A micro robot for emergency rescue in complex waters

Abstract

The present invention provides a micro robot for emergency rescue in complex waters. The present invention comprises a flat block, a central inner core and two propulsion inner cores, the flat block is a lightweight block, the top surface of the flat block is an arc shape, the two sides of the flat block are arc sides, the bottom surface of the flat block is processed with two symmetrically arranged special-shaped grooves, the flat block is processed with a central hole and two side holes along its length direction, the central hole and the two side holes are arranged in parallel, the central hole is between the two side holes, the central inner core is penetrated in the central hole, each side hole is penetrated with a propulsion inner core, the front end of the central inner core is a data acquisition end, and the flat block and the central inner core perform floating, forward movement and / or diving movements driven by the two propulsion inner cores.

Description

Technical Field

[0001] The present invention specifically relates to a micro robot for emergency rescue in complex waters. Background Art

[0002] The underwater movement and operation of underwater robots are controlled and monitored by operators on the surface mothership. Power is provided to the main body and information is exchanged via cables. Repeaters can reduce the interference of cables on the movement of the main body. New submersibles have developed from simple remote control to monitoring, that is, hierarchical control is implemented by the mothership computer and the submersible computer, which can process the observed information and establish environmental and internal state models. The operator issues commands through the human-computer interface system in process-oriented abstract symbols or languages, and receives information processed by the computer to monitor the operation and action process of the submersible and troubleshoot. The development of intelligent underwater robot systems has begun. The operator only needs to issue a general task, and the robot can automatically plan actions, avoid obstacles, and autonomously complete the specified task based on the recognition and analysis of the environment. In actual waters, the underwater terrain is complex and small spaces are not rare. When encountering emergencies that require timely search and support, the limitations of the use of large and medium-sized robots are highlighted. During use, the inability to detect small waters leads to search and rescue blind spots, affecting the timeliness and results of real-time search and rescue, and easily missing hidden information in small waters. With the increase of underwater suspended matter and floating objects, the probability of underwater robots coming into contact with underwater suspended matter and floating objects increases. When entangled by water plants or other underwater free objects, it is difficult to get rid of them in time, affecting the effective development of the search and rescue area and the timeliness of the search and rescue. Summary of the invention

[0003] In order to overcome the defects of the prior art, a micro robot for emergency rescue in complex waters is provided to solve the above problems.

[0004] A micro robot for emergency rescue in complex waters comprises a flat block, a central inner core and two propulsion inner cores, wherein the flat block is a lightweight block, the top surface of the flat block is an arc shape, the two sides of the flat block are arc sides respectively, the bottom surface of the flat block is processed with two symmetrically arranged special-shaped grooves, the flat block is respectively processed with a central hole and two side holes along its length direction, the central hole and the two side holes are arranged in parallel, the central hole is located between the two side holes, the central inner core is penetrated in the central hole, a propulsion inner core is penetrated in each side hole, the front end of the central inner core is a data acquisition end, and the flat block and the central inner core make floating, forward movement and / or diving movements driven by the two propulsion inner cores.

[0005] As a preferred solution: the central inner core includes a head cabin shell, a water storage tank shell, a tail control cabin body, an isolation seat, a threading tube, an isolation positioning plate, a water pump and two water storage isolation plates, the head cabin shell includes a hemispherical shell and a cylindrical body, the open end of the hemispherical shell is connected to one end of the cylindrical body through an isolation seat, the other end of the cylindrical body is connected to one end of the tail control cabin body through an isolation positioning plate, a power supply battery is arranged in the tail control cabin body, the threading tube is arranged in the water storage tank shell, one end of the threading tube passes through the isolation seat and is connected to the interior of the head cabin shell, the other end of the threading tube passes through the isolation positioning plate and is connected to the interior of the tail control cabin body, two water storage isolation plates are arranged side by side on the threading tube, the outer diameter of each water storage isolation plate is smaller than the inner diameter of the water storage tank shell, the interior of the water storage tank shell is formed with a central water cavity and two end water cavities through the cooperation of the threading tube and the two water storage isolation plates, a water pump is arranged in the central water cavity, and the water inlet of the water pump passes through the side wall of the water storage tank shell and is arranged outside the water storage tank shell.

[0006] As a preferred solution: a camera pan platform mechanism and a support frame are arranged in the head cabin shell, the camera pan platform mechanism is connected to the isolation seat through the support frame, the camera pan platform mechanism is equipped with a power supply harness, one end of the power supply harness is connected to the camera pan platform mechanism, and the other end of the power supply harness passes through the threading tube and is connected to the power supply battery. The camera pan platform mechanism includes a rotating platform, a motor bracket, a motor box, a fixing plate, a camera, two first bevel gears and two stepper motors. The rotating platform is a conical boss, and the conical inclined surface of the conical boss is processed with a plurality of teeth along its circumferential direction. The bottom of the rotating platform The part is arranged on the support frame, the motor bracket is arranged above the rotating platform, a gap is arranged between the motor bracket and the top surface of the rotating platform, a motor box is arranged in the motor bracket, the motor box is connected to the camera through a fixing plate, two stepper motors are arranged in parallel in the motor box, the output shafts of the two stepper motors are arranged back to back, a first bevel gear is mounted on the output shaft of each stepper motor, the two first bevel gears are respectively meshed with multiple teeth of the conical boss, and the camera realizes self-rotation along the circumferential direction of the rotating platform through the meshing cooperation of the rotating platform and the two first bevel gears.

[0007] As a preferred solution: each propulsion core includes a front protective cover body, a cylindrical outer shell, a self-protection propulsion assembly and a rear protective cover body, the self-protection propulsion assembly is arranged in the cylindrical outer shell, and the front protective cover body and the rear protective cover body are respectively arranged at both ends of the cylindrical outer shell, the self-protection propulsion assembly includes a front shaft body, an anti-impact head, a fixed motor, a bevel gear set reverse mechanism, a reverse blade, a positive blade, two fixed blades and two moving blades, the front shaft body is arranged in the cylindrical outer shell, the front end of the front shaft body is provided with an anti-impact head, the anti-impact head is provided with two moving blades, two fixed blades are fixedly connected to the inner wall of the cylindrical outer shell, each moving blade is respectively matched with the two fixed blades to form two cutting parts, the fixed motor is fixedly installed in the cylindrical outer shell, one power output shaft of the fixed motor is a first power output shaft, the first power output shaft is coaxially connected to the front shaft body, the other power output shaft of the fixed motor is a second power output shaft, the second power output shaft is provided with a positive blade, the bevel gear set reverse mechanism and the reverse blade are both provided on the second power output shaft of the fixed motor, and the reverse blade is arranged close to the positive blade.

[0008] As a preferred solution: the bevel gear set reversing mechanism includes a housing, a bearing, a countershaft sleeve, a driving bevel gear, a passive bevel gear and two transmission bevel gears. The housing is sleeved on the second power output shaft of the fixed motor, the driving bevel gear, the passive bevel gear and the two transmission bevel gears are all arranged in the housing, the driving bevel gear is sleeved on the second power output shaft, the passive bevel gear is sleeved on the second power output shaft through a bearing, a countershaft sleeve is sleeved outside the bearing, a reverse blade is sleeved outside the countershaft sleeve, the two transmission bevel gears are arranged side by side on the inner wall of the housing, and the driving bevel gear is meshed with the passive bevel gear through the two transmission bevel gears.

[0009] As a preferred solution: the front protective cover body and the rear protective cover body are both polygonal arc-shaped cover bodies protruding outward, the front protective cover body includes an outer support ring plate and a plurality of arc-shaped strips, the plurality of arc-shaped strips are arranged in the inner hole of the outer support ring plate along the circumferential direction of the outer support ring plate, each arc-shaped strip is bent outward along the axial direction of the cylindrical outer shell, one ends of the plurality of arc-shaped strips intersect to form a central shielding portion, the central shielding portion is on the central axis in the axial direction of the outer support ring plate, the other end of each arc-shaped strip is fixedly connected to the outer support ring plate, and a gap for water flow is formed between two adjacent arc-shaped strips.

[0010] As a preferred solution: two special-shaped grooves are symmetrically arranged with the central axis in the axial direction of the center hole as the symmetry axis, each special-shaped groove is an inclined groove body, one side of each special-shaped groove is on the same vertical plane with the central axis in the axial direction of the side hole it is close to, the other side of each special-shaped groove is on the same vertical plane with the central axis in the axial direction of the center hole, and the groove depth of each special-shaped groove decreases successively from one side close to the side hole to the other side.

[0011] The beneficial effects of the present invention are:

[0012] 1. The present invention is a miniature underwater rescue robot with a reasonable and compact structure. Through the cooperation between the flat block, the central inner core and the two propulsion inner cores, it can move freely in a narrow area in complex waters and timely capture relevant signals in the narrow underwater area. The camera pan-tilt mechanism in the central inner core is a mechanism for obtaining image information at a wide angle, which can quickly identify and locate the rescue target based on the visibility of river waters, as well as the color characteristics and contour characteristics of the rescue target.

[0013] 2. The present invention can make the robot itself have reliable running stability through the arrangement of the relative positions between the central inner core and the two propulsion inner cores. The front protective cover body, cylindrical outer shell, rear protective cover body, front shaft body, impact-resistant head, fixed motor, bevel gear set reverse mechanism, reverse blade, positive blade, two fixed blades and two moving blades in each propulsion inner core cooperate with each other to improve the propulsion efficiency, solve the problems of deflection torque generated by the single-propeller propeller of the underwater robot and excessive energy consumption, and at the same time solve the problem that the existing propeller propeller is easily entangled by water plants. The self-protection performance is stable and the protection direction is accurate and effective, thereby ensuring the smooth operation of the robot in river waters, stable and reliable rescue timeliness, and stable and continuous rescue effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a bottom view structural schematic diagram of the present invention;

[0015] Figure 2 It is a schematic diagram of the main structure of the present invention;

[0016] Figure 3 It is a side view structural schematic diagram of the present invention;

[0017] Figure 4 It is a schematic diagram of a first three-dimensional structure of the present invention;

[0018] Figure 5 It is a schematic diagram of a second three-dimensional structure of the present invention;

[0019] Figure 6 is a schematic diagram of a third three-dimensional structure of the present invention;

[0020] Figure 7 is a schematic diagram of a fourth three-dimensional structure of the present invention;

[0021] Figure 8 is a schematic diagram of a fifth three-dimensional structure of the present invention;

[0022] Fig. 9 An exploded view of the present invention;

[0023] Fig.10 It is a schematic diagram of the three-dimensional structure of a flat block;

[0024] Fig.11 It is a schematic diagram of the main structure of the flat block;

[0025] Fig.12 for Fig.11 Schematic diagram of the cross-sectional structure at AA in the middle;

[0026] Fig.13 Schematic diagram of the three-dimensional structure of the central inner core;

[0027] Fig.14 This is an exploded view of the center inner core;

[0028] Fig.15 is a schematic diagram of the side structural section of the central inner core;

[0029] Fig.16 A schematic diagram of the side view structure of the propulsion core;

[0030] Fig.17 A schematic diagram of a side structural cross-section of the propulsion core;

[0031] Fig.18 It is a three-dimensional structural schematic diagram of the connection relationship between the bevel gear set reversing mechanism, the reverse blade, the forward blade and another power output shaft of the fixed motor;

[0032] Fig.19 It is a schematic diagram of the three-dimensional structure of the camera pan-tilt mechanism;

[0033] Fig. 20 This is an exploded view of the camera pan / tilt mechanism;

[0034] Fig.21 for Fig.17 Enlarged structural diagram at B in the middle.

[0035] In the figure: 1-flat block; 1-1-center hole; 1-2-side hole; 2-center inner core; 2-1-head cabin shell; 2-1-1-hemispherical shell; 2-1-2-cylinder; 2-2-water storage tank shell; 2-2-1-center water cavity; 2-2-2-end water cavity; 2-3-tail control cabin; 2-4-isolation seat; 2-5-threading tube; 2-6-isolation positioning plate; 2-7-water pump; 2-8-water storage isolation plate; 3-propulsion inner core; 4-special-shaped groove; 5-camera pan-tilt mechanism; 5-1-rotating platform; 5-2-motor bracket; 5-3-motor box; 5-4-fixing plate; 5-5-camera; 5-6-first bevel gear; 5-7-stepping motor; 6-support frame; 7-front protective cover; 7-1-outer support ring; 7-2-arc strip; 7-3-center shielding part; 8-cylindrical shell; 9-self-protection propulsion assembly; 9-1-front shaft body; 9-2-anti-impact head; 9-3-fixed motor; 9-3-1-first power output shaft; 9-3-2-second power output shaft; 9-4-reverse mechanism of bevel gear set; 9-4-1-housing; 9-4-2-bearing; 9-4-3-secondary shaft sleeve; 9-4-4-1-active bevel gear; 9-4-4-2-passive bevel gear; 9-4-5-transmission bevel gear; 9-5-reverse blade; 9-6-positive blade; 9-7-fixed blade; 9-8-moving blade; 10-rear protective cover; 11-first counterweight part; 12-second counterweight part; 13-first blade side; 14-second blade side; 15-third blade side. DETAILED DESCRIPTION

[0036] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0037] Specific implementation method 1: Combination Figures 1 to 21Describing the present embodiment, the present embodiment comprises a flat block 1, a central inner core 2 and two propulsion inner cores 3. The flat block 1 is respectively processed with a central hole 1-1 and two side holes 1-2 along its length direction. The central hole 1-1 and the two side holes 1-2 are arranged in parallel, and the central hole 1-1 is between the two side holes 1-2. The central inner core 2 is penetrated in the central hole 1-1, and a propulsion inner core 3 is penetrated in each side hole 1-2. The flat block 1 is a lightweight block, which plays the role of outer shell protection and has counterweight positions, which are respectively located on both sides of the central hole 1-1. Specifically, a first counterweight portion 11 and a second counterweight portion 12 are formed between the central hole 1-1 and the two side holes 1-2. The first counterweight portion 11 and the second counterweight portion 12 are symmetrically arranged, which can not only realize the counterweight function of the whole machine, but also help the flat block 1 to achieve a small shape, compact structure and positioning counterweight effect, which is beneficial to the stability of the operation of the whole machine.

[0038] In this embodiment, the first counterweight part 11 and the second counterweight part 12 have the same structure and size, and the longitudinal cross-section shape is a symmetrical hourglass shape, which provides a favorable and sufficient built-in space for the central inner core 2 and the two propulsion inner cores 3. The maximum width value of the narrowest part of the first counterweight part 11 is matched with the radius size of the central hole 1-1, and the minimum width value of the narrowest part of the first counterweight part 11 is smaller than the diameter of the side hole 1-2 and larger than the radius of the side hole 1-2.

[0039] In this embodiment, the top surface of the flat block 1 is arc-shaped, the two sides of the flat block 1 are arc-shaped sides, the bottom surface of the flat block 1 is processed with two symmetrically arranged special-shaped grooves 4, the front end of the central inner core 2 is the data acquisition end, and the flat block 1 and the central inner core 2 make floating, forward movement and / or diving movements driven by the two propulsion inner cores 3.

[0040] The present invention can realize feedback stability control, depth and heading maintenance and autonomous navigation through existing electronic control program control, and is compatible with a variety of sensors and performs a working process of data recording.

[0041] Specific implementation method two: This implementation method is a further limitation of specific implementation method one. The central inner core 2 of this implementation method includes a head cabin shell 2-1, a water storage cabin shell 2-2, a tail control cabin 2-3, an isolation seat 2-4, a threading tube 2-5, an isolation positioning plate 2-6, a water pump 2-7 and two water storage isolation plates 2-8. The head cabin shell 2-1 includes a hemispherical shell 2-1-1 and a cylindrical body 2-1-2. The open end of the hemispherical shell 2-1-1 is connected to one end of the cylindrical body 2-1-2 through the isolation seat 2-4, and the other end of the cylindrical body 2-1-2 is connected to one end of the tail control cabin 2-3 through the isolation positioning plate 2-6. A power supply battery is arranged in the tail control cabin 2-3, and the power supply battery provides power for the entire robot. The threading tube 2-5 is arranged in the water storage cabin shell 2-2. One end passes through the isolation seat 2-4 and is connected with the interior of the head cabin shell 2-1, and the other end of the threading tube 2-5 passes through the isolation positioning plate 2-6 and is connected with the interior of the tail control cabin body 2-3. Two water storage isolation plates 2-8 are mounted on the threading tube 2-5 in parallel. The outer diameter of each water storage isolation plate 2-8 is smaller than the inner diameter of the water storage tank shell 2-2, so that a gap is formed between the end of the water storage isolation plate 2-8 and the inner wall of the water storage tank shell 2-2, which is beneficial to provide a channel for water intake or drainage in the water storage tank shell 2-2. The interior of the water storage tank shell 2-2 is formed with a central water cavity 2-2-1 and two end water cavities 2-2 through the cooperation of the threading tube 2-5 and the two water storage isolation plates 2-8. A water pump 2-7 is arranged in the central water cavity 2-2-1, and the water inlet of the water pump 2-7 passes through the side wall of the water storage tank shell 2-2 and is arranged outside the water storage tank shell 2-2.

[0042] In the present embodiment, the water inlet sequence of the water storage tank shell 2-2 is formed by dividing it into a central water chamber 2-2-1 and two end water chambers 2-2-2 to form an orderly water inlet in a spatial environment. After a large amount of water enters the central water chamber 2-2-1, it enters the end water chambers. When the water is discharged, the central water chamber 2-2-1 first discharges a large amount of water, and then the two end water chambers 2-2-2 further discharge the water, thereby facilitating the formation of a quantitative and directional water inlet and outlet process in the water storage tank shell 2-2, so that the orderly water inlet and outlet during the weight adjustment process of the whole machine ensures the stability of the whole machine and avoids rapid imbalance and excessive shaking.

[0043] Specific implementation method three: This implementation method is a further limitation of specific implementation methods one or two. In this implementation method, a camera pan platform mechanism 5 and a support frame 6 are arranged in the head cabin shell 2-1. The camera pan platform mechanism 5 is connected to the isolation seat 2-4 through the support frame 6. The camera pan platform mechanism 5 is provided with a power supply harness. One end of the power supply harness is connected to the camera pan platform mechanism 5, and the other end of the power supply harness passes through the threading tube 2-5 and is connected to the power supply battery. The camera pan platform mechanism 5 includes a rotating platform 5-1, a motor bracket 5-2, a motor box 5-3, a fixing plate 5-4, a camera 5-5, two first bevel gears 5-6 and two stepper motors 5-7. The rotating platform 5-1 is a conical boss. The conical inclined surface of the conical boss is machined with multiple teeth along its circumferential direction. The bottom of the platform 5-1 is set on the support frame 6, the motor bracket 5-2 is set above the rotating platform 5-1, and a gap is set between the motor bracket 5-2 and the top surface of the rotating platform 5-1. A motor box 5-3 is set in the motor bracket 5-2, and the motor box 5-3 is connected to the camera 5-5 through a fixing plate 5-4. Two stepper motors 5-7 are arranged in parallel in the motor box 5-3, and the output shafts of the two stepper motors 5-7 are arranged back to back. A first bevel gear 5-6 is mounted on the output shaft of each stepper motor 5-7, and the two first bevel gears 5-6 are respectively meshed with multiple teeth of the conical boss. The camera 5-5 realizes self-rotation along the circumferential direction of the rotating platform 5-1 through the meshing cooperation between the rotating platform 5-1 and the two first bevel gears 5-6.

[0044] In this embodiment, the existing camera device capable of both circumferential rotation and tilting can also replace the camera platform mechanism 5.

[0045] Specific embodiment 4: This embodiment is a further limitation of specific embodiments 1, 2 or 3. Each propulsion inner core 3 of this embodiment includes a front protective cover body 7, a cylindrical outer shell 8, a self-protection propulsion assembly 9 and a rear protective cover body 10. The self-protection propulsion assembly 9 is arranged in the cylindrical outer shell 8. The front protective cover body 7 and the rear protective cover body 10 are respectively arranged at both ends of the cylindrical outer shell 8. The self-protection propulsion assembly 9 includes a front shaft body 9-1, an impact-resistant head 9-2, a fixed motor 9-3, a bevel gear set reverse mechanism 9-4, a reverse blade 9-5, a forward blade 9-6, two fixed blades 9-7 and two moving blades 9-8. The front shaft body 9-1 is arranged in the cylindrical outer shell 8, and the front end of the front shaft body 9-1 is provided with An impact-resistant head 9-2 is provided, and two movable blades 9-8 are arranged on the impact-resistant head 9-2. Two fixed blades 9-7 are fixedly connected to the inner wall of the cylindrical shell 8. Each movable blade 9-8 cooperates with two fixed blades 9-7 to form two cutting parts. A fixed motor 9-3 is fixedly installed in the cylindrical shell 8. A power output shaft 9-3-1 of the fixed motor 9-3 is coaxially connected to the front shaft body 9-1. A positive blade 9-6 is mounted on the other power output shaft 9-3-2 of the fixed motor 9-3. The reverse mechanism 9-4 of the bevel gear set and the reverse blade 9-5 are both mounted on the other power output shaft 9-3-2 of the fixed motor 9-3, and the reverse blade 9-5 is arranged close to the positive blade 9-6.

[0046] In this embodiment, the fixed motor 9 - 3 is an existing motor product, which is fixedly connected to the inner wall of the cylindrical shell 8 .

[0047] In this embodiment, the two movable blades 9-8 are provided with a shaft sleeve, which is fixedly mounted on the front shaft body 9-1. The two movable blades 9-8 are fixedly arranged on the front shaft body 9-1. The two movable blades 9-8 are both half-moon blade bodies. The outer side of the movable blade 9-8 is the first blade side 13, and the first blade side 13 is an arc side. Such a setting can save space and maximize the size of the blade side. Correspondingly, the two fixed blades 9-7 are triangular blades, which occupy a small space and have strong stability. The side of the fixed blade 9-7 facing the movable blade 9-8 is the second blade side 14, and the second blade side 14 of the fixed blade 9-7 is arranged opposite to the first blade side 13 of the movable blade 9-8. The side of the fixed blade 9-7 facing the front protective cover body 7 is the third blade side 15. The first blade side 13 of the movable blade 9-8, the second blade side 14 and the third blade side 15 of the fixed blade 9-7 cooperate with each other to realize a multi-faceted staggered cutting system, so that a three-dimensional cutting effect with no missing parts can be achieved in all directions in the spatial area where the fixed blade 9-7 and the movable blade 9-8 are located.

[0048] Specific implementation mode five: This implementation mode is a further limitation of specific implementation modes one, two, three or four. In this implementation mode, the bevel gear set reversing mechanism 9-4 includes a housing 9-4-1, a bearing 9-4-2, a countershaft sleeve 9-4-3, an active bevel gear 9-4-4-1, a passive bevel gear 9-4-4-2 and two transmission bevel gears 9-4-5. The housing 9-4-1 is mounted on the second power output shaft 9-3-2 of the fixed motor 9-3. The active bevel gear 9-4-4-1, the passive bevel gear 9-4-4-2 and the two transmission bevel gears 9-4-5 are It is arranged in the box body 9-4-1, the active bevel gear 9-4-4-1 is sleeved on the second power output shaft 9-3-2, the passive bevel gear 9-4-4-2 is sleeved on the second power output shaft 9-3-2 through the bearing 9-4-2, the bearing 9-4-2 is sleeved with a secondary shaft sleeve 9-4-3, the secondary shaft sleeve 9-4-3 is sleeved with a reverse blade 9-5, two transmission bevel gears 9-4-5 are arranged in parallel on the inner wall of the box body 9-4-1, and the active bevel gear 9-4-4-1 is meshed with the passive bevel gear 9-4-4-2 through two transmission bevel gears 9-4-5.

[0049] Specific embodiment six: This embodiment is a further limitation of specific embodiments one, two, three, four or five. The front protective cover body 7 and the rear protective cover body 10 are both polygonal arc-shaped cover bodies protruding outward. The front protective cover body 7 includes an outer support ring piece 7-1 and a plurality of arc-shaped strips 7-2. The plurality of arc-shaped strips 7-2 are arranged in the inner hole of the outer support ring piece 7-1 along the circumferential direction of the outer support ring piece 7-1. Each arc-shaped strip 7-2 is bent outward along the axial direction of the cylindrical shell 8. One ends of the plurality of arc-shaped strips 7-2 intersect to form a central shielding portion 7-3. The central shielding portion is on the central axis of the axial direction of the outer support ring piece 7-1. The other end of each arc-shaped strip 7-2 is fixedly connected to the outer support ring piece 7-1. A water flow gap is formed between two adjacent arc-shaped strips 7-2.

[0050] Specific embodiment seven: This embodiment is a further limitation of specific embodiment six, the two special-shaped grooves 4 are symmetrically arranged with the central axis of the center hole 1-1 in the axial direction as the symmetry axis, each special-shaped groove 4 is an inclined groove body, one side of each special-shaped groove 4 and the central axis of the side hole 1-2 in the axial direction thereof are in the same vertical plane, the other side of each special-shaped groove 4 and the central axis of the center hole 1-1 in the axial direction are in the same vertical plane, and the groove depth of each special-shaped groove 4 decreases successively from one side close to the side hole 1-2 to the other side thereof.

[0051] The working principle of the present invention is as follows:

[0052] In the present invention, the cooperation process between the flat block 1, the central inner core 2 and the two propulsion inner cores 3 is manually remotely controlled by the rescue personnel, and the human-machine interconnection synchronizes the camera images in real time on the computer. At the same time, the existing AI algorithm helps to identify the image and assists the search; when moving forward, the two propulsion inner cores 3 on both sides of the flat block 1 are relied on to realize the reasonable layout of the flat block 1 to balance the center of gravity, and the front shaft 9-1, the impact-resistant head 9-2, the fixed motor 9-3, the bevel gear set reverse mechanism 9-4, the reverse blade 9-5 and the positive blade 9-6 in the self-protection propulsion assembly 9 cooperate with each other to maximize the propulsion efficiency; at the same time, the front shaft 9-1, the impact-resistant head 9-2, the two fixed blades 9-7, the two moving blades 9-8, the front protective cover 7 and the rear protective cover 10 in the self-protection propulsion assembly 9 cooperate with each other to prevent the water grass from being drawn in. The principle of the ascending and diving movement is to adjust the dead weight by arranging the change of the water storage volume in the central inner core 2.

[0053] The installation method of the self-protection propulsion assembly 9 of the present invention is as follows:

[0054] A front protective cover body 7 and a rear protective cover body 10 are respectively provided at the two ends of each cylindrical outer shell 8 in the flat block 1, and a coaxial double-position clamping process is realized front and back by the front protective cover body 7 and the rear protective cover body 10, so that the installation position of the self-protection propulsion assembly 9 in the cylindrical outer shell 8 is stable and durable, the propeller outer shell is slightly longer, and there is an interference fit between the cylindrical outer shell 8 and the side hole 1-2.

[0055] The installation method of the central inner core 2 of the present invention is as follows:

[0056] The method is similar to the thruster installation method, with interference fit between the central inner core 2 and the central hole 1-1.

[0057] In the present invention, the reverse blade 9-5 and the forward blade 9-6 are both propeller structures, and the rotation directions are opposite. The process of the built-in propeller can be realized by the cooperation between the front shaft body 9-1, the fixed motor 9-3, the bevel gear set reverse mechanism 9-4, the reverse blade 9-5 and the forward blade 9-6. At the same time, it can also prevent the backflow of water and the loss of propulsion efficiency. The water flow on the front protective cover body 7 realizes the function of forward water through the gap. The front protective cover body 7, the rear protective cover body 10, the front shaft body 9-1, the anti-impact head 9-2, The fixed motor 9-3, the reverse mechanism 9-4 of the bevel gear set, the reverse blade 9-5, the forward blade 9-6, the two fixed blades 9-7 and the two moving blades 9-8 cooperate with each other to prevent the water plants from being drawn in while increasing the propulsion force of the water flow. Even if a small amount of water plants enter, the two fixed blades 9-7 and the two moving blades 9-8 cooperate with each other to achieve a four-position circumferential cutting effect, thereby preventing the reverse blade 9-5 and the forward blade 9-6 from being drawn in by water plants when rotating, thereby achieving the effect of preventing water plants from clogging the blades in all directions.

[0058] The self-protection propulsion assembly 9 in the present invention is a coaxial reverse propeller mechanism, wherein a fixed motor 9-3 provides a power source, and a second power output shaft 9-3-2 provides rotational power for the reverse propeller blade 9-5 and the forward propeller blade 9-6, and an active bevel gear 9-4-4-1 is mounted on the second power output shaft 9-3-2, driving the forward propeller blade 9-6 to rotate, and the reverse propeller blade 9-5 is rotated by the mutual cooperation between the bearing 9-4-2, the secondary shaft sleeve 9-4-3, the passive bevel gear 9-4-4-2 and the two transmission bevel gears 9-4-5, and can simultaneously realize the forward and reverse rotation of the forward propeller blade 9-6 and the reverse propeller blade 9-5, and realize the effect of coaxial reverse propeller. The structural form of the self-protection propulsion assembly 9 can effectively offset the deflection torque brought by a single blade, and at the same time, the water flow driven by the forward propeller blade 9-6 can push the reverse propeller blade 9-5, realizing the process of obtaining a larger propulsion force in a narrow and compact space environment while saving energy and effort.

[0059] The camera pan-tilt mechanism 5 in the present invention can realize the circumferential rotation of the camera 5-5 through the cooperation between the rotating platform 5-1, the motor bracket 5-2, the motor box 5-3, the fixing plate 5-4, the two first bevel gears 5-6 and the two stepping motors 5-7. The rotation direction of the camera 5-5 is the circumferential direction of the rotating platform 5-1, and the viewing angle of the camera 5-5 is wide. Correspondingly, the hemispherical shell 2-1-1 is a shell made of transparent material, which is convenient for the camera 5-5 to realize 360-degree image acquisition in the circumferential direction, and there is no dead angle in the image acquisition direction. The camera 5-5 is preferably a 4K high-definition camera.

[0060] The actual underwater operation process of the present invention is:

[0061] First, the technicians carry the present invention and the power supply equipment to the target water area.

[0062] The present invention is then connected to the power supply device and the computer via a cable to achieve power supply and signal transmission.

[0063] Then, the present invention is launched into the water and started up. The robot's posture is monitored through the computer software-QGroundControl. The gyroscope, accelerometer, depth gauge and other sensors integrated in the Pixhawk flight control display the robot's posture parameters in real time. The robot is then remotely controlled by the console to achieve visibility and control. The video image is then collected by the 4K high-definition camera on the robot's head. At the same time, the camera has a two-degree-of-freedom rotation mechanism to achieve a hemispherical visual range. 6. After the underwater robot enters the water, the fixed height mode is adopted. The machine automatically adjusts the reverse blade 9-5 and the positive blade 9-6 to maintain the horizontal balance of the robot and prevent the machine from capsizing.

[0064] After that, the central inner core 2 starts to work, first adjusting the floating state, and the water pump 2-7 in the water storage tank shell 2-2 works to adjust the water storage volume in the water storage tank shell 2-2, so that the whole robot is maintained at a suitable depth, that is, higher than the bottom of the water, so that the field of view of the camera 5-5 is better.

[0065] Then, the cruising mode is turned on and the robot cruises at a fixed height. The propulsion power is provided by the propulsion core 3 distributed on both sides of the robot. The propulsion core 3 in the form of a coaxial reverse propeller structure is changed in direction by the reverse mechanism 9-4 of the bevel gear set, so that the forward and reverse propellers can rotate forward and reverse respectively, offsetting the deflection torque brought by the single blade and ensuring the stability of the robot's horizontal movement.

[0066] When the present invention is in a cruising state, when the operator finds a suspicious target in the video, the operator can operate the robot to approach for observation. The bottom of the river is mostly densely covered with aquatic plants. The front protective cover 7, the two fixed blades 9-7 and the two moving blades 9-8 cooperate with each other to cut and crush the aquatic plants, and at the same time play a circumferential protection role for the reverse blade 9-5 and the forward blade 9-6, so that the present invention can sail worry-free in the densely covered with aquatic plants area.

[0067] When the target is found, the positioning system of the present invention learns the specific location of the target and transmits a signal to the control center, and then relevant personnel carry out salvage in a timely manner.

[0068] The present invention can realize the changes of various underwater postures of floating, moving forward and / or diving. Specifically, the following typical motion postures, and the working principles of each motion posture are as follows:

[0069] When the robot enters the water, it first needs to dive in place, and the whole machine enters the water;

[0070] Movement posture 1: Horizontal upward and downward movement posture, the specific working principle is:

[0071] Start the water pump 2-7 to pump water into the water storage tank shell 2-2, realizing the water inflow process from the central water chamber 2-2-1 to the end water chamber 2-2-2. The dead weight of the water storage tank shell 2-2 increases with the increase of water inflow, thereby increasing the weight of the whole machine. When the gravity of the whole machine is greater than the buoyancy, the vertical diving movement of the present invention is realized under the drive of the two propulsion cores 3.

[0072] Then the robot cruises underwater, and specifically can collect data from multiple positions by rotating the camera 5 - 5 .

[0073] Start the water pump 2-7 to release the water in the water storage tank shell 2-2, so as to realize the process of water discharge from the water storage tank shell 2-2. The dead weight of the water storage tank shell 2-2 decreases as the amount of water intake decreases, thereby reducing the weight of the whole machine. When the gravity of the whole machine is less than the buoyancy, the vertical floating movement of the present invention is realized under the drive of the two propulsion cores 3.

[0074] Movement posture 2: forward movement posture, the specific driving principle is:

[0075] The two propulsion cores 3 are started at the same time, and the second power output shaft 9-3-2 of the fixed motor 9-3 in each propulsion core 3 rotates counterclockwise, driving the active bevel gear 9-4-4-1 to rotate counterclockwise. Since the active bevel gear 9-4-4-1 is meshed with the passive bevel gear 9-4-4-2 through two transmission bevel gears 9-4-5, the passive bevel gear 9-4-4-2 rotates clockwise, and the second power output shaft 9-3-2 is connected to the positive blade 9-6 through a flat key, and the second power output shaft 9-3-2 drives the positive blade 2-6 to rotate counterclockwise to generate forward thrust. The passive bevel gear 9-4-4-2 is connected to the reverse blade 9-5 through a flat key, and the passive bevel gear 9-4-4-2 drives the reverse blade 9-5 to rotate clockwise through the bearing 9-4-2 and the secondary shaft sleeve 9-4-3, which also generates forward thrust. The rotation of the positive blade 2-6 and the reverse blade 9-5 does not affect each other.

[0076] Movement posture three: Steering movement posture, the specific driving principle is:

[0077] According to the direction of steering required, one of the two propulsion cores 3 is selected to be started separately, and the second power output shaft 9-3-2 of the fixed motor 9-3 in the started propulsion core 3 rotates counterclockwise, and the second power output shaft 9-3-2 rotates counterclockwise to drive the secondary shaft sleeve 9-4-3 to rotate clockwise, and the positive blade 2-6 rotates counterclockwise to generate backward thrust, and the reverse blade 9-5 rotates clockwise to also generate backward thrust. At the same time, start another propulsion core 3, and the second power output shaft 9-3-2 of the fixed motor 9-3 in the propulsion core 3 rotates clockwise, and the second power output shaft 9-3-2 rotates clockwise to drive the secondary shaft sleeve 9-4-3 to rotate counterclockwise, and the positive blade 2-6 rotates clockwise to generate backward thrust, and the reverse blade 9-5 rotates counterclockwise to also generate backward thrust. The right side moves forward and the left side moves backward, so that the robot rotates counterclockwise around the central axis to complete the steering movement.

[0078] The above-mentioned motion postures of the present invention can be implemented in a continuous manner according to specific travel needs, and the motion postures can be implemented continuously, alternately, or in a continuous manner with multiple postures.

[0079] When the present invention is sailing in an area with dense aquatic plants, the self-protection and aquatic plant cutting function of the present invention is activated. The implementation of this function does not affect the smooth progress of the movement posture. The specific working principle is as follows:

[0080] How it works to reduce weed entry and be able to cut weeds:

[0081] The first power output shaft 9-3-1 in the fixed motor 9-3 rotates counterclockwise, driving the two moving blades 9-8 to rotate counterclockwise, and cooperates with the fixed blade 9-7 on the inner wall of the cylindrical shell 8 to cut the waterweed entering the cylindrical shell 8. Since the moving blade 9-8 rotates and the fixed blade 9-7 does not move, the waterweed can be cut at the staggered position, and the waterweed can be cut into small pieces, which is not easy to block the reverse blade 9-5 and the positive blade 9-6 behind it. At the same time, the convex multi-faceted structural features of the front protective cover body 7 and the rear protective cover body 10 set at the front and rear ends of the inner core 3 can prevent a large amount of waterweed from pouring into the cylindrical shell 8.

[0082] The specific working process of the present invention is:

[0083] When the present invention is cruising at a constant altitude underwater, the camera platform mechanism 5 is in a searching state of rotational motion.

[0084] Start the water pump 2-7 to pump water into the water storage tank shell 2-2, realizing the water inflow process from the central water chamber 2-2-1 to the end water chamber 2-2-2. The dead weight of the water storage tank shell 2-2 increases with the increase of water inflow, thereby increasing the weight of the whole machine. When the gravity of the whole machine is greater than the buoyancy, the vertical diving movement of the present invention is realized under the drive of the two propulsion cores 3. After diving to a certain height, the water pump 2-7 is turned off, the weight of the whole machine is stable, and the diving height of the robot remains stable. The second power output shaft 9-3-2 of the fixed motor 9-3 in the right propulsion core 3 of the robot rotates counterclockwise, and the second power output shaft 9-3-2 rotates counterclockwise through the active bevel gear 9-4-4-1, the passive bevel gear 9-4-4-2 and the two transmission bevel gears 9-4-5 in the bevel gear group reversing mechanism 9-4 to drive the secondary shaft sleeve 9-4-3 to rotate clockwise. At this time, the positive blade 9-6 rotates counterclockwise and the reverse blade 9-5 rotates clockwise, generating backward thrust.

[0085] The second power output shaft 9-3-2 of the fixed motor 9-3 in the left propulsion core 3 of the robot rotates clockwise, and the second power output shaft 9-3-2 rotates clockwise through the active bevel gear 9-4-4-1, the passive bevel gear 9-4-4-2 and the two transmission bevel gears 9-4-5 in the bevel gear set reverse mechanism 9-4 to drive the secondary shaft sleeve 9-4-3 to rotate counterclockwise. At this time, the positive blade 9-6 rotates clockwise and the reverse blade 9-5 rotates counterclockwise, generating a forward thrust, and the robot as a whole turns to sail. During the navigation process, the camera 5-5 is turned to shoot through the mutual cooperation between the rotating platform 5-1, the motor bracket 5-2, the motor box 5-3, the fixing plate 5-4, the two first bevel gears 5-6 and the two stepping motors 5-7. The turning direction is 360 degrees clockwise or counterclockwise along the radial direction of the rotating platform 5-1 to achieve wide-angle dynamic shooting, and it can also stop at any angle in the rotation process for directional shooting as needed.

[0086] When the present invention finds a suspicious target in a real-time image and needs to approach the target for specific observation, the working process is as follows:

[0087] Straighten the fuselage and face the target. The second power output shaft 9-3-2 of the fixed motor 9-3 in the right side propulsion core 3 of the robot rotates counterclockwise, driving the secondary shaft sleeve 9-4-3 to rotate clockwise, and the positive blade 9-6 rotates counterclockwise to generate backward thrust. The reverse blade 9-5 rotates clockwise to also generate backward thrust. The second power output shaft 9-3-2 of the fixed motor 9-3 in the robot propulsion core 3 rotates clockwise. The clockwise rotation of the second power output shaft 9-3-2 drives the secondary shaft sleeve 9-4-3 corresponding to the second power output shaft 9-3-2 to rotate counterclockwise. The positive blade 9-6 rotates clockwise to generate backward thrust. The reverse blade 9-5 rotates counterclockwise to also generate backward thrust. The robot moves forward on the right side and moves backward on the left side. The robot rotates counterclockwise around the central axis of the axial direction of the central inner core 2, and the fuselage turns. It moves forward after facing the target. At this time, the second power output shaft 9-3-2 of the fixed motor 9-3 in the right propulsion inner core 3 rotates counterclockwise, driving the secondary shaft sleeve 9-4-3 to rotate clockwise, and the positive blade 9-6 rotates counterclockwise to generate forward thrust. The reverse blade 9-5 rotates clockwise to also generate forward thrust. The left and right thrusters push the robot closer to the target. Release the fixed altitude mode, dive closer, start the water pump 2-7, pump water into the water storage tank shell 2-2, and the water storage tank shell 2-2 is in a water-filled state, which will inevitably increase the weight of the whole machine, so that the gravity is greater than the buoyancy, so that the underwater robot can dive closer to the target. The camera adjusts the viewing angle to observe and shoot at a close distance.

Claims

1. A micro robot for emergency rescue in complex waters, characterized by: The invention comprises a flat block (1), a central inner core (2) and two propulsion inner cores (3), wherein the flat block (1) is a light block, the top surface of the flat block (1) is in an arc shape, the two sides of the flat block (1) are arc sides, the bottom surface of the flat block (1) is processed with two symmetrically arranged special-shaped grooves (4), the flat block (1) is processed with a central hole (1-1) and two side holes (1-2) along its length direction, the central hole (1-1) and the two side holes (1-2) are arranged in parallel, the central hole (1-1) is located between the two side holes (1-2), the central inner core (2) is inserted into the central hole (1-1), each side hole (1-2) is inserted with a propulsion inner core (3), the front end of the central inner core (2) is a data acquisition end, and the flat block (1) and the central inner core (2) are driven by the two propulsion inner cores (3) to perform floating, forward movement and / or diving movements; Each propulsion core (3) comprises a front protective cover body (7), a cylindrical outer shell (8), a self-protection propulsion assembly (9) and a rear protective cover body (10). The self-protection propulsion assembly (9) is arranged in the cylindrical outer shell (8). The front protective cover body (7) and the rear protective cover body (10) are respectively arranged at two ends of the cylindrical outer shell (8). The self-protection propulsion assembly (9) comprises a front shaft body (9-1), an anti-impact head (9-2), a fixed motor (9-3), a bevel gear set reverse mechanism (9-4), a reverse blade (9-5), a forward blade (9-6), two fixed blades (9-7) and two moving blades (9-8). The front shaft body (9-1) is arranged in the cylindrical outer shell (8). The front end of the front shaft body (9-1) is provided with an anti-impact head (9-2). The anti-impact head (9-2) is provided with two moving blades (9-8). Two fixed blades (9-7) are fixedly connected to the inner wall of the fixed motor (9-8), each movable blade (9-8) cooperates with the two fixed blades (9-7) to form two cutting parts, a fixed motor (9-3) is fixedly installed in the cylindrical housing (8), a power output shaft of the fixed motor (9-3) is a first power output shaft (9-3-1), the first power output shaft (9-3-1) is coaxially connected to the front shaft body (9-1), another power output shaft of the fixed motor (9-3) is a second power output shaft (9-3-2), a positive blade (9-6) is sleeved on the second power output shaft (9-3-2), a bevel gear set reverse mechanism (9-4) and a reverse blade (9-5) are both sleeved on the second power output shaft (9-3-2) of the fixed motor (9-3), and the reverse blade (9-5) is arranged close to the positive blade (9-6); The bevel gear set reversing mechanism (9-4) comprises a housing (9-4-1), a bearing (9-4-2), a countershaft sleeve (9-4-3), a driving bevel gear (9-4-4-1), a passive bevel gear (9-4-4-2) and two transmission bevel gears (9-4-5); the housing (9-4-1) is sleeved on a second power output shaft (9-3-2) of a fixed motor (9-3); the driving bevel gear (9-4-4-1), the passive bevel gear (9-4-4-2) and the two transmission bevel gears (9-4-5) are all arranged in the housing (9-4-1); the driving bevel gear (9-4-4-1), the passive bevel gear (9-4-4-2) and the two transmission bevel gears (9-4-5) are all arranged in the housing (9-4-1); The driven bevel gear (9-4-4-2) is mounted on the second power output shaft (9-3-2) through a bearing (9-4-2), a countershaft sleeve (9-4-3) is mounted outside the bearing (9-4-2), a counter blade (9-5) is mounted outside the countershaft sleeve (9-4-3), two transmission bevel gears (9-4-5) are arranged in parallel on the inner wall of the housing (9-4-1), and the driving bevel gear (9-4-4-1) is meshed with the driven bevel gear (9-4-4-2) through the two transmission bevel gears (9-4-5).

2. A micro robot for emergency rescue in complex waters according to claim 1, characterized in that: The central inner core (2) comprises a head cabin shell (2-1), a water storage tank shell (2-2), a tail control cabin (2-3), an isolation seat (2-4), a threading tube (2-5), an isolation positioning plate (2-6), a water pump (2-7) and two water storage isolation plates (2-8). The head cabin shell (2-1) comprises a hemispherical shell (2-1-1) and a cylindrical body (2-1-2). The open end of the hemispherical shell (2-1-1) is connected to one end of the cylindrical body (2-1-2) through the isolation seat (2-4). The other end of the cylindrical body (2-1-2) is connected to one end of the tail control cabin (2-3) through the isolation positioning plate (2-6). A power supply battery is arranged in the tail control cabin (2-3). The threading tube (2-5) is arranged in the water storage tank shell (2-2). The threading tube (2-5) is arranged in the water storage tank shell (2-2). -5) passes through an isolation seat (2-4) and is connected to the interior of the head cabin shell (2-1); the other end of the threading tube (2-5) passes through an isolation positioning plate (2-6) and is connected to the interior of the tail control cabin body (2-3); two water storage isolation plates (2-8) are sleeved on the threading tube (2-5) in parallel; the outer diameter of each water storage isolation plate (2-8) is smaller than the inner diameter of the water storage tank shell (2-2); the interior of the water storage tank shell (2-2) is formed with a central water cavity (2-2-1) and two end water cavities (2-2-2) through the cooperation of the threading tube (2-5) and the two water storage isolation plates (2-8); a water pump (2-7) is arranged in the central water cavity (2-2-1); a water inlet of the water pump (2-7) passes through a side wall of the water storage tank shell (2-2) and is arranged outside the water storage tank shell (2-2).

3. The micro robot for emergency rescue in complex waters according to claim 1, characterized in that: A camera pan head mechanism (5) and a support frame (6) are arranged in the head cabin shell (2-1); the camera pan head mechanism (5) is connected to the isolation seat plate (2-4) via the support frame (6); the camera pan head mechanism (5) is provided with a power supply harness, one end of the power supply harness is connected to the camera pan head mechanism (5), and the other end of the power supply harness passes through the threading tube (2-5) and is connected to a power supply battery; the camera pan head mechanism (5) comprises a rotating platform (5-1), a motor bracket (5-2), a motor box (5-3), a fixing plate (5-4), a camera (5-5), two first bevel gears (5-6) and two stepping motors (5-7); the rotating platform (5-1) is a conical boss, and a conical inclined surface of the conical boss is processed with a plurality of teeth along its circumferential direction; the bottom of the rotating platform (5-1) is arranged on the support frame (6); The motor bracket (5-2) is arranged above the rotating platform (5-1), and a gap is arranged between the top surfaces of the motor bracket (5-2) and the rotating platform (5-1). A motor box (5-3) is arranged inside the motor bracket (5-2), and the motor box (5-3) is connected to the camera (5-5) via a fixing plate (5-4). Two stepper motors (5-7) are arranged in parallel inside the motor box (5-3), and the output shafts of the two stepper motors (5-7) are arranged in reverse, and a first bevel gear (5-6) is mounted on the output shaft of each stepper motor (5-7). The two first bevel gears (5-6) are respectively meshed with a plurality of teeth of the conical boss, and the camera (5-5) realizes self-rotational motion along the circumferential direction of the rotating platform (5-1) through the meshing cooperation between the rotating platform (5-1) and the two first bevel gears (5-6).

4. The micro robot for emergency rescue in complex waters according to claim 1, characterized in that: The front protective cover body (7) and the rear protective cover body (10) are both polygonal arc-shaped cover bodies protruding outwards. The front protective cover body (7) comprises an outer support ring piece (7-1) and a plurality of arc-shaped strips (7-2). The plurality of arc-shaped strips (7-2) are arranged in the inner hole of the outer support ring piece (7-1) along the circumferential direction of the outer support ring piece (7-1). Each arc-shaped strip (7-2) is bent outwards along the axial direction of the cylindrical outer shell (8). One ends of the plurality of arc-shaped strips (7-2) intersect to form a central shielding portion (7-3). The central shielding portion is located on the central axis of the outer support ring piece (7-1) in the axial direction. The other end of each arc-shaped strip (7-2) is fixedly connected to the outer support ring piece (7-1). A water flow passage gap is formed between two adjacent arc-shaped strips (7-2).

5. The micro robot for emergency rescue in complex waters according to claim 1, characterized in that: The two special-shaped grooves (4) are symmetrically arranged with the central axis of the central hole (1-1) in the axial direction as the symmetry axis, each special-shaped groove (4) is an inclined groove body, one side of each special-shaped groove (4) and the central axis of the side hole (1-2) in the axial direction thereof are located on the same vertical plane, the other side of each special-shaped groove (4) and the central axis of the center hole (1-1) in the axial direction are located on the same vertical plane, and the groove depth of each special-shaped groove (4) decreases from the side close to the side hole (1-2) to the other side thereof.

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