Fine-tune the process of change, and make the center of gravity debugging process uniform and smooth.

Further, when the counterweight block 6-4 moves toward the front end of the main housing 1, while the weight of the rear water storage core 40 is simultaneously increasing, the front water storage core 30 is in a micro-flow state, forming a slight increase. Heavy, with the weight blocks 6-4 forming a weight-increasing trend of two points, one moving and one static, the specific process of slight weight-increasing of the front water storage core 30 is through the swing shaft 3-5 in the swing adjustment member 3 and propulsion The inlet and drainage hose 2-2 of the device body 2-1 pumps a small amount of water in the external waters into the interior of the front water storage core 30.

Specific Embodiment 7: The assembly process of two double-layer water storage and release bladders 40-2 is explained with reference to Figure 15. Each double-layer water storage and release bladder 40-2 is provided with a side propeller 2, and each double-layer water storage and release bladder is provided with a corresponding side propeller 2. The body 40-2 is made of existing polyamide (PA), polyether ether ketone (PEEK), PVC, rubber, latex, synthetic polyisoprene or other existing elastic, dense, non-permeable materials. The overall structure of the double-layer water storage and discharge bladder 40-2 is a vertical U-shaped structure, and the ends of the U-shaped structure are sealed. One side of the U-shaped structure is an arc side, and the other side of the U-shaped structure is a straight side. During the installation process of the two-layer water storage and discharge bladders 40-2, the two flexible connecting pipes 40-2-2 of the two double-layer water storage and release bladders 40-2 are arranged vertically side by side, but they are not directly connected and are arranged staggeredly. , each set close to the corresponding propeller body 2-1, to simultaneously support the two double-layered water storage and discharge bladders 40-2 from both ends, the upper strip-shaped bladder 40-2-1 and the lower strip-shaped bladder 40-2-1. The double-layer connected arrangement of the shaped bladder 40-2-3 is a secondary and primary water storage form. The upper strip-shaped bladder 40-2-1 is a secondary storage and drainage structure, and the lower strip-shaped bladder 40-2-3 is the main one. The storage and drainage structure realizes the process of secondary drainage and water storage. The arrangement of the upper strip-shaped bladder 40-2-1 and the lower strip-shaped bladder 40-2-3 directly utilizes the main shell 1 and the counterweight adjustment mechanism 6 The narrow gaps between them form a multi-layer folded water storage structure in a small space.

Furthermore, the top of the upper strip-shaped bladder 40-2-1 is processed with communication holes to balance internal and external pressures and ensure smooth inlet and drainage process.

Specific Embodiment 8: This implementation is a further limitation of Specific Embodiments 1, 2, 3, 4, 5, 6 or 7. As shown in FIG. 1 , in order to control the diving and ascending, this specific implementation adds The counterweight adjustment method is used for assistance. The specific solution includes a counterweight adjustment mechanism 6. A counterweight adjustment mechanism 6 is installed in the inner middle of the main housing 1. The counterweight adjustment mechanism 6 can adjust the front end of the housing downward or the rear end downward. , to facilitate assisted diving or ascending. As shown in Figure 5, the counterweight adjustment mechanism 6 includes a bearing seat 6-1, a screw rod 6-2, a counterweight adjustment motor 6-3, a counterweight block 6-4, Guide rod 6-5; both ends of the screw rod 6-2 are installed inside the two bearing seats 6-1 respectively. One end of the screw rod 6-2 is connected to the rotating shaft of the counterweight adjustment motor 6-3 through a shaft sleeve. The rod 6-2 rotates driven by the counterweight adjustment motor 6-3. The counterweight adjustment motor 6-3 is installed on the outer wall of the bearing seat 6-1 through bolts. The screw rod 6-2 is connected to the counterweight block through threads. 6-4 is connected with the threaded hole, and the screw rod 6-2 is symmetrically provided with guide holes. The two guide holes are installed on the guide rod 6-5. When the screw rod 6-2 rotates, its counterweight 6-4 Under the restriction of the guide rod 6-5, its counterweight block 6-4 can only move forward and backward. At this time, the center of gravity can be adjusted. The two ends of the guide rod 6-5 are respectively installed on the two bearing seats 6-1. on the medial wall.

Specific Embodiment 9: This implementation is a further limitation of Specific Embodiments 1, 2, 3, 4, 5, 6, 7 or 8. As shown in Figures 2 and 3, this implementation is intended to be able to observe the following information. It is realized through the observation follower, and the following technical solution is specifically adopted: including battery 7, control mechanism 8, front camera 9, transparent cover 10, adjustable rotating observation follower 11, signal transceiver 12; the front end of the total housing 1 is sealed A transparent cover 10 is installed. A front camera 9 is installed in the transparent cover 10. The transparent cover 10 facilitates the front camera 9 to collect information. The battery 7 and the control mechanism 8 are installed inside the main shell 1. The control mechanism 8 can realize the robot. For control, an adjustable rotating observation follower 11 is installed on the front top of the main housing 1. The adjustable rotating observation follower 11 can adjust the orientation for observation and following. A signal transceiver 12 is installed on the rear side of the top of the main housing 1. The signal transceiver 12 is in the shape of a shark fin, the battery 7 is connected to the power supply end of the control mechanism 8, and the output end of the control mechanism 8 is respectively connected to the swing adjustment member 3, the rear thruster 4, the rear adjustment mechanism 5, the counterweight adjustment mechanism 6, The adjustable rotating observation follower 11 is electrically connected. The front camera 9 and the adjustable rotating observation follower 11 are connected to the input end of the control mechanism 8. The signal transceiver 12 is connected to the control mechanism 8. As shown in Figure 6, the adjustable rotating observation follower 11 is electrically connected. The rotating observation follower 11 includes a sealed fixed base 11-1, a sealed transparent cover 11-2, a rotating motor 11-3, an observation following camera 11-4, and a detection sensor 11-5; the upper end of the sealed fixed base 11-1 is sealed and connected with The sealed transparent cover 11-2 and the sealed fixed base 11-1 can realize the sealing and fixing of the observation follower. The sealed transparent cover 11-2 can realize the sealing and facilitate the collection of information. The top of the sealed fixed base 11-1 is equipped with a rotating motor. 11-3. An observation and following camera 11-4 is installed on the rotating shaft of the rotating motor 11-3. The rotating motor 11-3 can drive the observation and following camera to rotate, which is convenient for adjusting the direction of the observation and following camera 11-4. The transparent cover 11- is sealed. A detection sensor 11-5 is installed on the outer lower side of 2, and the detection sensor 11-5 can detect obstacles and depth. As shown in Figure 7, a sealing gasket groove is provided at the inner edge of the bottom of the sealing fixed base 11-1. A sealing ring groove is provided inside the sealing gasket groove. A sealing gasket 11-11 is installed in the sealing gasket groove. The sealing ring A sealing ring 11-12 is installed in the groove. The sealing between the fixed base and the shell is achieved through the sealing gasket 11-11 and the sealing ring 11-12. Several fixed through holes 11-13 are evenly provided on the sealing fixed base 11-1. Moreover, the fixed through hole 11-13 is provided inside the sealing ring groove, and a threading slot 11-14 is provided inside the fixed through hole 11-13. The threading slot 11-14 can realize threading.

Specific Embodiment 10: This implementation is a further limitation of Specific Embodiments 1, 2, 3, 4, 5, 6, 7, 8 or 9. As shown in Figure 4, the side thruster 2 in this specific implementation is , the rear propeller 4 has the same structure. The rear propeller 4 includes a first front propeller shell 4-1, a first rear propeller shell 4-2, a first connecting rod 4-3, a first filter 4-4, a first Propulsion motor 4-5 and first propulsion blade 4-6; first propulsion motor 4-5 is installed inside the first front propulsion shell 4-1 through brackets and bolts, and first propulsion motor 4-5 is waterproof and speed-regulated type motor, which is convenient for adjusting the speed. The rotating shaft of the first propulsion motor 4-5 extends out of the outside of the first front propulsion shell 4-1. The rotating shaft of the first propulsion shell 4-5 is connected to the first front propulsion shell through a water seal and a sealing ring. 4-1 is sealed and connected. The rotating shaft of the first propulsion housing 4-5 is connected to the first propulsion blade 4-6. The first propulsion motor 4-5 can drive the first propulsion blade 4-6 to rotate, which facilitates pushing the robot to walk. , the first propulsion blade 4-6 is arranged inside the first rear propulsion shell 4-2, and the first front propulsion shell 4-1 is connected to the first rear propulsion shell 4-2 through several first connecting rods 4-3. , the first filter 4-4 is installed on both the front and rear sides of the first rear propulsion shell 4-2. The front end of the first forward propulsion shell 4-1 is hemispherical. The hemispherical forward propulsion shell can reduce resistance.

Specific Embodiment 11: This implementation is a further limitation of Specific Embodiments 1, 2, 3, 4, 5, 6, 7, 8, 9 or 10. As shown in Figure 8, the control described in this specific implementation The mechanism 8 includes a control housing 8-1, a connector 8-2, a controller 8-3, a data memory 8-4, a GPS positioning module 8-5, and a data transceiver module 8-6; the control housing 8-1 A connector 8-2 is installed at the front end. The connector 8-2 is convenient for connecting to devices that require holes through plug connectors. The connector 8-2 is connected to the controller 8-3 through wires. The controller 8-3 can realize For the reception, processing and sending of information, the storage end of the controller 8-3 is connected to the data memory 8-4. The data memory 8-4 can realize data storage. The input and output ends of the controller 8-3 are respectively connected to the GPS positioning module. 8-5. The data transceiver module 8-6 is connected. The GPS positioning module 8-5 is convenient for positioning. The data transceiver module 8-6 is connected with the connector 8-2. The data transceiver module 8-6 is convenient for transmitting and receiving information.

Furthermore, the controller 8-3 also cooperates with the water pump and motor of the inlet and drain hoses 2-2 in the side propeller 2 to control the opening and closing process of each inlet and drain hose 2-2 in real time and timely.

The working principle of the present invention is:

1. Dive:

1.1. Low-angle dive: When diving, power is provided through the rear thruster 4, and at the same time, the counterweight block 6-4 of the counterweight adjustment mechanism 6 is adjusted toward the front end, so that the front end of the robot tilts downward, allowing it to slow down. dive, and the tilt angle of the robot can control the direction of the dive. The maximum tilt angle of the robot is 21°. When it is necessary to increase power, it starts four side thrusters 2, and the side thrusters 2 are in the vertical direction (combined with As shown in Figure 1), the side thruster 2 can increase the power.

1.2. Large-angle dive: Switch to a large-angle dive on the basis of low-angle dive. Adjust the angle of the side thruster 2 by swinging the adjustment member 3, which changes the direction of propulsion, starting with the vertical direction of the side thruster 2. position, the side thruster 2 rotates counterclockwise, and the larger the angle, the faster the dive speed.

1.3. Vertical dive: Vertical dive relies on the four side thrusters 2. The rear thrusters do not work. The four side thrusters 2 rotate 90° counterclockwise and rely on the driving force of the four side thrusters 2 to achieve vertical descent. When diving, the speed of diving is controlled by controlling the rotation speed of the four side thrusters 2.

2. Diving:

2.1. Low-angle submersible: When submersing, power is provided through the rear thruster 4, and the counterweight block 6-4 of the counterweight adjustment mechanism 6 is adjusted to the rear end, and the self-storage and discharge core 20 is activated on demand or in an emergency. The counterweights 6-4 are adapted and adjusted synchronously so that the rear end of the robot tilts downward, allowing it to achieve a slow dive. The tilt angle of the robot can control the direction of the dive. When it is necessary to increase power, it starts There are four side thrusters 2, the side thrusters 2 are vertically oriented (as shown in Figure 1), and the side thrusters 2 can increase the power.

1.2. Large-angle dive: Switch to a large-angle dive on the basis of a low-angle dive. Adjust the angle of the side thruster 2 by swinging the adjustment piece 3, which changes the direction of propulsion, starting with the vertical direction of the side thruster 2. position, the side thruster 2 rotates clockwise. The greater the angle, the faster the diving speed, which can realize the large-angle diving and following action. The self-storage and discharge core 20 can be started and adjusted synchronously on demand or in an emergency to ensure a clear following posture. It is stable and has no shaking, ensuring the dynamic stability of image data collection.

1.3. Vertical dive: Vertical dive relies on the four side thrusters 2, the rear thrusters do not work, the four side thrusters 2 rotate 90° clockwise, and rely on the driving force of the four side thrusters 2 to achieve vertical ascent. When diving, the speed of diving is controlled by controlling the rotation speed of the four side thrusters 2.

3. Steering during ascent and descent: When you need to turn during ascent and descent, rely on the four side thrusters 2. When you need to turn left, reduce the speed of the two side thrusters 2 on the left or turn left. The two side propellers 2 on the side stop or reverse, and the rotation speed of the two side propellers 2 on the right side is accelerated. At this time, the steering to the left is completed, otherwise the steering is to the right, or the rear thruster 4 is adjusted through the rear adjustment mechanism 5. position, the self-storage and water-discharging core 20 can be started on demand or in an emergency to adapt and adjust it synchronously. The rear propeller 4 swings to the left to turn left, and vice versa. At the same time, the two can be combined for steering, and when turning, its configuration The heavy adjustment mechanism 6 is required to maintain the balance of the housing.

4. Observation following: During observation following, there are moving observation following and stop observation following respectively. During moving observation following, the robot moves forward at a constant speed and observes following. Observation and following are carried out through the front camera 9 and the adjustable rotating observation follower 11, and through the control mechanism 8 When transmitting information and stopping observation and following, the four side thrusters 2 rotate at low speed. They can overcome the buoyancy to stop observing and following in the water. At the same time, the rear thrusters 4 rotate forward or reverse to offset the force of the water pushing the robot. .

Claims (11)

1. Inside and outside row of many emergent postures of adaptation pushes away following robot, its characterized in that: the device comprises a main shell (1), a rear propeller (4), a rear adjusting mechanism (5), a counterweight adjusting mechanism (6), a storage battery (7), a control mechanism (8), a front camera (9), a transparent cover body (10), an adjusting rotary observation follower (11), a signal transceiver (12), four side propellers (2) and four swinging adjusting pieces (3); swing adjusting pieces (3) are arranged on the inner four sides of the main shell (1), one side propeller (2) is arranged at the outer ends of the four swing adjusting pieces (3), a rear adjusting mechanism (5) is arranged at the rear end of the main shell (1), a rear propeller (4) is arranged on the rear adjusting mechanism (5), a weight adjusting mechanism (6) is arranged in the middle of the inner part of the main shell (1), a transparent cover body (10) is arranged at the front end of the main shell (1) in a sealing mode, a front camera (9) is arranged in the transparent cover body (10), a storage battery (7) and a control mechanism (8) are arranged in the main shell (1), an adjusting rotary observation follower (11) is arranged at the front top end of the main shell (1), a signal transceiver (12) is arranged at the rear side of the top end of the main shell (1), the storage battery (7) is connected with a power supply end of the control mechanism (8), the output end of the control mechanism (8) is respectively connected with the swing adjusting pieces (3), the rear propeller (4) and the rear adjusting mechanism (5), the balance weight adjusting mechanism (6) and the adjusting type rotary observation follower (11) are electrically connected, the front camera (9) and the adjusting type rotary observation follower (11) are connected with the input end of the control mechanism (8), and the signal transceiver (12) is connected with the control mechanism (8).

2. The multi-emergency pose adaptive inside and outside displacement following robot of claim 1, wherein: four side propellers (2) are all push out interior row propellers, four side propellers (2) cooperation is provided with from storing up water core (20), from storing up water core (20) and setting up in total shell (1), every interior side propeller (2) of discharging includes propeller body (2-1) and advances drainage hose (2-2), advance the one end setting of drainage hose (2-2) on propeller body (2-1), advance the other end of drainage hose (2-2) and pass swing adjustment piece (3) after being connected with from storing up water core (20).

3. The multi-emergency pose adaptive inside and outside displacement following robot of claim 2, wherein: the self-storing water draining core body (20) comprises a front water storing core body (30) and a rear water storing core body (40), wherein the front water storing core body (30) is close to the front end inner wall of the main shell (1), the front water storing core body (30) is arranged at one end of the counterweight adjusting mechanism (6), the rear water storing core body (40) is close to the rear end inner wall of the main shell (1), and the rear water storing core body (40) is arranged at the other end of the counterweight adjusting mechanism (6) in a penetrating mode;

The front water storage core body (30) comprises a semi-cylindrical shell (30-1), first water inlet and outlet holes (30-2) are respectively formed in two sides of the bottom of the semi-cylindrical shell (30-1), the first water inlet and outlet holes (30-2) are flat holes, and each first water inlet and outlet hole (30-2) is correspondingly connected with one water inlet and outlet hose (2-2);

the rear water storage core body (40) comprises a rear shell (40-1) and two double-layer water storage and release capsules (40-2), two double-layer water storage and release capsules (40-2) are arranged in the rear shell (40-1), the two double-layer water storage and release capsules (40-2) are arranged in parallel and are in close contact with each other to form a double-cavity water storage and release capsule, the shape of the double-cavity water storage and release capsule is matched with that of the rear shell (40-1), a second water inlet and release hole (40-3) is formed in the bottom of each double-layer water storage and release capsule (40-2), the second water inlet and release hole (40-3) is a flat hole, and each second water inlet and release hole (40-3) is correspondingly connected with one water inlet and release hose (2-2).

4. The multi-emergency pose adaptive inside and outside displacement following robot of claim 2, wherein: each double-layer water storage and release bag body (40-2) comprises an upper strip-shaped bag body (40-2-1), a flexible connecting pipe (40-2-2) and a lower strip-shaped bag body (40-2-3), wherein the upper strip-shaped bag body (40-2-1) and the lower strip-shaped bag body (40-2-3) are horizontally arranged side by side in sequence from top to bottom, the flexible connecting pipe (40-2-2) is vertically arranged, one end of the upper strip-shaped bag body (40-2-1) is a first sealing end, the other end of the upper strip-shaped bag body (40-2-1) is communicated with one end of the lower strip-shaped bag body (40-2-3) through the flexible connecting pipe (40-2-2), the other end of the lower strip-shaped bag body (40-2-3) is a second sealing end below the first sealing end, the bottom of the second sealing end is provided with a second water inlet and outlet hole (40-3), and the interiors of the upper strip-shaped bag body (40-2-2) and the lower strip-shaped connecting pipe (40-2-3) are sequentially communicated to form a U-shaped water storage cavity; one side, close to the inner wall of the rear end of the main shell (1), of the U-shaped water storage and drainage cavity of one double-layer water storage and drainage bag (40-2) close to the main shell (1) is an arc-shaped side, one side, far away from the inner wall of the rear end of the main shell (1), of the U-shaped water storage and drainage cavity is a straight side, and the straight sides of the two U-shaped water storage and drainage cavities are arranged in a butted mode.

5. The inside and outside push follower robot adapted for multiple emergency poses according to claim 3 or 4, characterized in that: a flat communicating plate (50) is arranged between the front water storage core body (30) and the rear water storage core body (40), the flat communicating plate (50) is provided with a communicating hole (50-1) along the thickness direction, and the front water storage core body (30) is communicated with the rear water storage core body (40) through the communicating hole (50-1).

6. The multi-emergency pose adaptive inside and outside displacement following robot of claim 1, wherein: the swing adjusting piece (3) comprises a side adjusting motor seat (3-1), a side adjusting motor (3-2), a side pinion (3-3), a side large gear (3-4) and a side rotating shaft (3-5); the side adjusting motor seat (3-1) is arranged on the inner side wall of the main shell (1), the side adjusting motor (3-2) is arranged on the side adjusting motor seat (3-1), a side pinion (3-3) is arranged on a rotating shaft of the side adjusting motor (3-2), the side pinion (3-3) is meshed with the side big gear (3-4), a side rotating shaft (3-5) is arranged on the side big gear (3-4), the side rotating shaft (3-5) extends out of the main shell (1), and the side rotating shaft (3-5) is sealed with the main shell (1) through a water seal and a sealing ring.

7. The multi-emergency pose adaptive inside and outside displacement following robot of claim 1, wherein: the rear-mounted adjusting mechanism (5) comprises a fixed rod (5-1), a mounting block (5-2), a mounting bolt (5-3), an arc-shaped tooth block (5-4), an adjusting gear (5-5), a rear adjusting motor (5-6) and a motor mounting disc (5-7); the upper end of the fixed rod (5-1) is connected with the rear lower end of the mounting block (5-2), the front side of the mounting block (5-2) is provided with a mounting groove, the mounting bolt (5-3) is connected in the mounting groove in a penetrating manner and is connected to the main shell (1), the front end of the mounting block (5-2) is provided with an arc-shaped tooth block (5-4), the teeth of the arc-shaped tooth block (5-4) are meshed with the adjusting gear (5-5), the adjusting gear (5-5) is arranged on the rotating shaft of the rear adjusting motor (5-6), the rear adjusting motor (5-6) is provided with a motor mounting disc (5-7), and the motor mounting disc (5-7) is arranged on the main shell (1) through bolts.

8. The multi-emergency pose adaptive inside and outside displacement following robot of claim 2, wherein: the structure of the propeller body (2-1) is the same as that of the rear propeller (4), and the rear propeller (4) comprises a first front propeller shell (4-1), a first rear propeller shell (4-2), a first connecting rod (4-3), a first filter screen (4-4), a first propeller motor (4-5) and a first propeller blade (4-6); the first propulsion motor (4-5) is arranged in the first front propulsion shell (4-1) through a support and a bolt, a rotating shaft of the first propulsion motor (4-5) extends out of the first front propulsion shell (4-1), the rotating shaft of the first propulsion shell (4-5) is in sealing connection with the first front propulsion shell (4-1) through a water seal and a sealing ring, the rotating shaft of the first propulsion shell (4-5) is connected with the first propulsion fan blade (4-6), the first propulsion fan blade (4-6) is arranged in the first rear propulsion shell (4-2), the first front propulsion shell (4-1) is connected with the first rear propulsion shell (4-2) through a plurality of first connecting rods (4-3), and the first filter screen (4-4) is arranged on the front side and the rear side of the first rear propulsion shell (4-2).

9. The multi-emergency pose adaptive inside and outside displacement following robot according to claim 1, 2, 3, 4, 6, 7 or 8, wherein: the counterweight adjusting mechanism (6) comprises a bearing seat (6-1), a screw rod (6-2), a counterweight adjusting motor (6-3), a counterweight (6-4) and a guide rod (6-5); the two ends of the screw rod (6-2) are respectively arranged in the two bearing seats (6-1), one end of the screw rod (6-2) is connected with a rotating shaft of a counterweight adjusting motor (6-3) through a shaft sleeve, the counterweight adjusting motor (6-3) is arranged on the outer side wall of the bearing seat (6-1) through bolts, the screw rod (6-2) is connected with a threaded hole on a balancing weight (6-4) through threads, guide holes are symmetrically formed in the screw rod (6-2), two guide holes are internally provided with guide rods (6-5), and two ends of the guide rods (6-5) are respectively arranged on the inner side walls of the two bearing seats (6-1).

10. The multi-emergency pose adaptive inside and outside displacement following robot of claim 1, wherein: the adjustable rotary observation follower (11) comprises a sealing fixed base (11-1), a sealing transparent cover (11-2), a rotary motor (11-3), an observation following camera (11-4) and a detection sensor (11-5); the upper end sealing connection of sealed unable adjustment base (11-1) has sealed translucent cover (11-2), and rotating electrical machines (11-3) are installed on the top of sealed unable adjustment base (11-1), and observation following camera (11-4) are installed in the pivot of rotating electrical machines (11-3), and detection sensor (11-5) are installed to the outside downside of sealed translucent cover (11-2).

11. A center of gravity debugging method, implemented by using the inside and outside row pushing following robot adapting to multiple emergency postures as claimed in any one of claims 2 to 10, characterized in that: the gravity center debugging method comprises the following steps:

multiple single-end homodromous adjustment process:

according to the specific posture or emergency requirement required by a following target, when the inner and outer pushing following robots need to quickly make a backward tilting action, the center of gravity of the inner and outer pushing following robots is quickly adjusted, the balancing weights (6-4) move towards the rear end of the main shell (1), and meanwhile, the front water storage core body (30) is controlled to discharge water into external water by utilizing the water inlet and outlet hoses (2-2) positioned in the swinging rotating shaft (3-5) and the propeller body (2-1), front weight reduction is realized, a front weight loss auxiliary rear inclined posture is formed, the rear water storage core body (40) at the rear of the inner and outer pushing following robots is in a water inlet state, and the external water is pumped into the double-layer water storage and discharge bag body (40-2) through the water inlet and outlet hoses (2-2) positioned in the swinging rotating shaft (3-5) and the propeller body (2-1);

according to the specific posture or emergency requirement required by a following target, when the inner and outer pushing following robot needs to quickly make forward tilting action, the balancing weight (6-4) moves towards the front end of the main shell (1), and simultaneously, the front water storage core (30) is controlled to pump water in an external water area through the swinging rotating shaft (3-5) in the swinging adjusting piece (3) and the water inlet and outlet hose (2-2) of the propeller body (2-1), so that front weight gain is realized, the forward tilting posture is accelerated, and meanwhile, the rear water storage core (40) at the rear part of the inner and outer pushing following robot is in a water draining state, and the water in the double-layer water storage and discharge bag (40-2) is discharged into the external water area through the swinging rotating shaft (3-5) in the swinging adjusting piece (3) and the water inlet and outlet hose (2-2) of the propeller body (2-1);

Multiple single-ended anisotropic adjustment process:

the movement trend of the balancing weight (6-4) and the water inlet and outlet trend of the front water storage core (30) or the rear water storage core (40) form an opposite trend, according to the specific gesture or emergency requirement required by a following target, when the inner and outer pushing following robots need to quickly make related actions and the center of gravity of the inner and outer pushing following robots needs to quickly and slightly adjust, when the balancing weight (6-4) moves towards the rear end of the main shell (1), the balancing weight (6-4) is moved, and meanwhile, the front water storage core (30) is controlled to perform water absorption treatment under the cooperation of the water inlet and outlet hose (2-2) in the swinging rotating shaft (3-5) and the propeller body (2-1) to form front weight increment, and the balancing weight (6-4) is matched with the backward movement trend to accelerate the quick fine adjustment change process of the center of gravity of the whole structure, and the center adjustment process is gentle;

when the balancing weight (6-4) moves towards the rear end of the main shell (1), the front water storage core body (30) is weighted, at the moment, the rear water storage core body (40) is in a micro-flow water inlet state to form micro-weight increment, the balancing weight (6-4) is matched to form a two-point one-movement one-static weight increment trend, and the micro-weight increment process of the rear water storage core body (40) is to pump a small amount of water in an external water area into the double-layer water storage and release water bag body (40-2) through the water inlet and release hose (2-2) arranged in the swinging rotating shaft (3-5) and the propeller body (2-1).