Three-shaft telescopic multi- adaptability underwater robot

Abstract

The invention relates to a three-shaft telescopic multi- adaptability underwater robot which comprises a box body support, a telescoping mechanism and a power mechanism. A box body is sealed and waterproof and is used for enabling a carrying mechanism to be placed and providing telescopic spaces for power arms, the telescoping mechanism is connected with three driven gears through a gear rack, the driven gear drives a lead screw to rotate and control stretching-out and drawing-back of the lead screw, synchronization stretching-out and drawing-back of three power arms of the robot can be achieved, the self size is changed according to the environment, running work is freer, the power mechanism is composed of the three power arms, the axial directions of screw propellers at the arm ends can be changed, and motion of space six degrees of freedom can be achieved through rotating speed of the three screw propellers and axial matching of the screw propellers. According to the three-shaft telescopic multi- adaptability underwater robot, a telescoping device of the power arms is designed, the robot has good practicality in the fields of sunken ship archaeology and deep sea excavation, cultural relics are protected, meanwhile, the running work is freer, and efficiency is higher.

Description

technical field [0001] The invention relates to an underwater robot, in particular to a multi-adaptive underwater robot whose power arm can be driven by a telescopic three-axis to realize movement of six degrees of freedom in space. Background technique [0002] With the "deep" development of marine research and development, underwater robots replace humans to shoulder more and more complex underwater tasks. Its application fields are quite extensive. All kinds of robots play a huge role in the fields of pipeline container inspection, ship, river, offshore oil, scientific research and teaching, energy, security, archaeology, fishery and entertainment. [0003] The underwater terrain is intricate, how to successfully and efficiently reach the designated position and successfully complete the scheduled tasks, this puts forward high requirements for the flexibility and environmental adaptability of the underwater robot; on the other hand, with the increase of the diving depth o...

AI Technical Summary

Problems solved by technology

This type of robot has a simple structure and a fast speed, but just like the problems of today's aircraft, the radius of motion is too large, the flexibility is greatly limited, and it is difficult to adapt to complex underwater terrains; A pair of propellers are placed in each direction to control up and down, front and rear, and left and right respectively, which can realize complex movement in space and high flexibility, but the disadvantage is that too many propellers will greatly reduce the structural compactness of the robot. The weight of the propeller is relatively large, and the propeller occupies too much internal space, which limits the installation of other joint operation instruments

In addition, this type of underwater robot cannot achieve six-degree-of-freedom movement in space, and underwater torsion cannot

[0005] Chinese patent CN201872930U discloses an open-frame autonomous underwater robot. The design adopts the design that the load-carrying bracket and the pressure chamber are separated. Large, it is extremely inconvenient to move during shipwreck archaeology and underwater excavation

Chinese patent CN201849653U discloses an underwater bionic robot. The power device of this design is four flapping fins symmetrically distributed on the side of the robot. The shape changes, but the design of the bionic fin must be fixed

Therefore, it is difficult to make major improvements in the structure, and its role in the complex environment in the field of shipwreck archaeology is limited

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