Modular underwater robot fusing full vector propulsion and automatic center of gravity adjustment

Abstract

The application discloses a modular underwater robot fusing full vector propulsion and automatic gravity center adjustment. The underwater robot comprises a base, buoyancy blocks, quick docking modules, underwater rudders, a control cabin, underwater lamps and propellers which are installed on the base. The control cabin is arranged in the middle of the base, the buoyancy blocks and the underwater lamps are symmetrically arranged on both sides of the control cabin with the control cabin as the center, four underwater rudders are evenly fixed around the base, and each underwater rudder is connected with a propeller, the movement direction of the underwater robot is controlled by adjusting the screw direction of the propeller; a plurality of quick docking modules for connecting gravity center adjustment modules are arranged at the edges of the top end face or the bottom end face of the base, and the gravity center of the underwater robot is automatically adjusted by connecting the gravity center adjustment modules. The underwater robot is convenient and flexible, and can adapt to different requirements and scenes by adding and changing the functional modules.

Description

Technical Field

[0001] The present invention relates to a modular underwater robot in the field of robots, and in particular to a modular underwater robot integrating full vector propulsion and automatic center of gravity adjustment. Background Art

[0002] In recent years, the significant harm caused by dam accidents has drawn public attention to dam safety monitoring. Dam safety monitoring technology has developed into an emerging technical discipline and engineering specialty, a systematic project crucial to public safety. The scope of this research is constantly expanding, encompassing design, construction, operation management, project acceptance, on-site inspection, instrument monitoring, environmental protection, earthquake protection, maintenance and repair, hazard prevention and reinforcement, computers, automation, forecasting and early warning, and emergency action plans.

[0003] Detecting and assessing damage to hydraulic equipment caused by natural or human factors is a key focus of regular inspections. Conventional inspection methods for hydraulic facilities include ultrasonic pulse testing, coring, underwater imaging, and reflection wave testing. In addition to conventional optical imaging, underwater imaging technologies include acoustic imaging, low-light imaging, and laser imaging. Delivering inspection equipment to the inspection site requires pre-draining the reservoir, but high dams generally don't have the necessary conditions, necessitating underwater operations. Currently, underwater operations primarily rely on divers. Alternatively, inspection equipment can be lowered from a ship using cables or mounted on an underwater mobile robot and brought to the inspection site. Compared to divers and cable-based deployment, underwater robots offer a number of advantages, including reduced safety risks, greater flexibility, longer operating times, and increased efficiency.

[0004] Currently, robots used for underwater dam maintenance are basically based on fixed propellers and an integrated design. In terms of vector propulsion, the existing ones basically use more than 6 fixed propellers to realize the various degrees of freedom of the underwater robot. This method directly leads to the complexity of the overall structure of the robot. It is difficult to reduce the mass and volume. The overall designed robot will be very bulky and difficult to adapt to different working conditions. Summary of the Invention

[0005] To address these issues, the present invention provides a modular underwater robot that integrates full-vector propulsion and automatic center of gravity adjustment. This robot utilizes four propellers with servos to redirect thrust, enabling the robot to generate both thrust and torque on all axes. This enables motion control in a variety of postures, significantly improving the robot's space efficiency. Quick-connect connectors allow for the installation of various functional modules, allowing for the addition and modification of modules to accommodate diverse needs and scenarios, making this invention convenient and flexible.

[0006] The technical solution adopted in the present invention is:

[0007] The robot includes a base and a buoyancy block, a quick docking module, an underwater servo, a control cabin, an underwater light, and a propeller installed on the base; the control cabin is arranged in the middle of the base, and multiple buoyancy blocks and multiple underwater lights are symmetrically distributed and fixed on both sides of the control cabin with the control cabin as the center; four underwater servos are evenly fixed around the base, and each underwater servo is connected to a propeller, and the movement direction of the underwater robot is controlled by adjusting the spiral direction of the propeller; multiple quick docking modules for connecting to the center of gravity adjustment module are arranged at intervals at the edge of the top end surface or the bottom end surface of the base, and the center of gravity of the underwater robot is automatically adjusted by the center of gravity adjustment module.

[0008] The central axes of the two propellers evenly distributed at one end of the base rotate in a horizontal plane, and the central axes of the two propellers evenly distributed at the other end of the base rotate in a vertical plane, and the rotation angle range of the central axis of each propeller in its respective rotation plane is 0-180°.

[0009] The quick docking module is mainly composed of a hook, a limit ring and a mother seat; the mother seat is fixedly installed on the base of the robot, and the end of the mother seat away from the base is provided with a docking groove that fits with the docking joint of the center of gravity adjustment module. A plurality of hooks are hinged evenly distributed around the docking groove on the end face of the mother seat. The limit ring is movably mounted on the outer side of the mother seat, and the limit ring is also mounted on the outer side of the hook. The limit ring is electrically connected to the control servo.

[0010] The side surface of the butt joint is processed with a plurality of arc protrusions at intervals, and the surface where the hook contacts the butt joint is processed with a plurality of arc concave surfaces matching the arc protrusions of the butt joint.

[0011] A controller is provided in the control cabin, and the controller is electrically connected to the underwater steering gear and the underwater light. The controller is electrically connected to the center of gravity adjustment module through a quick docking module, and the controller is electrically connected to the control steering gear.

[0012] The center of gravity adjustment module adopts the first center of gravity adjustment module or the second center of gravity adjustment module.

[0013] The first center of gravity adjustment module is mainly composed of a weight block, a permanent magnet, an electromagnet, a first bottom plate, a first middle plate, a first top plate and a docking interface; the first top plate, the first middle plate and the first bottom plate are arranged in sequence from top to bottom, a plurality of the electromagnets are arranged between the first bottom plate and the first middle plate, and a plurality of the electromagnets form a grid-shaped electromagnet array on the first bottom plate, the first middle plate is fixed on the end face of the electromagnet array, and the first middle plate is arranged parallel to and opposite to the first bottom plate, and the plurality of the weight blocks are movably sheathed on the outside of the plurality of permanent magnets and are arranged on the first middle plate and Between the first top plates, multiple weight blocks mounted on the outside of the permanent magnet move with the permanent magnet on the first middle plate, and a docking interface for connecting to the robot is fixedly installed on the end surface of the first top plate; the top surface of the first middle plate is provided with multiple through holes, and a magnetic limit groove is formed facing an electromagnet below each through hole. After each electromagnet is energized, a magnetic attraction or repulsion is generated between the electromagnet and the permanent magnet, thereby controlling the weight blocks mounted on the outside of the permanent magnet to move on the first middle plate, and at the same time, the electromagnet controls the position of the weight blocks by sucking the permanent magnet into or ejecting the permanent magnet from the magnetic limit groove.

[0014] The second center of gravity adjustment module is mainly composed of a second top plate, a second bottom plate, a second connecting column and a magnetic wheel trolley; the second top plate and the second bottom plate are spaced apart from top to bottom by the second connecting column, and a cavity is formed between the second top plate and the second bottom plate, and the magnetic wheel trolley moves in the cavity on the end surface of the second top plate.

[0015] Each of the four sides of the second bottom plate is provided with a side baffle, and the four second connecting columns are vertically fixed at the four corners of the second bottom plate.

[0016] The second bottom plate and the magnetic wheel trolley are attracted to each other by magnetic force, so as to increase the friction between the magnetic wheel trolley and the second bottom plate.

[0017] The beneficial effects of the present invention are:

[0018] 1. The small underwater thruster based on vector propulsion of the present invention can directly adjust the angle of the propeller by controlling the underwater steering gear, adjust the overall direction and posture of the robot through the different angles of the four propellers, and control the robot's travel speed by adjusting the propeller speed.

[0019] 2. The present invention ensures that the robot as a whole has a complete six degrees of freedom through the mutual coordination and adjustment between the four propellers, and the modular design can add corresponding working modules according to the needs of different occasions, thereby increasing the universality of the robot.

[0020] 3. Quick-connect connectors allow you to install various functional modules, such as a chassis module, a center of gravity adjustment module, and a mechanical gripper module. The chassis module is installed when the robot needs to drive against a wall, the mechanical gripper module is installed when the robot needs to operate underwater, and the center of gravity adjustment module is used to balance gravity. These various functional modules make the present invention convenient and flexible, adapting to different needs and scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of the overall structure of the underwater robot of the present invention;

[0022] Figure 2 A top view of the underwater robot of the present invention;

[0023] Figure 3 This is a front view of the first center of gravity adjustment module of the present invention;

[0024] Figure 4 is a partial schematic diagram of the first center of gravity adjustment module of the present invention;

[0025] Figure 5 is a top view of the first center of gravity adjustment module of the present invention;

[0026] Figure 6 This is a front view of the second center of gravity adjustment module of the present invention;

[0027] Figure 7 is a top view of the second center of gravity adjustment module of the present invention;

[0028] Figure 8 Schematic diagram of the quick-connect interface of the present invention.

[0029] As shown in the figure: 1-buoyancy block; 2-quick docking module; 3-underwater servo; 4-control cabin; 5-underwater light; 6-propeller; 7-weight block; 8-permanent magnet; 9-electromagnet; 10-first connecting column; 11-magnetic limit groove; 12-track; 13-first bottom plate; 14-first middle plate; 15-first top plate; 16-docking interface; 17-second top plate; 18-second bottom plate; 19-second connecting column; 20-side baffle; 21-magnetic wheel trolley; 22-docking joint; 23-hook; 24-limiting ring; 25-female seat 25. DETAILED DESCRIPTION

[0030] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] like Figure 1 and Figure 2As shown, the robot includes a base, a buoyancy block 1 mounted on the base, a quick docking module 2, an underwater steering gear 3, a control cabin 4, an underwater light 5, and a propeller 6. The control cabin 4 is located in the center of the base, and multiple buoyancy blocks 1 and underwater lights 5 are symmetrically fixed on both sides of the control cabin 4. The buoyancy blocks 1 are used to balance the majority of the buoyancy of the robot, while the remaining buoyancy is adjusted by the center of gravity adjustment module. Four underwater steering gears 3 are evenly distributed around the base, and each underwater steering gear 3 is connected to a propeller 6. By adjusting the spiral direction of the propeller 6, the underwater robot's movement direction is controlled, allowing full vector propulsion and achieving position adjustment of the underwater robot. Multiple quick docking modules 2 for connecting to the center of gravity adjustment modules are spaced apart at the edges of the top or bottom end surface of the base. Connecting to the center of gravity adjustment modules automatically adjusts the center of gravity of the underwater robot. The underwater robot can connect to other functional modules through the quick docking modules 2. The functional modules can be designed to meet the needs of different applications, thereby increasing the universality of the underwater robot.

[0032] The central axes of the two propellers 6, evenly distributed at one end of the base, rotate in a horizontal plane, while the central axes of the two propellers 6, evenly distributed at the other end of the base, rotate in a vertical plane. The central axis of each propeller 6 within its respective rotational plane can rotate within an angle range of 0-180°. The angles of the propellers 6 are directly adjusted by controlling the underwater servo 3. The overall direction and posture of the underwater robot are adjusted by adjusting the angles of the four propellers 6. The speed of the underwater robot is controlled by adjusting the rotational speed of the propellers 6.

[0033] Specifically, the propeller 6 controls the thrust direction through the underwater steering gear 3, and the steering gear 3 rotates to provide the propeller 6 with a rotational degree of freedom. Figure 2 The two propellers 6 in the front rotate toward the plane in the left-right direction, and the two propellers 6 in the rear rotate toward the plane in the front-back direction. It is ensured that the propellers 6 can provide thrust to the robot in all directions. The change of the robot's movement direction is achieved by adjusting the direction of each propeller 6, and the robot is exerted with forces of different sizes by adjusting the rotation speed of the propeller 6. The installation position of the four propellers 6 forms a certain angle with the vertical plane, providing the robot with overall forward and backward thrust. Since each servo 3 and propeller 6 are controlled separately, the six degrees of freedom of the robot can be controlled by coordinating the four propellers 6 in a simultaneous differential manner. When the robot needs to float up or sink, the servo 3 is used to control all the propellers 6 to point upwards.

[0034] like Figure 8As shown, the quick docking module 2 is mainly composed of a hook 23, a limiting ring 24 and a mother seat 25; the mother seat 25 is fixedly installed on the base of the robot, and the end of the mother seat 25 away from the base is provided with a docking groove that fits with the docking joint 22 of the center of gravity adjustment module, and a plurality of hooks 23 for clamping the docking joint 22 are evenly hinged on the end face of the mother seat 25 and located around the docking groove. The limiting ring 24 is movably mounted on the outside of the mother seat 25, and the limiting ring 24 is also mounted on the outside of the hook 23; the clamping state of the hook 23 on the docking joint 22 is controlled by adjusting the limiting ring 24 to move up and down along the outside of the mother seat 25, and the limiting ring 24 is electrically connected to the control servo.

[0035] When the center of gravity adjustment module needs to be docked with the quick docking module 2, the servo is controlled to adjust the limit ring 24 to move away from the hook 23, release the hook 23, and then insert the docking connector 22 of the center of gravity adjustment module into the docking groove of the female seat 25. The limit ring 24 is then controlled to return to its original position so that the four hooks 23 close and wrap around the docking connector 22. After the limit ring 24 returns to its original position, it is only subjected to radial tension. External force cannot force the limit ring 24 to move downward and release the hook 23, making the connection safe and reliable. When the center of gravity adjustment module needs to be separated, the servo is used to drive the limit ring 24 to move away from the hook 23, release the hook 23, and then the docking connector 22 can be easily removed.

[0036] The side of the butt joint 22 is processed with multiple arc protrusions at intervals, and the surface where the hook 23 contacts the butt joint 22 is processed with multiple arc concave surfaces that match the arc protrusions of the butt joint 22, so that the butt joint 22 and the hook 23 are not easily stuck when connected or separated, and the operation is easy.

[0037] A controller is provided in the control cabin 4 , which is electrically connected to the underwater steering gear 3 and the underwater light 5 , and is electrically connected to the center of gravity adjustment module through the quick docking module 2 , and is electrically connected to the control steering gear of the control limit ring 24 .

[0038] The center of gravity adjustment module adopts the first center of gravity adjustment module or the second center of gravity adjustment module.

[0039] like Figure 3 、 Figure 4 and Figure 5As shown, the first center of gravity adjustment module is mainly composed of a weight block 7, a permanent magnet 8, an electromagnet 9, a first bottom plate 13, a first middle plate 14, a first top plate 15 and a docking interface 16; the first top plate 15, the first middle plate 14 and the first bottom plate 13 are arranged in sequence from top to bottom, a plurality of electromagnets 9 are arranged between the first bottom plate 13 and the first middle plate 14, and a plurality of electromagnets 9 form a grid-shaped electromagnet array on the first bottom plate 13, the first middle plate 14 is fixed on the end face of the electromagnet array, and the first middle plate 14 is arranged parallel to and opposite to the first bottom plate 13, a plurality of weight blocks 7 are movably sheathed on the outside of a plurality of permanent magnets 8 and then arranged between the first middle plate 14 and the first top plate 15, and a plurality of weight blocks 7 sheathed on the outside of the permanent magnet 8 move as the permanent magnet 8 moves. The first middle plate 14 moves on the first top plate 15, and the first top plate 15 is fixedly installed on the first middle plate 14 through the first connecting columns 10 around the first middle plate 14. A docking interface 16 for connecting to the robot is fixedly installed on the end face of the first top plate 15; a plurality of through holes are provided on the top face of the first middle plate 14, and a magnetic limit groove 11 is formed facing an electromagnet 9 below each through hole. The weight block 7 is a columnar structure with open ends, and a permanent magnet 8 is movably mounted on the inner side of the weight block 7. After each electromagnet 9 is energized, a magnetic attraction or magnetic repulsion is generated between it and the permanent magnet 8, controlling the weight block 7 mounted on the outside of the permanent magnet 8 to move on the first middle plate 14, and at the same time, the electromagnet 9 controls the weight block 7 by sucking the permanent magnet 8 into or ejecting the magnetic limit groove 11.

[0040] Specifically, when the center of gravity of the robot needs to be adjusted, the electromagnet 9 below the weight block 7 is controlled to be energized in the reverse direction, and the electromagnet 9 and the permanent magnet 8 generate a magnetic repulsive force, pushing the permanent magnet 8 out of the magnetic limit slot 11; at the same time, the energizing direction of the electromagnets 9 around the weight block 7 is controlled to attract the weight block 7 to move along the track 12 on the first middle plate 14 with the permanent magnet 8 toward the electromagnet 9 that is energized in the forward direction, specifically: at the same time, the electromagnet 9 in front of the weight block 7 is controlled to be energized in the forward direction to generate suction, and the electromagnets 9 on the left, right and back of the weight block 7 are controlled to be energized in the reverse direction to generate repulsive force. The electromagnetic force of the four electromagnets 9 on the permanent magnet 8 is combined into a forward thrust, causing the weight block 7 to move forward; after the weight block 7 reaches the specified position, the permanent magnet 8 is sucked into the magnetic limit slot 11 for limiting. In this way, the center of gravity of the robot can be adjusted by controlling the movement of multiple weight blocks 7 on the first middle plate 14.

[0041] like Figure 6 and Figure 7As shown, the second center of gravity adjustment module is primarily composed of a second top plate 17, a second bottom plate 18, a second connecting post 19, and a magnetic wheel trolley 21. The second top plate 17 and the second bottom plate 18 are spaced apart from each other from top to bottom via the second connecting post 19, forming a cavity between the second top plate 17 and the second bottom plate 18. The magnetic wheel trolley 21 is remotely controlled to move within the cavity on the end surface of the second top plate 17. The second center of gravity adjustment module adjusts the center of gravity by the movement of the magnetic wheel trolley 21 between the second top plate 17 and the second bottom plate 18. Specifically, the magnetic wheel trolley 21 is driven by a small DC motor, and its steering is controlled by a differential drive.

[0042] Each of the four sides of the second base plate 18 is provided with a side baffle 20 for limiting the range of motion of the trolley, and four second connecting columns 19 are vertically fixed to the four corners of the second base plate 18 .

[0043] The second bottom plate 18 and the magnetic wheel trolley 21 attract each other through magnetic force, so as to increase the friction between the magnetic wheel trolley 21 and the second bottom plate 18 .

Claims

1. A modular underwater robot integrating full vector propulsion and automatic center of gravity adjustment, characterized by: The robot comprises a base and a buoyancy block (1) mounted on the base, a quick docking module (2), an underwater steering gear (3), a control cabin (4), an underwater light (5), and a propeller (6); the control cabin (4) is arranged in the middle of the base, a plurality of the buoyancy blocks (1) and a plurality of the underwater lights (5) are fixedly mounted on both sides of the control cabin (4) in a symmetrical distribution with the control cabin (4) as the center, four underwater steering gears (3) are evenly fixed around the base, and each underwater steering gear (3) is connected to a propeller (6), and the movement direction of the underwater robot is controlled by adjusting the spiral direction of the propeller (6); a plurality of quick docking modules (2) for connecting to a center of gravity adjustment module are arranged at intervals at the edge of the top end surface or the bottom end surface of the base, and the center of gravity of the underwater robot is automatically adjusted by the center of gravity adjustment module; The quick docking module (2) is mainly composed of a hook (23), a limiting ring (24) and a mother seat (25); the mother seat (25) is fixedly mounted on the base of the robot, and an end of the mother seat (25) away from the base is provided with a docking groove that fits with the docking joint (22) of the center of gravity adjustment module, and a plurality of hooks (23) are evenly hinged on the end surface of the mother seat (25) and located around the docking groove. The limiting ring (24) is movably sleeved on the outer side of the mother seat (25), and the limiting ring (24) is also sleeved on the outer side of the hook (23), and the limiting ring (24) is electrically connected to the control servo; The side surface of the butt joint (22) is processed with a plurality of arc protrusions at intervals, and the surface of the hook (23) in contact with the butt joint (22) is processed with a plurality of arc concave surfaces that match the arc protrusions of the butt joint (22); The center of gravity adjustment module adopts the first center of gravity adjustment module or the second center of gravity adjustment module; The first center of gravity adjustment module mainly consists of a weight block (7), a permanent magnet (8), an electromagnet (9), a first bottom plate (13), a first middle plate (14), a first top plate (15) and a docking interface (16); The first top plate (15), the first middle plate (14) and the first bottom plate (13) are sequentially arranged at intervals from top to bottom, the plurality of electromagnets (9) are arranged between the first bottom plate (13) and the first middle plate (14), and the plurality of electromagnets (9) form a grid-shaped electromagnet array on the first bottom plate (13), the first middle plate (14) is fixed on the end face of the electromagnet array, and the first middle plate (14) and the first bottom plate (13) are arranged parallel to each other, the plurality of weight blocks (7) are respectively movably mounted on the outside of the plurality of permanent magnets (8) and then arranged between the first middle plate (14) and the first top plate (15), and the plurality of weight blocks ( 7) As the permanent magnet (8) moves on the first middle plate (14), a docking interface (16) for connecting to the robot is fixedly installed on the end surface of the first top plate (15); a plurality of through holes are opened on the top surface of the first middle plate (14), and a magnetic limit groove (11) is formed under each through hole facing an electromagnet (9). After each electromagnet (9) is energized, a magnetic attraction or magnetic repulsion is generated between it and the permanent magnet (8), controlling the weight block (7) mounted on the outside of the permanent magnet (8) to move on the first middle plate (14), and at the same time, the electromagnet (9) controls the weight block (7) by sucking the permanent magnet (8) into or ejecting it from the magnetic limit groove (11).

2. The modular underwater robot integrating full vector propulsion and automatic center of gravity adjustment according to claim 1, characterized in that: The central axes of the two propellers (6) evenly distributed at one end of the base rotate in a left-right vertical plane, and the central axes of the two propellers (6) evenly distributed at the other end of the base rotate in a front-back vertical plane, and the rotation angle range of the central axis of each propeller (6) in its respective rotation plane is 0-180°.

3. The modular underwater robot integrating full vector propulsion and automatic center of gravity adjustment according to claim 1, characterized in that: A controller is provided in the control cabin (4), the controller being electrically connected to the underwater steering gear (3) and the underwater light (5), and the controller being electrically connected to the center of gravity adjustment module via the quick docking module (2), and the controller being electrically connected to the control steering gear.

4. The modular underwater robot integrating full vector propulsion and automatic center of gravity adjustment according to claim 1, characterized in that: The second center of gravity adjustment module mainly consists of a second top plate (17), a second bottom plate (18), a second connecting column (19) and a magnetic wheel trolley (21); the second top plate (17) and the second bottom plate (18) are spaced apart from each other from top to bottom through the second connecting column (19), and a cavity is formed between the second top plate (17) and the second bottom plate (18), and the magnetic wheel trolley (21) moves in the cavity on the end surface of the second top plate (17).

5. The modular underwater robot integrating full vector propulsion and automatic center of gravity adjustment according to claim 4, characterized in that: Each of the four sides of the second bottom plate (18) is provided with a side baffle (20), and the four second connecting columns (19) are vertically fixed at the four corners of the second bottom plate (18).

6. The modular underwater robot integrating full vector propulsion and automatic center of gravity adjustment according to claim 4, characterized in that: The second bottom plate (18) and the magnetic wheel trolley (21) attract each other through magnetic force, thereby increasing the friction between the magnetic wheel trolley (21) and the second bottom plate (18).

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