Propeller composite wheel with convertible underwater motion state for observation and maintenance robot

Abstract

The utility model relates to the technical field of underwater robots, in particular to a propeller composite wheel with a convertible underwater motion state for an observation and maintenance robot. A propeller outer wheel is installed outside the pressure-resistant hub, a buoyancy adjusting device is installed between the propeller outer wheel and the pressure-resistant hub, a sealing partition plate is installed in an inner cavity of the pressure-resistant hub, air holes are formed in the surface of the pressure-resistant hub, the buoyancy adjusting device is communicated with the first sealed cabin through the air holes, and an exhaust pump is installed in the first sealed cabin; a driving motor is mounted in the second sealing chamber, gas between the buoyancy adjusting air bag and the first sealing chamber in the pressure-resistant hub is exhausted through the exhaust pump, the size of the buoyancy adjusting air bag is changed, and rapid and repeated adjustment of'zero buoyancy-negative buoyancy 'of the propeller composite wheel is achieved. The underwater robot can be used as a propeller, a roller and a walking foot so as to adapt to a complex underwater operation environment, so that underwater observation and maintenance operation are completed, and the environment adaptability is high.

Description

TECHNICAL FIELD

[0001] The utility model relates to underwater robot technical field especially underwater motion state convertible observation maintenance robot propeller composite wheel. BACKGROUND

[0002] In the conventional inspection of river, lake, sea embankment, underwater pipeline and cable, emergency detection, maintenance and emergency detection, underwater abandoned object search and salvage of public security and procuratorial organs, reservoir dam crack detection and maintenance, hydropower station deep water bottom and dam detection, south-to-north water diversion reservoir and drainage channel detection, foreign matter cleaning and energy storage power station water diversion tunnel detection and other operation processes, the problems faced are as follows:

[0003] ① There are many obstacles such as garbage, waterweeds, fishing nets and bricks and stones;

[0004] ② The terrain is complex, such as ground protrusions and serious waterway erosion;

[0005] ③ Affected by wind and waves, the interface is large, and the water flow is chaotic;

[0006] The above-mentioned problems make the conventional underwater robot almost unable to work normally, therefore, it is necessary to change the motion state of the underwater robot according to the actual working condition for adjustment, the motion state is divided into floating state, crawling state and walking state, the change of the running state is usually changed by controlling the buoyancy, in the design of the underwater robot, the control of the buoyancy is crucial for the control of the motion state. CONTENT OF THE UTILITY MODEL

[0007] The utility model solves the technical problems that: in order to solve the problems existing in the prior art in the above background art, provide a kind of propeller composite wheel outer edge using paddle design, under the action of driving motor, speed reducer, can act as propeller, gyro wheel, walking foot use, underwater motion state convertible observation maintenance robot propeller composite wheel.

[0008] The utility model solves the technical problems and adopts the technical scheme that: a kind of underwater motion state convertible observation maintenance robot propeller composite wheel, including propeller outer wheel and pressure hub, the pressure hub is installed propeller outer wheel outside, propeller outer wheel and pressure hub are installed with buoyancy adjusting device between them;

[0009] The open end of the pressure-resistant hub is provided with a hub cover, a sealing partition plate is arranged in the inner cavity of the pressure-resistant hub, the sealing partition plate divides the inner cavity of the pressure-resistant hub into a first sealed cabin and a second sealed cabin, air holes are arranged on the surface of the pressure-resistant hub, the buoyancy adjusting device is communicated with the first sealed cabin through the air holes, and an air exhaust pump is arranged in the first sealed cabin to exhaust the gas between the buoyancy adjusting device and the first sealed cabin.

[0010] The second sealed cabin is provided with a driving motor for driving the propeller composite wheel to rotate.

[0011] Further, a plurality of blades are arranged on the outer circumferential surface of the propeller outer wheel in an annular array, and each blade has an S-shaped transverse cross section.

[0012] Further, the blades are divided into first blades and second blades, and the first blades and the second blades are centrally symmetrically arranged about the length center point of the blades.

[0013] Further, the surface of the blades in contact with the outer circumferential surface of the propeller outer wheel is a straight surface, and the top surface of the blades has an S-shaped structure.

[0014] Further, the camber of the blades is positive from the leading edge to the length center point of the blades, and gradually decreases along the chord line from a maximum value to zero at the length center point; and the camber of the blades is negative from the length center point to the trailing edge, and gradually increases along the chord line from a minimum value to a maximum value.

[0015] Further, the driving motor comprises a driving motor rotor, the driving motor stator is inserted into the driving motor rotor, one end of the driving motor stator is provided with a speed reducer, and the speed reducer is arranged away from the hub cover.

[0016] Further, the buoyancy adjusting device is a buoyancy adjusting air bag.

[0017] The utility model discloses the beneficial effect:

[0018] a) the propeller composite wheel outer edge adopts the blade design, can act as the propeller, the roller, the walking foot under the action of driving motor, speed reducer, to adapt to the more complex underwater working environment, and then complete underwater observation, maintenance operation, and the environmental adaptability is strong;

[0019] b) the gas exhaust between the buoyancy adjusting air bag and the first sealed cabin in the pressure-resistant hub is carried out through the air exhaust pump, the volume of the buoyancy adjusting air bag is changed, the propeller composite wheel "zero buoyancy <-> negative buoyancy" is repeatedly adjusted, the buoyancy of the propeller composite wheel can be repeatedly adjusted between "zero buoyancy <-> negative buoyancy", and under the cooperation of the composite wheel position conversion device, the state of the robot in the floating state is stable, the gravity center of the robot in the crawling state is close to the bottom of water, and the water flow resistance is high.

[0020] c) can be adjusted in real time 4 complex wheel negative buoyancy size, and then change the strength of the robot pressing the bottom of the water, both to reduce energy consumption and to provide suitable anti-flow capacity. BRIEF DESCRIPTION OF DRAWINGS

[0021] The utility model is further explained below in combination with the drawings and embodiments.

[0022] Figure 1 is the structural diagram of the utility model;

[0023] Figure 2 is the utility model's explosion map;

[0024] In the figure: 13, propeller outer wheel, 14, buoyancy adjusting air bag, 15, pressure hub, 16, exhaust pump, 17, sealing partition, 18, drive motor rotor, 19, drive motor stator, 20, speed reducer, 21, air hole, 22, paddle. DETAILED DESCRIPTION

[0025] The utility model will be further explained in combination with the drawings. These drawings are all simplified schematic diagrams, just to illustrate the basic structure of the utility model in a schematic way, therefore it only shows the structure related to the utility model.

[0026] As Figure 1 The propeller composite wheel for the underwater motion state changeable observation and maintenance robot shown in the figure comprises a propeller outer wheel 13 and a pressure hub 15, the pressure hub 15 is externally installed with the propeller outer wheel 13, and a buoyancy adjusting device is installed between the propeller outer wheel 13 and the pressure hub 15.

[0027] The open end of the pressure hub 15 is installed with a hub cover, the inner cavity of the pressure hub 15 is installed with a sealing partition 17, the sealing partition 17 divides the inner cavity of the pressure hub 15 into a first sealed cabin and a second sealed cabin, the surface of the pressure hub 15 is provided with an air hole 21, the buoyancy adjusting device is communicated with the first sealed cabin through the air hole 21, the first sealed cabin is installed with an exhaust pump 16, and the exhaust of the gas between the buoyancy adjusting device and the first sealed cabin is completed.

[0028] The second sealed cavity is installed with a drive motor, to drive the rotation of the propeller composite wheel 1.

[0029] The buoyancy adjusting device is a buoyancy adjusting air bag 14.

[0030] The outer circumferential surface of the propeller outer wheel 13 is provided with a plurality of paddle 22 arranged in an annular array mode, and the transverse cross-sectional shape of each paddle 22 is in the shape of "S".

[0031] The paddle 22 is divided into a first paddle and a second paddle, which are centrally symmetrically arranged about a length center point of the paddle.

[0032] The surface of the paddle 22 in contact with the outer circumferential surface of the propeller outer wheel 13 is a straight surface, the top surface of the paddle 22 is in an "S" shape, and the paddle 22 generates water thrust when rotating at high speed and has the effect of a patterned roller when rotating at low speed.

[0033] The camber of the paddle 22 is positive from the leading edge to the length center point of the paddle, and gradually decreases along the chord line direction from a maximum value to 0 at the length center point of the paddle; the camber of the paddle 22 is negative from the length center point of the paddle to the trailing edge, and gradually increases along the chord line direction from a minimum value to a maximum value.

[0034] The driving motor includes a driving motor rotor 18, the driving motor rotor 18 is inserted into a driving motor stator 19, one end of the driving motor stator 19 is provided with a speed reducer 20, the speed reducer 20 is arranged away from the hub cover, the driving motor is also integrated and arranged in the pressure-resistant hub 15, the propeller outer wheel 13 is driven to generate propeller thrust by controlling the high-speed rotation of the driving motor, and the propeller outer wheel 13 is driven to generate crawling force by controlling the low-speed rotation of the driving motor.

[0035] When performing observation tasks, it can float or crawl in water;

[0036] When performing underwater maintenance tasks, it can crawl along the water bottom according to the carried maintenance equipment and the observed underwater environment;

[0037] Specifically, the gas in the buoyancy adjusting air bag 14 and the first sealed cabin in the pressure-resistant hub 15 is pumped out by the air pump 16, the volume of the buoyancy adjusting air bag 14 is changed, the propeller composite wheel 1 is quickly and repeatedly adjusted between "zero buoyancy and negative buoyancy", and the buoyancy of the propeller composite wheel 1 can be repeatedly adjusted between "zero buoyancy and negative buoyancy". Under the cooperation of the composite wheel position conversion device 10, the state of the robot in the floating state is stable, the gravity center of the robot in the crawling state is close to the water bottom, and the water flow resistance is high.

[0038] The propeller composite wheel 1 has a paddle 22 outside, a buoyancy adjusting air bag 14, a speed reducer 20, a driving motor and the like inside, and is in zero buoyancy when rotating at high speed, which is similar to a propeller interacting with water and provides propulsion for the robot movement.

[0039] When rotating at low speed, the propeller composite wheel 1 is in negative buoyancy, which is similar to a patterned roller contacting the water bottom and provides crawling force for the robot movement.

[0040] When the floating state, the exhaust pump 16 will be the first sealed cabin inside the pressure hub 15 air to buoyancy adjustment air bag 14, according to the depth of the intelligent adjustment of the air pressure of buoyancy adjustment air bag 14, the propeller composite wheel 1 to maintain zero buoyancy state (at this time, the robot as a whole for zero buoyancy state, propeller composite wheel 1 relative to the main frame of the robot 45° arrangement in the buoyancy material shell 2), while controlling the propeller composite wheel 1 high-speed rotation to generate water thrust, in 4 propeller composite wheel 1, complete the robot in the water omnidirectional motion;

[0041] When the crawling state, 4 propeller composite wheel 1 with "Bigfoot car" layout, strong obstacle avoidance capability; exhaust pump 16 will be the air in the buoyancy adjustment air bag 14 to the first sealed cabin inside the pressure hub 15, so that the propeller composite wheel 1 to maintain negative buoyancy state, at this time, the robot as a whole for negative buoyancy state, negative buoyancy state (can be adjusted in real time 4 propeller composite wheel 1 of the negative buoyancy, and then change the strength of the robot to compress the bottom of the water, in reducing energy consumption and can provide appropriate anti-flow capacity), propeller composite wheel 1 arranged in the lower part of the main frame of the robot, at this time the whole robot is compressed on the bottom of the water, control the propeller composite wheel 1 low-speed rotation to generate crawling force, in 4 propeller composite wheel 1 differential control to achieve the robot crawling on the bottom of the water;

[0042] In summary, the present application to provide power to the robot, to provide the crawling state of the robot crawling power, while adjusting the buoyancy state of the robot, change the displacement of the propeller composite wheel, in providing crawling power for the larger negative buoyancy state (so that the robot as a whole to compress the bottom of the water crawling), in providing thrust for zero buoyancy state (so that the robot as a whole for zero buoyancy in the water floating), realize the robot underwater state floating or crawling or walking state switching.

[0043] The above-mentioned according to the ideal embodiment of the present application for inspiration, through the above description, the relevant staff can be in the range of not deviating from the technical idea of the present application, to make a variety of changes and modifications. The technical scope of the present application is not limited to the contents of the specification, must be determined according to the scope of claims.

Claims

1. A propeller-composite wheel for an underwater observation and maintenance robot, which is convertible in a motion state, characterized in that: The propeller outer wheel (13) and the pressure-resistant hub (15) are arranged outside each other, and the buoyancy adjusting device is arranged between the propeller outer wheel (13) and the pressure-resistant hub (15). The open end of the pressure-resistant hub (15) is provided with a hub cover, and the inner cavity of the pressure-resistant hub (15) is provided with a sealing partition plate (17), which divides the inner cavity of the pressure-resistant hub (15) into a first sealed cabin and a second sealed cabin. The second sealed cabin is provided with a driving motor, which drives the propeller composite wheel (1) to rotate.

2. The propeller-composite wheel for underwater motion state convertible observation and maintenance robot according to claim 1, characterized in that: The propeller outer wheel (13) is provided with a plurality of blades (22) arranged in an annular array on the outer circumferential surface of the propeller outer wheel (13).

3. The propeller-composite wheel for underwater motion state convertible observation and maintenance robot according to claim 2, characterized in that: The blade (22) is divided into a first blade and a second blade, and the first blade and the second blade are centrally symmetrically arranged about the length center point of the blade.

4. The propeller-composite wheel for underwater motion state convertible observation and maintenance robot according to claim 2, characterized in that: The blade (22) is in contact with the outer circumferential surface of the propeller outer wheel (13) in a straight line, and the top surface of the blade (22) is in an "S" shape.

5. The propeller-composite wheel for underwater motion state convertible observation and maintenance robot according to claim 2, characterized in that: The camber of the blade (22) is positive from the leading edge to the length center position of the blade, and gradually decreases along the chord direction from the maximum value to 0 at the length center position of the blade.

6. The propeller-composite wheel for underwater motion state convertible observation and maintenance robot according to claim 1, characterized in that: The driving motor comprises a driving motor rotor (18), the driving motor rotor (18) is inserted into a driving motor stator (19), one end of the driving motor stator (19) is provided with a speed reducer (20), and the speed reducer (20) is arranged away from the hub cover.

7. The propeller-composite wheel for underwater motion state convertible observation and maintenance robot according to claim 1, characterized in that: The buoyancy adjusting device is a buoyancy adjusting air bag (14).

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