GB2593022A - Reconstructable air-underwater amphibious robot - Google Patents

Reconstructable air-underwater amphibious robot Download PDF

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Publication number
GB2593022A
GB2593022A GB2018775.3A GB202018775A GB2593022A GB 2593022 A GB2593022 A GB 2593022A GB 202018775 A GB202018775 A GB 202018775A GB 2593022 A GB2593022 A GB 2593022A
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United Kingdom
Prior art keywords
propeller
shell
underwater
electric control
air
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Granted
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GB2018775.3A
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GB2593022B (en
GB202018775D0 (en
Inventor
Chen Yanli
Bai Guiqiang
Du Weikang
Peng Gan
Shi Yu
Huang Zhaobo
Luo Songsong
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Jilin University
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Jilin University
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Publication of GB2593022A publication Critical patent/GB2593022A/en
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Publication of GB2593022B publication Critical patent/GB2593022B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C37/00—Convertible aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
    • B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
    • B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C35/00—Flying-boats; Seaplanes
    • B64C35/005—Flying-boats; Seaplanes with propellers, rudders or brakes acting in the water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/83—Electronic components structurally integrated with aircraft elements, e.g. circuit boards carrying loads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/13—Propulsion using external fans or propellers
    • B64U50/14—Propulsion using external fans or propellers ducted or shrouded
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/20—Transmission of mechanical power to rotors or propellers
    • B64U50/27—Transmission of mechanical power to rotors or propellers with a single motor serving two or more rotors or propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/31—Supply or distribution of electrical power generated by photovoltaics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/08—Propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C2211/00—Modular constructions of airplanes or helicopters

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Remote Sensing (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Transportation (AREA)
  • Ocean & Marine Engineering (AREA)
  • Toys (AREA)

Abstract

A reconstructable air-underwater amphibious robot comprising an electric control module 1 including four electric control units with the same structure and cubic outer contours, arranged in two rows and two columns. Adjacent electric control units are detachably connected. Four air-underwater amphibious vector propeller units 2 are provided. Each group of air-underwater amphibious vector propeller units are in rotation fit with one electric control unit respectively through one group of robot joints 3. Two groups of air-underwater amphibious vector propeller units 2 are fitting with the electric control unit in the same group rotate around two adjacent sides outside. The four air-underwater amphibious vector propeller units provide aerial flight and underwater power. The amphibious robot can dive under water and operate as an unmanned aerial vehicle (UAV).

Description

RECONSTRUCTABLE AIR-UNDERWATER AMPHIBIOUS ROBOT
TECHNICAL FIELD
The present invention belongs to the technical field of a space amphibious aircraft and particularly relates to a reconstructable air-underwater amphibious robot. BACKGROUND With the military demand in the future, it is difficult for a single robot to complete tasks in some special occasions. The air-underwater amphibious robot can combine the advantages of the underwater robot and the unmanned aerial vehicle, so as to complete tasks that the single space robot cannot complete. Therefore, the air-underwater amphibious robot has great application potential in the field of military, and also has great application value in the fields of scientific research such as oceanology, geophysical chemistry and the like.
There are few air-underwater amphibious robots at present, and the Chinese patent with the public number CN105151301A discloses a technical solution named an air-underwater amphibious robot and a method. On one hand, the air-underwater amphibious robot can realize underwater diving; and on the other hand, the air-underwater amphibious robot can realize aerial flight. In the process of underwater diving and aerial flight, the use efficiency is increased by changing the own mass at any time. During mass switching, a cabin door with holes is adopted, so that the inside and outside of the cabin naturally form a whole when in water and a particularly complex structure is not required to increase the mass, and the mass can be changed rapidly by opening the cabin door to achieve the lift-off efficiency during lift-off Accordingly, corresponding primary sealing and secondary sealing are arranged in the air ring, so that underwater motion and aerial motion may be mutually switched rapidly. The amphibious robot switches two air-underwater motion states, but cannot realize vector propulsion, resulting in low motion flexibility of the robot.
The underwater robot of the patent does not have a reconstruction function, and the robot will stop work when any one of propellers is in failure.
SUMMARY
An objective of the present invention is to provide a reconstructable air-underwater amphibious robot to solve the problems in the prior art that water-air propeller integrated vector propulsion of the robot cannot be realized and reconstruction of the amphibious robot cannot be realized.
To achieve the above objective, the reconstnictable air-underwater amphibious robot includes: an electric control module, wherein the electric control module includes four electric control units with the same structure and cubic outer contours, the four electric control units are arranged in two rows and two columns, and the adjacent two electric units are detachably connected; any adjacent two electric control units are taken as one group and the other two electric control units are taken as the other group, sides, proximal to center lines of the four electric control units, of the two electric control units in each group are connected through one group of robot joints, and the two electric control units in each group are in rotation fit with each other around the sides; each electric control unit includes a battery and a controller, the battery is connected to the controller and the robot joint on the corresponding electric control unit for supplying power, and the controller is connected to the robot joint on the corresponding electric control unit for controlling action; and four air-underwater amphibious vector propeller units, wherein each group of air-underwater amphibious vector propeller units are in rotation fit with one electric control unit respectively through one group of robot joints and one electric control unit, and two groups of air-underwater amphibious vector propeller units fitting with the two electric control unit in the same group rotate around two adjacent sides outside; and the four air-underwater amphibious vector propeller units provide aerial flight power and underwater power.
The air-underwater amphibious robot further includes a solar battery panel arranged on an upper surface of each electric control unit, wherein each solar battery panel is connected to the battery on the corresponding electric control unit for charging The robot joint includes: a driving motor, the driving motor being fixed on one fixed structure; a rotating structure in ratchet wheel fit with a driving shaft of the driving motor, the driving motor driving the rotating structure to rotate around an axis of the driving shaft, the rotating structure being provided with a through hole, and a plurality of axial grooves being distributed in the through hole circumferentially uniformly; a permanent magnet guide sleeve arranged coaxially with the through hole, the permanent magnet guide sleeve being fixed on another fixed structure; a locking electromagnet arranged coaxially with the through hole, the locking electromagnet being fixed on another fixed structure, and the locking electromagnet being electrically connected to and in signal transmission with the battery on the electric control unit where the locking electromagnet is located and the controller, and the locking electromagnet being controlled by the controller to switch on and off; and a locking permanent magnet in sliding fit with the permanent magnet guide sleeve, one end of the locking permanent magnet being attached or released from the locking electromagnet, and a plurality of bosses in sliding fit with the grooves in the though hole of the rotating structure being uniformly distributed on an outer circumference, proximal to an end part, of the other end of the locking permanent magnet Each of the air-underwater amphibious vector propeller units includes: a propeller shell, the propeller shell including an upper shell and a lower shell which are threadedly connected, a spherical groove being formed at an cooperation position of the upper shell and the lower shell, and the lower shell of the propeller shell being in rotation fit with the corresponding electric control unit through one group of robot joints; a sealing shell forming a spherical pair with the spherical groove formed in the propeller shell; a propeller motor arranged in the sealing shell, the propeller motor being electrically connected to the controller on the corresponding electric control unit; an underwater propeller coaxially arranged in the sealing shell, the propeller motor driving the underwater propeller to rotate, and a pawl being arranged on a lower end face of the underwater propeller; a vector control module arranged in the upper shell of the propeller shell, the vector control module pushing the sealing shell to rotate in the spherical groove around a sphere center of the sealing shell; an aerial propeller module arranged in the upper shell, the aerial propeller module including a propeller shaft arranged coaxially with the underwater propeller, an aerial propeller blade fixed at one end of the propeller shaft and a limiting structure fixed at the other end of the propeller shaft, the other end of the propeller shaft being fixedly connected to the limiting structure after passing through the underwater propeller, and a pawl fitting with the pawl on the lower end face of the underwater propeller being arranged on an upper end face of the limiting structure; and an amphibious switching module, the amphibious switching module driving the propeller shaft to move axially and driving the aerial propeller blade to extend or retract relative to the upper shell of the propeller shell, and the limiting structure at the other end of the propeller being fitting with the pawl on the underwater propeller when the aerial propeller blade extends relative to the upper shell of the propeller shell.
The sealing shell further includes: an outer shell fitting with the spherical groove and having a spherical outer surface; an inner shell in rotation fit with the outer shell through a supporting bearing, an inner surface of the inner shell being of a cylindrical structure and extending to a lower surface of the lower shell of the propeller shell, the underwater propeller being fixedly connected to the inner surface of the inner shell, and the propeller motor driving the inner shell and the underwater propeller to rotate relative to the outer shell; and an 0-shaped sealing ring arranged between a shaft shoulder of the inner shell and the outer shell.
The propeller motor includes: a motor outer ring, an outer wall surface of which is fixedly connected to an inner wall surface of the outer shell of the sealing shell; an inner rotor fixedly connected to an outer wall surface of the outer shell of the sealing shell; a permanent magnetic pole in burning connection to an inner wall surface of the inner rotor; and a winding mounted on an inner wall surface of the motor outer ring.
The vector control module includes four driving bodies distributed circumferentially uniformly, wherein each group of driving bodies includes a linear motor arranged in the upper shell of the propeller shell and forming a 450 angle with the propeller shaft as well as a spherical hinge fixed on an outer surface of the outer shell of the sealing shell; and a spherical shape at a shaft end of the linear motor forms spherical pair fit with the spherical hinge The amphibious switching module includes two symmetrical groups, and each group includes: a servo motor fixed on the upper shell of the propeller shell through a fixing structural part; a spherical gear mounted at a shaft end of the servo motor; a first connecting rod, one end of which forms gear transmission with the spherical gear, the first connecting rod being driven by the servo motor to rotate around a motor shaft; a second connecting rod, one end of which is connected to the other end of the first connecting rod through a cylindrical pin; a bearing clamp ring connected to the other end of the second connecting rod through the cylindrical pin; and a ceramic bearing, an outer ring of the ceramic bearing being fixedly connected to the bearing clamp ring, and an inner ring of the ceramic bearing being in interference connection to the propeller shaft.
An oil storage tank is formed in an inner surface of the spherical groove formed by the upper shell and the lower shell of the propeller shell.
The detachable connection of the adjacent two electric control units specifically means that contact surfaces of any adjacent two electric control units are connected through a connecting electromagnet, the connecting electromagnet is connected to the battery and a control circuit board, and the control circuit board controls the connecting electromagnet to switch on and off The present invention has the following beneficial effects: four air-underwater amphibious vector propeller units and electric control modules of the reconstructable air-underwater amphibious robot of the present invention are independent units, and reconstruction of the robot may be realized rapidly by the connecting electromagnet and the robot joint. When one air-underwater amphibious vector propeller unit is in failure, the air-underwater amphibious vector propeller unit may be separated rapidly, the remaining group of electric control modules is rapidly reconstructed under the connection of the robot joint. Adding the solar battery panel may effectively improve the cruising ability of the robot. By adoption of the designed robot joint and the air-underwater amphibious switching module, switching between the underwater mode and the aerial mode may be realized simply and the switching speed is high. During aerial propulsion, the pawls on the contact end faces of the underwater propeller and the propeller shaft limiting structure cooperate with each other, thus effectively avoiding motor idling. The four linear motors and the propeller form spherical hinge pair fit to form the propeller vector control unit, so that the structure is simple and control is facilitated; furthermore, the vector control unit may be applied to vector propulsion control on the underwater and aerial propulsion of the robot at the same time. The present invention is simple in structure and small in volume; and the robot moves flexibly.
BRIEF DESCRIPTION OF DRAWINGS
FIG. 1 is an axonometric view of a main body in an aerial mode according to the present invention; FIG. 2 is an axonometric view of a main body in an underwater mode according to the present invention; FIG. 3 is a sectional view in an underwater mode according to the present invention; FIG. 4 is a sectional view of a robot joint according to the present invention; FIG. 5 is an explosive view of a robot joint according to the present invention; FIG. 6 is a diagonal sectional view of an air-underwater amphibious vector propeller unit according to the present invention; FIG. 7 is a front sectional view of an air-underwater amphibious vector propeller unit according to the present invention; FIG. 8 is a front sectional view of an air-underwater amphibious vector propeller unit in an aerial mode according to the present invention; FIG. 9 is a top view of an air-underwater amphibious vector propeller unit according to the present invention; FIG. 10 is a sectional view of a vector control module according to the present invention; FIG. 11 is an axonometric view of a vector control module according to the present invention; FIG. 12 is an explosive view of an amphibious switching module according to the present invention; FIG. 13 is a partially structural diagram of a robot propeller pawl according to the present invention; and FIG. 14 is an axonometric view of a robot after reconstruction according to the present invention.
In the drawings: 1. Electric control module, 101. First electric control unit, 102. Second electric control unit, 103. Third electric control unit, 104. Fourth electric control unit, 105. Battery, 106. Controller, 2. Air-underwater amphibious vector propeller unit, 201. Propeller shell, 202. Upper shell, 203. Lower shell, 204. sealing shell, 205. Outer shell, 206. Supporting bearing, 207. Inner shell, 208 0-shaped sealing ring, 209. Propeller motor, 210. motor outer ring, 211. Inner rotor, 212. Permanent magnetic pole, 213. Winding, 214. Underwater propeller, 215. Vector control module, 216. Linear motor, 217. Spherical lunge, 218. Amphibious switching module, 219. Servo motor, 220. Fixing structural part, 221. Spherical gear, 222. First connecting rod, 223. Second connecting rod, 224. Cylindrical pin, 225. Bearing clamp ring, 226. ceramic bear, 227. Aerial propeller module, 228. Propeller shaft, 229. Aerial propeller blade, 230. Limiting structure, 3. Robot joint, 301. Driving motor, 302. Rotating structure, 303. Groove, 304. Permanent magnet guide sleeve, 305. Locking electromagnet, 306. Locking permanent magnet, 307. Boss, 4. Solar battery panel, 5. Connecting electromagnet.
DETAILED DESCRIPTION OF EMBODIMENTS
The embodiments of the present invention are further described below with reference to the accompanying drawings.
Referring to FIG. 1 to FIG. 3, the reconstructable air-underwater amphibious robot includes: an electric control module 1, wherein the electric control module 1 includes four electric control units with the same structure and cubic outer contours, the four electric control units are arranged in two rows and two columns, and the adjacent two electric units are detachably connected; any adjacent two electric control units are taken as one group and the other two electric control units are taken as the other group, sides, proximal to center lines of the four electric control units, of the two electric control units in each group are connected through one group of robot joints 3, and the two electric control units in each group are in rotation fit with each other around the sides; each electric control unit includes a battery 105 and a controller 106, the battery 105 is connected to the controller 106 and the robot joint 3 on the corresponding electric control unit for supplying power, and the controller 106 is connected to the robot joint 3 on the corresponding electric control unit for controlling action; and if the robot is damaged or according to the task requirements, the robot may be rapidly reconstructed under the action of the electromagnet and the robot joint 3 and can continue to work; and four air-underwater amphibious vector propeller units 2, wherein each group of air-underwater amphibious vector propeller units 2 are in rotation fit with one electric control unit respectively through one group of robot joints 3 and one electric control unit, and two groups of air-underwater amphibious vector propeller units 2 fitting with the two electric control unit in the same group rotate around two adjacent sides outside; and the four air-underwater amphibious vector propeller units 2 provide aerial flight power and underwater power.
The air-underwater amphibious robot further includes a solar battery panel 4 arranged on an upper surface of each electric control unit, wherein each solar battery panel 4 is connected to the battery 105 on the corresponding electric control unit for charging referring to FIG. 4 and FIG. 5, the robot joint 3 includes: a driving motor 301, the driving motor 301 being fixed on a fixed structure; if the robot joint 3 is arranged between the electric control unit and one air-underwater amphibious vector propeller unit 2, one fixed structure specifically refers to the electric control unit; if the robot joint 3 is arranged between two electric control units in one group, one fixed structure specifically refers to one of the electric control units; a rotating structure 302 forming ratchet wheel fit with a driving shaft of the driving motor 301, the driving motor 301 driving the rotating structure 302 to rotate around an axis of the driving shaft; the rotating structure 302 is provided with a through hole and a plurality of axial grooves 303 are distributed in the through hole circumferentially uniformly; a permanent magnet guide sleeve 304 arranged coaxially with the through hole, the permanent magnet guide sleeve 304 being fixed on another fixed structure; if the robot joint 3 is arranged between the electric control unit and one air-underwater amphibious vector propeller unit 2, another fixed structure specifically refers to the air-underwater amphibious vector propeller unit 2; if the robot joint 3 is arranged between two electric control units in one group, one fixed structure refers to the other one of the electric control units; a locking electromagnet 305 arranged coaxially with the through hole, the locking electromagnet 305 being fixed on another fixed structure, wherein the locking electromagnet 305 is electrically connected to and in signal transmission with the battery 105 on the electric control unit where the locking electromagnet 305 is located and the controller 106, and the locking electromagnet 305 is controlled by the controller 106 to switch on and off; and a locking permanent magnet 306 in sliding fit with the pemianent magnet guide sleeve 304, wherein one end of the locking permanent magnet 306 is attached or released from the locking electromagnet 305, and a plurality of bosses 307 in sliding fit with the grooves 303 in the through hole of the rotating structure 302 are uniformly distributed on an outer circumference, proximal to an end part, of the other end of the locking permanent magnet 306.
The driving shaft of the driving motor 301 and the rotating structure 302 form ratchet wheel fit, a ratchet wheel limits relative rotation between a motor shaft and the rotating structure 302 after the driving shaft of the driving motor 301 is inserted into the rotating structure 302, the rotating structure 302 rotates around the axis of the driving motor 301 under the driving of the driving motor 301, the locking electromagnet 305 and the permanent magnet guide sleeve 304 are fixed in the air-underwater amphibious vector propeller, four bosses 307 are distributed on the locking permanent magnet 306 circumferentially and move along the axis of the permanent magnet guide sleeve 304 under the driving of the locking electromagnet 305, the four bosses 307 distributed circumferentially cooperate with the grooves 303 of the rotating structure 302 to limit rotation of the locking permanent magnet 306 after the locking permanent magnet 306 is inserted into the grooves 303 of the rotating structure 302, the robot joint 3 together with the air-underwater amphibious vector propeller unit 2 may rotate around the driving shaft of the driving motor 301 by virtue of the ratchet wheel and cooperation of the grooves 303 and the bosses 307 under the driving of the driving motor 301, and during reconstruction of the robot, the locking electromagnet 305 drives the locking permanent magnet 306 to move to make the locking permanent magnet 306 withdraw from the grooves 303 of the rotating structure 302, and the driving motor 301 drives the rotating structure 302 to rotate to make the rotating structure 302 enter the electric control module 1.
referring to FIG. 6 to FIG. 9 and FIG. 13, each of the air-underwater amphibious vector propeller units 2 includes: a propeller shell 201, the propeller shell 201 including an upper shell 202 and a lower shell 203 which are threadedly connected, wherein a spherical groove is formed at an cooperation position of the upper shell 202 and the lower shell 203, and the lower shell of the propeller shell 201 is in rotation fit with the corresponding electric control unit through one group of robot joints 3; a sealing shell 204 forming a spherical pair with the spherical groove formed in the propeller shell 201; a propeller motor 209 arranged in the sealing shell 204, the propeller motor 209 being electrically connected to the controller 106 on the corresponding electric control unit; an underwater propeller 214 coaxially arranged in the sealing shell 204, wherein the propeller motor 209 drives the underwater propeller 214 to rotate, and a pawl is arranged on a lower end face of the underwater propeller 214; a vector control module 215 arranged in the upper shell 202 of the propeller shell 201, the vector control module 215 pushing the sealing shell 204 to rotate in the spherical groove around a sphere center of the sealing shell 204; an aerial propeller module 227 arranged in the upper shell 202, the aerial propeller module 227 including a propeller shaft 228 arranged coaxially with the underwater propeller 214, an aerial propeller blade 229 fixed at one end of the propeller shaft 228 and a limiting structure 230 fixed at the other end of the propeller shaft 228, wherein the other end of the propeller shaft 228 is fixedly connected to the limiting structure 230 after passing through the underwater propeller 214, and a pawl fitting with the pawl on the lower end face of the underwater propeller 214 is arranged on an upper end face of the limiting structure 230; and an amphibious switching module 218, the amphibious switching module 218 driving the propeller shaft 228 to move axially and driving the aerial propeller blade 229 to extend or retract relative to the upper shell 202 of the propeller shell 201, wherein the limiting structure 230 at the other end of the propeller is fitting with the pawl on the underwater propeller 214 when the aerial propeller blade 229 extends relative to the upper shell 202 of the propeller shell 201.
The propeller shell 201 is connected to the electric control module 1 through the robot joint 3, an inner wall of the propeller shell 201 and an appearance of the sealing shell 204 are spherical, the inner wall of the propeller shell 201 and the sealing shell 204 form geometric constraint, the sealing shell 204 may move in the propeller shell 201 around a sphere center of the sealing shell 204, the propeller motor 209 is in interference connection to the inner wall of the sealing shell 204, the underwater propeller 214 is in burning connection to an internal part of the sealing shell 204, one end of the vector control module 215 is fixed to an outer wall of the sealing shell 204 and the other end of the vector control module 215 is fixed in the propeller shell 201, one end of the amphibious switching module 218 is fixed to the propeller shell 201 through a screw and the other end of the amphibious switching module 218 is in interference connection to the aerial propeller module 227, the propeller shaft 228 passes through a shaft hole formed by four underwater propellers 214, and one end of the propeller shaft 228 is in threaded connection to the limiting structure 230 of the propeller shaft 228 and the other end of the propeller shaft 228 is in threaded connection to the aerial propeller blade 229.
The sealing shell 204 includes: an outer shell 205 fitting with the spherical groove and having a spherical outer surface; an inner shell 207 in rotation fit with the outer shell 205 through a supporting bearing 206, wherein an inner surface of the inner shell 207 is of a cylindrical structure and extends to a lower surface of the lower shell 203 of the propeller shell, the underwater propeller 214 is fixedly connected to the inner surface of the inner shell 207, and the propeller motor 209 drives the inner shell 207 and the underwater propeller 214 to rotate relative to the outer shell 205; and an 0-shaped sealing ring 208 arranged between a shaft shoulder of the inner shell 207 and the outer shell 205. The 0-shaped sealing ring 208 is mounted on a shaft shoulder groove 303 of a motor supporting structure 5033 for sealing The propeller motor 209 includes: a motor outer ring 210, an outer wall surface of which is fixedly connected to an inner wall surface of the outer shell 205 of the sealing shell 204; an inner rotor 211 fixedly connected to an outer wall surface of the outer shell 207 of the sealing shell 204; a permanent magnetic pole 212 in burning connection to an inner wall surface of the inner rotor 211; and a winding 213 mounted on an inner wall surface of the motor outer ring 210.
When the propeller motor 209 moves, the inner shell 207 together with the inner rotor 211 rotates relative to the outer shell 205, the permanent magnetic pole 212 includes four permanent magnets with the same shape which are in burning connection to an outer wall surface of the inner rotor 211, an outer wall surface of the motor outer ring 210 is fixedly connected to the sealing shell 204, the winding 213 is mounted on an inner wall surface of the motor outer ring 210, the underwater propeller 214 consists of four identical blades which are distributed on an inner wall surface of the inner rotor 211 uniformly, and the motor moves to drive the underwater propeller 214 to rotate to realize underwater motion of the robot.
Referring to FIG. 10 and FIG. 11, the vector control module 215 includes four driving bodies distributed circumferentially uniformly, wherein each group of driving bodies includes a linear motor 216 arranged in the upper shell 202 of the propeller shell 201 and forming a 450 angle with the propeller shaft 228 as well as a spherical hinge 217 fixed on an outer surface of the outer shell 205 of the sealing shell 204, and a spherical shape at a shaft end of the linear motor 216 forms spherical pair fit with the spherical hinge 217.
The vector control module 215 includes four linear motors 216 and four spherical hinges 217, wherein the spherical hinges 217 are uniformly distributed on an outer surface of the sealing shell 204 at intervals of 90 degrees and are fixedly connected to the sealing shell 204; the four linear motors 216 are uniformly distributed in the upper shell 202 of the propeller shell 201 at intervals of 90 degrees; an included angle between a main axis of the linear motor 216 and the propeller shaft 228 is 45 degrees; a shaft end of the linear motor 216 is spherical and forms spherical pair fit with the spherical hinge 217; during vector control, the four linear motors 216 and the spherical hinge 217 cooperate with each other, so that the propeller sealing shell 204 moves relative to the propeller shell 201; and since the propeller shaft 228 passes through the shaft hole formed by the four underwater propellers 214, the vector control can be realized when the robot is in the aerial mode Referring to FTC. 12, the amphibious switching module 218 includes two symmetrical groups, and each group includes: a servo motor 219 fixed on the upper shell 202 of the propeller shell 201 through a fixing structural part 220; a spherical gear 221 mounted at a shaft end of the servo motor 219; a first connecting rod 222, one end of which forms gear transmission with the spherical gear 221, the first connecting rod 222 being driven by the servo motor 219 to rotate around a motor shaft; a second connecting rod 223, one end of which is connected to the other end of the first connecting rod 222 through a cylindrical pin 224; a bearing clamp ring 225 connected to the other end of the second connecting rod 223 through the cylindrical pin 224; and a ceramic bearing 226, wherein an outer ring of the ceramic bearing 226 is fixedly connected to the bearing clamp ring 225, and an inner ring of the ceramic bearing 226 is in interference connection to the propeller shaft 228.
A main body of the amphibious switching module 218 is a four-rod mechanism, each component includes two groups which are symmetrically distributed on the inner wall of the upper shell 202 of the propeller shell 201, the fixing structural part 220 is in threaded connection to the upper shell 202 of the propeller shell 201 for fixing the servo motor 219, a spherical gear 221 is mounted at the shaft end of the servo motor 219, the spherical gear 221 and the first connecting rod 222 form gear transmission, the spherical gear 221 enables the first connecting rod 222 to move relative to the servo motor 219 around a sphere center of the spherical gear during vector control of the robot, the first connecting rod 222 may rotate around the axis of the servo motor 219 under the driving of the spherical gear 221, the first connecting rod 222 is connected to the second connecting rod 223 through the cylindrical pin 224, the second connecting rod 223 is connected to the bearing clamp ring 225 through the cylindrical pin 224, the inner surface of the bearing clamp ring 225 is fixedly connected to the outer ring of the ceramic bearing 226, the inner ring of the ceramic bearing 226 is in interference connection to the propeller shaft 228, and an upper surface of the ceramic bearing 226 is in contact with a lower surface of the propeller blade 229. When the robot is in the aerial mode, the servo motor 219 drives a connecting rod mechanism, so that the aerial propeller module 227 together with the ceramic bearing 226 moves along an axis direction of the propeller shaft 228. Under the action of the propeller motor 209, the aerial propeller module 227 rotates together with the inner ring of the ceramic bearing 226.
An oil storage tank is formed in an inner surface of the spherical groove formed by the upper shell 202 and the lower shell 203 of the propeller shell 201. Lubricating grease may be stored. During vector propulsion of the robot, grease in the oil storage tank may play a role in lubrication.
The detachable connection of the adjacent two electric control units specifically means that contact surfaces of any adjacent two electric control units are connected though a connecting electromagnet 5, the connecting electromagnet 5 is connected to the battery 105 and a control circuit board, and the control circuit board controls the connecting electromagnet 5 to switch on and off Referring to FIG. 1, FIG. 2 and FIG. 14, the electric control module 1 in the embodiment includes a first electric control unit 101, a second electric control unit 102, a third electric control unit 103 and a fourth electric control unit 104, wherein the first electric control unit 101 and the second electric control unit 102 are connected into a group by the robot joint 3; the third electric control unit 103 and the fourth electric control unit 104 are connected into another group by the robot joint 3; and four connecting electromagnets 5 are mounted outer surfaces of front, back, left and right of the first electric control unit 101, the second electric control unit 102, the third electric control unit 103 and the fourth electric control unit 104. The air-underwater amphibious vector propeller unit 2 includes four identical air-underwater amphibious vector propellers; the four air-underwater amphibious vector propeller units 2 are connected to the electric control module 1 through the robot joints 3 and may rotate around the driving motor 301 of the corresponding robot joint 3; and through cooperation of the robot joints 3 at different positions, the air-underwater amphibious vector propeller units 2 may rotate towards different directions. When one air-underwater amphibious vector propeller unit 2 is in failure, the air-underwater amphibious vector propeller unit 2 may be separated rapidly, the remaining group of electric control modules 1 is rapidly reconstructed under the connection of the robot joint 3.

Claims (10)

  1. CLAWS1. A reconstructable air-underwater amphibious robot, comprising: an electric control module (1), wherein the electric control module (1) comprises four electric control units with the same structure and cubic outer contours, the four electric control units are arranged in two rows and two columns, and the adjacent two electric units are detachably connected; any adjacent two electric control units are taken as one group and the other two electric control units are taken as the other group, sides, proximal to center lines of the four electric control units, of the two electric control units in each group are connected through one group of robot joints (3), and the two electric control units in each group are in rotation fit with each other around the sides; each electric control unit comprises a battery (105) and a controller (106), the battery (105) is connected to the controller (106) and the robot joint (3) on the corresponding electric control unit for supplying power, and the controller (106) is connected to the robot joint (3) on the corresponding electric control unit for controlling action; and four air-underwater amphibious vector propeller units (2), wherein each group of air-underwater amphibious vector propeller units (2) are in rotation fit with one electric control unit respectively through one group of robot joints (3) and one electric control unit, and two groups of air-underwater amphibious vector propeller units (2) fitting with the two electric control unit in the same group rotate around two adjacent sides outside; and the four air-underwater amphibious vector propeller units (2) provide aerial flight power and underwater power.
  2. 2. The reconstructable air-underwater amphibious robot according to claim 1, further comprising a solar battery panel (4) arranged on an upper surface of each electric control unit, each solar battery panel (4) being connected to the battery (105) on the corresponding electric control unit for charging.
  3. 3. The reconstructable air-underwater amphibious robot according to claim 1 or 2, wherein the robot joint (3) comprises: a driving motor (301), the driving motor (301) being fixed on one fixed structure; a rotating structure (302) in ratchet wheel tit with a driving shaft of the driving motor (301), the driving motor (301) driving the rotating structure (302) to rotate around an axis of the driving shaft, the rotating structure (302) being provided with a through hole, and a plurality of axial grooves (303) being distributed in the through hole circumferentially uniformly; a permanent magnet guide sleeve (304) arranged coaxially with the through hole, the permanent magnet guide sleeve (304) being fixed on another fixed structure; a locking electromagnet (305) arranged coaxially with the through hole, the locking electromagnet (305) being fixed on another fixed structure, and the locking electromagnet (305) being electrically connected to and in signal transmission with the battery (105) on the electric control unit where the locking electromagnet (305) is located and the controller (106), and the locking electromagnet (305) being controlled by the controller (106) to switch on and off; and a locking permanent magnet (306) in sliding fit with the permanent magnet guide sleeve (304), one end of the locking permanent magnet (306) being attached or released from the locking electromagnet (305), and a plurality of bosses (307) in sliding fit with the grooves (303) in the through hole of the rotating structure (302) being uniformly distributed on an outer circumference, proximal to an end part, of the other end of the locking permanent magnet (306).
  4. 4. The reconstructable air-underwater amphibious robot according to claim 1 or 2, wherein each of the air-underwater amphibious vector propeller units (2) comprises: a propeller shell (201), the propeller shell (201) comprising an upper shell (202) and a lower shell (203) which are threadedly connected, a spherical groove being formed at an cooperation position of the upper shell (202) and the lower shell (203), and the lower shell of the propeller shell (201) being in rotation fit with the corresponding electric control unit through one group of robot joints (3); a sealing shell (204) forming a spherical pair with the spherical groove formed in the propeller shell (201); a propeller motor (209) arranged in the sealing shell (204), the propeller motor (209) being electrically connected to the controller (106) on the corresponding electric control unit; an underwater propeller (214) coaxially arranged in the sealing shell (204), the propeller motor (209) driving the underwater propeller (214) to rotate, and a pawl being arranged on a lower end face of the underwater propeller (214); a vector control module (215) arranged in the upper shell (202) of the propeller shell (201), the vector control module (215) pushing the sealing shell (204) to rotate in the spherical groove around a sphere center of the sealing shell (204); an aerial propeller module (227) arranged in the upper shell (202), the aerial propeller module (227) comprising a propeller shaft (228) arranged coaxially with the underwater propeller (214), an aerial propeller blade (229) fixed at one end of the propeller shaft (228) and a limiting structure (230) fixed at the other end of the propeller shaft (228), the other end of the propeller shaft (228) being fixedly connected to the limiting structure (230) after passing through the underwater propeller (214), and a pawl fitting with the pawl on the lower end face of the underwater propeller (214) being arranged on an upper end face of the limiting structure (230); and an amphibious switching module (218), the amphibious switching module (218) driving the propeller shaft (228) to move axially and driving the aerial propeller blade (229) to extend or retract relative to the upper shell (202) of the propeller shell (201), and the limiting structure (230) at the other end of the propeller being fitting with the pawl on the underwater propeller (214) when the aerial propeller blade (229) extends relative to the upper shell (202) of the propeller shell (201).
  5. 5. The reconstructable air-underwater amphibious robot according to claim 4, wherein the sealing shell (204) comprises: an outer shell (205) fitting with the spherical groove and having a spherical outer surface; an inner shell (207) in rotation fit with the outer shell (205) through a supporting bearing (206), an inner surface of the inner shell (207) being of a cylindrical structure and extending to a lower surface of the lower shell (203) of the propeller shell, the underwater propeller (214) being fixedly connected to the inner surface of the inner shell (207), and the propeller motor (209) driving the inner shell (207) and the underwater propeller (214) to rotate relative to the f (205); and an 0-shaped sealing ring (208) arranged between a shaft shoulder of the inner shell (207) and the outer shell (205).
  6. 6. The reconstructable air-underwater amphibious robot according to claim 5, wherein the propeller motor (209) comprises: a motor outer ring (210), an outer wall surface of which is fixedly connected to an inner wall surface of the outer shell (205) of the sealing shell (204); an inner rotor (211) fixedly connected to an outer wall surface of the outer shell (207) of the sealing shell (204); a permanent magnetic pole (212) in burning connection to an inner wall surface of the inner rotor (211); and a winding (213) mounted on an inner wall surface of the motor outer ring (210).
  7. 7. The reconstnictable air-underwater amphibious robot according to claim 4, wherein the vector control module (215) comprises four driving bodies distributed circumferentially uniformly, each group of driving bodies comprising a linear motor (216) arranged in the upper shell (202) of the propeller shell (201) and forming a 450 angle with the propeller shaft (228) as well as a spherical hinge (217) fixed on an outer surface of the outer shell (205) of the sealing shell (204), and a spherical shape at a shaft end of the linear motor (216) forming spherical pair fit with the spherical hinge (217).
  8. 8. The reconstructable air-underwater amphibious robot according to claim 4, wherein the amphibious switching module (218) comprises two symmetrical groups, and each group comprises: a servo motor (219) fixed on the upper shell (202) of the propeller shell (201) through a fixing structural part (220); a spherical gear (221) mounted at a shaft end of the servo motor (219); a first connecting rod (222), one end of which forms gear transmission with the spherical gear (221), the first connecting rod (222) being driven by the servo motor (219) to rotate around a motor shaft; a second connecting rod (223), one end of which is connected to the other end of the first connecting rod (222) through a cylindrical pin (224); a bearing clamp ring (225) connected to the other end of the second connecting rod (223) through the cylindrical pin (224); and a ceramic bearing (226), an outer ring of the ceramic bearing (226) being fixedly connected to the bearing clamp ring (225), and an inner ring of the ceramic bearing (226) being in interference connection to the propeller shaft (228).
  9. 9. The reconstructable air-underwater amphibious robot according to claim 4, wherein an oil storage tank is formed in an inner surface of the spherical groove formed by the upper shell (202) and the lower shell (203) of the propeller shell (201).
  10. 10. The reconstructable air-underwater amphibious robot according to claim 1, wherein the detachable connection of the adjacent two electric control units specifically means that contact surfaces of any adjacent two electric control units are connected through a connecting electromagnet (5), the connecting electromagnet (5) is connected to the battery (105) and a control circuit board, and the control circuit board controls the connecting electromagnet (5) to switch on and MT.
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