CN217864656U - Guiding device and underwater robot - Google Patents

Abstract

The diversion device comprises a diversion piece and a driver connected with the diversion piece, wherein the diversion piece is used for being arranged at a fluid injection end of the fluid propelling device, and the driver is used for driving the diversion piece to deflect relative to a fluid injection axis of the fluid propelling device so as to adjust the flow direction of fluid injected by the fluid propelling device. The flow guide piece is arranged at the fluid jet end of the fluid propelling device, the position of the flow guide piece relative to the fluid propelling device is driven to change by the driver, and the fluid flowing direction of the fluid propelling device can be changed or adjusted.

Description

Guiding device and underwater robot

Technical Field

The utility model relates to a fluid power and control field, concretely relates to guiding device and underwater robot.

Background

It is known that devices such as jet aircrafts and water jet submersibles, which use a gas flow or a liquid flow as a power source, have been widely used in various fields. Among them, an underwater robot (also called an unmanned remotely operated vehicle) is used as an apparatus capable of replacing human beings to complete underwater operation tasks, and is widely applied to important fields such as ocean resource development, underwater facility inspection, underwater target (such as an oil platform, a submarine sunken vessel, and dam foundation crack) detection, and the like.

At present, a conventional underwater robot generally carries a vision monitoring system and a manipulator (such as a high-precision rigid manipulator or a soft manipulator capable of friendly interaction with the environment) to complete underwater operation tasks, such as sample acquisition, data collection, underwater environment monitoring, unstructured underwater environment operation and the like. When performing a task, such as observing and sampling the same sample from multiple angles, it is usually necessary to frequently turn on and off the thruster to adjust the attitude, position, orientation, etc. of the underwater robot so that the vision monitoring system or the robot can be in the optimal working position. The propeller stirs up silt such as a water bottom, floating bodies in water, and the like in the process of being frequently opened and closed, thereby disturbing the underwater operation environment, making the underwater operation environment cloudy, and causing a visual monitoring system to face a great difficulty in performing monitoring operation.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the main technical problem who solves provides a guiding device and applied this guiding device's underwater robot to reach the purpose that reduces the interference to the operation environment.

According to a first aspect, there is provided in an embodiment a flow directing device comprising:

a flow guide for disposition at a fluid ejection end of a fluid propulsion device; and

the driver is connected with the flow guide piece and used for driving the flow guide piece to deflect relative to the position of a fluid injection axis of the fluid propelling device so as to adjust the flow direction of fluid injected by the fluid propelling device.

In one embodiment, the driver includes:

the telescopic piece is provided with a fluid chamber and a fluid inlet and outlet, one end of the telescopic piece is connected with the flow guide piece, and the other end of the telescopic piece is fixedly arranged at a preset position of a fluid spraying end of the fluid propelling device; and

the fluid driving member is connected with the telescopic member and used for driving fluid to enter and exit the fluid chamber through the fluid inlet and outlet so as to control the fluid pressure in the fluid chamber and enable the telescopic member to extend or contract.

In one embodiment, the fluid propelling device further comprises an articulated connector, wherein the articulated connector is used for being fixed at a preset position around the fluid spraying end of the fluid propelling device;

the flow guide piece is arranged on the periphery of the fluid injection end of the fluid propulsion device, one end of the flow guide piece is connected with the joint connector, and the driver drives the flow guide piece to move around the joint connector, so that the other end of the flow guide piece is close to or far away from the fluid injection axis of the fluid propulsion device.

In one embodiment, the articulation connector is one of a hinged connector, an elastomeric connector, a shape memory alloy connector.

In one embodiment, the fluid propelling device further comprises a positioning base, the positioning base is used for being fixedly arranged at a preset position of a fluid jetting end of the fluid propelling device, one end of the driver is connected with the positioning base, the other end of the driver is connected with the flow guide piece, and the positioning base is connected with the flow guide piece through an articulated connector.

In one embodiment, the flow guide member is a plate-shaped structure, and a surface of the flow guide member on a side adjacent to a fluid ejection axis of the fluid propelling device is one of a curved surface, a flat surface, and a bent surface.

In one embodiment, the fluid propelling device further comprises a stress support piece, the stress support piece is positioned on one side of the flow guide piece far away from the fluid injection axis of the fluid propelling device, the extending direction of the stress support piece is distributed in a cross mode with the extending direction of the flow guide piece, one end of the stress support piece is connected with one end, adjacent to the joint connector, of the flow guide piece into a whole, and the driver is connected with the flow guide piece through the stress support piece.

In one embodiment, the flow guide member comprises a main flow guide plate part and a plurality of auxiliary flow guide plate parts, the main flow guide plate part is connected with the joint connector, the main flow guide plate part is flexibly connected with the adjacent auxiliary flow guide plate parts, and the adjacent two auxiliary flow guide plate parts are flexibly connected;

the main guide plate part and the auxiliary guide plate part are connected with drivers in a one-to-one correspondence mode, or the drivers are provided with a plurality of power output ends, and the main guide plate part and the auxiliary guide plate part are respectively connected with one power output end of each driver in a corresponding mode.

In one embodiment, the fluid propelling device further comprises a flexible connecting pipe, the flow guide piece is a tubular structure, one end of the flow guide piece is in flexible butt joint communication with the fluid jetting end of the fluid propelling device through the flexible connecting pipe, and the driver drives the flow guide piece to be offset relative to the fluid jetting end of the fluid propelling device, so that the axis of the flow guide piece is coincident with or offset from the fluid jetting axis of the fluid propelling device.

According to a second aspect, there is provided in an embodiment an underwater robot comprising:

a machine body on which a vision monitoring system is mounted;

the fluid propulsion device is arranged on the machine body and used for driving the machine body to advance and/or adjusting the posture of the machine body; and

a flow guide device disposed at a fluid ejection end of the fluid propulsion device, the flow guide device employing the flow guide device of the first aspect.

The flow guide device according to the above embodiment includes a flow guide member for being disposed at a fluid injection end of the fluid propulsion device, and a driver connected to the flow guide member for driving the flow guide member to be positionally deflected with respect to a fluid injection axis of the fluid propulsion device so as to adjust a flow direction of a fluid injected by the fluid propulsion device. The flow guide piece is arranged at the fluid jet end of the fluid propelling device, the position of the flow guide piece relative to the fluid propelling device is driven to change by the driver, and the fluid flowing direction of the fluid propelling device can be changed or adjusted.

Drawings

Fig. 1 is a structural assembly diagram (one) of a flow guiding device according to an embodiment.

Fig. 2 is a structural assembly schematic diagram (two) of the flow guide device of an embodiment.

Fig. 3 is an exploded view of an embodiment of a flow guiding device.

Fig. 4 is a schematic structural reference view of a flow guide member of the flow guide device according to an embodiment.

Fig. 5 is a schematic structural view of an embodiment of a deflector in a retracted state when applied.

Fig. 6 is a schematic structural view of an embodiment of a deflector in a deployed state when applied.

Fig. 7 is a structural assembly schematic diagram (one) of the underwater robot of the embodiment.

Fig. 8 is a structural assembly schematic diagram (ii) of the underwater robot of an embodiment.

Fig. 9 is a reference diagram illustrating an environmental state of a working space when a conventional underwater robot performs a task in the related art.

Fig. 10 is a reference diagram illustrating an environmental state of a working space when the underwater robot performs a task according to an embodiment.

Fig. 11 is a reference schematic diagram of a propulsion walking state of the underwater robot after the diversion device is retracted according to the embodiment.

In the figure:

10. a flow guide member; 11. a main baffle portion; 12. an auxiliary baffle portion; 20. a driver; 21. a telescoping member; a. a fluid inlet and outlet; 30. an articulation connector; 31. a first articulation end; 32. a second joint connection end; 40. a positioning base; 41. a first positioning connection part; 42. a second positioning connection part; 50. a stress support; A. a fluid propulsion device; B. a body; D. a manipulator; E. a water suction port.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings. Wherein like elements in different embodiments have been given like element numbers associated therewith. In the following description, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.

Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of clearly describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where a certain sequence must be followed.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" as used herein includes both direct and indirect connections (couplings), unless otherwise specified.

Taking a conventional underwater robot shown in fig. 9 as an example, the conventional underwater robot mainly comprises a robot body, a manipulator and a vision monitoring system which are carried at the bottom of the robot body, and a plurality of mechanism components such as vertical thrusters which are arranged on the periphery of the bottom of the robot body, wherein when the underwater robot observes and samples a sample in a certain area (such as the area below the robot body) from multiple angles, the posture, the orientation and the position of the underwater robot are adjusted by regulating and controlling the opening and closing of the vertical thrusters, the magnitude of the propelling force and the like; the flowing direction of water flow or air flow jetted by the vertical propeller is the same as the axial direction of the robot body, and the water flow or air flow jetted at high speed can accelerate the water flow speed of the area below the robot body, so that a disturbance effect is formed on the water environment of the area, silt at the water bottom, floating bodies in the water and the like are stirred up, and the area becomes turbid; at this time, the visual monitoring system cannot acquire the current clear working environment information, so that the robot faces great difficulty in observing and sampling a sample in the area.

To this end, a commonly adopted solution in the industry is to optimize the visual monitoring system, namely: the visual clarity of the visual monitoring system in a disturbed environment is improved by improving the performance of the visual monitoring system or selecting a high-performance visual monitoring system. However, such solutions cannot effectively solve the disturbance effect of the underwater robot itself on the underwater environment, but also increase the design difficulty, system configuration and use cost of the underwater robot.

The application of the flow guiding device provided by the application includes but is not limited to devices such as underwater robots, aircrafts and the like which take air flow or liquid flow as a power source; for example, application to underwater robots; the diversion part is arranged at the fluid jet end of the vertical propeller of the underwater robot, the driver is utilized to drive the diversion part to deviate relative to the fluid jet end of the vertical driver, the original flow direction of the fluid jetted by the vertical propeller can be changed or adjusted, the visual condition of the working area can be optimized by reducing the disturbance influence of the fluid on the environment area below the underwater robot, the space range of the working area can be expanded, and favorable conditions are created for the underwater robot to perform tasks such as visual monitoring and sampling. Compared with the existing solution, the application of the flow guide device can effectively solve the disturbance influence of the underwater robot on the underwater environment, and the visual definition of the underwater robot in the disturbed environment is improved.

Example one

Referring to fig. 1, fig. 2, fig. 3, fig. 5, fig. 6, fig. 10 and fig. 11, the present embodiment provides a flow guiding device, mainly installed at a fluid spraying end of a fluid propelling device a, for changing a flow direction of a fluid sprayed by the fluid propelling device a, the flow guiding device mainly including a flow guiding member 10, a driver 20, an articulation connector 30 and a positioning base 40; the fluid propulsion device A can be a propeller which takes airflow or liquid flow as a power source in equipment such as underwater robots, aircrafts and the like; the following describes each component of the deflector by taking a vertical drive of the underwater robot as an example.

The positioning base 40 is used primarily as a mounting carrier for the individual components of the entire air guiding device, namely: structurally associating and connecting the diversion member 10, the drive member 20, and the articulation connector 30 together by way of the positioning base 40, while structurally associating the entire diversion device with, for example, the fluid propulsion device A by way of the positioning base 40; the positioning base 40 is fixedly disposed at a predetermined position of the fluid ejecting end of the fluid propelling device a, for example, fixedly mounted at a peripheral side region of the fluid ejecting end of the fluid propelling device a.

In this embodiment, the positioning base 40 includes a first positioning connection portion 41 and a second positioning connection portion 42, the first positioning connection portion 41 mainly serves as a mounting carrier of the joint connector 30, and the first positioning connection portion 41 is fixed on the periphery side of the fluid injection end of the fluid propulsion device a along a direction perpendicular to the fluid injection axis of the fluid propulsion device a (which may also be understood as a horizontal direction); the second positioning connection portion 42 is formed by bending the end of the first positioning connection portion 41 away from the fluid propelling device a obliquely downward, and mainly serves as an assembly carrier of the driving member 20.

The joint connector 30 is mainly used as a flexible connecting part between the air guide 10 and the positioning base 40, so as to provide a condition of generating a certain relative displacement between the air guide 10 and the positioning base 40; the method specifically comprises the following steps: by utilizing the rotation and bending characteristics of the joint connector 30, the deflector 10 can perform a certain angular deflection motion relative to the positioning base 40. It should be noted that: the flexible connection is also called flexible connection or flexible connection, and refers to a connection mode allowing the connection part to bend, rotate, stretch and the like so as to generate a certain displacement.

In this embodiment, the joint connector 30 is a hinge connector such as a hinge, and has a first joint connection end 31 and a second joint connection end 32, the first joint connection end 31 is fixedly connected to the first positioning connection portion 41, and the second joint connection end 32 is connected to one end of the deflector 10, so that the deflector 10 can be turned at a certain angle relative to the positioning base 40. In other embodiments, the joint connector 30 may be formed by connecting a plurality of hinge members in a stepwise manner, which is advantageous to enable the air guide member 10 to have a wider range or a multi-angle movement condition, or may be formed by using an elastic body connector or a shape memory alloy connector, etc. to enable the air guide member 10 to have a relative movement condition by bending, etc.

The flow guide member 10 mainly generates a blocking effect on the water flow by directly contacting with the water flow jetted by the fluid propelling device a, so as to change or adjust the flow direction or flow path of the water flow, so that the water flow jetted by the fluid propelling device a deviates from the fluid jet axis (i.e. the original flow direction) of the fluid propelling device a, thereby reducing or reducing the interference or disturbance to the environment area corresponding to the fluid jet axis of the fluid propelling device a; the guide member 10 is disposed on the periphery of the fluid ejecting end of the fluid propulsion device a, and one end of the guide member 10 is connected to the positioning base 40 through the joint connector 30.

In this embodiment, the flow guiding element 10 is a fan-shaped plate-shaped structure body with a curved surface (or an arc surface) on the surface adjacent to the fluid spraying end of the fluid propelling device a, and it can also be understood that the whole flow guiding element 10 is an arc plate, so that the side surface or the curved surface is used as the flow guiding surface of the flow guiding element 10, and the circle center end of the flow guiding element 10 is connected to the second joint connecting end 32; when the diversion member 10 is in a retracted state (i.e. when not activated), the diversion member 10 is distributed in a certain area around the fluid injection end of the fluid propulsion device A along the vertical direction in parallel with the fluid propulsion device A, and the flowing direction of the water flow cannot be changed after the fluid propulsion device A is activated; after the diversion member 10 is unfolded, the diversion member 10 can deviate towards the direction of the fluid jet axis of the fluid propulsion device A, so that a blocking effect is generated in the original flow direction of the water flow, the water flow flows towards the side deviating from the diversion member 10, and the change or adjustment of the flow direction of the water flow is realized; the structural form of the arc-shaped plate can change the flow direction of water flow and avoid excessive disturbance to the underwater environment due to over-dispersed water flow.

In other embodiments, the diversion member 10 may also be a plate-shaped structure with a plane or a bent surface adjacent to the fluid spraying end of the fluid propelling device a, i.e. the overall shape of the diversion member 10 may also be a straight plate or a bent plate, so as to adapt to different water flow patterns, different structures of the fluid propelling device a or adjust and change the direction of the water flow in different ways. Of course, the flow guiding element 10 may also be a non-plate structure according to actual situations (such as the specific application scenario of the flow guiding device or the structural configuration of the fluid propelling device a).

The actuator 20 is mainly used as a power component for driving the diversion member 10 to expand or retract, so that the diversion member 10 can be deflected in position relative to the positioning base 40 or the fluid propulsion device a under the action of the joint connector 30, and the diversion member 10 can be close to or far away from the fluid jet axis of the fluid propulsion device a, thereby completing the adjustment or change of the water flow direction; one end of the driver 20 is connected to the second positioning connection portion 42, and the other end of the driver 20 is connected to the air guide member 10; in this case, the power stroke of the actuator 20 can be shortened by the relative position relationship between the second positioning connection portion 42 and the first positioning connection portion 41.

In this embodiment, the actuator 20 is a soft actuator, specifically, the actuator 20 includes a telescopic member 21 and a fluid driving member (not shown in the figure), the telescopic member 21 may be a tubular structure integrally made of an elastic material or a plastic material through processes such as blow molding, injection molding, 3D printing, etc., such as a corrugated structure, a paper folding structure, or other tubular structure with certain telescopic performance, the telescopic member 21 has a fluid chamber (not shown in the figure) and a fluid inlet/outlet a, and one end of the telescopic member 21 is fixedly connected to the fluid guiding member 10, and the other end is fixedly connected to the second positioning connection portion 42; the fluid driving member is a power component such as a water pump, and is installed outside the telescopic member 21 and communicated with the fluid inlet/outlet a (e.g., installed at a predetermined position in the surrounding area of the fluid propulsion device a and communicated with the telescopic member 21 through a pipeline), and water can be directly pumped into the fluid chamber from the environmental space (i.e., in the water environment) where the fluid guiding device is located through the fluid inlet/outlet a by using the fluid driving member, so that the telescopic member 21 is extended or contracted by adjusting and controlling the fluid pressure in the fluid chamber, and the fluid guiding member 10 is driven by the telescopic member 21 to perform a deviation motion around the joint connector 30. Therefore, the body of the whole flow guide device is not provided with any electronic element, the hydraulic driving effect of the driver 20 is realized by directly utilizing water in the working environment as a power source of the driver 20, and the water tightness measures do not need to be specially designed for the flow guide device per se and the influence of the underwater pressure is not considered.

In other embodiments, the driver 20 may also adopt an existing closed-loop hydraulic driver, a motor driver such as an electric push rod, and other driving mechanisms (such as a link transmission mechanism with a power output function), and at this time, only the body end and the power output end of the driver 20 need to be respectively and adaptively connected with the air guide 10 and the positioning base 40, and the air guide 10 is directly pushed or pulled by the power output by the driver 20; since one end of the deflector 10 is connected to the joint connector 30, the actuator 20 generates a linear stroke or a rotational stroke when driving the deflector 10 to perform a displacement motion; the mentioned adapter connection can thus be a rotary connection or a sliding connection.

Firstly, based on the driving action of the driver 20 on the flow guide member 10, the deflection angle of the flow guide member 10 relative to the fluid propulsion device a can be adjusted in time, so as to influence the water flow direction of the fluid propulsion device a, and realize the change and adjustment of the water flow direction.

Secondly, the whole body of the flow guide device can be free from any electronic element based on the selection of the driver 20, and the flow guide device can be conveniently and quickly processed, manufactured, disassembled and assembled for use; and the hydraulic driving effect of the driver 20 can be realized by directly pumping water in the environment, so that the movement of the flow guide member 10 is not influenced by the underwater pressure.

Thirdly, taking the case of applying the diversion device to the underwater robot and matching with the vertical thruster, after the driver 20 drives the diversion element 10 to retract, the diversion element 10 can eliminate the change effect on the water flow direction of the vertical thruster, so as to create conditions for realizing the full-force propulsion of the underwater robot (see fig. 5, 7, 8 and 11); on the contrary, after the driver 20 drives the diversion member 10 to expand, the water flow direction of the vertical propeller can be changed, so that the water flow flows towards the peripheral area of the underwater robot (see fig. 6, 7, 8 and 10), and therefore, as the area right below the underwater robot is less disturbed by the water flow, sediment at the bottom of the water, floating bodies in the water and the like cannot be stirred up in the process that the vertical propeller is frequently opened and closed, the visual definition of the area can be ensured, the space of the area can be expanded, and the effects of improving the working environment of the underwater robot and expanding the working space can be achieved.

Fourthly, based on the structural style of the whole flow guide device and the possessed functional characteristics, the flow guide device can be suitable for various application scenes, such as: the underwater robot using the water jet propeller as a power device, the aircraft using the jet propeller as a power device, and other power equipment using the water jet propeller or the jet propeller as a power device.

It should be noted that: in some embodiments, the positioning base 40 may be omitted and the body of the fluid propulsion device a or related apparatus may be used directly as a mounting carrier for the baffle 10, the actuator 20, and the articulation connector 30.

Referring to fig. 1, 2, 3, 5 and 6, an embodiment of the flow guiding device further includes a stress supporter 50, the stress supporter 50 is located on a side of the flow guiding device 10 away from a fluid injection axis of the fluid propelling device a, an extending direction of the stress supporter 50 is distributed to intersect with an extending direction of the flow guiding device 10, one end of the stress supporter 50 is integrally connected to an end of the flow guiding device 10 adjacent to the joint connector 30 to form an included angle (e.g., 45 °) between the flow guiding device 10 and the stress supporter 50, and the driver 20 is connected to the flow guiding device 10 through the stress supporter 50. Therefore, the stress supporting member 50 can be used as an engagement member between the diversion member 10 and the driver 20 to realize the transmission of the power output by the driver 20; firstly, the power stroke (or extension length) of the driver 20 can be further shortened by utilizing the included angle between the stress supporting member 50 and the flow guide member 10, so as to create favorable conditions for enhancing the structural compactness of the whole flow guide device and the driving effect of the driver 20 on the flow guide member 10. Secondly, since the diversion element 10 needs to bear strong fluid impact force during diversion of water flow, the existence of the stress supporting element 50 can effectively disperse the fluid pressure borne by the diversion element 10 and the power exerted by the driver 20.

In a specific embodiment, referring to fig. 4, the flow guiding device 10 may be assembled and combined by a plurality of unit components, so that in the process of changing or adjusting the flow direction or flow path of the water flow, a part of the unit components can be unfolded or completely unfolded according to actual needs, thereby realizing specific adjustment of the water flow direction by changing the area, form and orientation of the flow guiding surface of the flow guiding device 10; specifically, the flow guide member 10 includes a main flow guide plate portion 11 and a plurality of auxiliary flow guide plate portions 12, the main flow guide plate portion 11 is connected to the joint connector 30, and the main flow guide plate portion 11 and the adjacent auxiliary flow guide plate portions 12 as well as the adjacent two auxiliary flow guide plate portions 12 are flexibly connected by using structural components similar to the joint connector 30, so that the main flow guide plate portion 11 and the auxiliary flow guide plate portions 12 have functional conditions of being folded and stored or being unfolded relatively; the main baffle portion 11 and the auxiliary baffle portion 12 are connected with a plurality of drivers 20 in a one-to-one correspondence (i.e. the drivers 20 are in a one-to-one correspondence with the main baffle portion 11 and the auxiliary baffle portion 12), so that the driver 20 corresponding to the main baffle portion 11 can drive the main baffle portion 11 to drive the auxiliary baffle portion 12 to generate a synchronous position offset relative to the positioning base 40 or the fluid propulsion device a, and the driver 20 corresponding to the auxiliary baffle portion 12 can drive the auxiliary baffle portion 12 to expand or store relative to the main baffle portion 11, so as to reduce or expand the area, shape, orientation, etc. of the baffle surface of the whole baffle 10, thereby adjusting the flow direction of the fluid according to actual needs. Of course, a driver 20 having a plurality of power output ends may be adopted, such that the main baffle plate 11 and the auxiliary baffle plate 12 are respectively connected to one power output end of the driver 20, and thus, by controlling the output torque of each power output end of the driver 20, the driving control of the main baffle plate 11 and the auxiliary baffle plate 12 can be realized.

Example two

The embodiment provides a flow guiding device, and the difference between the flow guiding device provided in the first embodiment and the flow guiding device provided in the second embodiment is: the flow guide 10 is of different design and application.

In this embodiment, the flow guiding member 10 is a tubular structure, which is flexibly connected to the fluid injection end of the fluid propelling device a through a soft connecting pipe; the soft connecting pipe can adopt a corrugated pipe or other pipe body structures with certain bending performance and resilience; therefore, the water flow can be guided into the flow guide part 10 by utilizing the flexibility or the direction change of the soft connecting pipe, and the direction of the water flow is finally adjusted by adjusting the direction of the flow guide part 10; specifically, the driver 20 is directly or indirectly connected to the fluid guide 10, and the driver 20 is used to drive the fluid guide 10 to be positionally offset relative to the fluid injection end of the fluid propulsion device a, so that the axis of the fluid guide 10 coincides with or is offset from the fluid injection axis of the fluid propulsion device a, and in the case that the axis of the fluid guide 10 coincides with the fluid injection axis of the fluid propulsion device a, the influence of the fluid guide 10 on the water flow direction of the fluid propulsion device a is removed; in the case that the axis of the guide member 10 is deviated from the fluid injection axis, the guide member 10 may change or adjust the direction of the water flow.

EXAMPLE III

Referring to fig. 7 and 8, the present embodiment provides an underwater robot, which employs the diversion device of any one of the foregoing embodiments to improve the underwater environment of a working area through the action of the diversion device when the underwater robot performs an underwater work task, and specifically, the underwater robot includes a body B, a fluid propulsion device a and a diversion device; wherein:

the body B is a main body part of the whole underwater robot, and components such as a visual monitoring system (not shown in the figure) and a manipulator D are mounted on the body B, and the visual monitoring system is used for observing the underwater environment, the condition of a sample to be processed and the like in real time, so that information support can be provided for advancing, posture adjustment and action of the manipulator D of the underwater robot while underwater environment information and sample image information are acquired; in this embodiment, the manipulator D and the vision monitoring system are both located at the bottom of the body B; of course, the manipulator D and the vision monitoring system may be disposed at other positions of the body B, such as the front side or the left and right sides; since the machine body B, the manipulator D, the vision monitoring system, and the like can all adopt the prior art, detailed description thereof is omitted.

The fluid propelling devices A are uniformly arranged on the periphery of the bottom of the machine body B, and are used as vertical propellers of the machine body B, so that the whole underwater robot can advance or adjust the posture in an underwater environment through the opening and closing of the fluid propelling devices A or the regulation and control of the propelling force; in this embodiment, the body B is provided with a water suction port E for communicating with a fluid suction end of the fluid propulsion device a, and the fluid propulsion device a uses water in the environment as a power source, so that local materials can be used, and power is generated by pumping water in the environment space and jetting the water at a high speed. The diversion device adopts the diversion device of any one of the embodiments, the bottom of the machine body B is taken as the center, the fluid propulsion devices A are uniformly distributed on the outer peripheral side of the machine body B, the diversion device corresponds to the fluid propulsion devices A and is distributed on the inner peripheral side of the machine body B, and the diversion device can be used for changing or adjusting the flow direction of water flow jetted by the fluid propulsion devices A.

Based on this, please refer to fig. 11, when the driver 20 drives the diversion member 10 to retract, the diversion member 10 can eliminate the change effect of the water flow direction of the fluid propulsion device a, so that the flow direction of the water flow jetted by the fluid propulsion device a coincides with the fluid jet axis of the fluid propulsion device a, i.e. is parallel to the central axis of the machine body B, and at this time, the fluid propulsion device a is equivalent to playing a vertical propulsion effect, thereby creating a condition for ensuring the full-force travel of the underwater robot. Referring to fig. 10, when the driver 20 drives the diversion member 10 to deflect relative to the fluid injection end of the fluid propulsion device a, the flow direction of the water flow can be changed to divert the water flow toward the outer periphery of the machine body B; the water flow disturbance in the area right below the machine body B can be reduced due to the change of the water flow direction, and the silt and the floating body in the area are prevented from being stirred up; therefore, the visual definition of the environment in the area can be ensured, a good working environment is provided for the visual monitoring system, the manipulator D and other operation tasks, and the effect of expanding the operation space can be achieved.

It is right to have used specific individual example above the utility model discloses expound, only be used for helping to understand the utility model discloses, not be used for the restriction the utility model discloses. To the technical field of the utility model technical personnel, the foundation the utility model discloses an idea can also be made a plurality of simple deductions, warp or replacement.

Claims (10)

1. A flow directing device, comprising:

a flow guide for disposition at a fluid ejection end of a fluid propulsion device; and

the driver is connected with the flow guide piece and used for driving the flow guide piece to deflect relative to the position of a fluid injection axis of the fluid propelling device so as to adjust the flow direction of fluid injected by the fluid propelling device.

2. The flow directing device of claim 1, wherein the driver comprises:

the telescopic piece is provided with a fluid chamber and a fluid inlet and a fluid outlet, one end of the telescopic piece is connected with the flow guide piece, and the other end of the telescopic piece is used for being fixedly arranged at a preset position of a fluid spraying end of the fluid propelling device; and

the fluid driving member is connected with the telescopic member and used for driving fluid to enter and exit the fluid chamber through the fluid inlet and outlet so as to control the fluid pressure in the fluid chamber and enable the telescopic member to extend or contract.

3. The flow directing device of claim 1, further comprising an articulating connector for securing in a predetermined position around the fluid emitting end of the fluid propelling device;

the flow guide piece is arranged on the periphery of the fluid injection end of the fluid propulsion device, one end of the flow guide piece is connected with the joint connector, and the driver drives the flow guide piece to move around the joint connector, so that the other end of the flow guide piece is close to or far away from the fluid injection axis of the fluid propulsion device.

4. The deflector of claim 3, wherein the articulation connector is one of a hinged connector, an elastomeric connector, and a shape memory alloy connector.

5. The flow guide device as claimed in claim 3, further comprising a positioning base for being fixedly disposed at a predetermined position of the fluid injecting end of the fluid propelling device, wherein one end of the actuator is connected to the positioning base, the other end of the actuator is connected to the flow guide member, and the positioning base is connected to the flow guide member through an articulation joint.

6. The fluid directing device of claim 3, wherein the fluid directing member is a plate-like structure, and a surface of the fluid directing member on a side thereof adjacent to a fluid ejection axis of the fluid propelling device is one of a curved surface, a flat surface, and a bent surface.

7. The fluid directing device of claim 6, further comprising a stress support member disposed on a side of the fluid directing member away from the fluid injection axis of the fluid propelling device, wherein the stress support member extends in a direction that is substantially orthogonal to the direction of the fluid directing member, one end of the stress support member is integrally connected to an end of the fluid directing member adjacent to the knuckle connector, and the actuator is connected to the fluid directing member through the stress support member.

8. The deflector device of claim 6, wherein the deflector member comprises a main deflector portion and a plurality of auxiliary deflector portions, the main deflector portion is connected to the joint connector, the main deflector portion is flexibly connected to an adjacent auxiliary deflector portion, and two adjacent auxiliary deflector portions are flexibly connected;

the main guide plate part and the auxiliary guide plate part are connected with drivers in a one-to-one correspondence mode, or the drivers are provided with a plurality of power output ends, and the main guide plate part and the auxiliary guide plate part are respectively connected with one power output end of each driver in a corresponding mode.

9. The flow directing device of claim 1 further comprising a flexible connecting tube, wherein the flow directing member is a tubular structure, one end of the flow directing member is in flexible abutting communication with the fluid emitting end of the fluid propelling device through the flexible connecting tube, and the actuator drives the flow directing member to be positionally offset relative to the fluid emitting end of the fluid propelling device so that the axis of the flow directing member coincides with or is offset from the fluid emitting axis of the fluid propelling device.

10. An underwater robot, comprising:

a machine body on which a vision monitoring system is mounted;

the fluid propulsion device is arranged on the machine body and used for driving the machine body to advance and/or adjusting the posture of the machine body; and

a flow guide device disposed at a fluid ejection end of a fluid propulsion device, the flow guide device employing the flow guide device of any one of claims 1-9.

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