CN118004387A - Underwater robot with multiple propellers - Google Patents

Abstract

The invention discloses an underwater robot with multiple propellers, and relates to the technical field of underwater equipment. The utility model provides a many propellers's underwater robot, by head mechanism, tail moves subassembly and afterbody mechanism and loops through sealing flange concatenation, head mechanism includes the head cabin, the head of head cabin installs under water observation camera, the afterbody of head cabin passes through sealing flange fixedly connected with automatically controlled cabin, automatically controlled cabin is kept away from one side of head cabin and is passed through sealing flange fixedly connected with signal cabin, tail moves the subassembly and includes first cabin mechanism, cleaning mechanism, assist mechanism and second cabin mechanism, first cabin mechanism includes first cabin ring, one side of first cabin ring passes through sealing flange fixed connection signal cabin, the opposite side of first cabin ring rotates and is connected with the second cabin ring, cleaning mechanism is including the clearance subassembly that is used for clearing up the seaweed and be used for reducing the fin subassembly of water resistance, an many propellers's underwater robot, timely clearance effect, improve the security and the reliability of underwater robot work.

Description

Underwater robot with multiple propellers

Technical Field

The invention relates to the technical field of underwater equipment, in particular to an underwater robot with multiple propellers.

Background

The underwater robot is also called an unmanned remote-control submersible, and is an extreme operation robot working under water. The underwater environment is dangerous and the diving depth of a person is limited, so that the underwater robot has become an important tool for developing the ocean. The unmanned remote control submersible mainly comprises: the cabled remote-control submersible is divided into a submarine self-propelled type, a towing type and a crawling type on a submarine structure.

The utility model discloses a (bulletin) number is CN 116834890A's patent discloses the small-size underwater robot of many propellers including the cabin, preceding water-permeable cabin, automatically controlled cabin, antenna cabin, back water-permeable cabin, six sections cabin body composition of cabin, every section cabin body is the modularization and can dismantle the connection, the underwater observation camera is installed in the cabin front portion of underwater robot, a horizontal propeller and a vertical propeller are placed respectively to preceding water-permeable cabin and back water-permeable cabin, and two horizontal propellers are arranged in leaning on the bow, stern both sides, and two vertical propellers are then arranged in leaning on the inboard, the rear cabin of underwater robot sets up four steering rudders and main propeller, underwater robot avoids debris such as seaweed, fishing net to be rolled into the influence that the screw produced the stall to it.

In the scheme, the horizontal propeller and the vertical propeller in the front water permeable cabin and the rear water permeable cabin play an important role, the positions of water inlet and outlet of the water channels of the front water permeable cabin and the rear water permeable cabin of the underwater robot are processed into a circular net-shaped structure, sundries such as seaweed, fishing nets and the like can be prevented from being rolled into the propeller, but when submarine plants such as seaweed and the like are shielded on the net-shaped structure, the work of the horizontal propeller and the vertical propeller is also influenced, and then the movement of the underwater robot is influenced, so that the underwater robot with multiple propellers is needed to solve the problems.

Disclosure of Invention

The invention aims to provide an underwater robot with multiple propellers, which solves the problems in the background technology.

In order to achieve the above purpose, the present invention provides the following technical solutions: an underwater robot with multiple propellers is formed by splicing a head mechanism, a tail moving assembly and a tail mechanism sequentially through sealing flanges;

The head mechanism comprises a head cabin, an underwater observation camera is arranged at the head of the head cabin, an electric control cabin is fixedly connected to the tail of the head cabin through a sealing flange, and a signal cabin is fixedly connected to one side, far away from the head cabin, of the electric control cabin through the sealing flange;

The tail moving assembly comprises a first cabin mechanism, a cleaning mechanism, an auxiliary mechanism and a second cabin mechanism;

The first cabin mechanism comprises a first cabin ring, one side of the first cabin ring is fixedly connected with the signal cabin through a sealing flange, and the other side of the first cabin ring is rotationally connected with a second cabin ring;

A second fin groove is formed in the upper side of the first cabin ring, and a first connecting seat is embedded and installed on two sides of one end, far away from the signal cabin, of the second fin groove;

the cleaning mechanism comprises a cleaning component for cleaning seaweed and a fin component for reducing water resistance;

The cleaning assembly comprises a first cleaning column, one end of the first cleaning column is adaptively inserted into a second fin groove and is fixedly connected with an output shaft of a first connecting seat, a sliding groove is formed in the upper side of the first cleaning column, a sliding block is slidingly inserted into the sliding groove, springs are fixedly connected to two sides of the sliding block, one end of the spring, far away from the sliding block, is fixedly connected with the sliding groove, the upper side of the sliding groove is fixedly connected with a second cleaning column, two sides of the second cleaning column are smooth, two sides of one end, close to the sliding block, of the second cleaning column are fixedly connected with cleaning belts respectively, one end, far away from the second cleaning column, of the cleaning belts is fixedly connected with the first cleaning column, and the cleaning belts are arranged on the upper side of the sliding groove;

the auxiliary mechanism comprises an auxiliary plate, and two ends of the auxiliary plate penetrate through the second cabin ring and are respectively provided with a first driving mechanism.

As a preferable technical scheme of the invention, a first fin groove is formed in the upper side of the signal cabin, and the first fin groove is communicated with the second fin groove in an adaptive manner;

and an interface for plugging the cable is arranged on the signal cabin.

As a preferable technical scheme of the invention, one side of the second cabin ring is fixedly connected with an annular first connecting ring, and one side of the first connecting ring far away from the second cabin ring is rotationally inserted into the first cabin ring through a bearing;

the upper inner wall of the first cabin ring is fixedly connected with an organic rod, the lower end of the organic rod is fixedly connected with a motor, and the lower end output shaft of the motor is fixedly connected with a first gear;

an annular seat ring is fixedly inserted into the inner side of the second cabin ring, and a shaft column is vertically and fixedly connected with the inner side of the seat ring;

the seat ring is close to the first electric rail of equal fixedly connected with in terminal surface both sides of first cabin ring, two the first electric rail is kept away from the common fixedly connected with fluted disc in one side of seat ring, the radius of fluted disc is the same with the external diameter of seat ring, the one side fixedly connected with second gear of seat ring is kept away from to the fluted disc, second gear and first gear engagement.

As a preferable technical scheme of the invention, one side of the first cleaning column far away from the second fin groove is adaptively inserted into the first fin groove;

the fin assembly comprises a fin post, one end of the fin post is fixedly connected with a first cleaning post, the fin post is in fit connection with a first fin groove, and the upper side of the fin post is fixedly connected with a fin-shaped fin.

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As a preferable technical scheme of the invention, the auxiliary plate is connected with two first electric rails in a sliding manner, a tooth slot is formed in the middle of one side of the auxiliary plate, and the tooth slot corresponds to the shaft column;

the first driving mechanism comprises an annular driving ring, the driving ring is fixedly connected with an auxiliary plate, a driving fan is installed in the driving ring, one side of the head of the driving ring is covered with a cover net, and a connecting column is fixedly connected between the cover net and blades of the driving fan.

The second cabin mechanism comprises a third cabin ring, a notch for supplying a swinging space of the third cabin ring is formed in one side of the third cabin ring, a second connecting ring is fixedly connected to one side of the third cabin ring, the second connecting ring is embedded with the notch, and one side, far away from the third cabin ring, of the second connecting ring is fixedly connected with the second cabin ring;

the inner side of the third cabin ring is fixedly connected with a barrel column, one end of the barrel column, which is close to the second connecting ring, is fixedly connected with a sleeve, the sleeve is movably sleeved with a shaft column through a bearing, one side, which is far away from the barrel column, of the sleeve is fixedly connected with a tooth, and the tooth is meshed with a tooth slot.

The tail mechanism comprises a tail cabin, the head of the tail cabin is fixedly connected with a third cabin ring through a sealing flange, and the tail of the tail cabin is embedded and fixedly connected with a flexible belt;

The tail part of the tail cabin is fixedly connected with a second connecting seat, an output shaft of the second connecting seat is fixedly connected with a seat cylinder, one side of the seat cylinder is fixedly connected with a plug post, one side of the plug post, which is far away from the seat cylinder, penetrates through a flexible belt and is fixedly connected with a sleeve seat, the flexible belt is fixedly connected with the plug post, and the sleeve seat is fixedly clamped with a second driving mechanism;

The second driving mechanism is identical to the first driving mechanism.

As a preferable technical scheme of the invention, the lower side of the head mechanism is provided with a weight mechanism for adjusting the weight, the weight mechanism comprises a connecting plate, the connecting plate is fixedly sleeved on the lower side of the electric control cabin, the lower side of the connecting plate is fixedly connected with a V block, the section of the V block is in an inverted triangle, one end of the V block, close to the head cabin, is fixedly connected with a supporting block, and the supporting block is fixedly sleeved on the lower side of the head cabin;

a second electric rail is embedded and installed in the V-shaped block, and a balancing weight is inserted in the second electric rail in a sliding manner;

both sides of V piece all have the side fan board through pivot equidistance evenly swing joint, side fan board activity and adaptation scarf joint are on the V piece, homonymy fixedly connected with stay cord in proper order between the side fan board, be close to the riding block the side fan board passes through motor control and rotates.

Compared with the prior art, the invention has the beneficial effects that:

(1) The utility model provides an underwater robot of many propellers, cross tail and move the setting of subassembly for the partial section of underwater robot is compared in the connection of the straight cylinder of integration rigidity, and underwater robot adapts to the rugged environment in seabed more, improves work flexibility.

(2) The utility model provides an underwater robot of many propellers for underwater robot can carry out three hundred sixty degrees and turn to, has improved the comprehensiveness that the during operation turned to through rotation angle's cooperation.

(3) The moment driven by the first driving mechanism is longer, so that the driving force for steering one side of the underwater robot is larger than that for the other side of the underwater robot, steering of the underwater robot is assisted, and the underwater robot can perform high-efficiency steering operation during working.

(4) The utility model provides an underwater robot of many propellers, clean area can collude the seaweed on the cover net terminal surface and remove, and the second clean post can collude the seaweed on the cover net arc side to play timely clearance effect, improve the security and the reliability of underwater robot work.

(5) The utility model provides an underwater robot of many propellers, guarantees that the periphery of cover net can clear up through clean area and second clean post completely, has improved the comprehensiveness of clearance.

(6) The underwater robot with multiple propellers can resist the submarine water flow through the swing of the side fan plate, and the front and back positions of the balancing weights in the second electric rail are adjusted in an electric control mode, so that balance is kept, energy consumed by the underwater robot in working is saved, and working cost is saved.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a schematic view of the head mechanism of the present invention;

FIG. 3 is a schematic diagram of a signal pod connection according to the present invention;

FIG. 4 is a schematic view of a tail assembly according to the present invention;

FIG. 5 is a schematic view of a tail assembly according to the present invention;

FIG. 6 is a schematic view of a first pod mechanism of the present invention;

FIG. 7 is a schematic view of the interior of the first compartment means of the present invention;

FIG. 8 is an enlarged schematic view of the invention at A of FIG. 7;

FIG. 9 is a schematic view of a seat ring according to the present invention;

FIG. 10 is a schematic view of a cleaning mechanism according to the present invention;

FIG. 11 is a schematic view of a cleaning assembly according to the present invention;

FIG. 12 is a schematic diagram of an auxiliary mechanism of the present invention;

FIG. 13 is a schematic view of a first driving mechanism according to the present invention;

FIG. 14 is a schematic view of a second pod mechanism of the present invention;

FIG. 15 is a schematic view of the attachment of the auxiliary plate of the present invention;

FIG. 16 is a schematic view of a tail mechanism of the present invention;

FIG. 17 is a schematic view of a weight mechanism of the present invention;

FIG. 18 is a schematic view of the inside of the V block of the present invention.

In the figure: 1. a head mechanism; 101. a head compartment; 102. an electric control cabin; 103. a signal cabin; 104. a first fin slot; 105. an interface; 2. a first compartment mechanism; 201. a first cabin ring; 202. a second cabin ring; 203. a first connection ring; 204. a second fin slot; 205. a first connection base; 206. a machine bar; 207. a motor; 208. a first gear; 209. a seat ring; 210. a shaft post; 211. a first power rail; 212. fluted disc; 213. a second gear; 3. a cleaning mechanism; 301. a first cleaning column; 302. a chute; 303. a slide block; 304. a spring; 305. a second cleaning column; 306. a cleaning belt; 307. a fish fin column; 308. a fish fin; 4. an auxiliary mechanism; 401. an auxiliary plate; 402. tooth slots; 403. a drive ring; 404. driving a fan; 405. a connecting column; 406. a cover net; 407. a first driving mechanism; 5. a second compartment mechanism; 501. a third cabin ring; 502. a notch; 503. a second connecting ring; 504. a cylinder column; 505. a sleeve; 506. teeth; 6. a tail mechanism; 601. a tail cabin; 602. a flexible belt; 603. a second connecting seat; 604. a seat cylinder; 605. inserting a column; 606. a sleeve seat; 607. a second driving mechanism; 7. a weight mechanism; 701. a connecting plate; 702. v block; 703. a support block; 704. a second power rail; 705. balancing weight; 706. a side fan plate; 707. and (5) pulling the rope.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Examples: referring to fig. 1,2,4, 5, 6, 8, 10, 11 and 12, an underwater robot with multiple propellers is formed by splicing a head mechanism 1, a tail moving assembly and a tail mechanism 6 sequentially through sealing flanges;

The head mechanism 1 comprises a head cabin 101, an underwater observation camera is mounted at the head of the head cabin 101, an electric control cabin 102 is fixedly connected to the tail of the head cabin 101 through a sealing flange, and a signal cabin 103 is fixedly connected to one side, far away from the head cabin 101, of the electric control cabin 102 through the sealing flange;

the tail moving assembly comprises a first cabin mechanism 2, a cleaning mechanism 3, an auxiliary mechanism 4 and a second cabin mechanism 5;

The first cabin mechanism 2 comprises a first cabin ring 201, one side of the first cabin ring 201 is fixedly connected with the signal cabin 103 through a sealing flange, and the other side of the first cabin ring 201 is rotatably connected with a second cabin ring 202;

The upper side of the first cabin ring 201 is provided with a second fin groove 204, and two sides of one end of the second fin groove 204 far away from the signal cabin 103 are embedded and provided with a first connecting seat 205;

The cleaning mechanism 3 comprises a cleaning component for cleaning seaweed and a fin component for reducing water resistance;

The cleaning assembly comprises a first cleaning column 301, one end of the first cleaning column 301 is adaptively inserted into a second fin groove 204 and is fixedly connected with an output shaft of a first connecting seat 205, a sliding groove 302 is formed in the upper side of the first cleaning column 301, a sliding block 303 is slidingly inserted into the sliding groove 302, springs 304 are fixedly connected to two sides of the sliding block 303, one end, far away from the sliding block 303, of the sliding block 302 is fixedly connected with a second cleaning column 305, two sides of the second cleaning column 305 are smooth, two sides of one end, close to the sliding block 303, of the second cleaning column 305 are respectively fixedly connected with a cleaning belt 306, one end, far away from the second cleaning column 305, of the cleaning belt 306 is fixedly connected with the first cleaning column 301, and a cleaning belt 306 is covered on the upper side of the sliding groove 302;

The auxiliary mechanism 4 includes an auxiliary plate 401, and both ends of the auxiliary plate 401 penetrate the second tank ring 202 and are respectively provided with a first driving mechanism 407, the first driving mechanism 407 corresponding to the erected cleaning mechanism 3.

Referring to fig. 2 and 3, a first fin groove 104 is formed on the upper side of the signal cabin 103, and the first fin groove 104 is adapted to communicate with a second fin groove 204;

the signal pod 103 is provided with an interface 105 for plugging in cables.

Referring to fig. 7, 8 and 9, one side of the second cabin ring 202 is fixedly connected with a ring-shaped first connecting ring 203, and one side of the first connecting ring 203 far away from the second cabin ring 202 is rotationally inserted into the first cabin ring 201 through a bearing;

The upper inner wall of the first cabin ring 201 is fixedly connected with an organic rod 206, the lower end of the organic rod 206 is fixedly connected with a motor 207, and the lower end output shaft of the motor 207 is fixedly connected with a first gear 208;

the inner side of the second cabin ring 202 is fixedly inserted with an annular seat ring 209, and the inner side of the seat ring 209 is vertically and fixedly connected with a shaft column 210;

The seat ring 209 is close to the terminal surface both sides of first cabin ring 201 and all fixedly connected with first electric rail 211, and two first electric rails 211 are kept away from the common fixedly connected with fluted disc 212 of one side of seat ring 209, and the radius of fluted disc 212 is the same with the external diameter of seat ring 209, and the one side that fluted disc 212 kept away from seat ring 209 is fixedly connected with second gear 213, and second gear 213 meshes with first gear 208.

Referring to fig. 3, a side of the first cleaning post 301 away from the second fin slot 204 is adapted to be plugged into the first fin slot 104;

The fin assembly comprises a fin post 307, one end of the fin post 307 is fixedly connected with the first cleaning post 301, the fin post 307 is in fit connection with the first fin groove 104, and a fin 308 in a fin shape is fixedly connected to the upper side of the fin post 307.

Referring to fig. 1, 4, 5, 12, 13, 14, 15 and 16, the auxiliary plate 401 is slidably inserted into two first electric rails 211, a tooth slot 402 is formed in the middle of one side of the auxiliary plate 401, and the tooth slot 402 corresponds to the axle column 210;

The first driving mechanism 407 comprises an annular driving ring 403, the driving ring 403 is fixedly connected with the auxiliary plate 401, a driving fan 404 is arranged in the driving ring 403, one side of the head of the driving ring 403 is covered with a cover net 406, and a connecting column 405 is fixedly connected between the cover net 406 and blades of the driving fan 404.

The second cabin mechanism 5 comprises a third cabin ring 501, a notch 502 for providing a swinging space for the third cabin ring 501 is formed in one side of the third cabin ring 501, a second connecting ring 503 is fixedly connected to one side of the third cabin ring 501, the second connecting ring 503 is embedded with the notch 502, the second connecting ring 503 is made of flexible materials, and one side, far away from the third cabin ring 501, of the second connecting ring 503 is fixedly connected with a second cabin ring 202;

the inner side of the third cabin ring 501 is fixedly connected with a barrel column 504, one end of the barrel column 504 close to the second connecting ring 503 is fixedly connected with a sleeve 505, the sleeve 505 is movably sleeved with the shaft column 210 through a bearing, one side of the sleeve 505 away from the barrel column 504 is fixedly connected with a tooth 506, and the tooth 506 is meshed with the tooth socket 402.

The tail mechanism 6 comprises a tail cabin 601, the head part of the tail cabin 601 is fixedly connected with a third cabin ring 501 through a sealing flange, the tail part of the tail cabin 601 is embedded and fixedly connected with a flexible belt 602, and the flexible belt 602 is made of flexible materials;

The inner side of the tail part of the tail cabin 601 is fixedly connected with a second connecting seat 603, an output shaft of the second connecting seat 603 is fixedly connected with a seat cylinder 604, one side of the seat cylinder 604 is fixedly connected with a plug column 605, one side of the plug column 605 away from the seat cylinder 604 penetrates through a flexible belt 602 and is fixedly connected with a sleeve seat 606, the flexible belt 602 is fixedly connected with the plug column 605, and the sleeve seat 606 is fixedly clamped with a second driving mechanism 607;

The second driving mechanism 607 is identical to the first driving mechanism 407, and the second driving mechanism 607 has a specification larger than that of the first driving mechanism 407.

Referring to fig. 1, 17 and 18, a weight mechanism 7 for adjusting a weight is arranged at the lower side of a head mechanism 1, the weight mechanism 7 comprises a connecting plate 701, the connecting plate 701 is fixedly sleeved at the lower side of an electric control cabin 102, a V-block 702 is fixedly connected at the lower side of the connecting plate 701, the cross section of the V-block 702 is in an inverted triangle, a supporting block 703 is fixedly connected at one end of the V-block 702 close to the head cabin 101, and the supporting block 703 is fixedly sleeved at the lower side of the head cabin 101;

A second electric rail 704 is embedded and installed in the V-shaped block 702, and a balancing weight 705 is inserted in the second electric rail 704 in a sliding manner;

Both sides of the V-shaped block 702 are uniformly and movably connected with side fan plates 706 at equal intervals through rotating shafts, the side fan plates 706 are movably and adaptively embedded on the V-shaped block 702, pull ropes 707 are fixedly connected between the side fan plates 706 on the same side in sequence, and the side fan plates 706 close to the supporting blocks 703 are controlled to rotate through motors.

The working principle of the invention is as follows:

The first step: the auxiliary plate 401 moves left and right under the meshing action of the tooth grooves 402 and the teeth 506 through the electric control of the first electric rail 211, the sleeve 505 rotates along the shaft column 210, the third cabin ring 501 swings left and right, the underwater robot can walk under water in a simulated fishtail swinging mode through the connection of the tail moving component and the head mechanism 1 and the tail mechanism 6, and the underwater robot is enabled to be partially segmented through the arrangement of the tail moving component, so that compared with the integrated rigid straight barrel type connection, the underwater robot is more suitable for the rugged seabed environment and improves the working flexibility.

And a second step of: the auxiliary plate 401 is electrically controlled to move to one side through the first electric rail 211, under the meshing effect of the gear teeth 506 and 40, the sleeve 505 rotates along the shaft column 210, the third cabin ring 501 swings to one side, the second driving mechanism 607 on the tail mechanism 6 deflects in the direction corresponding to the head mechanism 1 through connection of the tail moving component and the head mechanism 1, the underwater robot finishes steering operation, the driving motor 207 drives the first gear 208 to rotate, the second cabin ring 202 is driven to rotate through meshing of the second gear 213 and the first gear 208, the swinging direction of the tail mechanism 6 is twisted, in addition, the seat cylinder 604 can control the second driving mechanism 607 to vertically overturn by ninety degrees on the vertical surface through the sleeve seat 606 by taking the second connecting seat 603 as an axis, and the underwater robot can perform steering by three hundred sixty degrees through matching of the rotating angles, so that the steering comprehensiveness is improved during operation.

And a third step of: when the first electric rail 211 moves to one side by electrically controlling the auxiliary plate 401, the tail mechanism 6 swings to the other side under the drive of the tail moving assembly, at this time, the underwater robot turns to one side moving toward the auxiliary plate 401, the distance between the first driving mechanism 407 and the first cabin mechanism 2 at two ends of the auxiliary plate 401 changes after the auxiliary plate 401 moves to one side, the distance between the first driving mechanism 407 and the first cabin mechanism 2 at one side in the moving direction of the auxiliary plate 401 is longer, and the moment driven by the first driving mechanism 407 is longer, so that the driving force for turning one side of the underwater robot is larger than that of the other side, and the underwater robot is assisted to turn, so that the underwater robot can perform efficient turning operation during working.

Fourth step: because the range of motion of the first driving mechanism 407 is larger, when the first driving mechanism 407 covers the seaweed, the first connecting seat 205 controls the cleaning mechanism 3 to rotate from a horizontal state to a vertical state, and the second cabin ring 202 rotates to drive the auxiliary mechanism 4 to rotate, so that the first driving mechanism 407 is driven to actively move towards the directions of the first cleaning column 301 and the second cleaning column 305, the cleaning belt 306 can hook off the seaweed on the end face of the cover net 406, and the second cleaning column 305 can hook off the seaweed on the arc side face of the cover net 406, so that the cleaning function is achieved in time, and the safety and reliability of the underwater robot are improved.

Fifth step: because the first electric rail 211 can control the auxiliary plate 401 to deviate to two sides, through the sliding connection of the second cleaning column 305 on the cleaning assembly and the smooth design of two sides of the second cleaning column 305, when the auxiliary plate 401 rotates in the normal position, the cover net 406 is opposite to the second cleaning column 305, the second cleaning column 305 contacts with the cover net 406 and randomly displaces, the cover net 406 can be randomly scratched from one side of the cover net 406 to clean, and as the auxiliary plate 401 moves under the drive of the first electric rail 211, the second cleaning column 305 deviates to one side of the cover net 406, and at the moment, the second cleaning column 305 slides from the deviated side to clean the arc side of the cover net 406, so that the periphery of the cover net 406 can be ensured to be cleaned completely through the cleaning belt 306 and the second cleaning column 305, and the cleaning comprehensiveness is improved.

Sixth step: through the design of the counterweight mechanism 7, when the underwater robot is carried out, the underwater robot can keep balance and assist steering through the swinging of the side fan plates 706 at the two sides of the V block 702, so that the advancing efficiency of the underwater robot is accelerated, when the underwater robot is kept stable in water, the pushing of the second driving mechanism 607 can be stopped, the underwater robot can be opposed to the submarine water flow through the swinging of the side fan plates 706, and the front and rear positions of the counterweight 705 in the second electric rail 704 are electrically controlled, so that the balance is kept, the energy consumed by the underwater robot in working is saved, and the working cost is saved.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (8)

1. An underwater robot with multiple propellers is formed by splicing a head mechanism (1), a tail moving assembly and a tail mechanism (6) through sealing flanges in sequence;

the head mechanism (1) comprises a head cabin (101), an underwater observation camera is mounted at the head of the head cabin (101), an electric control cabin (102) is fixedly connected to the tail of the head cabin (101) through a sealing flange, and a signal cabin (103) is fixedly connected to one side, far away from the head cabin (101), of the electric control cabin (102) through the sealing flange;

the method is characterized in that: the tail moving assembly comprises a first cabin mechanism (2), a cleaning mechanism (3), an auxiliary mechanism (4) and a second cabin mechanism (5);

the first cabin mechanism (2) comprises a first cabin ring (201), one side of the first cabin ring (201) is fixedly connected with the signal cabin (103) through a sealing flange, and the other side of the first cabin ring (201) is rotationally connected with a second cabin ring (202);

A second fin groove (204) is formed in the upper side of the first cabin ring (201), and a first connecting seat (205) is embedded and installed on two sides of one end, far away from the signal cabin (103), of the second fin groove (204);

The cleaning mechanism (3) comprises a cleaning component for cleaning seaweed and a fin component for reducing water resistance;

the cleaning assembly comprises a first cleaning column (301), one end of the first cleaning column (301) is adaptively inserted into a second fin groove (204) and is fixedly connected with an output shaft of a first connecting seat (205), a sliding groove (302) is formed in the upper side of the first cleaning column (301), a sliding block (303) is slidingly inserted into the sliding groove (302), springs (304) are fixedly connected to two sides of the sliding block (303), one end of each spring (304) away from the sliding block (303) is fixedly connected with the sliding groove (302), a second cleaning column (305) is fixedly connected to the upper side of each sliding groove (302), cleaning belts (306) are fixedly connected to two sides of one end of each second cleaning column (305) close to the sliding block, one end of each cleaning belt (306) away from the second cleaning column (305) is fixedly connected with the first cleaning column (301), and the cleaning belts (306) are covered on the upper side of the sliding groove (302);

The auxiliary mechanism (4) comprises an auxiliary plate (401), and two ends of the auxiliary plate (401) penetrate through the second cabin ring (202) and are respectively provided with a first driving mechanism (407).

2. An underwater robot with multiple thrusters as set forth in claim 1, wherein: a first fin groove (104) is formed in the upper side of the signal cabin (103), and the first fin groove (104) is communicated with a second fin groove (204) in an adaptive mode;

an interface (105) for plugging the cable is arranged on the signal cabin (103).

3. An underwater robot with multiple thrusters as set forth in claim 1, wherein: one side of the second cabin ring (202) is fixedly connected with an annular first connecting ring (203), and one side of the first connecting ring (203) far away from the second cabin ring (202) is rotationally inserted into the first cabin ring (201) through a bearing;

The upper inner wall of the first cabin ring (201) is fixedly connected with an organic rod (206), the lower end of the organic rod (206) is fixedly connected with a motor (207), and the lower end output shaft of the motor (207) is fixedly connected with a first gear (208);

an annular seat ring (209) is fixedly inserted into the inner side of the second cabin ring (202), and a shaft column (210) is vertically and fixedly connected with the inner side of the seat ring (209);

The seat ring (209) is close to the terminal surface both sides of first cabin ring (201) and all fixedly connected with first electric rail (211), two the common fixedly connected with fluted disc (212) of one side that seat ring (209) was kept away from to first electric rail (211), the radius of fluted disc (212) is the same with the external diameter of seat ring (209), one side fixedly connected with second gear (213) that seat ring (209) was kept away from to fluted disc (212), second gear (213) and first gear (208) meshing.

4. An underwater robot with multiple thrusters according to claim 2, wherein: the side, away from the second fin groove (204), of the first cleaning column (301) is adaptively inserted into the first fin groove (104);

The fin assembly comprises a fin post (307), one end of the fin post (307) is fixedly connected with a first cleaning post (301), the fin post (307) is in fit connection with a first fin groove (104), and the upper side of the fin post (307) is fixedly connected with a fin (308) in a fin shape.

5. A multi-propeller underwater robot as in claim 3 wherein: the auxiliary plate (401) is connected with the two first electric rails (211) in a sliding mode, a tooth groove (402) is formed in the middle of one side of the auxiliary plate (401), and the tooth groove (402) corresponds to the shaft column (210);

The first driving mechanism (407) comprises an annular driving ring (403), the driving ring (403) is fixedly connected with an auxiliary plate (401), a driving fan (404) is arranged in the driving ring (403), a cover net (406) is covered on one side of the head of the driving ring (403), and a connecting column (405) is fixedly connected between the cover net (406) and blades of the driving fan (404).

6. The multi-propeller underwater robot of claim 5 wherein: the second cabin mechanism (5) comprises a third cabin ring (501), a notch (502) for supplying a swinging space of the third cabin ring (501) is formed in one side of the third cabin ring (501), a second connecting ring (503) is fixedly connected to one side of the third cabin ring (501), the second connecting ring (503) is embedded with the notch (502), and a second cabin ring (202) is fixedly connected to one side, far away from the third cabin ring (501), of the second connecting ring (503);

The inner side of the third cabin ring (501) is fixedly connected with a barrel column (504), one end of the barrel column (504) close to the second connecting ring (503) is fixedly connected with a sleeve (505), the sleeve (505) is movably sleeved with the shaft column (210) through a bearing, one side, far away from the barrel column (504), of the sleeve (505) is fixedly connected with a tooth (506), and the tooth (506) is meshed with the tooth groove (402).

7. The multi-propeller underwater robot of claim 6 wherein: the tail mechanism (6) comprises a tail cabin (601), the head of the tail cabin (601) is fixedly connected with a third cabin ring (501) through a sealing flange, and the tail of the tail cabin (601) is embedded and fixedly connected with a flexible belt (602);

The tail inner side of the tail cabin (601) is fixedly connected with a second connecting seat (603), an output shaft of the second connecting seat (603) is fixedly connected with a seat cylinder (604), one side of the seat cylinder (604) is fixedly connected with a plug post (605), one side of the plug post (605) away from the seat cylinder (604) penetrates through a flexible belt (602) and is fixedly connected with a sleeve seat (606), the flexible belt (602) is fixedly connected with the plug post (605), and the sleeve seat (606) is fixedly clamped with a second driving mechanism (607);

The second drive mechanism (607) is identical to the first drive mechanism (407).

8. An underwater robot with multiple thrusters as set forth in claim 1, wherein: the automatic weighing device is characterized in that a weight balancing mechanism (7) for adjusting a weight is arranged on the lower side of the head mechanism (1), the weight balancing mechanism (7) comprises a connecting plate (701), the connecting plate (701) is fixedly sleeved on the lower side of the electric control cabin (102), a V block (702) is fixedly connected to the lower side of the connecting plate (701), the cross section of the V block (702) is in an inverted triangle, a supporting block (703) is fixedly connected to one end of the V block (702) close to the head cabin (101), and the supporting block (703) is fixedly sleeved on the lower side of the head cabin (101);

A second electric rail (704) is embedded and installed in the V-shaped block (702), and a balancing weight (705) is inserted in the second electric rail (704) in a sliding manner;

Both sides of V piece (702) are all through pivot equidistance evenly swing joint have side fan board (706), side fan board (706) activity and adaptation scarf joint are on V piece (702), homonymy side fixedly connected with stay cord (707) in proper order between side fan board (706), be close to riding block (703) side fan board (706) are through motor control rotation.