WO2020151372A9

WO2020151372A9 - Gravity-sensing two-way propeller and water rescue robot using same

Info

Publication number: WO2020151372A9
Application number: PCT/CN2019/122390
Authority: WO
Inventors: 周超
Original assignee: 浙江华船海工科技有限公司
Priority date: 2019-01-25
Filing date: 2019-12-02
Publication date: 2021-10-21
Also published as: WO2020151372A1; CN109606587A

Abstract

A gravity-sensing two-way propeller and a water rescue robot using same. According to the propeller, one end of a power pump (2) is hinged and the other end thereof is arranged in a swinging manner, so that no matter which side of the water suction pipe (5) symmetrically arranged at the upper and lower sides faces downwards, the power pump (2) can swing under gravity to be communicated with the water suction pipe (5) positioned therebelow, thereby maintaining power propulsion of the water rescue robot; moreover, due to the isolation of the water suction pipe (5), the swinging of the power pump (2) will not be blocked regardless of whether a foreign matter is stuck in a water inlet grille (53), so that the propeller can perform gravity-sensing self-regulation in any working environment, and the rescue robot having the propeller can achieve gravity-sensing self-regulation of a power output direction in any working environment; furthermore, an inclination angle between the head of the rescue robot and a water surface is reduced, and the water resistance is reduced.

Description

Gravity induction two-way thruster and water assistance robot using the thruster

Technical field

The invention relates to the technical field of water assistance robots, in particular to a gravity sensing two-way thruster and a water assistance robot using the thruster.

Background technique

A lifebuoy is a kind of life-saving equipment on the water, usually made of foam plastic or other light materials with a small specific gravity. The shape of the lifebuoy is ring with a middle opening. The user passes the upper body through the middle opening and puts his hands on the lifebuoy. , You can use the buoyancy of the lifebuoy to float on the water in a relaxed state. When someone accidentally falls into the water or rescues at sea, rescuers need to drive the boat to the vicinity of the person who fell into the water or on the beach, and then throw the lifebuoy next to the person who fell into the water. Only after the rescuers grab the lifebuoy can they continue to wait for rescue more safely, and rescuers have ample time to carry out rescues more safely.

Existing lifebuoys need to be thrown manually. In this respect, rescuers must rush to the scene of falling into the water. However, if the environment on the scene is not conducive to the navigation of the rescue boat, it will greatly affect the rescue work, and even the rescue cannot be carried out smoothly. To rescue a person who fell into the water, you need to repeatedly move to the position of each person who fell into the water, and then throw the lifebuoy separately, which causes the rescue speed to be slow. On the other hand, the lifebuoy is generally thick and heavy, and the lighter weight is easily affected by wind or air resistance. As a result, the accuracy of the lifebuoy throwing is extremely difficult to control, and because most of the people who fall into the water can't swim, some people who can swim in the water will also consume a lot of physical energy while waiting for rescue. If it is thrown to the side of the person who fell into the water, the person who fell into the water will not be able to grasp the lifebuoy. Even if the rescue personnel's redundant lifebuoy is re-thrown, it will inevitably delay the rescue work greatly.

In addition, if the location of the person who fell into the water cannot be used by the rescue boat, or the rescuer does not have a lifeboat, the existing life-saving equipment will not be able to rescue the person who fell into the water.

In the Chinese patent with the patent number CN201820388502.X, a self-powered and remotely controlled lifebuoy is disclosed, including a U-shaped lifebuoy body, and it also includes a propeller, a storage battery, a power control circuit, and a receiver installed at both ends of the lifebuoy body. A device, a remote controller; the power control circuit is electrically connected to the thruster, the receiving device receives the wireless signal of the remote controller, and controls the thruster to work through the power control circuit; the thruster can rotate 360 degrees freely to realize a lifebuoy It can be thrown directly into the water to work regardless of the front and back.

However, the above-mentioned patents have the following disadvantages:

1. During the 360-degree free rotation of the propeller, once a foreign object is caught in the water inlet grille of the propeller, the propeller cannot be rotated;

2. During the propulsion process, the propeller always sprays water horizontally, the water resistance of the lifebuoy is large, and the endurance is poor;

3. Working in an environment with strong wind and waves, it is easy to be flipped under the influence of waves.

Summary of the invention

In view of the above problems, the present invention provides a gravity-sensing two-way propeller, which hinges one end of the power pump and swings the other end, so that the suction pipe arranged symmetrically up and down, no matter which side of the suction pipe is in contact with the water surface, The power pump can be connected to the corresponding suction pipe through gravity swing, so that a group of power pumps can be self-adjusted by its own gravity, ensuring that the water assistance robot can generate power propulsion no matter which side of the water is falling, and solve the power of the propeller. The pump can realize the technical problem of two-way pumping through gravity induction swing.

In order to achieve the above objectives, the present invention provides the following technical solutions:

A gravity sensing two-way thruster, which includes:

Mounting seat

An arc-shaped plate, the arc-shaped plate and the mounting seat are arranged oppositely, and the two are connected by a connecting piece, and a swing area is formed between the arc-shaped plate and the mounting seat;

A power pump, the power pump is placed in the swing area and one end of the power pump is rotatably connected with the mounting seat, and the other end of the power pump moves along the surface of the arc-shaped plate under the action of its own gravity; and

The suction pipe is arranged on the other side of the arc-shaped plate relative to the power pump, and two groups are arranged symmetrically up and down along the vertical direction of the arc-shaped plate, and both are connected to the swing area. Connected

When the water inlet on any one of the suction pipes is in contact with the water surface, when the end of the power pump that swings along the arc-shaped plate guides and swings to the lower limit position of the arc-shaped plate by its own gravity, the power pump and the corresponding The water outlet on the water suction pipe is in an anastomose connection, and at this time, the end of the power pump that is rotationally connected to the mounting seat is inclined upward.

As an improvement, it includes a mounting plate, and the relationship between the distance D1 between the water inlets of the two sets of suction pipes and the diameter D2 of the mounting plate satisfies: D1>D2.

As an improvement, a side of the mounting plate opposite to the arc-shaped plate is extended with a coaxially arranged diversion flange, and one end of the power pump that is rotatably connected with the mounting seat is placed in the diversion flange , Its two sides are respectively rotatably connected with the mounting base through corresponding connecting shafts;

When the one end of the power pump that swings along the arc-shaped plate guides and swings to the lower limit position of the arc-shaped plate by its own gravity, the angle between the central axis of the power pump and the axis of the mounting seat is α, and the flow guide flanging The diameter of the opening is S1, the diameter of the end of the power pump at the diversion flange is S2, and the relationship among α, S1 and S2 satisfies: S1>S2/cosα.

As an improvement, the longitudinal section of the arc-shaped plate is a circular arc, and the center of the longitudinal section is located on the line between the connecting shafts.

As an improvement, the power pump includes:

The pipe includes a pump suction port and a pump nozzle. The edge of the pump suction port is always arranged in contact with the arc-shaped plate, and its shape is adapted to the shape of the opening of the water outlet, and the pump nozzle is placed in the Inside the diversion flange, and it is a closing setting; and

The waterproof pump set is coaxially arranged in the pipe, and the waterproof pump set is arranged on the pipe close to the arc-shaped plate.

As an improvement, the shape of the opening of the water outlet of the suction pipe is consistent with the contour of the arc-shaped plate, the opening position of the water inlet is parallel to the axis of the mounting seat, and the suction pipe is facing the water inlet The side wall has an arc structure, and the center of the longitudinal section of the side wall is located on the side where the water inlet is located.

The beneficial effects of the propeller of the present invention are:

(1) Compared with the reference document CN201820388502.X, the present invention uses a set of power pumps to swing and self-adjust through its own gravity, so that when any one of the two sets of suction pipes is in contact with the water surface , The power pump can quickly communicate with the suction pipe to form power, so that the propeller can be applied to the water assistance robot to generate power propulsion regardless of which side is falling into the water. There is no need to add a counterweight, while the comparison file requires an additional counterweight. , To realize the rotation adjustment of the thruster relying on the gravity induction of the counterweight;

(2) Compared with the reference document, due to the isolation of the suction pipe, the present invention will not hinder the swing of the power pump regardless of whether the foreign matter is stuck in the inlet grille, and even if the foreign matter enters the suction pipe from the inlet grille to flow The part connected to the pump set will also fall back to the water inlet grid due to gravity, which cannot hinder the swing of the power pump, and the comparison document is adjusted by rotating the counterweight, once the foreign matter is stuck in the water inlet grid. On the grid, it will cause the thruster to be unable to rotate and adjust, and the adaptability is poor.

(3) Compared with the comparative document, the present invention is adjusted by the gravity induction swing of the power pump, and the rescue robot falls into the water, and the power pump swings into place. However, the power pump in the comparative document is not set when it is rotated 360° by gravity induction. Limit position, similar to the pendulum effect, after the lifebuoy falls into the water, the power pump will still swing in the water due to rotation, unable to effectively output power, and the lifebuoy is used in more critical moments;

(4) In the process of the swing of the power pump, the pump suction port and the arc-shaped plate with the suction pipe are set to overlap and swing, so that when the power pump swings in place, the pump suction port and the water outlet of the suction pipe are connected in a sealed connection, which is a power pump. The suction force can be effectively transferred to the water surface through the suction pipe for water flow pumping, and there will be no meaningless water flow, and the power output is optimized;

(5) In the present invention, the waterproof pump set is arranged at one end of the pipe near the arc-shaped plate, so that the waterproof pump set is close to the corresponding suction pipe, so that the suction force generated by the waterproof pump set is more effectively released to the water surface through the corresponding suction pipe On the top, the suction power is formed on the water surface, and the water jet is formed to form a more powerful driving force.

In view of the above problems, the present invention provides a water assistance robot. By hingedly connecting one end of the power pump and the other end swinging, the water assistance robot can swing by gravity and the corresponding suction water no matter which side of the water assistance robot is in contact with the water surface. The pipe is connected to quickly realize the power output of the water rescue robot, so that the water assistance robot can rely on power to advance, and solves the technical problem that the water assistance robot can quickly output power no matter which side of the water rescue robot is in contact with the water surface.

A water assistance robot includes a lifebuoy body and an energy system installed in the lifebuoy body. The lifebuoy body includes a V-shaped head and two wing parts symmetrically arranged on both sides of the head. It includes the aforementioned gravity-sensing two-way thruster. The gravity-sensing two-way thruster is respectively installed in the inner space of the tail of the wing part arranged symmetrically through the mounting seat, and the waterproof pump set and the energy system electricity Connected, the energy system drives the pump set to run.

As an improvement, a water inlet groove adapted to the water inlet of the water suction pipe is symmetrically opened on the upper and lower sides of the wing portion, and a water inlet grille is installed on the water inlet groove.

As an improvement, the head is arranged in a flat shuttle shape, and first guide ribs are symmetrically arranged along both sides of its center axis, and second guide ribs are arranged between the symmetrically arranged first guide ribs. Two guide ribs are located at the end of the head.

As an improvement, the height L1 of the first guide rib protruding from the head and the height L2 of the second guide rib protruding from the head satisfy the relationship: L1>L2.

The beneficial effects of the water assistance robot of the present invention are:

(1) Compared with the reference document, the present invention hinges one end of the power pump and swings the other end, so that no matter which side of the water assistance robot is in contact with the water surface, the power pump can communicate with the corresponding suction pipe through gravity swing. The power output of the water rescue robot is quickly realized, so that the water assistance robot can be propelled by power. The water assistance robot of the present invention does not need to add a counterweight, and the comparison document uses the counterweight by adding a counterweight to the propeller. Block realizes the unbalance of the thruster center, and then realizes the thruster to rotate and commutate;

(2) Compared with the reference document, when the power pump is used for gravity induction swing, the power pump will finally tilt upward to output power. However, in a working environment where the water waves are not too large, the water jet from the power pump will make the water surface An upward reverse force is generated on the tail of the water assistance robot to form a technical effect similar to that of a speedboat in the process of traveling by pressing the wave pressure on the water surface, reducing the inclination angle between the head of the water assistance robot and the water surface. The water resistance is reduced in the process of traveling, the navigation speed is faster, the endurance time is extended, and the endurance is improved. The propeller of the reference file sprays water downwards and pushes obliquely under manned conditions, and the water surface cannot reverse it. The force cannot effectively suppress the waves. The inclination angle between the head and the water surface becomes larger due to the weight of the human body, which makes the head tilt up and the water resistance is large, resulting in poor sailing speed and endurance;

(3) Compared with the comparative document, when the power pump is used for gravity induction swing, the power pump is finally set up inclined, and the water jet from the power pump will cause the water to face the tail of the water assistance robot to produce an upward reverse effect. The force supports the gravity of the human body, so that the water assistance robot will not tilt upwards and move more smoothly. In the comparison document, when the human body is lying on the lifebuoy, the tail tilts downward due to the gravity of the human body, and the power output also tilts downward, causing the head to be tilted downward. The part is tilted up, and it is very easy to overturn in the working environment with heavy water waves, forming a secondary danger;

(4) Compared with the reference documents, the water assistance robot of the present invention will increase the inclination angle of the head and the water surface due to the resistance of the water waves in a working environment with relatively large water waves. In the process, the output direction of the power pump will tend to be horizontal, generating greater power to overcome the resistance of the water wave, and ensuring the power output of the water assistance robot. In the comparison document, in the working environment with relatively large water waves, its head The greater the inclination angle with the water surface, the smaller the power output by the power pump;

(5) In the present invention, a first guide rib and a second guide rib are provided on the head of the lifebuoy body to guide the water flow at the head of the lifebuoy body, and guide the water waves generated by the head so that the water waves pass through the first One guide rib guides the flow to the second guide rib to form an upward lifting force, which reduces the inclination angle between the head and the water surface and reduces the water resistance.

In summary, the present invention has the advantages of ingenious structure, two-way pumping, strong endurance, fast sailing speed, etc., and is especially suitable for the technical field of water assistance robots.

Description of the drawings

Fig. 1 is a schematic diagram 1 of the three-dimensional structure of the gravity-sensing two-way thruster of the present invention;

Figure 2 is the second schematic diagram of the cross-sectional structure of the gravity sensing two-way thruster of the present invention;

Figure 3 is a schematic diagram of the three-dimensional structure of the mounting base of the present invention;

Figure 4 is a schematic cross-sectional view of the power pump of the present invention;

Figure 5 is a schematic diagram of the three-dimensional structure of the arc-shaped plate of the present invention;

Figure 6 is a schematic sectional view of the structure of the catheter and the mounting seat of the present invention;

Figure 7 is a schematic diagram of the vertical side view of the gravity sensing two-way thruster of the present invention;

FIG. 8 is a schematic diagram of the three-dimensional structure of the water assistance robot according to the second embodiment of the present invention;

9 is a schematic diagram of a three-dimensional cross-sectional view of the water assistance robot of the present invention;

Figure 11 is a schematic diagram of the sectional structure of the main body of the lifebuoy of the present invention;

11 is the second schematic diagram of the three-dimensional structure of the gravity sensing two-way thruster of the present invention;

Figure 12 is the second schematic diagram of the cross-sectional structure of the gravity sensing two-way thruster of the present invention;

13 is a schematic diagram of the rear view structure of the water assistance robot of the present invention;

14 is a schematic diagram of the sectional structure of the head of the present invention;

Fig. 15 is a schematic structural diagram of the front view of the water assistance robot of the present invention;

Figure 16 is a schematic diagram of the manned state of the water assistance robot of the present invention in a working environment with small water waves;

Figure 17 is a schematic diagram of the manned state of the water assistance robot of the present invention in a working environment with heavy water waves;

Figure 18 is a schematic diagram of the working state of an existing lifebuoy or water assistance robot in a no-load working environment;

Figure 19 is a schematic diagram of the working status of the existing lifebuoy or water assistance robot in a working environment with heavy water waves.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise" and other directions or The positional relationship is based on the position or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it cannot be understood as a limitation to the present invention.

In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more than two, unless otherwise specifically defined.

Example 1:

As shown in Figure 1 and Figure 2, a gravity-sensing two-way thruster includes:

Mounting seat 1;

An arc-shaped plate 3, the arc-shaped plate 3 and the mounting base 1 are arranged oppositely, and the two are connected by a connecting piece 4, and a swing area 30 is formed between the arc-shaped plate 3 and the mounting base 1;

The power pump 2 is placed in the swing area 30 and one end of the power pump 2 is rotatably connected to the mounting seat 1, and the other end of the power pump 2 is along the arc-shaped plate (3) under the action of its own gravity. Surface movement; and

The suction pipe 5 is arranged on the other side of the arc-shaped plate 3 relative to the power pump 2, and two groups are arranged symmetrically up and down along the vertical direction of the arc-shaped plate 3, and both Communicate with the swing area;

When the water inlet 51 on any one of the suction pipes 5 is in contact with the water surface, the power pump 2 swings along the arc-shaped plate 3 to the lower limit position of the arc-shaped plate 3 by virtue of its own gravity. The pump 2 is in consistent communication with the water outlet 52 on the corresponding suction pipe 5, and at this time, the end of the power pump 2 that is rotationally connected to the mounting base 1 is inclined upward.

As shown in FIG. 5, further, the longitudinal section of the arc-shaped plate 3 is a circular arc, and the center of the longitudinal section is located on the line between the connecting shafts 121.

As shown in FIG. 5, further, the shape of the opening of the water outlet 52 of the suction pipe 5 is consistent with the contour of the arc-shaped plate 3, and the opening position of the water inlet 51 is in line with the axis of the mounting seat 1. It is parallel, and the side wall 50 of the water suction pipe 5 facing the water inlet 51 has an arc structure, and the center of the longitudinal section of the side wall 50 is located on the side where the water inlet 51 is located.

It should be noted that the difference between the present invention and the existing water assistance robot or the water remote control lifebuoy is that the water assistance robot of the present invention can be thrown into the water regardless of the front and back, and the water assistance robot falls into the water. Later, the power pump 2 on its propeller can self-adjust and swing by gravity induction, so that the power pump 2 is quickly connected to the suction pipe 5 placed in the water, so that the water assistance robot can immediately gain power to travel.

It is further explained that the gravity induction self-adjustment method of the power pump 2 in the present invention is to rotate and swing along the rotation axis formed by the connection point with the mounting base 1, and the propeller in the reference document relies on the counterweight to rotate gravity induction. The difference in the self-adjustment method is that the power pump 2 of the present invention is isolated by the suction pipe 5, so that the power pump 2 is not afraid of the interference of foreign objects entering the water inlet grille 53 during the swing process, even if the foreign objects are stuck in the water inlet grille 53 If foreign matter enters the suction pipe 5, the power pump 2 can perform gravity-induced self-adjusting swing.

It is worth emphasizing that when the water assistance robot is in use, the rescuer is lying on the water assistance robot. Because the weight of the rescued person is concentrated on the back of the rescue robot, the head of the water assistance robot is raised, and the rescue robot The water resistance of the water waves is greatly increased. In order to reduce the weight of the tail of the water assistance robot, the weight of the head of the water assistance robot should be greater than the weight of the tail as much as possible to overcome the problem of head tilting, and at the same time, a propeller must be implemented. The pump spray direction can be automatically adjusted to meet the needs of the two-way work of the water assistance robot. In the present invention, the swing adjustment method through the gravity of the power pump 2 is the best way to achieve it. Compared with the comparison document, it does not need to add any counterweight. The device reduces the weight, and at the same time realizes the two-way operation of the water assistance robot.

It is further explained that in the present invention, in order to avoid the flow of the water drawn by the power pump 2 through the suction pipe 5, it is preferable to overlap the water outlet 52 of the suction pipe 5 on the arc-shaped arc plate 3, and The edge shape of the pump suction port 211 of the power pump 2 is set in accordance with the arc shape of the arc plate 3, so that the power pump 2 can swing along the arc surface of the arc plate 3 during the gravity induction self-adjusting swing process, and the pump suction port The edges of 211 are sealed with arc-shaped plates 3, and after the pump suction port 211 is connected with the water outlet 52, the water flow will not flow from the connection position of the pump suction port 211 and the water outlet 52 due to the obstruction of the arc-shaped plate 3.

It is worth noting that in order to prevent the flow of water from the arc-shaped plate 3, the arc-shaped plate 3 and the power pump 2 are in a sealed fit. In addition, the arc-shaped plate 3 also provides guidance for the swing of the power pump 2.

As shown in Figs. 3 and 6, as a preferred embodiment, a side of the mounting plate 13 opposite to the arc-shaped plate 3 is extended with coaxially arranged diversion flanges 12, and the power pump 2 One end that is rotatably connected to the mounting base 1 is placed in the diversion flange 12, and its two sides are respectively rotatably connected to the mounting base 1 through corresponding connecting shafts 121;

When the one end of the power pump 2 that is guided and oscillated along the arc-shaped plate 3 swings to the lower limit position of the arc-shaped plate 3 by its own gravity, the angle between the central axis of the power pump 2 and the axis of the mounting seat 1 is α, the The opening diameter of the guide flange 12 is S1, the diameter of the end of the power pump 2 at the guide flange 12 is S2, and the relationship among α, S1 and S2 satisfies: S1>S2/cosα.

It should be noted that in order to ensure that the water jet ejected by the power pump 2 is not covered and blocked by the diversion flange 12, the opening diameter S1 of the diversion flange 12 and the power pump 2 are located at the end of the diversion flange 12 The diameter S2 must satisfy S1>S2/cosα, that is, the diversion flange 12 will not affect the water jet of the power pump 2.

As shown in Figure 7, as a preferred embodiment, the mounting seat (1) is a flange-shaped structure, which includes a mounting plate 13, and the distance D1 between the water inlets 51 of the two sets of suction pipes 5 and the The relationship between the diameter D2 of the mounting plate 13 satisfies: D1>D2.

It should be noted that in the present invention, it is preferable that the relationship between the distance D1 between the water inlets 51 and the diameter D2 of the mounting plate 13 satisfies: D1>D2, so that the overall shape of the propeller is formed at the water inlet 51 The large volume shape and the small volume shape of the pump nozzle 311 are shuttle-shaped, which can change the wave making situation at the tail of the propeller, reduce the wave making and water splash situation at the tail of the propeller, and reduce the water resistance during the traveling process of the water assistance robot.

It is further explained that because the power pump 2 jets the water stream upwards obliquely, the water stream is ejected in an arc to the rear of the power pump 2. Compared with the existing power pump with a horizontal jet of water, the distance between the wave making and the water splashing area is greater than that of the power pump 2 The existing power pump effectively keeps away from the wave-making and water splashing area, and reduces the water resistance during the traveling process of the water assistance robot.

As shown in Fig. 4, as a preferred embodiment, the power pump 2 includes:

The duct 21 includes a pump suction port 211 and a pump nozzle 212. The edge of the pump suction port 211 is always in contact with the arc-shaped plate 3, and its shape is adapted to the opening shape of the water outlet 52, The pump nozzle 212 is placed in the diversion flange 12, and it is a narrowing setting; and

The waterproof pump set 22 is coaxially arranged in the pipe 21, and the waterproof pump set 22 is arranged on the pipe 21 close to the arc-shaped plate 3.

As shown in FIG. 4, it should be noted that the waterproof pump set 22 operates to suck water flow through the suction pipe 5 connected with the conduit 21, and sprays from the mounting base 1 to form a power waterproof pump set 22 including a motor base 221 , The motor 222 and the blades 223 are composed. This specific structure has been described in detail in an open deep-water motor and processing technology with the patent number CN201810241803.4 applied by the applicant on March 22, 2018.

It is further explained that the waterproof pump set 22 is arranged at the end of the pipe 21 close to the arc-shaped plate 3, so that the suction force generated by the waterproof pump set 22 is more effectively released to the water surface through the corresponding suction pipe 5. The suction power is formed on the water surface, and the water jet is formed to form a more powerful driving force.

As shown in FIG. 1, as a preferred embodiment, the arc-shaped plate 3 is provided with connecting parts 31 symmetrically along its vertical direction and horizontal sides, and the mounting plate 13 and the pipe 21 are hinged with The connecting block 11 is symmetrical, and the connecting portion 31 and the connecting block 11 are connected horizontally through a connecting piece 4.

It should be noted that, in order to ensure the overall stability of the thruster, the arc-shaped plate 3 and the mounting base 1 are connected by a connecting piece 4 to form a whole body, and resist the vibration generated by the thruster during the working process.

It is further explained that the connecting member 4 in the present invention is preferably a carbon rod, which has good straightness and is not affected by the water environment, and the cost is also very low.

As shown in Fig. 1, as a preferred embodiment, a mounting bracket 54 of the motor driver is provided between the suction pipes 5, and the arc-shaped guide surface of the suction pipe 5 is used to cool the motor driver mounted on the mounting bracket 54. Processing to ensure that the working temperature of the motor driver is in a better range, so that the motor driver can better adjust the speed of the waterproof pump set 22.

Example 2:

Fig. 8 is a schematic structural diagram of the second embodiment of a water assistance robot of the present invention; as shown in Fig. 11, the parts that are the same as or corresponding to the first embodiment use the reference numerals corresponding to the first embodiment, for simplicity For the sake of this, only the differences from the first embodiment are described below. The difference between the second embodiment and the first embodiment shown in FIG. 1 is:

As shown in Figures 8, 9 and 14, a water assistance robot includes a lifebuoy body 6 and an energy system 7 installed in the lifebuoy body 6. The lifebuoy body 6 includes a V-shaped head 61 and two Wings 62 are symmetrically arranged on both sides of the head 61, and the wings 62 all include the gravity-sensing two-way thruster described in the above-mentioned embodiment 1, and the gravity-sensing two-way thruster passes through the mounting seat 1. They are respectively installed in the inner space of the tail of the wing 62 that is symmetrically arranged, and the waterproof pump set 22 is electrically connected to the energy system 7, and the energy system 7 drives the pump set 22 to operate.

As shown in Figures 14 and 15, further, the head 61 is arranged in a flat shuttle shape, and first guide ribs 611 are symmetrically arranged along both sides of its central axis, and the symmetrically arranged first guide ribs 611 A second diversion rib 612 is arranged in between, and the second diversion rib 612 is located at the end of the head 61.

Furthermore, the height L1 of the first guide rib 611 protruding from the head 61 and the height L2 of the second guide rib 612 protruding from the head 61 satisfy the relationship: L1>L2.

It should be noted that, in order to minimize the water resistance of the water surface to the water assistance robot, the present invention preferably designs the head 61 of the lifebuoy body 6 to be a shuttle shape. The sharp corners are set, gradually expand backward, and the surface is smoothly set.

As shown in Figures 14 and 16, and in the present invention, the energy system 7 is preferably arranged in the head 61 to increase the weight of the head 61, balance the weight distribution of the rescued person on the lifebuoy body 6, so that The inclination angle of the head 61 with the water surface during the advancing process of the water assistance robot is controlled as far as possible within the range of the least resistance.

As shown in Figure 13 and Figure 14, it is further explained that the energy system 7 in the present invention includes an energy storage battery 71 and a charging connector 72. 72 is used to charge the energy storage battery, and the charging connector 72 is also provided with a waterproof sealing cover. In addition, a control switch 73 is also provided on the head 61, and the control switch controls the operation of the power pump 2.

As shown in Figures 15 and 16, it is further explained that in order to control the inclination β of the head 61 to the water surface as far as possible during the advancing process of the water assistance robot, within the range of the least resistance, the present invention uses the head 61 A first diversion rib 611 and a second diversion rib 612 are provided, and the diversion channel 613 formed by the symmetrically arranged first diversion ribs 611 is used to divert the water wave in the diversion channel 613, and when the water wave flows to the second When the second diversion rib 612 is located, since the height of the flow rib 512 protruding from the head 61 is less than the height of the first diversion rib 611 protruding from the head 61, the water wave generates upwards on the second diversion rib 612. The impact force F4 causes the position of the second guide rib 612 to form an upward lifting trend, thereby causing the front end of the head 61 to be adjusted downward to reduce the inclination angle β with the water surface.

It is worth emphasizing that the point of action of the impact force F4 is located on the rear side of the head 61, and in conjunction with the reaction force F3 of the power pump 2 on the wings 52, the head 61 of the water assistance robot can form a downward tilt.

As shown in Figure 10, Figure 11 and Figure 12, as a preferred embodiment, the installation positions of the water inlet 51 and the wing 62 are covered with a water inlet grille 53, the water inlet grille 53 Perform swing limit on the swinging power pump 2

It should be noted that in order to simplify the structure and reduce the weight of the power pump 2, the present invention preferably uses the water inlet grill 53 to limit the power pump 2 during the swing process, which reduces the use of the limit device. At the same time, the water inlet grid The grid 53 also prevents large foreign objects from entering the power pump 2 to affect the operation of the power pump 2.

As a preferred embodiment, when the water assistance robot is at no load, the power pump 2 works, and its inclination angle α is preferably 5-25°.

It should be noted that in the water area with small water waves, in order to reduce the water wave resistance of the head of the water assistance robot, the power pump 2 is tilted upward to make the water wave spray to generate power. The direction is tilted and sprayed from bottom to top to make the water assistance robot move forward, and when the power pump 2 is tilted from bottom to top to spray water, power F1 is formed, and the tail part of the water assistance robot with the power pump is in the process of traveling. In the middle, it will receive the reverse force given by the water surface, namely the resistance F2. The resistance F2 will produce an upward component force F3 to force the rear part of the water assistance robot with the power pump to lift up, thereby reaching the downward pressure of the water assistance robot’s head , The inclination angle β between the head of the water assistance robot and the water surface is reduced after the head of the water assistance robot is pressed down, and the resistance of the water wave is reduced.

It is further explained that the inclination angle of the inclined pump spray of the power pump 2 in the present invention is preferably 5-25°. If the angle is too small, the effect of the head of the rescue robot is not obvious, while the angle is too large, which will cause water assistance. Excessive sinking of the head of the robot will cause serious splashing and splashing of the head of the water assistance robot, which will increase the resistance of the water surface.

Example 3:

Fig. 17 is a schematic structural diagram of the second embodiment of a water assistance robot of the present invention; as shown in Fig. 11, the same or corresponding parts as those of the first embodiment use the reference numerals corresponding to those of the first embodiment, for simplicity For the sake of this, only the differences from the first embodiment will be described below. The difference between the second embodiment and the first embodiment shown in FIG. 1 is:

As shown in Figure 17, when the water is in a water area with large waves, the water resistance encountered by the water assistance robot is also greater, and the greater the water resistance, the inclination angle βˊ between the head 61 and the water surface will increase correspondingly, and the inclination angle βˊ In the process of increasing, the inclination angle βˊ is greater than the inclination angle β in the second embodiment, and the output direction of the power pump 2 will tend to be horizontal, producing greater power F1ˊ. The power F1ˊ is greater than the power F in the second embodiment to overcome the water wave. The resistance F2ˊ guarantees the power output of the water assistance robot, so that the water assistance robot can break through the water waves more quickly.

As shown in Figure 18 and Figure 19, it is further explained that the existing lifebuoy or water assistance robot outputs power F5 horizontally when it is unloaded, and outputs power F5 ˊ tilted downward when it is manned. When the waves are large in waters, the angle of the existing lifebuoy or water assistance robot tilting upward output power F5ˊ will become larger, and the inclination angle between the head of the lifebuoy or water assistance robot and the surface of the water will become larger, in line with the water. The resistance F6ˊ produced by the impact of the wave, and the resistance F6ˊ breaks down a downward component force F7. Under the action of the component force F7, it is easy to cause the lifebuoy or the water assistance robot to overturn, causing the rescued person to appear in secondary danger.

In the present invention, although the output direction of the power pump 2 tends to be horizontal, generating greater power F1ˊ, but the resistance F2ˊ will still generate an upward component force F3ˊ to support the tail of the water assistance robot, and even βˊ becomes larger, but the water wave becomes larger, and the resistance F2ˊ becomes larger, the decomposed component force F3ˊ will also become larger, and the resistance F2ˊ becomes larger, and the upward impact force F4ˊ generated on the second guide rib 612 will be correspondingly The larger, it will still have a good effect on the stability of the water assistance robot, and ensure that the water assistance robot will not overturn.

Example 4:

For brevity, only the differences from Embodiment 1 to Embodiment 2 are described below. The difference between Embodiment 3 and Embodiment 1 to Embodiment 2 is:

A water assistance robot, the relationship between the distance D1 between the water inlet 51 and the diameter D2 of the mounting plate 13 satisfies: D1>D2, and the inclination angle of the power pump 2 is 5°, and , The height L1 of the first diversion rib 611 protruding from the head 61 and the height L2 of the second diversion rib 612 protruding from the head 61 satisfy the relationship: L1>L2. The performance parameters are shown in the following table:

Table 1 Example 3 Performance parameters of water assistance robot

Example 5:

For brevity, only the differences from Embodiment 1 to Embodiment 3 are described below. The difference between Embodiment 4 and Embodiment 1 to Embodiment 3 is:

A water assistance robot, the relationship between the distance D1 between the water inlet 51 and the diameter D2 of the mounting plate 13 satisfies: D1>D2, and the inclination angle of the power pump 2 is 15°, and , The height L1 of the first diversion rib 611 protruding from the head 61 and the height L2 of the second diversion rib 612 protruding from the head 61 satisfy the relationship: L1>L2. The performance parameters are shown in the following table:

Table 2 Example 4 Performance parameters of the water assistance robot

Example 6:

For brevity, only the differences from Embodiment 1 to Embodiment 4 are described below. The difference between Embodiment 5 and Embodiment 1 to Embodiment 4 is:

A water assistance robot, the relationship between the distance D1 between the water inlets 51 and the diameter D2 of the mounting plate 13 satisfies: D1>D2, and the inclination angle of the power pump 2 is 25°, and , The height L1 of the first diversion rib 611 protruding from the head 61 and the height L2 of the second diversion rib 612 protruding from the head 61 satisfy the relationship: L1>L2. The performance parameters are shown in the following table:

Table 3 Example 5 Performance parameters of the water assistance robot

Comparative Example 1:

This comparative example is the performance parameters of a self-powered and remote-controlled lifebuoy of the comparative document CN201820388502.X. The detailed parameters are shown in the following table:

Table 4 Example 5 Performance parameters of the water assistance robot

Comparative Example 2:

For brevity, only the differences from Embodiment 1 to Embodiment 5 are described below. The difference between Comparative Example 1 and Example 1 to Example 5 lies in:

An aquatic assistance robot, the relationship between the distance D1 between the water inlets 51 and the diameter D2 of the mounting plate 13 satisfies: D1>D2, and the inclination angle of the inclined pump spray of the power pump 2 is <5°, Moreover, the height L1 of the first diversion rib 611 protruding from the head 61 and the height L2 of the second diversion rib 612 protruding from the head 61 satisfy the relationship: L1>L2, the water assistance robot The various performance parameters are shown in the following table:

Table 5 Comparison of the performance parameters of the water assistance robot in Example 1

Comparative Example 3:

For brevity, only the differences from Embodiment 1 to Embodiment 5 are described below. The difference between Comparative Example 2 and Examples 1 to 5 is:

A water assistance robot, the relationship between the distance D1 between the water inlets 51 and the diameter D2 of the mounting plate 13 satisfies: D1>D2, and the inclination angle of the inclined pump spray of the power pump 2 is>25°, Moreover, the height L1 of the first diversion rib 611 protruding from the head 61 and the height L2 of the second diversion rib 612 protruding from the head 61 satisfy the relationship: L1>L2, the water assistance robot The various performance parameters are shown in the following table:

Table 6 Comparative Example 2 Performance parameters of the water assistance robot

Comparative Example 4:

For brevity, only the differences from Embodiment 1 to Embodiment 5 are described below. The difference between Comparative Example 3 and Examples 1 to 5 is:

A water assistance robot, the relationship between the distance D1 between the water inlet 51 and the diameter D2 of the mounting plate 13 satisfies: D1≤D2, and the tilt angle of the power pump 2 is 15°, and , The height L1 of the first diversion rib 611 protruding from the head 61 and the height L2 of the second diversion rib 612 protruding from the head 61 satisfy the relationship: L1>L2. The performance parameters are shown in the following table:

Table 7 Comparative Example 3 Performance parameters of the water assistance robot

Comparative Example 5:

For brevity, only the differences from Embodiment 1 to Embodiment 5 are described below. The difference between Comparative Example 4 and Examples 1 to 5 is:

A water assistance robot, the relationship between the distance D1 between the water inlet 51 and the diameter D2 of the mounting plate 13 satisfies: D1>D2, and the inclination angle of the power pump 2 is 15°, and , The height L1 of the first diversion rib 611 protruding from the head 61 and the height L2 of the second diversion rib 612 protruding from the head 61 satisfy the relationship: L1≤L2, the water assistance robot The performance parameters are shown in the following table:

Table 8 Comparative Example 4 Performance parameters of the water assistance robot

The comparison of the performance parameters of the water assistance robots of Example 3 to Example 5 and Comparative Example 1 to Comparative Example 5 is shown in the following table:

Table 9 Data Comparison

From Table 8 we can know the following conclusions:

1. According to the comparison of the performance parameters of Example 3 to Example 5 and the comparison of the performance parameters of Example 1, the performance parameters of the present invention are far superior to that of the existing lifebuoys or water assistance robots in the same industry after the structural improvements are made. parameter;

2. By comparing the performance parameters of Example 3 to Example 5 and Comparative Example 2 to Comparative Example 3, it can be seen that the relationship between the distance D1 between the water inlets 51 and the diameter D2 of the mounting plate 13 is ensured. Satisfaction: D1>D2, ensuring that the height L1 of the first diversion rib 611 protruding from the head 61 and the height L2 of the second diversion rib 612 protruding from the head 61 satisfy the relationship: L1>L2, Under these two conditions, taking the inclination angle of the power pump 2 tilting pump as a variable, it can be known that the speed and endurance of the water assistance robot in fresh water and sea water are better than those in the range of 5-25°. When the inclination angle is less than 5° and greater than 25°, it can be seen that when the inclination angle is 5-25°, the water assistance robot has a better wave pressure effect and lower water resistance;

3. By comparing the performance parameters of Example 4 and Comparative Example 4, it can be seen that the inclination angle of the inclined pump spray of the power pump 2 is 15°, and the height L1 of the first diversion rib 611 protruding from the head 61 and the first The height L2 of the two guide ribs 612 protruding from the head 61 satisfies the relationship: L1>L2. Under these two conditions, the distance D1 between the first water inlet 51 and the diameter D2 of the mounting plate 13 The relationship of is a variable. It can be seen that when D1 and D2 meet the relationship: D1>D2, the speed and endurance of the water assistance robot in fresh water and sea water are better than those of D1 and D2. When D1 and D2 meet the relationship: D1≤D2, The speed and endurance of the water assistance robot in fresh water and sea water. It can be seen that when D1 and D2 meet the relationship: D1>D2, the water assistance robot has a better wave suppression effect and lower water resistance;

4. By comparing the performance parameters of Example 4 and Comparative Example 5, it can be seen that the relationship between the distance D1 between the water inlets 51 and the diameter D2 of the mounting plate 13 meets: D1>D2, and its power The inclination angle of the inclined pump of the pump 2 is 15°. Under these two conditions, the height L1 of the first diversion rib 611 protruding from the head 61 and the second diversion rib 612 protruding from the head 61 The relationship between the height of L2 is a variable. It can be seen that when L1 and L2 meet the relationship: L1>L2, the speed and endurance of the water assistance robot in fresh water and sea water are better than those in L1 and L2: When L1≤L2, the speed and endurance of the water assistance robot in fresh water and seawater. It can be seen that when L1 and L2 satisfy the relationship: L1>L2, the water assistance robot has a better wave pressure effect and lower water resistance.

The above descriptions are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be included in the protection of the present invention. Within range.

Claims

A gravity sensing two-way thruster, characterized in that it comprises:

Mounting seat (1);

An arc-shaped plate (3), the arc-shaped plate (3) and the mounting seat (1) are arranged oppositely, and the two are connected by a connecting piece (4), and the arc-shaped plate (3) is connected to the mounting seat (1). A swing area (30) is formed between the mounting seats (1);

The power pump (2), the power pump (2) is placed in the swing area (30) and one end of the power pump (2) is rotatably connected with the mounting seat (1), and the power pump (2) is other under the action of its own gravity One end moves along the surface of the arc-shaped plate (3); and

The suction pipe (5), the suction pipe (5) is arranged on the other side of the arc-shaped plate (3) relative to the power pump (2), which is along the vertical of the arc-shaped plate (3) Two groups are arranged symmetrically up and down in the direction, and both are connected to the swing area;

When the water inlet (51) on any one of the suction pipes (5) is in contact with the water surface, the end of the power pump (2) that is guided and oscillated along the arc-shaped plate (3) swings to the arc-shaped plate by its own gravity. (3) at the lower limit position, the power pump (2) and the corresponding water outlet (52) on the suction pipe (5) are in anastomosing communication, at this time, the power pump (2) and the mounting seat (1) ) Tilt up one end of the rotating connection.
The gravity-sensing two-way propeller according to claim 1, characterized in that, the mounting seat (1) is a flange-shaped structure, which includes a mounting plate (13), two sets of suction pipes (5) The relationship between the distance D1 between the nozzles (51) and the diameter D2 of the mounting plate (13) satisfies: D1>D2.
The gravity-sensing two-way propeller according to claim 2, characterized in that, a side of the mounting plate (13) opposite to the arc-shaped plate (3) is extended with coaxially arranged diversion flanges ( 12), one end of the power pump (2) rotatably connected with the mounting seat (1) is placed in the diversion flange (12), and both sides of the power pump (2) are connected to the installation through the corresponding connecting shaft (121). Seat (1) rotating connection;

When the one end of the power pump (2) that swings along the arc-shaped plate (3) guides and swings to the lower limit position of the arc-shaped plate (3) by its own gravity, the central axis of the power pump (2) and the mounting seat (1) ) Axis angle is α, the diameter of the opening of the guide flange (12) is S1, the diameter of the end of the power pump (2) at the guide flange (12) is S2, α, S1 The relationship between S2 and S2 satisfies: S1>S2/cosα.
The gravity induction two-way propeller according to claim 3, characterized in that the longitudinal section of the arc-shaped plate (3) is arc-shaped, and the center of the longitudinal section is located between the connecting shafts (121) On the connection.
The gravity induction two-way propeller according to claim 3, characterized in that the power pump (2) comprises:

Conduit (21), the conduit (21) includes a pump suction port (211) and a pump nozzle (212), the edge of the pump suction port (211) is always in contact with the arc-shaped plate (3), and its shape is consistent with The shape of the opening of the water outlet (52) is adapted, the pump nozzle (212) is placed in the diversion flange (12), and it is a narrowing setting; and

A waterproof pump set (22), the waterproof pump set (22) is coaxially arranged in the pipe (21), and the waterproof pump set (22) is arranged on the pipe (21) close to the arc plate (3) )set up.
The gravity induction two-way propeller according to claim 1, wherein the shape of the opening of the water outlet (52) of the suction pipe (5) is consistent with the contour of the arc-shaped plate (3), The opening position of the water inlet (51) is parallel to the axis of the mounting seat (1), and the side wall (50) of the water suction pipe (5) facing the water inlet (51) has an arc structure. The center of the longitudinal section of (50) is located on the side where the water inlet (51) is located.
A water assistance robot, comprising a lifebuoy body (6) and an energy system (7) installed in the lifebuoy body (6). The lifebuoy body (6) includes a V-shaped head (61) and two symmetrically arranged The wings (62) on both sides of the head (61) are characterized in that each of the wings (62) includes a gravity-sensing two-way propeller according to any one of claims 1-6, and The gravity-sensing two-way thruster is installed in the inner space of the symmetrically arranged tail part of the wing part (62) through the mounting seat (1), and the waterproof pump set (22) and the energy system (7) are electrically connected to each other. Connected, the energy system (7) drives the pump set (22) to run.
The water assistance robot according to claim 7, characterized in that the upper and lower sides of the wings (62) are symmetrically provided with water inlet grooves adapted to the water inlet (51) of the water suction pipe (5) (621), a water inlet grill (53) is installed on the water inlet groove (621).
The water assistance robot according to claim 7, characterized in that the head (61) is arranged in a flat shuttle shape, and first guide ribs (611) are symmetrically arranged along both sides of its central axis, and the A second guide rib (612) is arranged between the symmetrically arranged first guide ribs (611), and the second guide rib (612) is located at the end of the head (61).
The water assistance robot according to claim 9, characterized in that the height L1 of the first diversion rib (611) protruding from the head (61) and the second diversion rib (612) The height L2 protruding from the head (61) satisfies the relationship: L1>L2.