An underwater robot with power source located in the center of multiple propellers

Abstract

The underwater robot with a power source located at the center of multiple propellers of the present invention comprises a shell, a propeller, and a power source. The multiple propellers are symmetrically distributed about the center line of the shell extending from the front to the back of the shell, and the power source is located on the center line of the shell. The present invention provides an underwater robot with a power source located at the center of multiple propellers. The multiple propellers are symmetrically distributed about the center line of the shell extending from the front to the back of the shell, and the power source is located on the center line of the shell. Since the weight of the power source is relatively large, when multiple propellers with the power source as the symmetry center work at the same time, the loads generated by the weight of the power source on the multiple propellers are consistent, so that the thrust of the multiple propellers on the power source remain consistent, so that the underwater robot with the power source located at the center of the multiple propellers can maintain balance and stability when in use.

Description

[Technical field]

[0001] The invention relates to the technical field of underwater robots, and in particular to an underwater robot where a power source is located at the center of a plurality of propellers. [Background technology]

[0002] With the development of society and the progress of science, there are more and more underwater operations, so the application of underwater robots is also increasing, and the requirements for the coordination, controllability and stability of underwater robots are getting higher and higher. The current underwater robots have uneven weight distribution. In the case of uneven weight distribution, when the power device is output, it is easy to cause poor balance and stability. [Summary of the invention]

[0003] The present invention aims to solve the technical problem of poor balance and stability of an underwater robot. The present invention provides an underwater robot with a simple structure and a reasonable design and a power source located at the center of a plurality of propellers.

[0004] The present invention is achieved through the following technical solutions:

[0005] An underwater robot with a power source located at the center of multiple propellers comprises a shell, a propeller, and a power source. The multiple propellers are symmetrically distributed about a shell center line extending from the front to the back of the shell, and the power source is located on the shell center line.

[0006] The underwater robot as described above has a power supply located at the center of multiple propellers. The propellers as described above include lifting propellers symmetrically distributed on the shell with the center line of the shell, and propulsion propellers symmetrically distributed on the shell with the center line of the shell. The power supply is arranged at the center of gravity of the lifting propellers and the propulsion propellers.

[0007] For the underwater robot in which the power source is located at the center of the plurality of propellers as described above, the center of gravity of the power source coincides with the center of gravity of the shell.

[0008] The underwater robot with a power source located at the center of multiple propellers as described above includes a power source housing, a storage battery arranged on the bottom of the power source housing, and multiple power connectors arranged on both sides of the power source housing with the storage battery as the symmetrical center.

[0009] As described above, in the underwater robot in which the power supply is located at the center of a plurality of propellers, the power supply also includes a circuit board, and the inner wall of the power supply housing is provided with a slot arranged along the length direction of the power supply housing and used for inserting and fixing the circuit board.

[0010] As described above, in the underwater robot whose power source is located at the center of multiple propellers, the power source housing is provided with a protrusion protruding from the outer wall of the power source housing and used to cooperate with the housing to fix the power source, and the power connector is provided on the protrusion.

[0011] As described above, the underwater robot has a power supply located at the center of multiple propellers, and the power supply also includes a power supply cover threadedly matched with the power supply housing, and a power supply cover sealing ring cavity for accommodating a power supply sealing ring is provided between the power supply cover and the power supply housing.

[0012] For the underwater robot in which the power supply is located at the center of the plurality of propellers as described above, the power supply housing is provided with a plurality of power supply connectors, and the plurality of power supply connectors are symmetrically distributed front to back and left to right relative to the power supply housing.

[0013] The underwater robot with the power source located at the center of the plurality of propellers as described above further includes a camera and auxiliary light sources arranged on both sides of the camera.

[0014] As described above, in the underwater robot whose power source is located at the center of multiple propellers, the camera includes a front shell and a rear shell rotatably matched with the front shell, the front shell is provided with a front shell clamping position for clamping the front shell for rotation, and the rear shell is provided with a rear shell clamping position for clamping the rear shell for rotation.

[0015] Compared with the prior art, the present invention has the following advantages:

[0016] The present invention provides an underwater robot with a power supply located at the center of multiple propellers. The multiple propellers are symmetrically distributed about a shell center line extending from the front to the back of the shell. The power supply is located on the above-mentioned shell center line. Since the power supply is heavy, when multiple propellers with the power supply as the symmetry center work simultaneously, the loads generated by the power supply weight on the multiple propellers are consistent, so that the thrusts of the multiple propellers on the power supply are consistent. In this way, the underwater robot with the power supply located at the center of the multiple propellers can maintain balance and stability when in use.

Brief Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 It is a schematic diagram of the internal structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the structure of the power supply of the present invention

[0020] Figure 3 yes Figure 2 Section view at AA;

[0021] Figure 4 It is a structural schematic diagram of the camera of the present invention;

[0022] Figure 5 is a structural exploded view of the camera of the present invention;

[0023] Figure 6 It is a half-section view of the camera of the present invention. [Specific implementation method]

[0024] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0025] When the embodiments of the present invention mention ordinal numbers such as "first" and "second", unless they do express the meaning of order according to the context, they should be understood as being merely for the purpose of distinction.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] An underwater robot with a power source located at the center of multiple propellers includes a shell 1, a propeller 2, and a power source 3. The multiple propellers 2 are symmetrically distributed on the shell 1 along the center line of the shell, and the power source 2 is located at the symmetrical center position of the symmetrical distribution of the multiple propellers 2.

[0028] The present embodiment provides an underwater robot with a power supply located at the center of a plurality of propellers. The plurality of propellers are symmetrically distributed about a center line of the shell extending from the front to the rear. The power supply is located on the center line of the shell. Since the power supply is heavy, when a plurality of propellers with the power supply as the symmetry center work simultaneously, the loads exerted by the weight of the power supply on the plurality of propellers are consistent, thereby making the thrusts exerted by the plurality of propellers on the power supply consistent. In this way, the underwater robot with the power supply located at the center of the plurality of propellers can maintain balance and stability during use.

[0029] Furthermore, as a preferred embodiment of the present invention but not a limitation, the propellers include lifting propellers symmetrically distributed on the shell with respect to the center line of the shell, and propulsion propellers symmetrically distributed on the shell with respect to the center line of the shell, and the power source is arranged at the center of gravity of the distribution positions of the lifting propellers and the propulsion propellers. In the present embodiment, the two lifting propellers are arranged with the center line of the shell as the center of symmetry, and the rotating shaft of the lifting propeller is arranged vertically, so as to provide the underwater robot with the power source located at the center of multiple propellers with power to rise or fall. The power source is located at the center of symmetry of the two lifting propellers, so that when the two lifting propellers are running with the same power, the underwater robot with the power source located at the center of multiple lifting propellers can be kept balanced, so as to avoid the underwater robot with the power source located at the center of multiple lifting propellers being tilted due to uneven weight. Similarly, in this embodiment, the two propulsion propellers are arranged with the center line of the shell as the center of symmetry, and the rotating shaft of the lifting propeller is arranged horizontally, which is used to provide forward or backward power for the underwater robot whose power supply is located at the center of multiple propellers. The power supply is located at the symmetry center of the two propulsion propellers, so that when the two propulsion propellers operate at the same power, the balance of the underwater robot whose power supply is located at the center of multiple propulsion propellers can be maintained, avoiding the underwater robot whose power supply is located at the center of multiple propulsion propellers from tilting due to uneven weight.

[0030] Furthermore, as a preferred embodiment of the present invention but not a limitation, the center of gravity of the power supply 3 coincides with the center of gravity of the housing 1. The center of gravity of the power supply coincides with the center of gravity of the multiple propellers, and coincides with the center of gravity of the housing, so that the power supply, the propeller, the housing and the center of gravity of the housing, the power supply is located at the center of the multiple propellers, and the overall weight of the underwater robot is balanced, and the underwater robot can maintain balance during underwater activities.

[0031] Furthermore, as a preferred embodiment of the present invention but not limiting, the power supply 3 includes a power supply housing 31, a storage battery 32 disposed on the bottom of the power supply housing 31, and a plurality of power supply connectors 33 disposed on both sides of the power supply housing 31 with the storage battery 32 as the symmetrical center. The power supply connector is used to electrically connect the power supply to the lifting propeller and the propeller. The symmetrical arrangement of the power supply connector on both sides of the power supply housing helps to maintain the balance of the power supply weight and facilitates electrical connection with the lifting propeller and the propeller. The power supply connector is used to connect components such as cameras, auxiliary light sources, and propellers.

[0032] Further, as a preferred embodiment of the present solution but not limiting, the power supply 3 further includes a circuit board 34, and a card slot 311 is provided on the inner wall of the power supply housing 31 along the length direction of the power supply housing 31 and used for inserting and fixing the circuit board 34. The circuit board is inserted into the card slot, and such a fixing method is simple, convenient, and reliable, and can fix the circuit board in the power supply housing.

[0033] Furthermore, as a preferred implementation of the present solution but not a limitation, the power supply housing 31 is provided with a protrusion 312 protruding from the outer wall of the power supply housing 31 and used to cooperate with the housing 1 to fix the power supply 3, and the power connector 33 is provided on the protrusion 312. The protrusion protrudes from the outer wall of the power supply housing, and the power connector is provided on the protrusion, so that the wall thickness of the power supply housing corresponding to the power connector can be strengthened, and the strength of the power supply housing can be increased. At the same time, the protrusion can also be used to cooperate with the housing, and the power supply housing is stuck on the housing to fix the power supply.

[0034] Furthermore, as a preferred implementation of the present solution but not a limitation, the power supply 3 further includes a power cover 35 threadedly matched with the power housing 31, and a power cover sealing ring cavity 351 for accommodating a power sealing ring is provided between the power cover 35 and the power housing 31.

[0035] Furthermore, as a preferred embodiment of the present invention but not limiting, the power cover 35 is provided with a power cover clamp 352 for clamping the power cover 35 for rotation. The power cover clamp is used to facilitate the rotation of the power cover and threading the power cover with the power housing for easy disassembly and assembly.

[0036] Furthermore, as a preferred embodiment of the present invention but not a limitation, the power supply housing 31 is provided with a plurality of power supply connectors 33, and the plurality of power supply connectors 33 are symmetrically distributed front and back, left and right relative to the power supply housing 31. The plurality of power supply connectors are symmetrically distributed front and back, left and right relative to the power supply housing, so that the weight of the power supply housing is uniform, which is conducive to maintaining the balance of the underwater robot with the power supply located at the center of the plurality of propellers.

[0037] Furthermore, as a preferred implementation mode of the present solution but not limiting, it further includes a camera 4 and auxiliary light sources 5 arranged on both sides of the camera 4. When the underwater light is insufficient, the auxiliary light source is used for illumination.

[0038] Furthermore, as a preferred embodiment of the present invention but not a limitation, the camera includes a front shell 41 and a rear shell 42 that rotates with the front shell 41, the front shell 41 is provided with a front shell clamping position 411 for clamping the front shell 41 for rotation, and the rear shell 42 is provided with a rear shell clamping position 421 for clamping the rear shell 42 for rotation.

[0039] This embodiment provides a camera, a front shell, and a rear shell that rotates with the front shell. The front shell is provided with a front shell clamping position for clamping the front shell for rotation, and the rear shell is provided with a rear shell clamping position for clamping the rear shell for rotation. In this way, when the front shell and the rear shell are assembled in rotation, the front shell can be held by the front shell clamping position, and the rear shell can be held by the rear shell clamping position. In this way, when the front shell and the rear shell are assembled in rotation, the front shell can be held by the front shell clamping position, and the rear shell can be held by the rear shell clamping position. In this way, when the front shell and the rear shell are assembled in rotation or by a machine, it is convenient for the worker or the machine to hold the front shell and the rear shell, so as to facilitate the matching of the front shell and the rear shell, improve the assembly efficiency, and facilitate the tooling.

[0040] Further, as a preferred embodiment of the present invention but not a limitation, the front shell 41 includes a front end 412, a rear end 413 threadedly matched with the rear shell 42, and a truncated cone-shaped middle portion 414 located between the front end 412 and the rear end 413, and the front shell clamping position 411 is arranged on the rear end 413. The front shell includes a front end, a rear end, and a middle portion. The rear end is threadedly matched with the rear shell, and the front shell clamping position is arranged on the rear end. When the front shell and the rear shell are rotated and assembled, the front shell clamping position located on the rear end of the front shell is held to rotate, so as to prevent the phenomenon that the front shell is difficult to hold during the rotation process. The front shell can also be rotated by clamping with a machine, which is convenient for tooling. The middle portion is located between the front end and the rear end, and is truncated cone-shaped. The middle portion of the front shell is truncated cone-shaped and is used to place components such as circuit boards in the camera. In this embodiment, components such as circuit boards are stacked and placed in the cavity of the front shell.

[0041] Further, as a preferred embodiment of the present solution but not a limitation, the front shell latch 11 includes a plurality of grooves 111 evenly distributed around the rotation axis of the front shell 1. There are at least two grooves, and when there are two grooves, the grooves are evenly distributed on the rear end at intervals of 180° around the rotation axis of the front shell; when there are three grooves, the grooves are evenly distributed on the rear end at intervals of 120° around the rotation axis of the front shell; in this embodiment, there are four grooves in total, which are evenly distributed on the rear end at intervals of 90° around the rotation axis of the front shell.

[0042] Further, as a preferred embodiment of the present solution but not limiting, the front shell 41 is provided with a lens cover 43 that is rotatably matched with the front shell 41, and the lens cover 43 is provided with a lens cover clamping position 431 for clamping the lens cover 43 for rotation. The front shell is provided with a lens cover that is rotatably matched with the front shell, and the lens cover is provided with a lens cover clamping position for clamping the lens cover for rotation. When the front shell and the lens cover are rotatably assembled, the front shell clamping position located at the rear end of the front shell and the lens cover clamping position located on the lens cover are held and rotated, which is convenient for assembly, and can also be rotated by clamping with a machine.

[0043] Furthermore, as a preferred implementation of the present solution but not limiting, the thickness of the lens cover 43 gradually decreases from the edge to the center of the lens cover 43. The thickness of the lens cover gradually decreases from the edge to the center of the lens cover. In this embodiment, the lens cover is provided with a step that gradually decreases from the edge to the center, so that the depth of the lens cover is increased while preventing the lens cover from being too thick to block the entry of light.

[0044] Further, as a preferred implementation of the present solution but not limiting, the lens cover locking position 431 includes a plurality of lens cover locking grooves 4311 recessed from the inner side wall of the lens cover 43, and the plurality of lens cover locking grooves 4311 are evenly distributed around the circumference of the rotation center of the lens cover 43. The lens cover locking position includes a plurality of lens cover locking grooves recessed from the inner side wall of the lens cover, and the plurality of lens cover locking grooves are evenly distributed around the rotation axis of the lens cover. In this embodiment, there are four lens cover locking grooves, which are evenly distributed on the inner side wall of the lens cover at intervals of 90° around the rotation axis of the lens cover.

[0045] Furthermore, as a preferred embodiment of the present invention but not limiting, a lens cover sealing ring cavity 432 for placing a lens cover waterproof sealing ring is provided between the lens glass 45 and the front end portion 412. A lens cover sealing ring cavity for placing a lens cover waterproof sealing ring is provided between the lens glass and the front end portion. In this embodiment, the lens glass is pressed by the lens cover, thereby pressing on the front end portion, wherein the lens cover waterproof sealing ring is located at the pressing position between the lens glass and the front end portion, so as to achieve a good waterproof effect.

[0046] Furthermore, as a preferred embodiment of the present invention but not limiting, a housing sealing ring cavity 4131 for placing a housing waterproof sealing ring is provided between the rear end portion 413 and the rear shell 42. A housing sealing ring cavity for placing a housing waterproof sealing ring is provided between the rear end portion and the rear shell. In this embodiment, two housing sealing ring cavities are provided for placing two housing waterproof sealing rings to prevent liquids such as water from flowing into the rear shell.

[0047] Furthermore, as a preferred embodiment of the present invention but not a limitation, the rear shell position 421 includes a flange 4211 protruding from the side wall of the rear shell 42, and a fixing through hole 4212 is provided on the flange 4211. The rear shell position includes a flange protruding from the side wall of the rear shell, and a fixing through hole is provided on the flange. When the front shell and the rear shell are rotated and assembled, the front shell position located at the rear end of the front shell is held and rotated, and the positioning lug located on the rear shell is rotated to facilitate assembly, and can also be rotated by machine clamping. At the same time, the positioning lug can also be used to fix the camera, and the camera is fixed by using a fixing piece such as a screw through the fixing through hole.

[0048] Further, as a preferred embodiment of the present invention but not limiting, a waterproof connector 44 is provided on the rear shell 42. The waterproof connector is provided on the rear shell, and is used to extend the circuit inside the camera through the rear shell to the outside of the rear shell and connect with the external circuit. It can also be used to prevent liquids such as water from flowing into the interior of the rear shell to avoid damaging the components inside the rear shell.

[0049] In this embodiment, the lens glass 45.

[0050] The working principle of the camera in this embodiment is as follows:

[0051] The front shell is provided with a front shell clamping position, and the rear shell is provided with a rear shell clamping position, so that when the front shell and the rear shell are rotated and matched, especially when they are threaded, it is convenient to clamp or hold the front shell and the rear shell, which is convenient for assembly, or when the rotational resistance is too large and the rotation cannot be effectively performed, so as to perform assembly. Similarly, when the front shell and the rear shell are disassembled and separated, the front shell clamping position and the rear shell clamping position can also provide effective points of force, so as to rotate the front shell and the rear shell and improve assembly efficiency.

[0052] This embodiment provides a camera, a front shell, and a rear shell that rotates with the front shell. The front shell is provided with a front shell clamping position for clamping the front shell for rotation, and the rear shell is provided with a rear shell clamping position for clamping the rear shell for rotation. In this way, when the front shell and the rear shell are assembled in rotation, the front shell can be held by the front shell clamping position, and the rear shell can be held by the rear shell clamping position. In this way, when the front shell and the rear shell are assembled in rotation, the front shell can be held by the front shell clamping position, and the rear shell can be held by the rear shell clamping position. In this way, when the front shell and the rear shell are assembled in rotation or by a machine, it is convenient for the worker or the machine to hold the front shell and the rear shell, so as to facilitate the matching of the front shell and the rear shell, improve the assembly efficiency, and facilitate the tooling.

[0053] The working principle of this embodiment is as follows:

[0054] The present embodiment provides an underwater robot with a power supply located at the center of a plurality of propellers. The plurality of propellers are symmetrically distributed about a center line of the shell extending from the front to the rear. The power supply is located on the center line of the shell. Since the power supply is heavy, when a plurality of propellers with the power supply as the symmetry center work simultaneously, the loads exerted by the weight of the power supply on the plurality of propellers are consistent, thereby making the thrusts exerted by the plurality of propellers on the power supply consistent. In this way, the underwater robot with the power supply located at the center of the plurality of propellers can maintain balance and stability during use.

[0055] The above are implementation methods provided in combination with specific contents, and it is not intended that the specific implementation of this application is limited to these descriptions. Any similarity or similarity with the method, structure, etc. of this application, or any technical deduction or replacement made on the premise of the concept of this application, shall be deemed to be within the scope of protection of this application.

Claims

1. An underwater robot with a power source located at the center of a plurality of propellers, comprising a housing (1), a propeller (2), and a power source (3), characterized in that: The plurality of propellers (2) are symmetrically distributed about a center line of the housing (1) extending from the front to the rear, and the power source (3) is located on the center line of the housing; The propeller (2) comprises a lifting propeller (21) symmetrically distributed on the shell (1) with respect to the center line of the shell, and a propulsion propeller (22) symmetrically distributed on the shell (1) with respect to the center line of the shell, and the power source (3) is arranged at the center of gravity of the distribution positions of the lifting propeller (21) and the propulsion propeller (22); The center of gravity of the power source (3) coincides with the center of gravity of the housing (1); The power source (3) comprises a power source housing (31), a storage battery (32) disposed on the bottom of the power source housing (31), and a plurality of power source connectors (33) disposed on both sides of the power source housing (31) with the storage battery (32) as the symmetrical center. The power supply housing (31) is provided with a plurality of power supply connectors (33), and the plurality of power supply connectors (33) are symmetrically distributed front to back and left to right relative to the power supply housing (31); It also includes a camera (4), and auxiliary light sources (5) arranged on both sides of the camera (4); The camera (4) comprises a front shell (41), and a rear shell (42) rotatably matched with the front shell (41); the front shell (41) is provided with a front shell clamping position (411) for clamping the front shell (41) for rotation; and the rear shell (42) is provided with a rear shell clamping position (421) for clamping the rear shell (42) for rotation; The front shell (41) is provided with a lens cover (43) that is rotatably matched with the front shell (41), and the lens cover (43) is provided with a lens cover (43) clamp (431) for clamping the lens cover (43) to rotate; When the front shell and the lens cover (43) are rotated and assembled, the front shell latch located on the rear end of the front shell and the lens cover (43) latch located on the lens cover (43) are held and rotated; The thickness of the lens cover (43) gradually decreases from the edge of the lens cover (43) towards the center, thereby increasing the depth of the lens cover (43) while preventing the lens cover (43) from being too thick and blocking the entry of light.

2. The underwater robot with a power source located at the center of a plurality of propellers according to claim 1, characterized in that: The power supply (3) further comprises a circuit board (34), and an inner wall of the power supply housing (31) is provided with a card slot (311) arranged along the length direction of the power supply housing (31) and used for inserting and fixing the circuit board (34).

3. The underwater robot with a power source located at the center of a plurality of propellers according to claim 1, characterized in that: The power supply housing (31) is provided with a protrusion (312) protruding from the outer wall of the power supply housing (31) and used to cooperate with the housing (1) to fix the power supply (3), and the power supply connector (33) is provided on the protrusion (312).

4. The underwater robot with a power source located at the center of a plurality of propellers according to claim 1, characterized in that: The power supply (3) further comprises a power supply cover (35) threadably matched with the power supply housing (31); a power supply cover sealing ring cavity (351) for accommodating a power supply sealing ring is provided between the power supply cover (35) and the power supply housing (31).

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