A crawling and swimming integrated carrier structure and underwater robot based on a blade-holding type

Abstract

The present invention provides a crawling and swimming integrated carrier structure and underwater robot based on a blade-engaging type. Blade-engaging track structures are rotatably installed on both sides of the main frame, and a swing drive mechanism for driving the blade-engaging track structure to swing is installed on both sides of the main frame. Each blade-engaging track structure is provided with two track wheels in the front-to-back direction. The two track wheels are connected by a track transmission. A number of blade-engaging blades are fixed at equal intervals on the outer end surface of the track. The crawling and swimming integrated carrier structure adopts a modular design and is compatible with various mission loads, realizing the diversification of the underwater robot's functions and enabling the underwater robot to adapt to more diverse and complex working environments. The conversion between crawling and swimming is achieved by folding and flipping the blade-engaging track structures on both sides, which can leave more space on the main frame for mission load equipment.

Description

Technical Field

[0001] The present invention belongs to diving equipment, and in particular relates to a vane-type crawling and swimming integrated carrier structure and an underwater robot. Background Art

[0002] In recent years, countries around the world have conducted extensive research on underwater robotics technology, developing a wide range of technologies. Autonomous underwater vehicles (AUVs) and remotely operated vehicles (ROVs) have received significant attention. AUVs, while requiring no cables for remote control, offer a wide range of motion and strong detection capabilities, but their hovering, positioning, and stable operation capabilities are limited. ROVs, on the other hand, rely on multiple thrusters in different directions to provide stable propulsion, enabling precise maneuvering, positioning, and operation, but their range is limited by tow cables. Both designs typically feature zero buoyancy, significantly limiting their ability to operate in complex seabed environments. Crawling robots, on the other hand, possess inherent advantages in this regard.

[0003] Currently, research on underwater crawling robots focuses on multi-legged robots and tracked robots. Studies have shown that crawling robots have advantages such as good terrain adaptability and stable seabed operations, but they also have disadvantages such as low energy efficiency and weak maneuverability.

[0004] In summary, existing AUV and ROV underwater robots have the following technical shortcomings:

[0005] 1) At present, the structural design of underwater robots tends to be specialized. The structure of underwater robots is highly integrated and lacks modular design, making it difficult to achieve convenient disassembly, assembly, modification and land transportation.

[0006] 2) Currently, most underwater robots have relatively simple functions and are unable to cope with the increasingly diversified and complex operating environments and tasks.

[0007] 3) Propeller-propelled underwater robots are more susceptible to interference and interruption in complex seabed environments and have insufficient environmental adaptability.

[0008] Remote-controlled underwater robots are increasingly being used in fields such as ocean exploration, reservoir and dam inspections, aquaculture, ship and dock inspections, and underwater archaeology. Based on their movement methods, underwater robots can be categorized as floating, crawling, and towing. The floating type is the most common, enabling flexible movement with multiple degrees of freedom. However, maintaining hovering and maintaining a stable posture is more challenging when performing tasks such as sampling, inspections, and exploration of underwater floors. Crawling types can operate close to the floor underwater, but are difficult to retract. Therefore, combining the advantages of the floating type's flexibility with the crawling type's stability, designing and developing a hybrid underwater robot with both floating and crawling capabilities has considerable application value and research significance. Summary of the Invention

[0009] This application innovatively provides a crawling and swimming integrated carrier structure based on a blade-type gripper, which can freely switch between crawling mode and swimming mode, and can achieve continuous crawling of the underwater bottom plate and floating operation in the water, and can adapt to complex underwater environments. The specific plan is as follows:

[0010] A crawler-swimming integrated carrier structure based on a blade-grabbing type, the crawler-swimming integrated carrier structure comprises a main frame, blade-grabbing crawler structures are rotatably mounted on both sides of the main frame, and a swing drive mechanism for driving the blade-grabbing crawler structures to swing is installed on both sides of the main frame.

[0011] Each blade-engaging crawler structure is provided with two track wheels in the front and rear directions, and the two track wheels are connected by a crawler transmission, and a number of blade-engaging blades are fixed at equal intervals on the outer end surface of the crawler;

[0012] The swing drive mechanism drives the blade-type crawler structures on both sides to rotate to the same plane, or to be arranged parallel or diagonally on both sides of the main frame to achieve switching between parade mode and / or crawling mode.

[0013] Furthermore, the main body of the main frame is in a U-shape with the opening facing upward, and outwardly extending track mounting brackets are provided on both sides of the U-shaped main frame, and the blade-engaging track structure is rotatably mounted on the track mounting brackets.

[0014] Furthermore, when the blade-engaging crawler structures on both sides of the main frame swing to a vertically parallel state, the lower end surface of the blade-engaging crawler structures is lower than the lower end surface of the main frame.

[0015] Furthermore, a lifting leg is provided at the bottom of the main frame, and a leg lifting drive mechanism is provided on the main frame for driving the lifting leg to extend downward from the main frame, and the bottom of the lifting leg after being fully extended downward is located below the blade-engaging crawler structure in the vertical state;

[0016] A "well"-shaped bottom plate is provided at the bottom of the lifting legs.

[0017] Furthermore, the blade-type crawler structure is fixedly mounted on the sub-frame, and the sub-frame is connected to the swing shaft of the swing drive mechanism.

[0018] The crawler mounting bracket is provided with an articulated mechanism located on both sides of the swing drive mechanism for rotationally connecting the sub-frame.

[0019] Furthermore, the hinge mechanism includes a hinge column, one end of which is fixedly connected to the sub-frame, and the other end of which is hingedly connected to the main frame.

[0020] Furthermore, the blade-engaging crawler structure is provided with a flexible guide ring located on the periphery of the crawler;

[0021] The one-piece hinge blade is composed of a spoiler blade and a blade base and a sliding sleeve at both ends of the spoiler blade. The blade base is used to be detachably connected to the crawler, and the sliding sleeve is slidably mounted on the flexible guide ring.

[0022] An anti-skid foot is fixedly or detachably mounted on the outer end surface of the sliding sleeve.

[0023] Furthermore, the crawler track is a belt or a chain;

[0024] The flexible guide ring is a thin sheet of rubber ring.

[0025] Furthermore, the blade-engaging crawler structure can be detachably installed on both sides of the main frame.

[0026] An underwater robot is provided, wherein the underwater robot is equipped with the above-mentioned blade-engaging type crawling and swimming integrated carrier structure.

[0027] The advantages of the present invention are:

[0028] (1) The carrier structure adopts a modular design, which can be compatible with various mission payloads, realize the diversification of underwater robot functions, and enable underwater robots to adapt to more diversified and complex operating environments.

[0029] (2) By arranging a swingable blade-type crawler structure on both sides of the main frame, the blade-type crawler structure has not only tracks for crawling, but also blades that provide power for swimming. When the tracks rotate, the blades will also rotate together. Through the structural design, swimming and crawling are integrated into one, so that the underwater robot has multiple ways of moving, making the underwater robot more flexible in underwater movement, greatly improving the ability to move and escape in complex underwater environments, and also facilitating the recovery of the underwater robot.

[0030] (3) The blade-type crawler structure is set on both sides of the frame. The conversion between crawling and swimming is achieved by folding and flipping the blade-type crawler structure on both sides, which can leave more space on the main frame for mission load equipment;

[0031] (4) The main frame is provided with a lifting support leg that can be extended downward. When the blade-engaging crawler structure turns over or sinks into mud, the lifting support leg is extended downward to lift the main frame and the blade-engaging crawler structure, thereby improving the escape ability and reducing the running resistance;

[0032] (5) A flexible guide ring is provided on the periphery of the blade-engaging crawler structure for the outer side of the blade to pass through, which can disperse the pressure of the blade-engaging crawler structure and prevent small debris from preventing the robot from operating normally underwater. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A side view of a vane-engaging crawling and swimming integrated carrier structure provided by the present invention;

[0035] Figure 2 This is a top perspective view of the crawling and swimming integrated carrier structure of the present invention;

[0036] Figure 3 This is a bottom-up perspective view of the crawling and swimming integrated carrier structure of the present invention;

[0037] Figure 4 This is a three-dimensional diagram of the main frame of the crawling and swimming integrated carrier structure of the present invention;

[0038] Figure 5 A schematic diagram of a sub-frame for mounting a blade-type crawler structure is provided on both sides of the main frame;

[0039] Figure 6 It is a three-dimensional diagram of a single-sided blade-type crawler structure;

[0040] Figure 7 It is a front view of a single blade on the blade crawler structure;

[0041] Figure 8 A top-down perspective view of a single blade-engaging blade;

[0042] Figure 9 It is a bottom-up stereoscopic view of a single blade-engaging blade;

[0043] Figure 10 This is a state diagram of the crawling and swimming integrated carrier structure of the present invention under the crawling model;

[0044] Figure 11 This is a state diagram of the crawling and swimming integrated carrier structure of the present invention in the parade mode;

[0045] Figure 12 This is a state diagram of the crawling and swimming integrated carrier structure of the present invention in another parade mode;

[0046] Figure 13 A three-dimensional view of the main frame's lifting legs extended downward;

[0047] Figure 14 for Figure 13 main view. DETAILED DESCRIPTION

[0048] In the following description, numerous specific details are provided to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced without one or more of these details. In other instances, certain technical features well known in the art are not described to avoid confusion with the present invention.

[0049] In order to fully understand the present invention, detailed steps and detailed structures will be presented in the following description to illustrate the technical solution of the present invention. Preferred embodiments of the present invention are described in detail below, but in addition to these detailed descriptions, the present invention may also have other implementations.

[0050] Reference Figure 1-2 As shown, the present invention provides a crawling and swimming integrated carrier structure based on a blade-engaging type, and the crawling and swimming integrated carrier structure includes a main frame 100, and blade-engaging track structures 200 are rotatably installed on the left and right sides of the main frame 100, and a swinging drive mechanism 110 for driving the blade-engaging track structure 200 to swing is installed on both sides of the main frame 100, and each blade-engaging track structure 200 is provided with two track wheels 201 in the front and rear directions, and the two track wheels 201 are connected by a crawler 202 for transmission, and a number of blade-engaging blades 210 are fixed at equal intervals on the outer end surface of the crawler 202; the swinging drive mechanism 110 drives the blade-engaging track structures 200 on both sides to rotate to the same plane, or to be arranged parallel / diagonally on both sides of the main frame 100, so as to realize the switching of the parade mode and / or the crawling mode.

[0051] The key point of this application is the blade-type crawler structure. The blade-type crawler structure 200 is driven by two track wheels 201, one of which is equipped with a drive motor 202-1 as the driving wheel and the other track wheel 201 as the driven wheel. When in the crawling mode, Figure 10 As shown, the blade-engaging crawler structure 200 is in a vertical state, and the crawler wheel 201 drives the crawler 202 to crawl forward, which has the advantage of strong ability to adapt to terrain. Figure 11 or Figure 12 As shown, the blade-engaging crawler structure 200 is turned outward or in a horizontal position, and the crawler wheel 201 rotates to drive the crawler 202 and its blade-engaging blades 210 to rotate, and the blade-engaging blades 210 provide upward power for the entire structure, and cooperate with the horizontal propeller of the overall structure (not marked in the figure) to make the device move forward and backward horizontally, thereby realizing four-degree-of-freedom swimming in the water.

[0052] The present invention is based on modular thinking and designs a main frame 100 structure. The main frame 10 is welded with aluminum alloy materials and connected to underwater robots, hulls and other equipment through bolts. It can carry various mission payloads and realize the diversification of underwater robot functions. Figure 10-12 As shown, by rotating the swing drive mechanisms 110 (such as steering gears) on both sides, the blade-engaging crawler structures 200 on both sides are flipped, so that the blade-engaging crawler structures 200 on both sides are vertically and parallelly distributed ( Figure 10 ), Outward Eight Distribution ( Figure 11 ) or distributed on the same horizontal plane ( Figure 12 ), thus achieving the transition between crawling and parading modes.

[0053] In an alternative embodiment, the main frame 100 is U-shaped with an upward-facing opening, facilitating the loading of payloads in the central opening. Outwardly extending track mounting brackets 101 are provided on either side of the U-shaped main frame 100, and the blade-engaging crawler structure 200 is rotatably mounted on the track mounting brackets 101, allowing for a greater range of rotation.

[0054] The installation method of the blade-type crawler structure 200 is as follows: Figure 3 and Figure 5 As shown, the blade-engaging crawler structure 200 is fixedly mounted on the sub-frame 203, which supports the blade-engaging crawler structure 200. The sub-frame 203 is connected to the swing shaft of the swing drive mechanism 110, and the sub-frame 203 is also provided with an articulated mechanism 120 on both sides of the swing drive mechanism 110, which is rotatably connected to the track mounting bracket 101.

[0055] The articulated mechanism 120 includes an articulated column 121, one end of which is fixedly connected to the sub-frame 203 and the other end is articulated to the main frame 100. The sub-frame 203 is rotatably connected to the track mounting bracket 101 through the sub-frame 203, further increasing the rotation range of the blade-engaging crawler structure 200.

[0056] In an optional embodiment, if Figure 6-Figure 9 As shown, the blade-engaging crawler structure 200 is fixed with a flexible guide ring 204 on the periphery. Preferably, the flexible guide ring 204 is a thin rubber ring. The integrally formed blade-engaging blade 210 is composed of a spoiler blade 211 and a blade base 212 and a sliding sleeve 213 at both ends of the spoiler blade 211. The blade base 212 is used to be detachably connected to the crawler 202, such as Figure 8 and Figure 9As shown, the blade base 212 has two through-holes 212-1. Pins or screws pass through the through-holes 212-1 and connect to the crawler 202 to mount the blade-engaging blade 210 on the crawler 202. The sleeve 213 has rectangular through-holes 213-1 to slide over the flexible guide ring 204. The flexible guide ring 204 serves to disperse the pressure of the blade-engaging blade 210 and prevent small debris from hindering the normal operation of the robot underwater.

[0057] Among them, the blade-engaging blade 210 can be manufactured using 3D printing. Its outer end has weak grip and low strength. Considering this problem, this application sets the outer end face of the sliding sleeve 213 to an end face with a certain surface area, and molds some silicone protrusions 213-2 or other organic materials on the outer end face as anti-slip feet, which increases friction on the one hand and improves the end strength of the blade-engaging blade 210 on the other hand.

[0058] In an optional embodiment, when the blade-engaging crawler structures 200 on both sides of the main frame 100 swing to a vertically parallel state, the lower end surface of the blade-engaging crawler structures 200 is lower than the lower end surface of the main frame 100, such as Figure 10 As shown, in this state, the crawler of the blade-engaging crawler structure 200 is in contact with the seabed, while the main frame 100 is not in contact with the seabed mud, thereby improving the passability and reducing the running resistance.

[0059] During the mode change process, if the robot is on the seabed or riverbed, the bottom of the blade-engaging crawler structure 200 is stuck in the mud, which will cause a certain resistance to the flipping. In order to avoid the resistance of the surrounding soil when the blade-engaging crawler structure 200 flips, the present application provides a lifting leg 102 at the bottom of the main frame 100, and a leg lifting drive mechanism 105 is provided on the main frame 100 for driving the lifting leg 102 to extend downward from the main frame 100. After being fully extended downward, the bottom of the lifting leg 102 is located below the blade-engaging crawler structure 200 in the vertical state.

[0060] In an optional embodiment, the lifting legs 102 are driven and extended by wire traction. As shown in the figure, the leg lifting drive mechanism 105 is a servo responsible for the wire drive. A winch is provided inside the main frame 100, which pulls two wires. These two wires control the up and down movement of the two lifting legs 102. A tension spring is also provided inside the main frame 100 and connected to the top of the two lifting legs 102 for resetting the lifting legs 102. The working principle of the lifting legs 102 is as follows: the leg lifting drive mechanism 105 receives a signal and starts to rotate to reel in the wires. Under the traction of the wires, the two lifting legs 102 move downward and extend to the bottom of the main frame 100. When resetting is required, the leg lifting drive mechanism 105 pays out the wires, and under the action of the tension spring, the two lifting legs 102 are pulled upward and retracted into the main frame 100.

[0061] Before turning over, the lifting legs 102 can be extended downward to raise the height of the main frame 100 and the blade-engaging crawler structure 200. Figure 13-14 As shown, the swing drive mechanism 110 then drives the blade-engaging crawler structure 20 to flip to switch between crawling and parade modes. After the switch is completed, the lifting legs 102 are retracted into the main frame 100. Figure 3 As shown, a "well"-shaped bottom plate 103 is provided at the bottom of the lifting leg 102. The "well"-shaped bottom plate 103 occupies a small area. After the lifting leg 102 is extended downward, it sinks into the mud, and the rising resistance can be reduced when the carrier mechanism rises from the mud.

[0062] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can use the above-mentioned disclosed methods and technical contents to make many possible changes and modifications to the technical solutions of the present invention without departing from the scope of the technical solutions of the present invention, or modify them into equivalent embodiments of equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention that do not depart from the content of the technical solutions of the present invention are still within the scope of protection of the technical solutions of the present invention.

Claims

1. A crawling and swimming integrated carrier structure based on a blade-engaging type, the crawling and swimming integrated carrier structure comprising a main frame (100), characterized in that: The main frame (100) is rotatably mounted with a blade-engaging crawler structure (200) on both sides, and a swing driving mechanism (110) for driving the blade-engaging crawler structure (200) to swing is mounted on both sides of the main frame (100). Each blade-engaging crawler structure (200) is provided with two crawler wheels (201) in the front-rear direction, the two crawler wheels (201) are connected by a crawler belt (202), and a plurality of blade-engaging blades (210) are fixed at equal intervals on the outer end surface of the crawler belt (202); The swing drive mechanism (110) drives the blade-engaging crawler structures (200) on both sides to rotate to the same plane, or to be arranged parallel or diagonally on both sides of the main frame (100) to achieve switching between the parade mode and / or the crawling mode; The main body of the main frame (100) is in a U-shape with an opening facing upwards. Track mounting brackets (101) extending outwards are provided on both sides of the U-shaped main frame (100). The blade-engaging track structure (200) is rotatably mounted on the track mounting brackets (101). The blade-engaging crawler structure (200) is fixedly mounted on the sub-frame (203), the sub-frame (203) is connected to the swing shaft of the swing drive mechanism (110), and the crawler mounting bracket (101) is provided with hinge mechanisms (120) located on both sides of the swing drive mechanism (110) for rotatably connecting to the sub-frame (203); The blade-engaging crawler structure (200) is provided with a flexible guide ring (204) located on the periphery of the crawler (202); the integrally formed blade-engaging blade (210) is composed of a spoiler blade (211) and a blade base (212) and a sliding sleeve (213) at both ends of the spoiler blade (211), wherein the blade base (212) is used for detachable connection with the crawler (202), and the sliding sleeve (213) is slidably sleeved on the flexible guide ring (204); and an anti-skid foot is fixed or detachably installed on the outer end surface of the sliding sleeve (213).

2. The crawling and swimming integrated carrier structure based on the blade-engaging type according to claim 1 is characterized in that: When the blade-engaging crawler structures (200) on both sides of the main frame (100) swing to a vertically parallel state, the lower end surface of the blade-engaging crawler structures (200) is lower than the lower end surface of the main frame (100).

3. The crawling and swimming integrated carrier structure based on the blade-engaging type according to claim 2 is characterized in that: A lifting support leg (102) is provided at the bottom of the main frame (100), and a support leg lifting driving mechanism (105) is provided on the main frame (100) for driving the lifting support leg (102) to extend downward from the main frame (100), wherein the bottom of the lifting support leg (102) is located below the blade-engaging crawler structure (200) in a vertical state after being fully extended downward; A "well"-shaped bottom plate (103) is provided at the bottom of the lifting support foot (102).

4. The crawling and swimming integrated carrier structure based on the blade-engaging type according to claim 1 is characterized in that: The hinge mechanism (120) includes a hinge column (121), one end of the hinge column (121) is fixedly connected to the sub-frame (203), and the other end is hingedly connected to the main frame (100).

5. The crawling and swimming integrated carrier structure based on the blade-engaging type according to claim 1 is characterized in that: The crawler track (202) is a belt or a chain; The flexible guide ring (204) is a thin sheet-shaped rubber ring.

6. The crawling and swimming integrated carrier structure based on the blade-engaging type according to claim 1 is characterized in that: The blade-engaging crawler structure (200) is detachably mounted on both sides of the main frame (100).

7. An underwater robot, characterized in that: The underwater robot is equipped with a blade-type crawling and swimming integrated carrier structure according to any one of claims 1 to 6.

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