Underwater robot with expandable frame

Abstract

The invention discloses an underwater robot with an expandable frame; the robot comprises a working main body module, a shell module and a shell driving module, the shell module comprises a plurality of shell units, the outer side of each shell unit is provided with a first propeller, and the shell driving module drives the shell units to be close to or away from the working main body module; when the shell unit is close to the working main body module, the side walls of the shell unit are in contact with each other, and the working main body module is wrapped in the shell module; and when the shell units are far away from the working main body module, the shell units are far away from each other, and the working main body module is used for underwater operation. When long-distance sailing detection is carried out, the shell module is contracted, sailing resistance is small, maneuverability is high, and sailing in water is facilitated. When fixed-point sampling operation is carried out, the shell module is unfolded, the working main body module is exposed for sampling or exploration operation, the tail propeller is unfolded along with unfolding of the shell module, the force arm is large, the resultant moment of the propeller is large, and the operation capacity is enhanced.

Description

technical field [0001] The invention relates to an underwater robot, in particular to a frame expandable underwater robot. Background technique [0002] As the second largest space for human development, the ocean is rich in energy and biological resources. As reserves of non-renewable resources dwindle on land, ocean development is accelerating. Unmanned underwater robots have the advantages of large diving depth, low cost, high reliability, and the ability to operate in dangerous environments, so they have gradually become an important means of marine resource development in various countries. Underwater robots can be roughly divided into two categories according to cables and cables, namely, cable remote-controlled underwater vehicles (ROV: Remote Operated Vehicle) and unmanned cable-free autonomous underwater vehicles (AUV: Autonomous Underwater Vehicle). Because AUV has good autonomy and flexibility, it can be widely used in marine environment research, marine resourc...

AI Technical Summary

Problems solved by technology

[0003] Underwater robots are divided into two types: open-frame or streamlined according to their structure. The streamlined structure of underwater robots reduces water resistance, which is conducive to diving and saving energy. It is easy to reach deep sea areas and complete marine activities. The disadvantages are It is not conducive to fixed-point operations on the deep seabed, poor stability, low reliability, and difficult to control; the open frame is beneficial to operations in shallow sea areas, with good stability, but slow diving speed and high resistance during navigation, so it is not suitable for long-distance sports

[0004] In the prior art, for example, the Chinese patent application number 201811311472.3 discloses a deformable autonomous underwater robot. In this solution, the side wing modules on both sides of the underwater robot are rotated by driving the motor, which drives the screw to rotate, and then the support rod Synchronous swinging realizes the opening and closing of the wing modules. During the unfolding operation, it has the advantages of large metacentric height and high stability. However, the overall structure is only that the wing modules on both sides are deployed, and the position of the propeller does not change, and the resultant moment does not change. Enhanced, limited capacity

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