An adjustment device for the running attitude of an underwater robot and its usage method

Abstract

The present invention relates to the field of underwater inspection robots for offshore wind power, and particularly to an adjusting device for the operating attitude of an underwater robot, which includes a frame, a buoyancy chamber, a crawler assembly, a solenoid valve, a lateral attitude adjusting assembly, a screw adjusting assembly, a forward attitude adjusting assembly, an adjusting track, a driving assembly one, and a driving assembly two. When the frame of the present invention is underwater, the crawler assembly works to drive the entire frame to move linearly; the screw adjusting assembly disturbs the water flow to adjust the advancing direction of the frame; when the frame encounters an obstacle during forward movement, the driving assembly two drives the mounting plate to slide on the adjusting track, and the forward attitude adjusting assembly clears the obstacle in the advancing direction of the frame and realizes the forward attitude adjustment of the frame; when there is an obstacle on the side of the frame or the overall operating attitude of the frame needs to be offset, the lateral attitude adjusting assembly adjusts the overall attitude of the frame, thereby realizing the lateral attitude adjustment of the frame.

Description

Technical Field

[0001] The present invention relates to the field of underwater detection robots for offshore wind power, and in particular to an adjustment device for the running attitude of an underwater robot and a using method thereof. Background Art

[0002] Underwater robots have very broad application prospects, which is why various countries have been vigorously developing underwater robot technology for many years. Underwater robots can replace humans to work underwater for a long time in highly dangerous environments, polluted environments, and waters with zero visibility. Underwater robots are generally equipped with devices such as sonar systems, cameras, lighting lamps, and robotic arms, which can provide real-time videos and sonar images, and the robotic arms can grasp heavy objects. Underwater robots have been widely used in fields such as oil exploration and scientific research. In recent years, with the rapid development of offshore wind power, underwater robots have gradually started to be applied in the field of underwater detection of offshore wind power.

[0003] The invention with the publication number of CN108674619B discloses an adjustment device and method for the running attitude of an underwater robot, including: a base; a support base; a balance mechanism; a rotating table; a load-bearing platform, which is arranged at the telescopic ends of three telescopic mechanisms; a center-of-gravity fine-tuning mechanism, which is arranged on the top of the load-bearing platform, and a slider is arranged on the center-of-gravity fine-tuning mechanism, and a lifting mechanism is arranged on the slider; a number of load blocks, which are arranged on the upper end of the load-bearing platform in a slidable manner, and the load blocks are erected on the upper end of the center-of-gravity fine-tuning mechanism. A through hole is formed through the center of the load block, and the inner diameter of the through hole is not less than the outer diameter of the lifting end of the lifting mechanism. The lifting end of the lifting mechanism is selectively extended into the through hole; and a control mechanism, which is respectively connected with the telescopic mechanism and the center-of-gravity fine-tuning mechanism. This device can actively adjust the center of gravity and attitude of the robot to meet the working requirements of the robot, and solves the technical problem that the attitude of the underwater robot is not easy to adjust.

[0004] However, the above-mentioned prior art has the following defects: This device uses the control mechanism and the telescopic mechanism to adjust the center of gravity of the robot. However, during the actual operation of the robot underwater, since offshore wind power is mainly located in shallow waters near the coast and the sediment and impurity content is large, the silt and impurities around the frame are the main obstacles to the normal operation of the robot. Moreover, during the process of adjusting the center of gravity of the robot, the balance of the robot cannot be guaranteed, and the stability of the normal movement and direction adjustment of the robot is poor, and the practicability is low, which is not conducive to the popularization and application of underwater detection of offshore wind power. Summary of the Invention

[0005] In view of the technical problems existing in the background art, the present invention proposes an adjustment device for the running attitude of an underwater robot.

[0006] Technical solution of the present invention: An adjustment device for the running attitude of an underwater robot, comprising a frame, a buoyancy chamber, a crawler assembly, a solenoid valve, a lateral attitude adjustment assembly, a screw adjustment assembly, a forward attitude adjustment assembly, an adjustment track, a driving assembly one, and a driving assembly two;

[0007] The buoyancy chamber is arranged on the frame; the solenoid valve is arranged on the buoyancy chamber; the crawler assembly is arranged on the frame; the lateral attitude adjustment assembly is arranged on the side of the frame in the traveling direction; the screw adjustment assembly and the forward attitude adjustment assembly are arranged at both ends of the frame along the traveling direction of the frame;

[0008] The adjustment track is arranged on the frame; the screw adjustment assembly driven by the driving assembly one is slidably arranged on the adjustment track; the forward attitude adjustment assembly driven by the driving assembly two is slidably arranged on the adjustment track.

[0009] Preferably, the lateral attitude adjustment assembly includes a lateral adjustment seat, a lateral telescopic cylinder, and a rotating seat; the lateral adjustment seat is arranged at the piston end of the lateral telescopic cylinder; the cylinder body end of the lateral telescopic cylinder is arranged on the rotating seat; the rotating seat is arranged on the frame.

[0010] Preferably, the lateral attitude adjustment assembly further includes a lead screw motor and a motor seat; the motor seat of the lead screw motor is arranged on the frame; the lead screw of the lead screw motor is rotatably arranged on the motor seat; the rotating seat driven by the lead screw motor is slidably arranged on the frame.

[0011] Preferably, the lateral attitude adjustment assembly further includes a connecting rod; multiple groups of rotating seats are arranged; both ends of the connecting rod are respectively arranged on two groups of rotating seats.

[0012] Preferably, the lateral attitude adjustment assembly further includes a guide rod; the guide rod is arranged on the motor seat, and the guide rod is arranged in parallel with the lead screw of the lead screw motor; the rotating seat is slidably connected with the guide rod.

[0013] Preferably, the screw adjustment assembly includes a sliding seat, a screw telescopic cylinder, a driving motor one, and a propeller; the sliding seat driven by the driving assembly one is slidably arranged on the adjustment track; the driving motor one is arranged on the sliding seat; the screw telescopic cylinder driven by the driving motor one is rotatably arranged on the sliding seat; the propeller is arranged at the piston end of the screw telescopic cylinder.

[0014] Preferably, the forward attitude adjustment assembly includes a mounting plate, a forward telescopic cylinder, a driving motor two, and a forward adjustment seat; the driving motor two is arranged on the mounting plate; the forward telescopic cylinder driven by the driving motor two is rotatably arranged on the mounting plate; the forward adjustment seat is arranged at the piston end of the forward telescopic cylinder.

[0015] Preferably, the forward attitude adjustment assembly further includes a rotating seat; the rotating seat is rotatably arranged on the mounting plate, and the rotating seat driven by the driving assembly two is slidably arranged on the adjustment track.

[0016] Technical solution of the present invention: A method for using an adjusting device for the running posture of an underwater robot, comprising the following steps:

[0017] S1. When the frame is underwater, the crawler assembly works to drive the entire frame to move linearly;

[0018] S2. Multiple groups of propellers located on the frame work to disturb the water flow to achieve adjustment of the traveling direction of the frame;

[0019] S3. When the frame encounters an obstacle during forward movement, the second driving component drives the mounting plate to slide on the adjustment track, and the forward telescopic cylinder drives the forward adjustment seat to clear the obstacle in the traveling direction of the frame and achieve forward posture adjustment of the frame;

[0020] S4. When there is an obstacle on the side of the frame, or when the overall running posture of the frame needs to be offset, the side telescopic cylinder runs to the adjustment position under the adjustment of the lead screw motor, and the side adjustment seat adjusts the overall posture of the frame, thereby achieving side posture adjustment of the frame;

[0021] S5. Fill the buoyancy chamber with liquid, then the frame can move underwater; adjust the solenoid valve to make the liquid in the buoyancy chamber flow out, and the buoyancy chamber drives the entire frame to float upward and then float on the water surface.

[0022] Compared with the prior art, the above technical solution of the present invention has the following beneficial technical effects: When the frame is underwater, the crawler assembly works to drive the entire frame to move linearly; the spiral adjustment assembly disturbs the water flow to achieve adjustment of the traveling direction of the frame; when the frame encounters an obstacle during forward movement, the second driving component drives the mounting plate to slide on the adjustment track, and the forward posture adjustment assembly clears the obstacle in the traveling direction of the frame and achieves forward posture adjustment of the frame; when there is an obstacle on the side of the frame, or when the overall running posture of the frame needs to be offset, the side posture adjustment assembly adjusts the overall posture of the frame, thereby achieving side posture adjustment of the frame; fill the buoyancy chamber with liquid, then the frame can move underwater; adjust the solenoid valve to make the liquid in the buoyancy chamber flow out, and the buoyancy chamber drives the entire frame to float upward and then float on the water surface. By setting the side posture adjustment assembly and the forward posture adjustment assembly, precise adjustment of the movement postures of the frame in multiple directions is achieved. By setting the crawler assembly and the spiral adjustment assembly, flexible movement and operation of the frame underwater are achieved, ensuring the stability and balance of the frame during the posture adjustment process and improving the practicability of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic structural diagram of an embodiment of the present invention.

[0024] Figure 2A cross-sectional view of an embodiment of the present invention.

[0025] Figure 3 is Figure 2 a partially enlarged structural schematic diagram of part A in

[0026] Reference numerals: 1, frame; 2, buoyancy chamber; 3, crawler assembly; 4, solenoid valve; 5, lateral attitude adjustment assembly; 6, screw adjustment assembly; 7, forward attitude adjustment assembly; 8, adjustment track; 9, drive assembly one; 10, drive assembly two; 11, lateral adjustment seat; 12, lateral telescopic cylinder; 13, rotating seat; 14, connecting rod; 15, lead screw motor; 16, guide rod; 17, motor seat; 18, sliding seat; 19, screw telescopic cylinder; 20, drive motor one; 21, propeller; 22, rotating seat; 23, mounting plate; 24, forward telescopic cylinder; 25, drive motor two; 26, forward adjustment seat. Detailed implementation manners

[0027] Embodiment 1

[0028] An adjustment device for the running attitude of an underwater robot proposed by the present invention includes a frame 1, a buoyancy chamber 2, a crawler assembly 3, a solenoid valve 4, a lateral attitude adjustment assembly 5, a screw adjustment assembly 6, a forward attitude adjustment assembly 7, an adjustment track 8, a drive assembly one 9 and a drive assembly two 10.

[0029] As Figures 1 - 3 shown, the buoyancy chamber 2 is arranged on the frame 1; the solenoid valve 4 is arranged on the buoyancy chamber 2. The crawler assembly 3 is arranged on the frame 1. The lateral attitude adjustment assembly 5 is arranged on the side of the frame 1 in the traveling direction. The screw adjustment assembly 6 and the forward attitude adjustment assembly 7 are arranged at both ends of the frame 1 along the traveling direction of the frame 1.

[0030] The adjustment track 8 is arranged on the frame 1; the screw adjustment assembly 6 driven by the drive assembly one 9 is slidably arranged on the adjustment track 8; the forward attitude adjustment assembly 7 driven by the drive assembly two 10 is slidably arranged on the adjustment track 8.

[0031] In this embodiment, when the frame 1 is underwater, the crawler assembly 3 operates to drive the entire frame 1 to move linearly; the spiral adjustment assembly 6 disturbs the water flow to adjust the traveling direction of the frame 1; when the frame 1 encounters an obstacle during forward travel, the second driving assembly 10 drives the mounting plate 23 to slide on the adjustment track 8, and the forward attitude adjustment assembly 7 clears the obstacles in the traveling direction of the frame 1 and realizes the forward attitude adjustment of the frame 1; when there are obstacles on the side of the frame 1 or the overall running attitude of the frame 1 needs to be offset, the lateral attitude adjustment assembly 5 adjusts the overall attitude of the frame 1, thereby realizing the lateral attitude adjustment of the frame 1; filling the buoyancy chamber 2 with liquid enables the frame 1 to move underwater; adjusting the solenoid valve 4 causes the liquid in the buoyancy chamber 2 to flow out, and the buoyancy chamber 2 drives the entire frame 1 to float, and then float on the horizontal plane. By setting the lateral attitude adjustment assembly 5 and the forward attitude adjustment assembly 7, precise adjustment of the movement postures of the frame 1 in multiple directions is achieved. By setting the crawler assembly 3 and the spiral adjustment assembly 6, flexible movement and operation of the frame 1 underwater are realized, improving the practicability of the present invention.

[0032] Embodiment 2

[0033] An adjustment device for the running attitude of an underwater robot proposed by the present invention includes a frame 1, a buoyancy chamber 2, a crawler assembly 3, a solenoid valve 4, a lateral attitude adjustment assembly 5, a spiral adjustment assembly 6, a forward attitude adjustment assembly 7, an adjustment track 8, a first driving assembly 9, and a second driving assembly 10.

[0034] As Figures 1 - 3 shown, the buoyancy chamber 2 is arranged on the frame 1; the solenoid valve 4 is arranged on the buoyancy chamber 2. The crawler assembly 3 is arranged on the frame 1. The lateral attitude adjustment assembly 5 is arranged on the side of the traveling direction of the frame 1. The spiral adjustment assembly 6 and the forward attitude adjustment assembly 7 are arranged at both ends of the frame 1 along the traveling direction of the frame 1.

[0035] The adjustment track 8 is arranged on the frame 1; the spiral adjustment assembly 6 driven by the first driving assembly 9 is slidably arranged on the adjustment track 8; the forward attitude adjustment assembly 7 driven by the second driving assembly 10 is slidably arranged on the adjustment track 8.

[0036] Furthermore, the lateral attitude adjustment assembly 5 includes a lateral adjustment seat 11, a lateral telescopic cylinder 12, and a rotating seat 13; the lateral adjustment seat 11 is arranged at the piston end of the lateral telescopic cylinder 12; the cylinder body end of the lateral telescopic cylinder 12 is arranged on the rotating seat 13; the rotating seat 13 is arranged on the frame 1.

[0037] In this embodiment, when there are obstacles on the side of the frame 1 or the overall running attitude of the frame 1 needs to be offset, the lateral adjustment seat 11 adjusts the overall attitude of the frame 1, thereby realizing the lateral attitude adjustment of the frame 1.

[0038] Embodiment III

[0039] An adjustment device for the running attitude of an underwater robot proposed by the present invention includes a frame 1, a buoyancy chamber 2, a crawler assembly 3, a solenoid valve 4, a lateral attitude adjustment assembly 5, a screw adjustment assembly 6, a forward attitude adjustment assembly 7, an adjustment track 8, a driving assembly I 9, and a driving assembly II 10.

[0040] As Figures 1 - 3 shown, the buoyancy chamber 2 is arranged on the frame 1; the solenoid valve 4 is arranged on the buoyancy chamber 2. The crawler assembly 3 is arranged on the frame 1. The lateral attitude adjustment assembly 5 is arranged on the side of the frame 1 in the traveling direction. The screw adjustment assembly 6 and the forward attitude adjustment assembly 7 are arranged at both ends of the frame 1 along the traveling direction of the frame 1.

[0041] The adjustment track 8 is arranged on the frame 1; the screw adjustment assembly 6 driven by the driving assembly I 9 is slidably arranged on the adjustment track 8; the forward attitude adjustment assembly 7 driven by the driving assembly II 10 is slidably arranged on the adjustment track 8.

[0042] Furthermore, the lateral attitude adjustment assembly 5 includes a lateral adjustment seat 11, a lateral telescopic cylinder 12, and a rotating seat 13; the lateral adjustment seat 11 is arranged at the piston end of the lateral telescopic cylinder 12; the cylinder body end of the lateral telescopic cylinder 12 is arranged on the rotating seat 13; the rotating seat 13 is arranged on the frame 1.

[0043] Furthermore, the lateral attitude adjustment assembly 5 further includes a lead screw motor 15 and a motor seat 17; the motor seat 17 of the lead screw motor 15 is arranged on the frame 1; the lead screw of the lead screw motor 15 is rotatably arranged on the motor seat 17; the rotating seat 13 driven by the lead screw motor 15 is slidably arranged on the frame 1.

[0044] In this embodiment, when there is an obstacle on the side of the frame 1, or when the overall running attitude of the frame 1 needs to be offset, the lateral telescopic cylinder 12 runs to the adjustment position under the adjustment of the lead screw motor 15, and the lateral adjustment seat 11 adjusts the overall attitude of the frame 1, so as to realize the lateral attitude adjustment of the frame 1.

[0045] Embodiment IV

[0046] An adjustment device for the running attitude of an underwater robot proposed by the present invention includes a frame 1, a buoyancy chamber 2, a crawler assembly 3, a solenoid valve 4, a lateral attitude adjustment assembly 5, a screw adjustment assembly 6, a forward attitude adjustment assembly 7, an adjustment track 8, a driving assembly I 9, and a driving assembly II 10.

[0047] As Figures 1 - 3As shown in the figure, the buoyancy chamber 2 is arranged on the frame 1; the solenoid valve 4 is arranged on the buoyancy chamber 2. The crawler assembly 3 is arranged on the frame 1. The lateral attitude adjustment assembly 5 is arranged on the side of the frame 1 in the traveling direction. The screw adjustment assembly 6 and the forward attitude adjustment assembly 7 are arranged at both ends of the frame 1 along the traveling direction of the frame 1.

[0048] The adjustment track 8 is arranged on the frame 1; the screw adjustment assembly 6 driven by the driving assembly one 9 is slidably arranged on the adjustment track 8; the forward attitude adjustment assembly 7 driven by the driving assembly two 10 is slidably arranged on the adjustment track 8.

[0049] Furthermore, the lateral attitude adjustment assembly 5 includes a lateral adjustment seat 11, a lateral telescopic cylinder 12 and a rotating seat 13; the lateral adjustment seat 11 is arranged at the piston end of the lateral telescopic cylinder 12; the cylinder body end of the lateral telescopic cylinder 12 is arranged on the rotating seat 13; the rotating seat 13 is arranged on the frame 1.

[0050] Furthermore, the lateral attitude adjustment assembly 5 further includes a lead screw motor 15 and a motor seat 17; the motor seat 17 of the lead screw motor 15 is arranged on the frame 1; the lead screw of the lead screw motor 15 is rotatably arranged on the motor seat 17; the rotating seat 13 driven by the lead screw motor 15 is slidably arranged on the frame 1.

[0051] Furthermore, the lateral attitude adjustment assembly 5 further includes a connecting rod 14; multiple groups of rotating seats 13 are arranged; both ends of the connecting rod 14 are respectively arranged on two groups of rotating seats 13.

[0052] In this embodiment, when there is an obstacle on the side of the frame 1 or the overall running attitude of the frame 1 needs to be offset, the lateral telescopic cylinder 12 runs to the adjustment position under the adjustment of the lead screw motor 15, and the lateral adjustment seat 11 adjusts the overall attitude of the frame 1, so as to realize the lateral attitude adjustment of the frame 1; the connecting rod 14 is arranged to facilitate the arrangement of multiple groups of lateral telescopic cylinders 12 and lateral adjustment seats 11 on the frame 1.

[0053] Embodiment Five

[0054] An underwater robot running attitude adjustment device proposed by the present invention includes a frame 1, a buoyancy chamber 2, a crawler assembly 3, a solenoid valve 4, a lateral attitude adjustment assembly 5, a screw adjustment assembly 6, a forward attitude adjustment assembly 7, an adjustment track 8, a driving assembly one 9 and a driving assembly two 10.

[0055] As Figures 1 - 3 shown in the figure, the buoyancy chamber 2 is arranged on the frame 1; the solenoid valve 4 is arranged on the buoyancy chamber 2. The crawler assembly 3 is arranged on the frame 1. The lateral attitude adjustment assembly 5 is arranged on the side of the frame 1 in the traveling direction. The screw adjustment assembly 6 and the forward attitude adjustment assembly 7 are arranged at both ends of the frame 1 along the traveling direction of the frame 1.

[0056] The adjustment track 8 is arranged on the frame 1; the screw adjustment assembly 6 driven by the first driving assembly 9 is slidably arranged on the adjustment track 8; the forward attitude adjustment assembly 7 driven by the second driving assembly 10 is slidably arranged on the adjustment track 8.

[0057] Furthermore, the lateral attitude adjustment assembly 5 includes a lateral adjustment seat 11, a lateral telescopic cylinder 12 and a rotating seat 13; the lateral adjustment seat 11 is arranged at the piston end of the lateral telescopic cylinder 12; the cylinder body end of the lateral telescopic cylinder 12 is arranged on the rotating seat 13; the rotating seat 13 is arranged on the frame 1.

[0058] Furthermore, the lateral attitude adjustment assembly 5 further includes a lead screw motor 15 and a motor seat 17; the motor seat 17 of the lead screw motor 15 is arranged on the frame 1; the lead screw of the lead screw motor 15 is rotatably arranged on the motor seat 17; the rotating seat 13 driven by the lead screw motor 15 is slidably arranged on the frame 1.

[0059] Furthermore, the lateral attitude adjustment assembly 5 further includes a guide rod 16; the guide rod 16 is arranged on the motor seat 17, and the guide rod 16 is arranged in parallel with the lead screw of the lead screw motor 15; the rotating seat 13 is slidably connected with the guide rod 16.

[0060] In this embodiment, when there is an obstacle on the side of the frame 1, or when the overall running attitude of the frame 1 needs to be offset, the lateral telescopic cylinder 12 runs to the adjustment position under the adjustment of the lead screw motor 15, and the lateral adjustment seat 11 adjusts the overall attitude of the frame 1, so as to realize the attitude adjustment of the frame 1 on the side; the guide rod 16 is arranged to limit and guide the sliding of the rotating seat 13 on the frame 1.

[0061] Embodiment Six

[0062] An underwater robot running attitude adjustment device proposed by the present invention includes a frame 1, a buoyancy chamber 2, a crawler assembly 3, a solenoid valve 4, a lateral attitude adjustment assembly 5, a screw adjustment assembly 6, a forward attitude adjustment assembly 7, an adjustment track 8, a first driving assembly 9 and a second driving assembly 10.

[0063] As Figures 1 - 3 shown, the buoyancy chamber 2 is arranged on the frame 1; the solenoid valve 4 is arranged on the buoyancy chamber 2. The crawler assembly 3 is arranged on the frame 1. The lateral attitude adjustment assembly 5 is arranged on the side of the frame 1 in the traveling direction. The screw adjustment assembly 6 and the forward attitude adjustment assembly 7 are arranged at both ends of the frame 1 along the traveling direction of the frame 1.

[0064] The adjustment track 8 is arranged on the frame 1; the screw adjustment assembly 6 driven by the first driving assembly 9 is slidably arranged on the adjustment track 8; the forward attitude adjustment assembly 7 driven by the second driving assembly 10 is slidably arranged on the adjustment track 8.

[0065] Further, the spiral adjustment assembly 6 includes a sliding seat 18, a spiral telescopic cylinder 19, a driving motor 1 20, and a propeller 21. The sliding seat 18 driven by the driving assembly 1 9 is slidably arranged on the adjustment track 8. The driving motor 1 20 is arranged on the sliding seat 18. The spiral telescopic cylinder 19 driven by the driving motor 1 20 is rotatably arranged on the sliding seat 18. The propeller 21 is arranged at the piston end of the spiral telescopic cylinder 19.

[0066] In this embodiment, multiple groups of propellers 21 located on the frame 1 work to disturb the water flow, so as to realize the adjustment of the traveling direction of the frame 1.

[0067] Embodiment Seven

[0068] An underwater robot running attitude adjustment device proposed by the present invention includes a frame 1, a buoyancy chamber 2, a crawler assembly 3, a solenoid valve 4, a lateral attitude adjustment assembly 5, a spiral adjustment assembly 6, a forward attitude adjustment assembly 7, an adjustment track 8, a driving assembly 1 9, and a driving assembly 2 10.

[0069] As Figures 1 - 3 shown, the buoyancy chamber 2 is arranged on the frame 1. The solenoid valve 4 is arranged on the buoyancy chamber 2. The crawler assembly 3 is arranged on the frame 1. The lateral attitude adjustment assembly 5 is arranged on the side of the traveling direction of the frame 1. The spiral adjustment assembly 6 and the forward attitude adjustment assembly 7 are arranged at both ends of the frame 1 along the traveling direction of the frame 1.

[0070] The adjustment track 8 is arranged on the frame 1. The spiral adjustment assembly 6 driven by the driving assembly 1 9 is slidably arranged on the adjustment track 8. The forward attitude adjustment assembly 7 driven by the driving assembly 2 10 is slidably arranged on the adjustment track 8.

[0071] Further, the forward attitude adjustment assembly 7 includes a mounting plate 23, a forward telescopic cylinder 24, a driving motor 2 25, and a forward adjustment seat 26. The driving motor 2 25 is arranged on the mounting plate 23. The forward telescopic cylinder 24 driven by the driving motor 2 25 is rotatably arranged on the mounting plate 23. The forward adjustment seat 26 is arranged at the piston end of the forward telescopic cylinder 24.

[0072] In this embodiment, when the frame 1 encounters an obstacle during forward travel, the driving assembly 2 10 drives the mounting plate 23 to slide on the adjustment track 8, and the forward telescopic cylinder 24 drives the forward adjustment seat 26 to clear the obstacle in the traveling direction of the frame 1 and realize the attitude adjustment of the frame 1 in the forward direction.

[0073] Embodiment Eight

[0074] An adjustment device for the running attitude of an underwater robot, comprising a frame 1, a buoyancy chamber 2, a crawler assembly 3, a solenoid valve 4, a lateral attitude adjustment assembly 5, a spiral adjustment assembly 6, a forward attitude adjustment assembly 7, an adjustment track 8, a first drive assembly 9 and a second drive assembly 10.

[0075] As Figures 1 - 3 shown, the buoyancy chamber 2 is arranged on the frame 1; the solenoid valve 4 is arranged on the buoyancy chamber 2. The crawler assembly 3 is arranged on the frame 1. The lateral attitude adjustment assembly 5 is arranged on the side of the frame 1 in the traveling direction. The spiral adjustment assembly 6 and the forward attitude adjustment assembly 7 are arranged at both ends of the frame 1 along the traveling direction of the frame 1.

[0076] The adjustment track 8 is arranged on the frame 1; the spiral adjustment assembly 6 driven by the first drive assembly 9 is slidably arranged on the adjustment track 8; the forward attitude adjustment assembly 7 driven by the second drive assembly 10 is slidably arranged on the adjustment track 8.

[0077] Furthermore, the forward attitude adjustment assembly 7 includes a mounting plate 23, a forward telescopic cylinder 24, a second drive motor 25 and a forward adjustment seat 26; the second drive motor 25 is arranged on the mounting plate 23; the forward telescopic cylinder 24 driven by the second drive motor 25 is rotatably arranged on the mounting plate 23; the forward adjustment seat 26 is arranged at the piston end of the forward telescopic cylinder 24.

[0078] Furthermore, the forward attitude adjustment assembly 7 further includes a rotating seat 22; the rotating seat 22 is rotatably arranged on the mounting plate 23, and the rotating seat 22 driven by the second drive assembly 10 is slidably arranged on the adjustment track 8.

[0079] In this embodiment, when the frame 1 moves forward and encounters an obstacle, the second drive assembly 10 drives the mounting plate 23 to slide on the adjustment track 8, and the rotating seat 22 rotates on the mounting plate 23, so as to adjust the working angle of the forward telescopic cylinder 24; the forward telescopic cylinder 24 drives the forward adjustment seat 26 to clear the obstacle in the traveling direction of the frame 1 and realize the attitude adjustment of the frame 1 in the forward direction.

[0080] The usage method of this device includes the following steps:

[0081] S1. When the frame 1 is underwater, the crawler assembly 3 works to drive the whole frame 1 to perform a linear motion;

[0082] S2. Multiple groups of propellers 21 located on the frame 1 work to disturb the water flow and realize the adjustment of the traveling direction of the frame 1;

[0083] When the rack 1 encounters an obstacle during forward movement, the second driving component 10 drives the mounting plate 23 to slide on the adjustment track 8, and the forward telescopic cylinder 24 drives the forward adjustment seat 26 to clear the obstacle in the forward movement direction of the rack 1 and realize the attitude adjustment of the rack 1 in the forward direction;

[0084] S4. When there is an obstacle on the side of the rack 1 or the overall running attitude of the rack 1 needs to be offset, the side telescopic cylinder 12 runs to the adjustment position under the adjustment of the lead screw motor 15, and the side adjustment seat 11 adjusts the overall attitude of the rack 1, thereby realizing the attitude adjustment of the rack 1 on the side;

[0085] S5. Fill the buoyancy chamber 2 with liquid, then the rack 1 realizes running and moving underwater; adjust the solenoid valve 4 to make the liquid in the buoyancy chamber 2 flow out, and the buoyancy chamber 2 drives the entire rack 1 to float up and then float on the horizontal plane.

[0086] It should be understood that the above specific embodiments of the present invention are only used for exemplary illustration or explanation of the principle of the present invention, and do not constitute a limitation to the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present invention shall be included within the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. An adjusting device for the running attitude of an underwater robot, comprising a frame (1), characterized in that, It includes a buoyancy chamber (2), a crawler assembly (3), a solenoid valve (4), a lateral attitude adjustment assembly (5), a screw adjustment assembly (6), a forward attitude adjustment assembly (7), an adjustment track (8), a drive assembly one (9), and a drive assembly two (10); The buoyancy chamber (2) is arranged on the frame (1); the solenoid valve (4) is arranged on the buoyancy chamber (2); The crawler assembly (3) is arranged on the frame (1); The lateral attitude adjustment assembly (5) is arranged on the side of the frame (1) in the traveling direction; The screw adjustment assembly (6) and the forward attitude adjustment assembly (7) are arranged at both ends of the frame (1) along the traveling direction of the frame (1); The adjustment track (8) is arranged on the frame (1); the screw adjustment assembly (6) driven by the drive assembly one (9) is slidably arranged on the adjustment track (8); the forward attitude adjustment assembly (7) driven by the drive assembly two (10) is slidably arranged on the adjustment track (8); The lateral attitude adjustment assembly (5) includes a lateral adjustment seat (11), a lateral telescopic cylinder (12), a rotating seat (13), a lead screw motor (15), and a motor seat (17); the lateral adjustment seat (11) is arranged at the piston end of the lateral telescopic cylinder (12); the cylinder body end of the lateral telescopic cylinder (12) is arranged on the rotating seat (13); the rotating seat (13) is arranged on the frame (1); the lead screw motor (15) and the motor seat (17) are arranged on the frame (1); the lead screw of the lead screw motor (15) is rotatably arranged on the motor seat (17); the rotating seat (13) driven by the lead screw motor (15) is slidably arranged on the frame (1); The forward attitude adjustment assembly (7) includes a rotating seat (22), a mounting plate (23), a forward telescopic cylinder (24), a drive motor two (25), and a forward adjustment seat (26); the drive motor two (25) is arranged on the mounting plate (23); the forward telescopic cylinder (24) driven by the drive motor two (25) is rotatably arranged on the mounting plate (23); the forward adjustment seat (26) is arranged at the piston end of the forward telescopic cylinder (24); the rotating seat (22) is rotatably arranged on the mounting plate (23), and the rotating seat (22) driven by the drive assembly two (10) is slidably arranged on the adjustment track (8).

2. The adjusting device for the running attitude of an underwater robot according to claim 1, characterized in that, The lateral attitude adjustment assembly (5) further includes a connecting rod (14); multiple groups of rotating seats (13) are arranged; both ends of the connecting rod (14) are respectively arranged on two groups of rotating seats (13).

3. An adjusting device for the running attitude of an underwater robot according to claim 1, characterized in that, The lateral attitude adjustment assembly (5) further includes a guide rod (16); the guide rod (16) is arranged on the motor seat (17), and the guide rod (16) is arranged parallel to the lead screw of the lead screw motor (15); the rotating seat (13) is slidably connected to the guide rod (16).

4. The adjustment device for the running attitude of an underwater robot according to claim 1, characterized in that, The screw adjustment assembly (6) includes a sliding seat (18), a screw telescopic cylinder (19), a first driving motor (20), and a propeller (21); the sliding seat (18) driven by the first driving assembly (9) is slidably arranged on the adjustment track (8); the first driving motor (20) is arranged on the sliding seat (18); the screw telescopic cylinder (19) driven by the first driving motor (20) is rotatably arranged on the sliding seat (18); the propeller (21) is arranged at the piston end of the screw telescopic cylinder (19).

5. An adjustment device for the running attitude of an underwater robot according to any one of claims 1-4, characterized in that, The usage method of the device is as follows: S1. When the frame (1) is underwater, the crawler assembly (3) works to drive the whole frame (1) to move linearly; S2. Multiple groups of propellers (21) located on the frame (1) work to disturb the water flow to adjust the traveling direction of the frame (1); S3. When the frame (1) encounters an obstacle during forward travel, the second driving assembly (10) drives the mounting plate (23) to slide on the adjustment track (8), and the forward telescopic cylinder (24) drives the forward adjustment seat (26) to clear the obstacle in the traveling direction of the frame (1) and realize the forward attitude adjustment of the frame (1); S4. When there is an obstacle on the side of the frame (1), or when the overall running attitude of the frame (1) needs to be offset, the side telescopic cylinder (12) runs to the adjustment position under the adjustment of the lead screw motor (15), and the side adjustment seat (11) adjusts the overall attitude of the frame (1) to realize the side attitude adjustment of the frame (1); S5. Fill the buoyancy chamber (2) with liquid, then the frame (1) realizes running and moving underwater; Adjust the solenoid valve (4) to make the liquid in the buoyancy chamber (2) flow out, and the buoyancy chamber (2) drives the whole frame (1) to float upward and then float on the horizontal plane.

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