Double-arm collaborative stable operation deformable underwater vehicle

Abstract

The invention belongs to the field of underwater vehicles, and discloses a double-arm collaborative stable operation deformable underwater vehicle, which comprises a main body frame unit, a heavy buoyancy adjusting unit, a buoyancy material shell unit, a propulsion power control unit, a double-arm manipulator unit and a functional unit, a gear motor of the heavy buoyancy adjusting unit is connected with a lead screw jacking assembly and a gravity center adjusting assembly. The buoyancy material shell unit comprises a streamline shell and a middle liftable shell; the included angle between the central axis of a tail main propeller in the propelling power control unit and the middle longitudinal section of the deformable underwater vehicle is 5-20 degrees; the double-arm manipulator unit is used for stretching out to perform stable operation when the middle liftable shell is lifted; and the functional unit is used for collecting underwater information to assist operation. The advantages of low-resistance cruising and hovering operation are both considered, the interference of gravity center forward movement caused by stretching of the mechanical arm and the coupling effect on the underwater vehicle body can be weakened, and the stability of the underwater robot is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of underwater vehicles, more particularly, to a dual-arm cooperative stable operation deformable underwater vehicle. BACKGROUND

[0002] An underwater vehicle is a device that can complete specific tasks underwater. It is driven by a power system to move in water, equipped with sensors, control systems and other devices, and has the ability of environmental detection, data acquisition, target tracking, etc. At present, underwater vehicles are limited by their structural characteristics and can only perform single tasks, for example: a streamlined underwater vehicle performs long-distance underwater detection tasks, and a frame-type underwater vehicle performs fine underwater operation tasks. However, in the face of the demand for multi-task execution capability, it is urgent to develop a variable configuration underwater vehicle.

[0003] In the prior art, CN116477022A discloses an underwater variable structure robot, which installs an upward force material on a scissor structure. The upward force material changes the shape of the robot's own body with the lifting of the scissor mechanism, realizing the switching of the robot's cruising mode and operation mode. However, the scissor structure has the following disadvantages: (1) when the extension height is high or the transverse load is large, it will appear to be unstable or unstable; (2) the scissor structure occupies a large space and thus squeezes the internal space, reducing the internal space available for equipment; (3) the scissor structure has weak radial force bearing capacity perpendicular to the scissor plane. When the robot is inclined or tilted, the positive buoyancy of the upward force material will generate such radial force, especially when the roll angle changes, the ability to resist radial force in this direction is weak, and the deformation mechanism is prone to jamming. CN11137419B discloses a deformable autonomous underwater robot, which uses two side wing modules to expand or retract into a streamlined shape as needed, and can perform large-scale detection operations and selective autonomous sampling operations away from the mother ship. However, although the float center is higher after the wings are expanded, the side wing expansion increases the drag area of the upward force material, which is easily affected by water disturbance. Therefore, due to the large force area, it also increases the instability of the underwater robot. In addition, due to the increase in the force area of the side wing, the robot's endurance is reduced due to the increased driving force requirement of the wing mechanism motor. US10450040B2 discloses a reconfigurable seabed robot, which has a reconfigurable body. The first configuration is a slender streamlined shape similar to a torpedo, which can move forward with low resistance. The second configuration can be reconfigured by joint rotation to form a robot body shape suitable for performing operation tasks. The mechanical arm is retracted into the arm shell in the first configuration, and is extended to perform operation tasks in the second configuration. The deformation mechanism of this robot is very complex, and its reliability is low in the seabed environment. At the same time, the second configuration has very limited effect on improving the stability, and it is difficult to improve the stability of the underwater operation of the robot. SUMMARY

[0004] In view of the defects of the prior art or the improvement needs, the application provides a dual-arm cooperative stable operation deformable underwater vehicle, aiming at solving the problem that the existing deformable underwater robot has poor stability and cannot perform single voyage multi-task operation.

[0005] The application provides a dual-arm cooperative stable operation deformable underwater vehicle, which specifically comprises a main frame unit, a heavy buoyancy adjusting unit, a buoyancy material shell unit, a propulsion power control unit, a dual-arm manipulator unit and a function unit, wherein: The heavy buoyancy adjusting unit is installed inside the main frame unit and comprises a screw rod jacking assembly, a reduction motor, a gravity center adjusting assembly, a support assembly and a buoyancy material frame connected with the gravity center adjusting assembly and the top end of the support assembly; the reduction motor is connected with the screw rod jacking assembly and the gravity center adjusting assembly to drive the screw rod jacking assembly to lift and drive the gravity center adjusting assembly to move forward and backward; the support assembly is arranged on both sides of the screw rod jacking assembly and is used for supporting the buoyancy material frame; The buoyancy material shell unit comprises a streamlined shell and a middle part liftable shell, the middle part liftable shell is connected with the buoyancy material frame, thereby moving up and down under the driving of the heavy buoyancy adjusting unit to change the body shape of the deformable underwater vehicle and realize the switching between the low resistance cruising mode and the hovering operation mode; The propulsion power control unit is connected with the main frame unit and is used for providing power, and comprises two groups of tail main propellers symmetrically arranged on both sides of the main frame unit, the included angle between the central axis of the tail main propeller and the middle longitudinal section of the deformable underwater vehicle is 5°-20°, so as to avoid the influence of the front disturbance flow; The dual-arm manipulator unit is connected with both sides of the main frame unit and is used for extending in the hovering operation mode to perform stable operation; The function unit is used for collecting underwater information to assist the operation of the heavy buoyancy adjusting unit, the propulsion power control unit and the dual-arm manipulator unit.

[0006] Compared with the prior art, the above technical scheme conceived by the application adopts the screw rod jacking assembly cooperating with the gravity center adjusting assembly to realize the deformation of the deformable underwater vehicle, which not only has the advantages of simple structure and convenient maintenance, but also can weaken the phenomenon that the gravity center moves forward due to the extension of the manipulator, the screw rod structure has self-locking function and strong radial bearing capacity, and cooperates with the optimization of the thrust direction of the propulsion power control unit, so as to avoid the influence of the front disturbance flow and further improve the stability of the underwater robot.

[0007] As a further preferred, the screw rod jacking assembly comprises a jacking pipe, a screw rod nut, a jacking screw rod and a gear box, one end of the jacking pipe is connected with the buoyancy material frame, the other end is connected with the jacking screw rod through the screw rod nut; the jacking screw rod is connected with the power shaft of the reduction motor through the gear box, and / or, The support assembly comprises a support rod and a support conduit, one end of the support rod is connected with the buoyant material frame, the other end is connected with the support conduit and can move up and down in the support conduit; the bottom of the support conduit is connected with the main body frame unit.

[0008] As a further preferred, the gravity center adjusting assembly comprises a counterweight box, a tail moving nut and a magnetic block, the counterweight box is connected with the power shaft of the speed reducer motor through the tail moving nut to move forward and backward under the driving of the speed reducer motor; the magnetic block is arranged in the interior of the counterweight box to adsorb the external iron block to adjust the weight of the gravity center adjusting assembly.

[0009] As a further preferred, the main body frame unit comprises a base, two side plates and a preset number of triangular plates and corner plates, wherein the two side plates are trapezoidal structures and are connected with the two ends of the base to fit the buoyant material shell unit, the top of the side plate is provided with a lifting ring for lifting the deformable underwater vehicle; the triangular plate is installed at the intersection of the base and the side plate; the corner plate is fixed on the base.

[0010] As a further preferred, the propulsion power control unit further comprises a tail rudder mechanism, two groups of head vertical propellers, two groups of tail vertical propellers and a control assembly installed in the interior of the main body frame unit, wherein the tail rudder mechanism is connected with the tail of the main body frame unit and is arranged in the middle of the two groups of tail main propellers to provide a pitch control moment; the head vertical propeller and the tail vertical propeller are respectively connected with the bottom of the main body frame unit to provide vertical thrust; the control assembly is used to receive the information of the sensing module and control the tail rudder mechanism, the tail main propeller, the head vertical propeller and the tail vertical propeller.

[0011] As a further preferred, the maximum moment of the tail main propeller, the head vertical propeller and the tail vertical propeller is in the ratio of (2-3):1:1.

[0012] As a further preferred, the control assembly comprises a main control cabin, a power cabin and a battery cabin, the main control cabin is connected with the functional unit to receive the attitude position information measured by the functional unit and generate control instructions; one end of the power cabin is connected with the main control cabin, the other end is connected with the tail rudder mechanism, the tail main propeller, the head vertical propeller and the tail vertical propeller to receive the control instructions of the main control cabin and realize power control; the battery cabin is connected with the power cabin to supply power to the power cabin and is distributed by the power cabin.

[0013] As a further preferred, the deformable underwater vehicle further comprises a junction box and an oil compensator mounted on the main frame unit, the junction box is used for power distribution and signal line connection between cabins, and the oil compensator is used for supplementing oil inside the junction box.

[0014] As a further preferred, the functional unit comprises an acousto-optic-magnetic sensing unit and a communication navigation unit, wherein the acousto-optic-magnetic sensing unit is mounted on the main frame unit and comprises a head gimbal dual-vision sensing subsystem, a bottom vision sensing subsystem, a back sonar sensing subsystem and a bottom extendable magnetic detection sensing subsystem, so as to realize detection of vision, sound wave and magnetic field; the communication navigation unit is used for obtaining speed, position and attitude information of the deformable underwater vehicle and performing navigation and communication.

[0015] As a further preferred, the communication navigation unit comprises a navigation cabin, a Doppler velocity sensor, an altimeter, a depth gauge, an ultra-short baseline, an acoustic communicator, an emergency communication light, a communication cabin and an integrated antenna, wherein the navigation cabin is mounted inside the main frame unit and is fixedly connected with the Doppler velocity sensor at the lower end, and is used for navigation calculation of attitude and position information of the deformable underwater vehicle; the altimeter and the depth gauge are in communication connection with the navigation cabin, and are used for transmitting height from bottom and water entry depth to the navigation cabin; the ultra-short baseline and the acoustic communicator are mounted at the lower part of the main frame unit, and are used for communication with other underwater vehicles; the emergency communication light has an independent power supply and is connected with the main frame unit; the communication cabin and the integrated antenna are mounted at the upper part of the main frame unit, and are used for communication.

[0016] Overall, compared with the prior art, the above technical solutions conceived by the present application mainly have the following technical advantages: 1. The present application adopts a screw rod lifting assembly in cooperation with a gravity center adjusting assembly to realize strong stability deformation of the deformable underwater vehicle, so as to realize quick switching between two modes of low-resistance cruising and hovering operation, which not only has the advantages of simple structure and easy maintenance, but also can weaken the interference of the gravity center moving forward caused by the extension of the mechanical hand and the coupling effect on the underwater vehicle body, and the screw rod structure has self-locking function and strong radial bearing capacity, and cooperates with the position optimization of the tail main propeller to avoid the influence of the front disturbance and further improve the stability of the underwater robot. 2. In particular, the structure of the gravity center adjusting assembly is optimized, on the one hand, a nut with self-lubricating effect cooperates with a reduction motor to realize forward and backward movement of the gravity assembly without greasing, so as to realize gravity center adjustment in a harsh seabed environment, on the other hand, the gravity center adjusting assembly is provided with a magnetic block inside the counterweight block box to adsorb an external iron block, so that it can be used for throw load while realizing gravity center adjustment, which has higher flexibility and safety. 3. In addition, the structure of the propulsion power control unit and the power distribution mode are optimized in the application, the tail main propeller provides a larger yawing moment, which facilitates the rapid and flexible navigation of the deformable underwater vehicle, and the maximum moments provided by the head vertical propeller and the tail vertical propeller are consistent, so that the deformable underwater vehicle can perform heaving motion at maximum power. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is the overall structure schematic diagram of the deformable underwater vehicle provided by the application in the cruising mode; Figure 2 is the overall structure schematic diagram of the deformable underwater vehicle provided by the application in the working mode; Figure 3 is the structure schematic diagram of the deformable underwater vehicle provided by the application without the buoyancy material shell unit; Figure 4 is the bottom view of the deformable underwater vehicle provided by the application; Figure 5 is the structure schematic diagram of the main frame unit in the deformable underwater vehicle provided by the application; Figure 6 is the structure schematic diagram of the heavy buoyancy adjustment unit in the deformable underwater vehicle provided by the application; Figure 7 is the force analysis diagram of the heavy buoyancy adjustment unit in the deformable underwater vehicle provided by the application, wherein (a) is the force analysis diagram when the trim angle is 0° in the hovering working mode, (b) is the force analysis diagram when the trim angle is α° in the hovering working mode, 0° < α° < 90°, and (c) is the force analysis diagram when the trim angle is 90° in the hovering working mode; Figure 8 is the structure schematic diagram of the manipulator assembly in the deformable underwater vehicle provided by the application; Figure 9 is the structure schematic diagram of the head gimbal dual-eye visual perception subsystem in the deformable underwater vehicle provided by the application; Figure 10 is the structure schematic diagram of the bottom extendable magnetic detection perception subsystem in the deformable underwater vehicle provided by the application; Figure 11is a schematic diagram of sound-optical-magnetic multi-source fusion detection and sensing in a dual-arm cooperative stable operation deformable underwater vehicle provided by the present application, wherein (a) is a detection and sensing schematic diagram of the front head gimbal dual-vision sensing subsystem and the bottom vision sensing subsystem, (b) is a detection and sensing schematic diagram of the back sonar sensing subsystem, and (c) is a detection and sensing schematic diagram of the bottom extendable magnetic detection and sensing subsystem; Figure 12 is a structural schematic diagram of a propulsion power control unit in a dual-arm cooperative stable operation deformable underwater vehicle provided by the present application; Figure 13 is a structural schematic diagram of a main control cabin in a dual-arm cooperative stable operation deformable underwater vehicle provided by the present application; Figure 14 is a structural schematic diagram of a power cabin in a dual-arm cooperative stable operation deformable underwater vehicle provided by the present application; Figure 15 is a forward resistance diagram of a dual-arm cooperative stable operation deformable underwater vehicle in a low-resistance cruising mode and a hovering operation mode provided by the present application, wherein (a) is the low-resistance cruising mode, and (b) is the hovering operation mode; Figure 16 is a stability comparison diagram of a dual-arm cooperative stable operation deformable underwater vehicle in a low-resistance cruising mode and a hovering operation mode provided by the present application.

[0018] In all the drawings, the same reference signs are used to represent the same elements or structures, wherein: 1-Body frame unit, 101-Unit including support skeleton, 102-Triangle plate, 103-Angular plate, 104-Sling ring, 2-Heavy buoyancy adjustment unit, 201-Screw rod lifting assembly, 202-Support guide sleeve, 203-Supporting rod, 204-Metal buoyancy material frame, 205-Gear box, 206-Power shaft, 207-Lifting screw rod, 208-Trapezoidal screw nut, 209-Lifting pipe, 210-Decreasing motor, 211-Barycentric adjustment assembly, 212-Counterweight block, 213-Electromagnet, 214-Guide block, 215-Tail moving nut, 216-Supporting assembly, 3-Buoyancy material shell unit, 301-Front streamlined shell, 302-Middle liftable shell, 303-Tail streamlined shell, 304-Tail bottom streamlined shell, 4-Bi-armed manipulator unit, 401-Manipulator, 402-Mounting base, 403-End operation tool, 5-Acoustic-optic-magnetic sensing unit, 501-Head cloud platform binocular vision sensing subsystem, 502-Front view camera, 503-Front lighting lamp, 504-Front laser, 505-Cloud platform rotating rudder, 506-Cloud platform mounting rack, 507-Equipment mounting rack, 508-Front crank, 509-Front connecting rod, 510-Front end equipment cover, 511-X-shaped fixing piece, 512-Bottom vision sensing subsystem, 513-Bottom view camera, 514-Back lighting lamp, 515-Back sonar sensing subsystem, 516-Multi-beam sonar, 517-Front mounting plate, 518-Back extendable magnetic detection sensing subsystem, 519-Magnetic detection sensor, 520-Underwater rudder, 521-Rotary gear, 522-Magnetic detection rotating rod, 523-Flange, 524-Magnetic detection mounting plate, 6-Pushing power control unit, 601-Tail main pusher, 602-Head vertical pusher, 603-Tail vertical pusher, 604-Vertical pusher channel, 605-Head vertical pusher hoop, 606-Tail vertical pusher hoop, 607-Main pusher hoop, 608-Tail rudder turning mechanism, 609-Rudder turning motor, 610-Tail rudder plate, 611-Self-lubricating bearing sleeve, 612-Tail mounting rack, 613-Master control cabin, 614-Power cabin, 615-Battery cabin, 7-Communication navigation unit, 701-Navigation cabin, 702-Doppler speed sensor, 703-Altimeter, 704-Depth gauge, 705-Ultrashort baseline, 706-Acoustic communication machine, 707-Emergency communication lamp, 708-Communication cabin, 709-Integrated antenna, 8-Connection box, 9-Oil compensator. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and are not used to limit the present application.

[0020] AsFigures 1-6 As shown, the present application provides a deformable underwater vehicle, specifically comprising a main frame unit 1, a heavy buoyancy adjusting unit 2, a buoyancy material shell unit 3, a propulsion power control unit 6, a double-arm manipulator unit 4 and a functional unit, wherein: The heavy buoyancy adjusting unit 2 is installed inside the main frame unit 1, comprising two groups of screw rod jacking assemblies 201, a reduction motor 210, a gravity center adjusting assembly 211, four groups of support assemblies and a buoyancy material frame 204, the reduction motor 210 is connected with the screw rod jacking assembly 201 and the gravity center adjusting assembly 211 through a power shaft 206, so as to convert the rotary motion of the reduction motor 210 into the lifting motion of the screw rod jacking assembly 201 and the front and back motion of the gravity center adjusting assembly 211; the support assemblies are arranged on both sides of the screw rod jacking assembly, and can change the height with the up and down movement of the buoyancy material frame 204, thereby playing a supporting role; the buoyancy material frame 204 is connected with the top ends of the two groups of gravity center adjusting assemblies 211 and the four groups of support assemblies 216, the gravity center adjusting assemblies 211 are symmetrically arranged at the center of the buoyancy material frame 204, and the four groups of support assemblies 216 are arranged at the corners of the buoyancy material frame 204, so as to improve the balance and stability of the buoyancy material frame 204; the buoyancy material frame 204 is used to enhance the bending resistance, which is welded by bending sheet metal, and at the same time, "X" shaped reinforcement is used at the weak part to prevent the buoyancy material shell unit 3 from being out of water at one end and entering water at the other end during the water out process, generating bending moment to affect the middle liftable buoyancy material 302, and during the transportation of the deformable underwater vehicle, the buoyancy material frame 204 is seated on the main frame unit 1, reducing the load bearing condition thereof; The buoyancy material shell unit 3 is overall streamlined, greatly reducing the navigation resistance and selecting hollow glass microsphere (HGM) filled polymer, which has excellent mechanical capacity and lightweight characteristics and can provide sufficient buoyancy, which comprises a streamlined shell and a middle liftable shell 302, the streamlined shell comprises a front streamlined shell 301, a tail streamlined shell 303 and a tail bottom streamlined shell 304, when the middle liftable shell 302 is not lifted, it and the front streamlined shell 301 and the tail streamlined shell 303 form a complete upper shell; the tail bottom streamlined shell 304 is arranged at the bottom and can move back and forth with the gravity center adjusting assembly 211; the middle liftable shell 302 is connected with the buoyancy material frame 204, so as to move up and down under the driving of the heavy buoyancy adjusting unit 2 to change the body shape of the deformable underwater vehicle, thereby changing the working mode, when the middle liftable shell 302 is lifted, the double-arm manipulator unit 4 is extended to enter the working mode; the middle liftable buoyancy material 302 adopts a segmented structure, which is divided into three parts, facilitating disassembly and assembly and improving the strength, a glass steel thin layer is pasted on the outside of the middle liftable buoyancy material 302 for local reinforcement, and through holes are drilled on the middle liftable buoyancy material 302 to be connected with the metal buoyancy material frame through bolts; The propulsion power control unit 6 is connected with the main body frame unit 1 to provide the thrust for advancing and retreating, heaving motion, and the moment of tilting, pitching and rotating, and comprises two groups of tail main propellers 601 symmetrically arranged on both sides of the main body frame unit 1, the middle axis of the tail main propeller 601 is at an angle of 5-20 degrees with the center longitudinal section of the deformable underwater vehicle to avoid the influence of the front disturbance; the double-arm manipulator unit 4 is connected with both sides of the main body frame unit 1 to be extended for stable operation in the hovering operation mode; and the functional unit is used to collect underwater information to assist the heavy buoyancy adjusting unit 2, the propulsion power control unit 6 and the double-arm manipulator unit 4 to operate.

[0021] Compared with the prior art, the deformable underwater vehicle provided by the application adopts the screw rod jacking assembly and the gravity center adjusting assembly to realize the deformation of the deformable underwater vehicle, the mechanism is simple and reliable and has high integration, only occupies four corners and a central position, does not occupy too much internal space, improves the space utilization rate of the deformable underwater vehicle, has the advantages of simple structure and convenient maintenance, and the gravity center adjusting assembly can weaken the interference caused by the forward movement of the gravity center due to the extension of the manipulator. More importantly, the deformable underwater vehicle provided by the application adopts the screw rod jacking mechanism to convert the rotary motion of the output shaft of the reduction motor into the lifting motion of the buoyancy material, thereby realizing the shape transformation of the underwater vehicle, has the advantages of high integration, strong carrying capacity, convenient processing and manufacturing, reliable structure and the like, and is suitable for high carrying capacity scenes. The screw rod structure has a self-locking function, and cooperates with the four-corner support rod mechanism to avoid the shaking problem caused by the water flow interference factor after the buoyancy material is lifted.

[0022] Meanwhile, the application adopts a variable configuration design, when the buoyancy material is lifted, the hovering operation mode is performed, the height difference of the heavy buoyancy center of the underwater vehicle is increased, the operation stability is improved, the interference of the handboat coupling effect during the operation of the double manipulator is reduced, and the ability of maintaining the attitude under the disturbance of the disturbance is enhanced, and the gravity center adjusting assembly is adjusted synchronously with the screw rod jacking assembly, thereby reducing the attitude instability phenomenon caused by the forward movement of the gravity center due to the extension of the manipulator; when the buoyancy material falls down, the deformable underwater vehicle enters the low-resistance cruising mode, the whole body is streamlined, the forward navigation resistance is greatly reduced, and the cruising endurance is improved.

[0023] Further, as shown in FIG. 1, the deformable underwater vehicle comprises a main body frame unit 1, a heavy buoyancy adjusting unit 2, a double-arm manipulator unit 4, a propulsion power control unit 6 and a functional unit. Figure 5As shown, the main frame unit 1 includes a base 101, two side plates 105, and a predetermined number of triangular plates 102 and corner plates 103. The base 101 and the side plates 105 are made of square steel, welded, and machined in combination. Compared with the aluminum alloy welding, bolt connection or riveting process, this process has the characteristics of low process complexity and high connection reliability. The two side plates 105 are trapezoidal structures and are connected to the two ends of the base 101 to fit the buoyancy material shell unit 3. The top of the side plate 105 is provided with an eye ring 104 for lifting the deformable underwater vehicle. The triangular plate 102 is installed at the intersection of the base 101 and the side plate 105 for local reinforcement. The corner plate 103 is fixed on the base 101. The traditional support frame is overall square, which is more suitable for underwater vehicles carrying square buoyancy materials on the upper part, but not suitable for carrying three-side wrapped buoyancy materials. Therefore, the support skeleton is optimized and designed according to the actual situation of the deformable underwater vehicle. The two side plates 105 are optimized to be trapezoidal, which is more suitable for the top cover buoyancy material and enhances the strength of the wrapped buoyancy material at the right angle connection position. At the same time, the top longitudinal connecting square steel is removed to optimize the equipment space. For the main frame unit 1, the sacrificial anode is installed on it, and each pressure-resistant cabin is connected to the main frame unit 1 through a metal clamp or a grounding wire to inhibit the electrochemical corrosion of each metal part in seawater.

[0024] Further, as shown in Figure 6 The screw jacking assembly 201 includes a jacking pipe 209, a screw nut 208, a jacking screw 207, and a gear box 205. One end of the jacking pipe 209 is connected to the buoyancy material frame 204, and the other end is connected to the jacking screw 207 through the screw nut 208. As the jacking screw 207 rotates, the screw nut 208 moves upward, the jacking pipe 209 rises to push the buoyancy material frame 204 upward, and the middle liftable shell 302 is pushed upward. The jacking screw 207 is connected to the power shaft 206 of the reduction motor 210 through the gear box 205. The gear box 205 is located at the bottom center of the main frame unit 1, and a precision grinding worm and a wear-resistant worm gear are installed inside. The precision grinding worm passes through the power shaft 206 and is fixed thereto, and rotates with the power shaft 206. The wear-resistant worm gear passes through the jacking screw 207 and is fixed thereto, and rotates with the jacking screw 207. The rotation of the reduction motor 210 is converted into the linear motion of the middle liftable shell 302. The power shaft 206 passes through the middle of the gear box 205, one end is connected to the output shaft of the reduction motor 210, and the other end is driven by the reduction motor 210 to rotate. The jacking screw 207 passes through the upper part of the gear box 205, and the power shaft 206 rotates and drives the jacking screw 207 to rotate through the gear box 205.

[0025] The support assembly 216 includes a support rod 203 and a support conduit 202. One end of the support rod 203 is connected to the buoyancy material frame 204, and the other end is connected to the support conduit 202 and can move up and down in the support conduit 202, so that the height of the support assembly 216 can be adjusted as the buoyancy material frame 204 moves up and down; the bottom of the support conduit 202 is connected to the main frame unit 1.

[0026] The center of gravity adjustment assembly includes a counterweight box 212, a tail moving nut 215 and a magnet 213. The counterweight box 212 is connected to the streamlined shell 304 at the bottom of the tail by bolts. The lower part is connected to the power shaft 206 of the reduction motor 210 through the tail moving nut 215, and the tail moving nut 215 is engaged with the thread on the surface of the power shaft 206. The tail moving nut 215 moves along the thread track of the power shaft 206, thereby converting the rotational motion of the power shaft 206 into the forward and backward motion of the center of gravity adjustment assembly 211. The magnet 213 is arranged inside the counterweight box 212 and is used to absorb the external iron block to adjust the weight of the center of gravity adjustment assembly. More preferably, the center of gravity adjustment assembly also includes a guide block 214. The middle part of the guide block 214 is slidably connected to the main frame unit 1 so as to move forward and backward, and the lower part is fixedly connected to the streamlined shell 304 at the bottom of the tail, thereby limiting the center of gravity adjustment assembly 211 to only move forward and backward.

[0027] The screw jacking assembly of the present application adopts a combination of a four-corner support guide sleeve and a support rod, which has a simple structure and is easy to install. It is suitable for scenarios with high loads in both the axial and radial directions. At the same time, the screw jacking assembly has a self-locking function to prevent the buoyancy material from shaking due to factors such as water flow after it is raised. The movement workspace required for the screw jacking assembly is small and the integration is high, which reduces the internal space occupied by the aircraft and facilitates the arrangement of equipment within the main frame. At the same time, the design of the present application is compact, modular, and highly integrated. The reduction motor 210 is coaxially linked to drive the screw lifting and the tail center of gravity adjustment assembly, realizing the reuse of the drive motor. In addition, the tail center of gravity adjustment assembly uses a magnet to absorb a large mass iron block (or lead). On the one hand, it can be used for the center of gravity adjustment mass block under normal working conditions, and on the other hand, it can be used for jettisoning loads under emergency conditions, realizing the functional reuse of the large mass iron block (or lead). In addition, since the buoyancy material and the center of gravity adjustment component are heavy, the reduction motor 210 needs to bear a large load, so the screw rod needs to be lubricated. However, due to the harsh conditions such as corrosion and high pressure in the deep-sea working environment, the method of applying grease on land is not applicable. The present application designs a tail moving nut 215 with underwater self-lubricating effect to cooperate with the power shaft 206 of the reduction motor 210 to realize transmission, which can effectively improve the underwater service life.

[0028] More preferably, the weight of the gravity center adjusting assembly 211 is 10-60 kg. When the deformable underwater vehicle is performing underwater operation, the manipulator is rotated to the front of the deformable underwater vehicle. Due to the large mass of the manipulator, the gravity center of the deformable underwater vehicle as a whole moves forward, which causes the shift of the center of buoyancy of the deformable underwater vehicle by a certain position, thereby generating a certain interference torque and affecting the operation stability of the underwater vehicle. Therefore, the gravity center adjusting assembly 211 is designed. When the underwater vehicle is in the operation mode, the gravity center adjusting assembly 211 moves backward to compensate for the forward movement of the gravity center of the underwater vehicle caused by the operation of the manipulator, thereby improving the operation stability of the underwater vehicle. In addition, for different environments, such as lake environment and ocean environment, the water density is different, and the ballast needs to be replaced according to the actual situation. However, frequent disassembly of the gravity center adjusting assembly increases the working complexity, and the assembly is only used for gravity center adjustment and is not fully utilized. Therefore, the gravity center adjusting assembly is combined with the ballast throwing mechanism in the conventional underwater vehicle. The magnet 213 is fixed in the counterweight box 212 by screws, and the lower part thereof is used to adsorb ballast of different weights. The ballast can be conveniently disassembled and replaced, and can be thrown out in time in water and emergency floating.

[0029] As Figures 1-4 and Figure 7As shown, the deformable underwater vehicle provided by the embodiment has overall gravity and buoyancy in water equal, in a zero buoyancy state, but the middle liftable shell 302 is filled with hollow glass microsphere (HGM) filled polymer, so when the middle liftable shell 302 is lifted up, the buoyancy is greater than the gravity, which will affect the screw jacking assembly 201, therefore, the stress analysis of the screw jacking assembly 201 in operation mode, the support rod 203 and the jacking pipe 209 are force bearing components of the screw jacking assembly 201. Assuming in a static water environment, the underwater vehicle only produces trim, and the support rod 203 and the jacking pipe 209 axial direction is consistent with the z-axis direction of the boat body coordinate system, when the underwater vehicle trim angle is 0°, at this time, the gravity and buoyancy of the middle liftable shell 302 only along the axial direction of the support rod 203 and the jacking pipe 209, therefore, the support rod 203 and the jacking pipe 209 are subjected to the maximum axial force at this time, through mechanical analysis, the deformation of the support rod 203 and the jacking pipe 209 is less than 0.1mm, which meets the actual use requirement; when the underwater vehicle trim angle is 90°, at this time, the gravity and buoyancy of the middle liftable shell 302 is perpendicular to the axial direction of the support rod 203 and the jacking pipe 209, therefore, the support rod 203 and the jacking pipe 209 are subjected to the maximum radial force at this time, through mechanical analysis, the deformation of the support rod 203 and the jacking pipe 209 is less than 0.05mm, which meets the actual use requirement; when the underwater vehicle trim angle is between 0° and 90°, at this time, the gravity and buoyancy of the middle liftable shell 302 has a certain angle with the axial direction of the support rod 203 and the jacking pipe 209, therefore, the support rod 203 and the jacking pipe 209 are subjected to axial force and radial force at this time, since the underwater vehicle can meet the actual use requirement in extreme cases, therefore, when the trim angle is between 0° and 90°, it meets the actual use requirement. In addition, the support rod 203 and the jacking pipe 209 are both cylindrical, and have the same radial force bearing capacity in each direction, therefore, whether the underwater vehicle tilts or rolls, the screw jacking assembly 201 can meet the actual working requirement.

[0030] Further, as Figures 12-14As shown, the propulsion power control unit 6 includes a tail rudder mechanism 608, two sets of tail main propellers 601, two sets of head vertical propellers 602, two sets of tail vertical propellers 603, and a control assembly installed inside the main body frame unit 1, wherein the tail rudder mechanism 608 is connected to the tail of the main body frame unit 1 through a tail mounting bracket 612 to provide a pitch control moment; the two sets of tail main propellers 601 are installed on the tail of the main body frame unit 1 through main propeller clamps 607 and are arranged on both sides of the tail rudder mechanism 608 to provide horizontal thrust, the horizontal axis of the tail main propeller 601 is at an angle of 5°-20° with the center longitudinal section of the deformable underwater vehicle, reducing the entrance flow of the tail vertical propeller 603 blocked by the buoyancy material shell unit 3 to reduce the propeller efficiency, and in the height direction, the tail main propeller 601 is consistent with the height of the center of gravity of the deformable underwater vehicle to reduce the coupling of the propeller acting force to generate other additional motion; the head vertical propeller 602 and the tail vertical propeller 603 are respectively installed and fixed on the main body frame unit 1 through head vertical propeller clamps 605 and tail vertical propeller clamps 606 and are placed in vertical propeller channels 604 to provide vertical thrust; the vertical propeller channel 604 is processed by the opening process from the front streamlined shell 301 and the middle liftable shell 302, and the variable cross-section design of the channel opening diameter from large to small reduces the thrust loss of the vertical upward motion; the control assembly is used to receive information from the sensing module and control the tail rudder mechanism 608, the tail main propeller 601, the head vertical propeller 602, and the tail vertical propeller 603.

[0031] More preferably, the ratio of the maximum torque of the tail main propeller 601, the head vertical propeller 602 and the tail vertical propeller 603 is (2-3):1:1, so as to ensure that the transformable underwater vehicle can work with maximum efficiency. The tail main propeller 601 undertakes the main propulsion task of the transformable underwater robot in the horizontal direction, and needs to run continuously at high power. The head vertical propeller 602 and the tail vertical propeller 603 have a higher frequency of use but a lower power demand per unit time, so the maximum torque is designed to be 1 / 3-1 / 2 of that of the tail main propeller 601. The tail main propeller 601 is arranged so that the thrust resultant direction and the center of gravity are in the same horizontal plane to prevent additional pitch moment from being generated by the tail main propeller 601. The head vertical propeller 602 and the tail vertical propeller 603 provide the underwater vehicle with the ability to move in three degrees of freedom of heave, pitch and roll. The layout of the head vertical propeller 602 and the tail vertical propeller 603 is optimized to ensure that the vertical distance from the center of gravity of the head vertical propeller 602 and the tail vertical propeller 603 is consistent, so that the head vertical propeller 602 and the tail vertical propeller 603 can heave with maximum power without generating coupling effects in other degrees of freedom. At the same time, the head vertical propeller 602 and the tail vertical propeller 603 are arranged to maximize the vertical distance from the center of gravity under the existing layout of the underwater vehicle, so as to provide greater roll moment and pitch moment, and ensure that the underwater vehicle can quickly complete the pitch and roll actions and adjust the attitude. Too large torque will increase energy consumption and make it difficult to control precisely; too small torque will slow down the attitude adjustment speed and make it difficult to cope with large environmental disturbances, which is not conducive to precise operation.

[0032] More preferably, the tail rudder mechanism 608 includes a tail mounting frame 612, a rudder motor 609, a self-lubricating bearing sleeve 611 and a tail rudder plate 610. The tail mounting frame 612 is fixedly installed on the main body frame unit 1, the rudder motor 609 is installed on the tail mounting frame 612, and the self-lubricating bearing sleeve 611 is installed on the output shaft of the rudder motor 609, so as to reduce the friction during rudder turning and improve the rudder turning efficiency. The tail rudder plate 610 is installed on the tail mounting frame 612, and the cross-sectional shape of the tail rudder plate 610 is preferably NACA0012, so as to provide the tail rudder plate 610 with high lift-drag ratio characteristics and achieve better rudder turning effect.

[0033] More preferably, the control assembly includes a main control cabin 613, a power cabin 614 and a battery cabin 615, the main control cabin 613 is installed inside the main body frame unit 1 and is installed and fixed by a clamp, and the main control cabin 613 is connected with the functional unit to receive the attitude position information measured by the functional unit and generate control instructions; the power cabin 614 is installed inside the main body frame unit 1 and is installed and fixed by a clamp, one end of the power cabin 614 is connected with the main control cabin 613, and the other end is connected with the tail rudder mechanism 608, the tail main propeller 601, the head vertical propeller 602 and the tail vertical propeller 603 through a cable, for receiving the control instructions of the main control cabin 613 and realizing power control; the battery cabin 615 is installed inside the main body frame unit 1 and is connected with the power cabin 614, for supplying power to the power cabin 614 and distributing power from the power cabin 614 to the tail rudder mechanism 608, the tail main propeller 601, the head vertical propeller 602 and the tail vertical propeller 603.

[0034] Further, the deformable underwater vehicle further includes a connection box 8 and an oil compensator 9 installed on the main body frame unit 1, the connection box 8 is filled with oil inside the wet cabin, is installed on the main body frame unit 1, is used for power distribution and signal line connection between cabin rooms, and the oil compensator 9 is used for supplementing the oil inside the connection box 8.

[0035] Further, the functional unit includes an acousto-optic-magnetic sensing unit 5 and a communication navigation unit 7, wherein the acousto-optic-magnetic sensing unit 5 is installed on the main body frame unit 1 and includes a head holder dual-eye visual sensing subsystem 501, a bottom visual sensing subsystem 512, a back sonar sensing subsystem 515 and a bottom extendable magnetic detection sensing subsystem 518, so as to realize detection of vision, sound wave and magnetic field, and improve the operation sensing, three-dimensional detection and navigation obstacle avoidance ability of the deformable underwater vehicle through multi-source sensing fusion; the communication navigation unit 7 is used for obtaining the speed, position and attitude information of the deformable underwater vehicle and performing navigation and communication. More specifically: As Figure 9As shown, the head gimbal binocular vision perception subsystem 501 adjusts the camera pitch angle when the deformable underwater vehicle is in the operating mode, thereby improving the binocular vision coverage, and specifically includes the forward-looking camera 502, the front lighting lamp 503, the front laser 504, the gimbal steering engine 505, the gimbal mounting frame 506, the device mounting frame 507, the front crank 508, the front connecting rod 509, the front end device cover 510, and the X-shaped fixing member 511, and the gimbal steering engine 505 is mounted on the gimbal mounting frame 506; the front connecting rod 509 is mounted on both sides of the gimbal steering engine 505, one end of the front crank 508 is connected with the output shaft of the gimbal steering engine 505, and the other end is connected with the front connecting rod 509; one end of the front connecting rod 509 is connected with the front crank 508, and the other end is connected with the device mounting frame 507; the rotating end of the device mounting frame 507 is connected with the front connecting rod 509, and the other end is fixed with the device in the form of a clamp, the middle part is two forward-looking cameras 502, the front laser 504 is beside the forward-looking camera 502, and the outermost part is the forward-looking lighting lamp; the front end device cover 510 is connected with the gimbal mounting frame 506 and can rotate together with the gimbal mounting frame 506; the acousto-optic-magnetic perception unit 5 can convert the output rotation of the gimbal steering engine 505 into the rotation of each device and the front end device cover 510 through the front crank 508 and the front connecting rod 509; the front crank 508 connecting rod mechanism has two groups of parallel installations, so the X-shaped fixing member 511 for rigidity reinforcement is welded between the two groups of crank connecting rod mechanisms, so as to ensure that the two groups of crank connecting rod mechanisms can rotate synchronously and reduce the deformation problem of the mechanism in the rotation process.

[0036] The bottom vision perception subsystem 512 includes the bottom-looking camera 513 and the bottom lighting lamp 514, and is fixedly installed on the bottom of the main body frame unit 1 by a clamp, and shoots the seabed picture.

[0037] The back sonar perception subsystem 515 includes the multi-beam sonar 516 and the front mounting plate 517, the front mounting plate 517 is fixedly connected to the upper front end of the side plate 105, and the multi-beam sonar 516 is installed on the front mounting plate 517, detects the obstacle in front of the underwater vehicle through the multi-beam sonar, and realizes real-time obstacle avoidance navigation.

[0038] The bottom extendable magnetic detection perception subsystem 518 is installed at the bottom of the base 101, detects the seabed cable and other equipment during the navigation of the vehicle, such as Figure 10As shown, it specifically includes the magnetic detection sensor 519, underwater rudder 520, rotating gear 521, magnetic detection rotating rod 522, flange 523 and magnetic detection mounting plate 524, the magnetic detection mounting plate 524 is fixedly connected to the bottom of the left and right sides of the main body frame unit 1, the underwater rudder 520 is fixedly installed on the magnetic detection mounting plate 524, the magnetic detection sensor 519 is installed at the tail end of the magnetic detection mounting rod in the form of a hoop, the magnetic detection rotating rod 522 will produce tremor due to water flow resistance during navigation, thereby affecting the detection of the magnetic detection sensor 519, therefore, the magnetic detection rotating rod 522 adopts a variable cross-section form, and the end part of the magnetic detection rotating rod is strengthened in strength, and meanwhile, the cross section of the magnetic detection rotating rod adopts a streamline cross section, thereby reducing the resistance during navigation.

[0039] More preferably, as shown in Figure 11 As shown, the front-view camera 502 adopts an industrial camera, the imaging is clear, the maximum field of view is 90°, the imaging distance is 0.5 meters, and the underwater operation demand of the application can be met, and meanwhile, the rotating angle of the head cloud platform binocular visual perception subsystem 501 is 20°, therefore, according to the actual demand, the front-view camera can be rotated by a certain angle, and the overall visual angle range of the head cloud platform binocular visual perception subsystem 501 reaches 110°; the maximum field of view of the bottom camera 513 is 90°, and when the actual operation is performed, the bottom of the vehicle can be observed in real time; the multi-beam sonar 513 is used for detecting the front obstacles during actual navigation, and the underwater obstacle avoidance is performed, and the maximum detection distance is 120 meters; when the vehicle performs a detection task, the underwater rudder 520 works, the magnetic detection sensor 519 is turned out, and the seabed cable and other equipment are detected, and the detection distance is set to 5 meters.

[0040] The application adopts the multi-channel underwater camera, multi-beam sonar, magnetic detection sensor and other equipment, can realize multi-source fusion perception, and improve the environmental detection capability of the underwater vehicle during cruising and operation. Meanwhile, through the design of the head cloud platform binocular visual perception subsystem and the bottom extendable magnetic detection perception subsystem, the head cloud platform binocular visual perception subsystem can adjust the camera visual angle during operation, can realize the front-view and bottom-view visual perception in a range of more than 200°, improves the visual servo operation reachable coverage, and further improves the success rate of the mechanical hand operation.

[0041] Further, as shown in Figure 8 As shown, the double-arm mechanical hand unit 4 includes two groups of mechanical hand assemblies which are the same in structure and symmetrically installed, each group of mechanical hand assembly includes a mechanical hand 401, a mounting base 402 and an end operation tool 403, the mechanical hand 401 is connected with the mounting base 402 through bolts, and the mounting base 402 is fixed to the main body frame unit 1; the end tool 403 is installed at the end of the mechanical hand 401, and is used for meeting different task demands.

[0042] Furthermore, the communication and navigation unit 7 includes a navigation cabin 701, a Doppler velocity sensor 702, an altimeter 703, a depth gauge 704, an ultra-short baseline 705, an acoustic communicator 706, an emergency communication light 707, a communication cabin 708 and an integrated antenna 709, wherein the navigation cabin 701 is installed inside the main frame unit 1 in the form of a clamp, and its lower end is fixedly connected to the Doppler velocity sensor 702 by bolts, thereby ensuring that there is no relative movement between the navigation cabin 701 and the Doppler test sensor 702, and the fiber optic inertial navigation inside the navigation cabin 701 and the Doppler velocity sensor 702 form a combined navigation to calculate the attitude and position information of the deformable underwater vehicle; the altimeter 703 and the depth gauge 704 are in communication connection with the navigation cabin 701, and are used to transmit the height from the bottom and the depth of entry into the water to the navigation cabin 701. degree; the ultra-short baseline 705 and the acoustic communicator 706 are installed at the lower part of the main frame unit 1, and the underwater communication of the underwater vehicle is completed through the acoustic communication link, and the underwater vehicle can cooperate with other underwater vehicles in the water; the emergency communication light 707 has an independent power supply and is connected to the main frame unit 1, and can self-luminesce for a long time; the communication cabin 708 and the integrated antenna 709 are installed at the upper part of the main frame unit 1, including Beidou communication, digital communication and 4G communication. When the underwater vehicle is on the water surface, it can communicate with the outside world through the communication cabin 708. An emergency lithium battery is placed inside the communication cabin 708. When the underwater vehicle is working normally, the communication cabin 708 is normally powered by the main power of the deformable underwater vehicle. In an emergency, the emergency lithium battery inside the communication cabin 708 will work to ensure continuous communication with the outside world.

[0043] like Figure 15 As shown, when the deformable underwater vehicle provided by this application is in cruise mode, the central elevating buoyancy material 302 is lowered, streamlining the vehicle and reducing navigation resistance. Hydrodynamic calculations show that when the underwater vehicle reaches a speed of 3 kn, the drag it experiences is 220 N, and at a speed of 5 kn, the drag it experiences is 600 N. The selected tail main thruster 601 has a rated thrust of 480 N, and the two thrusters together provide a total thrust of 960 N. Taking into account an 80% derating factor, the provided thrust is 768 N, which meets the requirements. When the underwater vehicle needs to ascend or descend, the tail rudder plate 610 is rotated. When the underwater vehicle of the present invention is in operation mode, the middle liftable buoyancy material 302 is raised. There is no high requirement for the movement ability of the underwater vehicle, and the speed is not higher than 2 knots. After hydrodynamic calculation, when the speed of the underwater vehicle reaches 2kn, the resistance it encounters is 395.77N. The rated thrust of the selected tail main propeller 601 is 480N, and the total thrust of the two propellers is 960N. Taking into account the 80% derating coefficient, the thrust provided is 768N, which can meet the demand.

[0044] When the deformable underwater vehicle provided in the present application is in the operating mode and performs the floating operation, the middle liftable buoyancy material 302 is raised, the double-arm manipulator 401 is extended, the front gimbal binocular visual perception subsystem 501 works, provides the front operating picture and is used for image analysis, and controls the double-arm manipulator 401 to perform the operation. At the same time, the front vertical propeller 602 and the tail vertical propeller 603 control the overall attitude angle stability.

[0045] When the underwater vehicle in the present application is in the operating mode and performs the near-bottom operation, the middle liftable buoyancy material 302 is raised, the double-arm manipulator 401 is extended, the front gimbal binocular visual perception subsystem 501 and the bottom visual perception subsystem 512 work at the same time, provide the bottom operating picture and are used for image analysis, and control the double-arm manipulator 401 to perform the operation. At the same time, the front vertical propeller 602 and the tail vertical propeller 603 control the overall attitude angle stability.

[0046] As shown in Figure 16 , the underwater vehicle is in the balance of the weight and the buoyancy in the water, and the weight is 800 kg, so the gravity and the buoyancy are both 7840 N; it is assumed that the underwater vehicle is in the static water environment and only produces the trim. When the underwater vehicle is in the cruising mode, the height difference of the weight and the buoyancy center is expected to be 8 cm to 12 cm at this time, the trim angle is 0°, the underwater vehicle is in the normal state at this time, and there is no restoring moment, when the trim angle is 90°, the maximum restoring moment of the underwater vehicle at this time is 940.8 Nm, and when the trim angle is (0°≤ ≤90°), the restoring moment function is G×g×d× , wherein G is 800 kg; g is 9.8 m / s 2 ; and d is 8 cm to 12 cm. When the underwater vehicle is in the cruising mode, the height difference of the weight and the buoyancy center is increased by 3 cm to 5 cm at this time, the trim angle is 0°, the underwater vehicle is in the normal state at this time, and there is no restoring moment, when the trim angle is 90°, the maximum restoring moment of the underwater vehicle at this time is 1332.8 Nm, and when the trim angle is (0°≤ ≤90°), the restoring moment function is G×g×d× , wherein G is 800 kg; g is 9.8 m / s 2 ; and d is 11 cm to 17 cm. It can be seen that the balance ability in the operating mode is better than that in the cruising mode, and it is more beneficial to the operation of the mechanical arm.

[0047] It is to be understood that the terms "including", "comprising", "consisting of", and the like, used herein are meant to be inclusive, and are not meant to be exclusive, or restrictive. In the present application, the terms such as "including" and / or "having" etc. shall be construed as indicating the presence of the stated features, numbers, operations, constituents, components or combinations thereof, but not precluding the presence or addition of one or more other features, numbers, operations, constituents, components or combinations thereof.

[0048] It should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate relative positions or orientation relationships based on the positions or orientation relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0049] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0050] It is easy for those skilled in the art to understand that the above only describes the preferred embodiments of the present application, and is not intended to limit the present application, and any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A deformable underwater vehicle with dual arms for coordinated stable operation, characterized in that: It comprises a main frame unit (1), a weight buoyancy adjustment unit (2), a buoyancy material shell unit (3), a propulsion power control unit (6), a dual-arm manipulator unit (4) and a functional unit, wherein: The weight buoyancy adjustment unit (2) is installed inside the main frame unit (1), and comprises a screw jacking assembly (201), a reduction motor (210), a center of gravity adjustment assembly (211), a support assembly, and a buoyancy material frame (204) connected to the top of the center of gravity adjustment assembly (211) and the support assembly (216); the reduction motor (210) is connected to the screw jacking assembly (201) and the center of gravity adjustment assembly (211) to drive the screw jacking assembly (201) to rise and fall and drive the center of gravity adjustment assembly to move forward and backward; the support assembly is arranged on both sides of the screw jacking assembly (201) for supporting the buoyancy material frame (204); The buoyancy material shell unit (3) comprises a streamlined shell and a middle liftable shell (302), wherein the middle liftable shell (302) is connected to the buoyancy material frame (204), thereby moving up and down under the drive of the heavy buoyancy adjustment unit (2) to change the body shape of the deformable underwater vehicle, thereby realizing switching between low-resistance cruising and hovering operation modes; The propulsion power control unit (6) is connected to the main frame unit (1) and is used to provide power. It includes two groups of tail main thrusters (601) symmetrically arranged on both sides of the main frame unit (1). The angle between the center axis of the tail main thruster (601) and the middle longitudinal section of the deformable underwater vehicle is 5° to 20° to avoid the influence of front turbulence. The dual-arm manipulator unit (4) is connected to both sides of the main frame unit (1) and is used to extend in a hovering operation mode to perform stable operation; The functional unit is used to collect underwater information to assist the operation of the weight-buoyancy adjustment unit (2), the propulsion power control unit (6) and the dual-arm manipulator unit (4).

2. The dual-arm coordinated stable operation deformable underwater vehicle according to claim 1, characterized in that: The screw jacking assembly (201) comprises a jacking pipe (209), a screw nut (208), a jacking screw (207) and a gear box (205); one end of the jacking pipe (209) is connected to the buoyancy material frame (204), and the other end is connected to the jacking screw (207) via the screw nut (208); the jacking screw (207) is connected to the power shaft (206) of the reduction motor (210) via the gear box (205), and / or, The support assembly (216) comprises a support rod (203) and a support conduit (202); one end of the support rod (203) is connected to the buoyancy material frame (204), and the other end is connected to the support conduit (202) and can move up and down in the support conduit (202); the bottom of the support conduit (202) is connected to the main frame unit (1).

3. The dual-arm coordinated stable operation deformable underwater vehicle according to claim 1, characterized in that: The center of gravity adjustment component (211) includes a counterweight box (212), a tail movable nut (215), and a magnetic block (213). The counterweight box (212) is connected to the power shaft (206) of the reduction motor (210) through the tail movable nut (215) so as to move forward and backward under the drive of the reduction motor (210); the magnetic block (213) is arranged inside the counterweight box (212) and is used to absorb an external iron block to adjust the weight of the center of gravity adjustment component (211).

4. The dual-arm coordinated stable operation deformable underwater vehicle according to claim 1, characterized in that: The main frame unit (1) comprises a base (101), two side panels (105), and a preset number of triangular panels (102) and angle panels (103), wherein the two side panels (105) are trapezoidal structures and are connected to both ends of the base (101) to fit the buoyancy material shell unit (3); the top of the side panels (105) is provided with a lifting ring (104) for lifting the deformable underwater vehicle; the triangular panels (102) are installed at the intersection of the base (101) and the side panels (105); and the angle panels (103) are fixed to the base (101).

5. The dual-arm coordinated stable operation deformable underwater vehicle according to claim 1, characterized in that: The propulsion power control unit (6) further includes a tail steering mechanism (608), two sets of bow vertical thrusters (602), two sets of tail vertical thrusters (603), and a control component installed inside the main frame unit (1), wherein the tail steering mechanism (608) is connected to the tail of the main frame unit (1) and is arranged in the middle of the two sets of tail main thrusters (601) for providing a pitch control torque; the bow vertical thrusters (602) and the tail vertical thrusters (603) are respectively connected to the bottom of the main frame unit (1) for providing thrust in the vertical direction; and the control component is used to receive information from the sensor module and control the tail steering mechanism (608), the tail main thrusters (601), the bow vertical thrusters (602), and the tail vertical thrusters (603).

6. The dual-arm coordinated stable operation deformable underwater vehicle according to claim 5, characterized in that: The ratio of the maximum torques provided by the tail main thruster (601), the bow vertical thruster (602) and the tail vertical thruster (603) is (2-3):1:

1.

7. The dual-arm coordinated stable operation deformable underwater vehicle according to claim 5, characterized in that: The control assembly includes a main control cabin (613), a power cabin (614) and a battery cabin (615). The main control cabin (613) is connected to the functional unit and is used to receive attitude position information measured by the functional unit and generate control instructions; one end of the power cabin (614) is connected to the main control cabin (613), and the other end is connected to the tail steering mechanism (608), the tail main propeller (601), the bow vertical propeller (602) and the tail vertical propeller (603), and is used to receive control instructions from the main control cabin (613) and realize power control; the battery cabin (615) is connected to the power cabin (614) and is used to supply power to the power cabin (614), and the power is distributed by the power cabin (614).

8. The dual-arm coordinated stable operation deformable underwater vehicle according to claim 1, characterized in that: The deformable underwater vehicle further comprises a junction box (8) and an oil compensator (9) mounted on the main frame unit (1); the junction box (8) is used for power distribution and signal line connection between the compartments; and the oil compensator (9) is used for replenishing the oil inside the junction box (8).

9. The dual-arm coordinated stable operation deformable underwater vehicle according to any one of claims 1 to 8, characterized in that: The functional unit comprises an acoustic, optical and magnetic sensing unit (5) and a communication and navigation unit (7), wherein the acoustic, optical and magnetic sensing unit (5) is mounted on the main frame unit (1), and comprises a bow pan-tilt binocular vision sensing subsystem (501), a bottom vision sensing subsystem (512), a back sonar sensing subsystem (515) and a bottom extendable magnetic detection sensing subsystem (518), thereby realizing the detection of vision, sound waves and magnetic fields; the communication and navigation unit (7) is used to obtain the speed, position and attitude information of the deformable underwater vehicle and to perform navigation and communication.

10. The dual-arm coordinated stable operation deformable underwater vehicle according to claim 9, characterized in that: The communication and navigation unit (7) comprises a navigation cabin (701), a Doppler velocity sensor (702), an altimeter (703), a depth gauge (704), an ultra-short baseline (705), an acoustic communication device (706), an emergency communication light (707), a communication cabin (708) and an integrated antenna (709), wherein the navigation cabin (701) is installed inside the main frame unit (1), and its lower end is fixedly connected to the Doppler velocity sensor (702) for navigation and solving the attitude and position information of the deformable underwater vehicle; the altimeter (703) and the depth gauge (704) are ... ) is connected to the navigation cabin (701) for communication, and is used to transmit the height from the bottom and the depth of entry into the water to the navigation cabin (701); the ultra-short baseline (705) is installed on the upper part of the main frame unit (1) for communicating with the shore-based end during navigation; the acoustic communication machine (706) is installed on the lower part of the main frame unit (1) for communicating with other underwater vehicles; the emergency communication light (707) has an independent power supply and is connected to the main frame unit (1); the communication cabin (708) and the integrated antenna (709) are installed on the upper part of the main frame unit (1) for communicating on the water surface.

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