A retractable origami-style water-propulsion robot

Abstract

This invention discloses a retractable origami-style water propulsion robot, comprising a sealed body chamber, two first servo motors, a swing shell, and an origami paddle. Two symmetrical first servo motors are arranged on both sides of the sealed body chamber. The swing shell is mounted on the servo motor's rudder disk, and a drive assembly is located inside the swing shell. The origami paddle is slidably disposed inside the swing shell and connected to the drive assembly. The first servo motors work in conjunction with the swing shell to swing, and the drive assembly drives the origami paddle to slide out and retract into the swing shell, as well as unfold and close. During the stroke, the origami paddle slides out of the swing shell and unfolds, increasing the paddling area and thus increasing the stroke thrust. During the return stroke, the origami paddle retracts into the swing shell and closes, reducing the resistance of the paddle during the return stroke. This allows the swing shell to quickly return to its swing position, effectively improving the maneuverability and swimming efficiency of the water propulsion robot.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, specifically to a retractable origami-like water-propulsion robot. Background Technology

[0002] Water propulsion is a common propulsion method for underwater robots. Common water propulsion robots generally use a rigid connection between a actuator and a paddleboard. The actuator drives the paddleboard to swing back and forth for propulsion, similar to how a paddleboard propels a boat. However, due to the rigid connection between the water propulsion robot and the paddleboard, a return resistance is generated when the paddleboard returns. To overcome this resistance, the swing frequency of the paddleboard needs to be reduced, thereby reducing the return resistance and thus reducing the propulsion efficiency of the water propulsion robot.

[0003] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of this invention is to provide a retractable origami-style water propulsion robot, which aims to solve the problem that the rigid connection between the existing water propulsion board and the actuator causes the water propulsion board to generate reset resistance during the return phase, which requires reducing the oscillation frequency of the water propulsion board and thus reducing the propulsion efficiency of the water propulsion robot.

[0005] The technical solution adopted by this invention to solve the technical problem is as follows:

[0006] A retractable origami-style water-propelled robot, characterized in that it comprises:

[0007] Aircraft fuselage sealed compartment;

[0008] Two first servo motors are located on both sides of the sealed cabin of the fuselage and are arranged symmetrically.

[0009] A swing housing is disposed on the rudder disk of the first servo motor, and a drive assembly is disposed inside the swing housing;

[0010] The origami paddle extends at least partially into the oscillating housing and is connected to the drive assembly; the origami paddle is reciprocating relative to the oscillating housing; the drive assembly is used to drive the origami paddle.

[0011] The folding paddle slides out of and retracts from the swing housing to allow the folding paddle to unfold and close.

[0012] According to the above-mentioned technical means, in this embodiment of the application, the first servo motor works in conjunction with the swing housing to swing, and the drive component drives the folding paddle to slide out and retract into the swing housing, and to unfold and close. During the stroke, the folding paddle slides out of the swing housing and unfolds, increasing the paddling area and thus increasing the stroke thrust. During the return stroke, the folding paddle retracts into the swing housing and closes, reducing the resistance of the folding paddle during the return stroke. This allows the swing housing to quickly return to the swing position, effectively improving the maneuverability and swimming efficiency of the water propulsion robot.

[0013] Furthermore, the driving component includes:

[0014] A second servo motor is mounted on the swing housing, and a second servo disk is coaxially mounted on the output shaft of the second servo motor. The second servo disk is located inside the swing housing.

[0015] The first pulley is coaxially disposed at the bottom of the second rudder disk and located inside the swing housing;

[0016] The second pulley is rotatably disposed inside the swing housing; a synchronous belt is fitted onto the first pulley and the second pulley; the end of the folding paddle near the sealed chamber of the machine body is disposed on the synchronous belt.

[0017] According to the above technical means, in this embodiment of the application, the first pulley is driven to rotate by the second servo motor. The first pulley and the second pulley are fitted with a synchronous belt. The first pulley and the synchronous belt can be driven to rotate by the second servo motor. The synchronous belt is connected to the folding paddle, so that the synchronous belt can drive the folding paddle to slide inside the swing housing.

[0018] Furthermore, a connecting groove plate is provided on one side of the synchronous belt, and a fixing block is provided at one end of the folding paddle near the sealed chamber of the machine body. The fixing block cooperates with the connecting groove plate so that the folding paddle moves with the synchronous belt.

[0019] According to the above technical means, the embodiments of this application connect the folding paddle to the timing belt through the connecting groove plate, providing a connection method. At the same time, the size of the connecting groove plate can be controlled to facilitate fixing the folding paddle and facilitate sliding inside the swing housing.

[0020] Furthermore, a rotating shaft is provided inside the swing housing at the end away from the first pulley, and the second pulley is rotatably mounted on the rotating shaft.

[0021] According to the above-mentioned technical means, the embodiment of this application sets a rotating shaft inside the swing housing, and rotatably sets the second pulley on the rotating shaft to fix the second pulley and prevent the second pulley from deviating, thereby causing the synchronous belt to disengage from the first pulley and the second pulley.

[0022] Furthermore, the swing housing includes a transmission cavity and a storage cavity. The drive assembly is located inside the transmission cavity, and the folding paddle is located inside the storage cavity. A slot is formed at the end of the storage cavity away from the first pulley for the sliding out and retraction of the folding paddle.

[0023] Based on the above technical means, the embodiments of this application separate the transmission component and the folding paddle by setting a transmission cavity and a storage cavity, so as to avoid friction between the two. At the same time, the storage cavity can play a guiding role, making it easy for the folding paddle to slide out and retract.

[0024] Furthermore, the airframe sealed compartment includes:

[0025] An acrylic tube, wherein electronic components are disposed inside the acrylic tube;

[0026] A first sealing chamber flange is provided at one end of the acrylic tube, and a first sleeve is provided on the side of the sealing chamber flange near the acrylic tube, and the first sleeve is fitted inside the acrylic tube.

[0027] The second sealing chamber flange is located at the end of the acrylic tube away from the first sealing chamber flange. A second sleeve is provided on the side of the second sealing chamber flange close to the acrylic tube, and the second sleeve is fitted inside the acrylic tube.

[0028] The first hatch cover is disposed on the side wall of the first sealing chamber flange and is used to seal the opening of the first sealing chamber flange;

[0029] The second cover is located on the side wall of the second sealing chamber flange and is used to seal the opening of the second sealing chamber flange.

[0030] According to the above-mentioned technical means, the embodiment of this application can store electronic components by setting up an acrylic tube. At the same time, the first sealing chamber flange, the second sealing chamber flange, the first chamber cover and the second chamber cover are used to seal both ends of the acrylic tube, effectively preventing water from entering the acrylic tube.

[0031] Furthermore, the electronic component includes:

[0032] A fixing plate is disposed inside the acrylic tube, and a PCB board is disposed on the fixing plate.

[0033] Battery.

[0034] Based on the above technical means, the embodiments of this application provide a fixing plate inside the acrylic tube to facilitate the fixing of the internal PCB board and battery.

[0035] Furthermore, the first hatch cover is a semi-circular acrylic hatch cover, and a first fixing ring is provided on the side of the first hatch cover away from the acrylic tube. The first fixing ring, the first hatch cover, and the first sealing chamber flange are connected by bolts. A second fixing ring is provided on the side of the second hatch cover away from the acrylic tube, and the second fixing ring, the second hatch cover, and the second sealing chamber flange are connected by bolts.

[0036] According to the above technical means, in this embodiment of the application, the first cover and the first sealing chamber flange can be fixed by the first fixing ring and the bolt, and one end of the acrylic tube can be sealed. The second cover and the second sealing chamber flange can be fixed by the second fixing ring and the bolt, and the other end of the acrylic tube can be sealed.

[0037] Furthermore, the outer surfaces of the first sleeve and the second sleeve are provided with sealing grooves, and sealing rings are provided inside the sealing grooves. The sealing rings protrude from the sealing grooves and are pressed against the inner wall of the acrylic tube.

[0038] According to the above technical means, in the embodiments of this application, when the first sleeve and the second sleeve are inserted into the acrylic tube, the sealing ring can provide a supporting force, so that the first sleeve and the second sleeve are fixed to the acrylic tube. At the same time, the acrylic tube can be quickly disassembled by pulling the first sealing chamber flange and the second sealing chamber flange.

[0039] Furthermore, a connecting cylinder is fitted onto the outer surface of the airtight compartment, and symmetrical mounting blocks are respectively provided on both sides of the connecting cylinder, with the first servo motor mounted on the side wall of the mounting block.

[0040] According to the above-mentioned technical means, the embodiments of this application can easily fix the first servo motor by setting a connecting tube. At the same time, the buoyancy of the water propulsion robot can be adjusted by changing the material of the connecting tube and setting a cavity inside, thereby preventing the water propulsion robot from sinking.

[0041] Furthermore, the swing housing includes an upper housing and a lower housing, the upper housing and the lower housing...

[0042] Each housing is provided with a wire fixing hole. On the side of the wire fixing hole away from the acrylic tube, there are multiple wire passing holes. The multiple wire passing holes are spaced apart along the length of the swing housing. Pull ropes are provided on both sides of the folding paddle. Each of the two pull ropes corresponds to one of the two wire fixing holes. The end of the pull rope away from the folding paddle passes through the wire passing hole and exits from the wire fixing hole and is placed on the surface of the swing housing.

[0043] Based on the above technical means, the embodiments of this application use a pull rope to control the opening of the folding paddle to a larger area, thereby increasing the thrust during the stroke. At the same time, depending on the requirements of the usage scenario, the pull rope can pass through different thread holes so that the folding paddle can unfold to different areas.

[0044] Compared with the prior art, the beneficial effects of the present invention are:

[0045] In this invention, two symmetrical first servo motors are arranged on both sides of the sealed cabin. A swing housing is mounted on the servo disk of each first servo motor. The first servo motors can drive the swing housing to swing. A drive assembly is installed inside the swing housing. The folding paddle is slidably disposed inside the swing housing and can unfold and close. The folding paddle is connected to the drive assembly, which drives the folding paddle to slide out and retract into the swing housing, thus enabling the folding paddle to unfold and close. By having the first servo motors cooperate with the swing housing to swing, and the drive assembly to drive the folding paddle to slide out and retract into the swing housing, and unfold and close, the folding paddle slides out of the swing housing and unfolds during the stroke, increasing the paddling area and thus increasing the stroke thrust. During the return stroke, the folding paddle retracts into the swing housing and closes, reducing the resistance of the folding paddle during the return stroke. This allows the swing housing to quickly return to the swing position, effectively improving the maneuverability and swimming efficiency of the water propulsion robot. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0047] Figure 2 This is a schematic diagram of the internal structure of the swing housing of the present invention.

[0048] Figure 3 This is a schematic diagram of the structure when the paper pulp of the present invention is retracted.

[0049] Figure 4 This is a schematic diagram of the internal explosion structure of the swing housing of the present invention.

[0050] Figure 5 This is a schematic diagram of the exploded structure of the airlock of the present invention.

[0051] Figure 6 This is a schematic diagram of the electronic component structure of the present invention.

[0052] Figure 7 This is a schematic diagram illustrating the forward or backward movement of the water-propelled robot of the present invention.

[0053] Figure 8 This is a schematic diagram illustrating the leftward or rightward movement of the water-propelled robot of the present invention.

[0054] Figure 9 This is a schematic diagram of the water-pushing robot of the present invention rotating in place to the left or right.

[0055] Figure 10 This is a schematic diagram illustrating the left or right turning motion of the water-propelled robot of the present invention.

[0056] The numbers in the diagram represent: 1. Airframe sealed compartment; 11. Acrylic tube; 12. Electronic components; 121. Fixing plate; 122. PCB board; 123. Battery; 13. First sealed compartment flange; 131. First sleeve; 14. Second sealed compartment flange; 141. Second sleeve; 15. First hatch cover; 16. Second hatch cover; 17. First fixing ring; 18. Second fixing ring; 2. First servo motor; 3. Swing housing 31. Body; 312. Drive assembly; 313. Second servo motor; 314. Second servo disc; 315. First pulley; 316. Synchronous belt; 317. Connecting groove plate; 318. Rotating shaft; 319. Transmission cavity; 32. Storage cavity; 33. Upper housing; 34. Lower housing; 35. Wire fixing hole; 36. Wire passing hole; 47. Folding paddle; 48. Fixing block; 59. Connecting cylinder; 50. Mounting block; 60. Hollow waterproof bolt. Detailed Implementation

[0057] To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0058] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0059] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0060] In view of the shortcomings of the existing technology, this embodiment provides a retractable origami-style water-propelled robot, as described below:

[0061] As attached Figure 1 Appendix Figure 2 and attached Figure 3 As shown, a retractable origami-style water-propulsion robot includes a sealed body chamber 1, two first servo motors 2, a swing shell 3, and origami paddles 4. Two symmetrical first servo motors 2 are arranged on both sides of the sealed body chamber 1. A servo disk is mounted on the output shaft of each first servo motor 2. The swing shell 3 is mounted on the servo disk of the first servo motor 2 and connected to it by bolts. Driven by the first servo motors 2, the swing shell 3 can rotate. The swing shell 3 has a hollow interior and a drive assembly 31 is installed inside. The origami paddles 4 extend at least partially into the interior of the swing shell 3. The origami paddle 4 can slide back and forth relative to the swing housing 3. The origami paddle 4 is connected to the drive assembly 31. The drive assembly 31 can drive the origami paddle 4 to slide out and retract into the swing housing 3. When the origami paddle 4 slides out of the swing housing 3, the origami paddle 4 can be in a slowly unfolding state. Finally, one end of the origami paddle 4 is located inside the swing housing 3 and connected to the drive assembly 31, and the other end is located outside the swing housing 3 and is in a fan shape. When the origami paddle 4 retracts into the swing housing 3, the origami paddle 4 closes and retracts into the swing housing 3.

[0062] The first servo motor 2 works in conjunction with the swing housing 3 to swing, and the drive component 31 drives the folding paddle 4 to slide out and retract into the swing housing 3, and to unfold and close. During the stroke, the folding paddle 4 slides out of the swing housing 3 and unfolds, increasing the paddling area and thus increasing the stroke thrust. During the return stroke, the folding paddle 4 retracts into the swing housing 3 and closes, reducing the resistance of the folding paddle 4 during the return stroke. This allows the swing housing 3 to quickly return to the swing position, effectively improving the maneuverability and swimming efficiency of the water propulsion robot.

[0063] Specifically, in the initial state, the swing shells 3 on both sides of the sealed cabin 1 are positioned close to the rear side wall of the sealed cabin 1 under the action of the first servo motor 2. The folding paddle 4 is located inside the swing shell 3. When the water propulsion robot is ready to move, the first servo motor 2 is activated, causing the two swing shells 3 to swing in the forward direction until they swing to the appropriate position. Then, the drive component 31 is activated, controlling the folding paddle 4 to slide out of the swing shell 3. After sliding out, the folding paddle 4 unfolds under its own action. At this time, the first servo motor 2 rotates in the opposite direction, causing the swing shell 3 and the folding paddle to... 4. Squeeze water to move the sealed chamber 1 until the first servo motor 2 drives the swing housing 3 to rotate to a position close to the rear side wall of the sealed chamber 1. At this time, the drive component 31 is activated to control the folding paddle 4 to retract into the swing housing 3. While retracting, the swing housing 3 squeezes the folding paddle 4, causing it to close and enter the swing housing 3. Then repeat the above actions to realize the water propulsion robot's water propulsion. The folding paddle 4 will retract on the return trip, which greatly reduces the resistance on the return trip and further improves the propulsion efficiency of the water propulsion robot.

[0064] In one embodiment of this application, the swing housing 3 includes an upper housing 35 and a lower housing 36. The interior of the swing housing 3 is a cavity. Both the upper housing 35 and the lower housing 36 are provided with wire fixing holes 37. On the side of the wire fixing holes 37 away from the acrylic tube 11, a plurality of wire passing holes 38 are provided. The plurality of wire passing holes 38 are spaced apart along the length direction of the swing housing 3. The plurality of wire passing holes 38 and the wire fixing holes 37 are arranged in a straight line. Pull ropes are provided on both sides of the folding paddle 4. The two pull ropes correspond one-to-one with the two wire fixing holes 37. The end of the pull rope away from the folding paddle 4 passes through the corresponding wire passing hole 38 and exits from the wire fixing hole 37 on the side of the wire passing hole 38 and is disposed on the surface of the swing housing 3.

[0065] Without restraint, the fan-shaped area that the origami paddle 4 can unfold is limited due to the force of the origami paddle 4 itself. By setting a pull rope on the side of the origami paddle 4 away from the acrylic tube 11 (that is, the origami paddle 4 first slides out of the swing housing 3), the pull rope can pull the origami paddle 4 when the origami paddle 4 slides out of the swing housing 3, so as to increase the fan-shaped area of ​​the origami paddle 4 unfolded.

[0066] Specifically, the two pull ropes correspond to the fixing hole 37 and the through hole 38 on the upper shell 35 and the lower shell 36, respectively. One end of the pull rope is fixed to the side wall of the folding pulp 4 with waterproof tape, and the other end passes through the corresponding through hole 38 and out of the fixing hole 37. The rope is then tied on the surface of the upper shell 35 or the lower shell 36 to fix it.

[0067] When the origami paddle 4 slides out of the swing housing 3 under the action of the drive component 31, the two side walls of the origami paddle 4 are pulled by the pull rope and unfolded; and by passing the pull rope through different wire holes 38, it is used to unfold a fan-shaped area of ​​different sizes, which is suitable for paddling and propulsion in multiple scenarios; the fan-shaped area unfolded by the pull rope passing through the wire hole 38 on the side closer to the acrylic tube 11 is smaller than the fan-shaped area unfolded by the pull rope passing through the wire hole 38 on the side farther away from the acrylic tube 11.

[0068] Furthermore, when the pull rope is located in one of the thread holes 38, the length of the folding paddle 4 sliding out of the swing housing 3 can be controlled by the drive component 31 to change the size of the fan-shaped area of ​​the unfolded folding paddle 4. Specifically, the drive component 31 controls the folding paddle 4 to slide out of the swing housing 3 by a certain length, and the pull rope pulls the two side walls of the folding paddle 4 to unfold it. At the same time, the longer the part of the folding paddle 4 slides out of the swing housing 3, the larger the fan-shaped area of ​​the unfolded folding paddle 4.

[0069] In this embodiment, the wire fixing hole 37 can also be used as the wire passage hole 38. Simply pass the pull rope through one end of the wire passage hole 38 or the wire fixing hole 37, and then fix it to the inner top wall of the swing housing 3, that is, the side where the upper housing 35 and the lower housing 36 face each other. It can be fixed by waterproof tape or glue. Furthermore, the pull rope can also be passed through the wire fixing hole 37, and then passed through any wire passage hole 38 and tied into a knot to fix the pull rope to the outer surface of the swing housing 3.

[0070] In one embodiment of this application, the folding paddle 4 is made of 0.1mm thick acrylic sheet. The folding paddle 4 can be folded and unfolded when not compressed. At the same time, the material and structural form can be similarly transformed according to different power requirements and usage environment requirements.

[0071] As attached Figure 2 and attached Figure 4As shown, the drive assembly 31 includes a second servo motor 311, a first pulley 313, and a second pulley 314. The second servo motor 311 is mounted on the swing housing 3. The output shaft of the second servo motor 311 passes through the side wall of the swing housing 3 and is located inside the swing housing 3. A second servo disc 312 is coaxially mounted on the output shaft of the second servo motor 311. The second servo disc 312 is located inside the swing housing 3. The bottom of the second servo disc 312 is coaxially mounted on the first pulley 313 and connected to it by bolts. Inside the swing housing 3, a second pulley 314 is rotatably mounted at the end away from the first pulley 313. A synchronous belt 315 is fitted onto the second pulley 314 and the first pulley 313 so that the first pulley 313 and the second pulley 314 rotate synchronously. The end of the folding paddle 4 near the machine body sealed chamber 1 is mounted on the side wall of the synchronous belt 315. The first pulley 313 is driven to rotate by the second rudder disk 312, and the first pulley 313 drives the synchronous belt 315 to move so that the folding paddle 4 slides inside the swing housing 3.

[0072] In one embodiment of this application, the multi-gait motion of the water-pushing robot can be realized through the cooperation of the first servo motor 2 and the second servo motor 311, as detailed below:

[0073] As attached Figure 7 As shown, during the stroke, the two folded paddles 4 unfold, and the two first servo motors 2 drive the swing housing 3 to rotate synchronously; during the return stroke, the two folded paddles 4 retract, and the two first servo motors 2 drive the swing housing 3 to rotate synchronously in the opposite direction; this enables the water-paddled propulsion robot to move forward and backward.

[0074] As attached Figure 8 As shown, during the stroke, the two-fold paper paddle 4 unfolds, and the first servo motor 2 on the left or right side of the sealed cabin 1 drives the swing shell 3 to swing back and forth; this enables the water-propelled robot to move to the left or right.

[0075] As attached Figure 9 As shown, during the stroke, the paper paddles 4 on the left or right side of the sealed chamber 1 unfold, and the two first servo motors 2 rotate clockwise or counterclockwise in sync, which can enable the water propulsion robot to rotate to the left or right in place.

[0076] As attached Figure 10 As shown, during the stroke, the paper paddle 4 on the right or left side of the sealed cabin 1 unfolds. By activating the first servo motor 2 at the unfolded position of the paper paddle 4, and when the first servo motor 2 is on the right side of the sealed cabin 1, it rotates clockwise to enable the water propulsion robot to turn left; when the first servo motor 2 is on the left side of the sealed cabin 1, it rotates counterclockwise to enable the water propulsion robot to turn right.

[0077] The above-mentioned control methods enable multi-gait movement of the water-propelled robot. The water-propelled robot adopts the CPG control method, which enables smooth gait switching. The water-propelled robot is equipped with an IMU for real-time pose detection, forming a closed-loop control. The water-propelled robot can switch between various gaits according to the needs of the application scenario.

[0078] In one embodiment of this application, a connecting groove plate 316 is provided on one side wall of the synchronous belt 315 for the folding paddle 4, and a fixing block 41 is provided at one end of the folding paddle 4 near the machine body sealing chamber 1. One side of the folding paddle 4 is folded and disposed on the side wall of the fixing block 41. The fixing block 41 cooperates with the connecting groove plate 316, thereby fixing the folding paddle 4 on the synchronous belt 315 and moving with the synchronous belt 315.

[0079] In this embodiment, the connecting slot plate 316 has a slot inside, which allows the fixing block 41 to be placed inside the connecting slot plate 316 and fixed with bolts. At the same time, the side wall of the connecting slot plate 316 is in contact with the timing belt 315, and the connecting slot plate 316 and the timing belt 315 can be fixed with bolts. Furthermore, the fixing block 41 and the connecting slot plate 316, as well as the connecting slot plate 316 and the timing belt 315, can also be connected by other means, such as pins, buckles, or fixing with glue.

[0080] In one embodiment of this application, a rotating shaft 32 is provided at the end of the swing housing 3 away from the first pulley 313. The second pulley 314 is rotatably mounted on the rotating shaft 32. The first pulley 313 and the second pulley 314 cooperate to make the synchronous belt 315 rotate inside the swing housing 3 and simultaneously drive the folding paddle 4 to slide.

[0081] As attached Figure 2 As shown, the swing housing 3 includes a transmission cavity 33 and a storage cavity 34. The transmission cavity 33 and the storage cavity 34 are connected. The drive assembly 31 is located inside the transmission cavity 33, and the paper folding paddle 4 is located inside the storage cavity 34. A slot is opened at the end of the storage cavity 34 away from the first pulley 313. Under the action of the synchronous belt 315, the paper folding paddle 4 can slide out of the swing housing 3 or retract into the swing housing 3 through the slot.

[0082] In one embodiment of this application, the swing housing 3 is provided with two through slots that penetrate the upper and lower side walls of the swing housing 3. The through slots can reduce the weight of the swing housing 3 and allow observation of the internal drive component 31 and the working status of the folding paddle 4 through the through channels.

[0083] As attached Figure 5As shown, the airframe sealed compartment 1 includes an acrylic tube 11, a first sealed compartment flange 13, a second sealed compartment flange 14, a first compartment cover 15, and a second compartment cover 16. The acrylic tube 11 is a transparent cylindrical shape, and an electronic component 12 is installed inside the acrylic tube 11 for connecting with the first servo motor 2 and the second servo motor 311 and controlling the rotation of the first servo motor 2 and the second servo motor 311. The first sealed compartment flange 13 and the second sealed compartment flange 14 are located at opposite ends of the acrylic tube 11. A first sleeve 131 is provided on the side of the first sealed compartment flange 13 closest to the acrylic tube 11. The first sleeve 131 is fitted inside the acrylic tube 11, so that the first sealed compartment flange 13 and the second sealed compartment flange 14 are connected to the acrylic tube 11. The acrylic tube 11 is fixed. A second sleeve 141 is provided on the side of the second sealing chamber flange 14 near the acrylic tube 11. The second sleeve 141 is fitted inside the acrylic tube 11, so that the second sealing chamber flange 14 is fixed to the acrylic tube 11. The first chamber cover 15 is provided on the side of the first sealing chamber flange 13 away from the acrylic tube 11, and is used to seal the opening of the first sealing chamber flange 13, so that one end of the acrylic tube 11 is in a closed state to prevent water from entering. The second chamber cover 16 is provided on the side of the second sealing chamber flange 14 away from the acrylic tube 11, and is used to seal the opening of the second sealing chamber flange 14, so that the other end of the acrylic tube 11 is also in a closed state.

[0084] One embodiment of this application is shown in the appendix. Figure 6 As shown, the electronic component 12 includes a fixing plate 121 located inside the acrylic tube 11. A PCB board 122 and a battery 123 are disposed on the fixing plate 121. The PCB board 122 can be wirelessly connected to an external terminal device. The battery 123 is used to power the PCB board 122, the first servo motor 2, and the second servo motor 311.

[0085] In one embodiment of this application, the first cover 15 is a transparent semi-circular acrylic cover. A first fixing ring 17 is provided on the side of the first cover 15 away from the acrylic tube 11, and the first fixing ring 17, the first cover 15, and the first sealing flange 13 are fixed by bolts and sealed. A second fixing ring 18 is provided on the side of the second cover 16 away from the acrylic tube 11, and the second fixing ring 18, the second cover 16, and the second sealing flange 14 are fixed by bolts. Through the first cover 15 and the second cover 16, both ends of the acrylic tube 11 are closed and sealed to prevent water from entering the interior of the acrylic tube 11 and damaging the electronic components 12.

[0086] In this embodiment, a plurality of hollow waterproof bolts 6 are installed through the second hatch 16, and a waterproof nut is provided on one side of the second hatch 16. The hollow waterproof bolts 6 and the waterproof nut cooperate to allow the hollow waterproof bolts 6 to be installed through the second hatch 16. Data cables and other wires can be inserted through the hollow waterproof bolts 6 to connect to the electronic components 12 in order to monitor or control the operation of the water propulsion robot. At the same time, the wires passing through the hollow waterproof bolts 6 need to be sealed to prevent water from entering the sealed chamber 1 of the machine body through the central through hole of the hollow waterproof bolts 6.

[0087] In one embodiment of this application, a sealing groove is provided on the outer surface of the first sleeve 131 and the second sleeve 141. The sealing groove is provided along the circumferential surface of the first sleeve 131 and the second sleeve 141. A sealing ring is provided inside the sealing groove, and the sealing ring protrudes from the sealing groove so that the sealing ring is held against the inner wall of the acrylic tube 11. Through the interference fit between the sealing ring and the inner wall of the acrylic tube 11, the first sealing chamber flange 13 and the second sealing chamber flange 14 are respectively fixed to the two ends of the acrylic tube 11.

[0088] As attached Figure 1 and attached Figure 5 As shown, a connecting cylinder 5 is fitted on the outer surface of the sealed chamber 1. Symmetrical mounting blocks 51 are respectively provided on both sides of the connecting cylinder 5. The first servo motor 2 is installed on the side wall of the mounting block 51. A cavity can be provided inside the connecting cylinder 5, which can be used to adjust the buoyancy of the water propulsion robot. The size of the cavity inside the connecting cylinder 5 can be adjusted according to the different usage environments of the water propulsion robot.

[0089] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the solutions disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the claims.

Claims

1. A retractable origami-style water-propelled robot, characterized in that, include: Aircraft fuselage sealed compartment; Two first servo motors are located on both sides of the sealed cabin of the fuselage and are arranged symmetrically. A swing housing is disposed on the rudder disk of the first servo motor, and a drive assembly is disposed inside the swing housing; The origami paddle extends at least partially into the swing housing and is connected to the drive assembly; the origami paddle is reciprocating relative to the swing housing. The drive assembly is used to drive the origami paddle to slide out of and retract into the swing housing, so that the origami paddle unfolds and closes. The driving component includes: A second servo motor is mounted on the swing housing, and a second servo disk is coaxially mounted on the output shaft of the second servo motor. The second servo disk is located inside the swing housing. The first pulley is coaxially disposed at the bottom of the second rudder disk and located inside the swing housing; The second pulley is rotatably disposed inside the swing housing; a synchronous belt is fitted onto the first pulley and the second pulley; the end of the folding paddle near the sealed chamber of the machine body is disposed on the synchronous belt.

2. The retractable origami-style water-propulsion robot according to claim 1, characterized in that, A connecting groove plate is provided on one side of the synchronous belt, and a fixing block is provided at one end of the folding paddle near the sealed chamber of the machine body. The fixing block cooperates with the connecting groove plate so that the folding paddle moves with the synchronous belt.

3. The retractable origami-style water-propelled robot according to claim 1, characterized in that, The swing housing has a rotating shaft at one end away from the first pulley, and the second pulley is rotatably mounted on the rotating shaft.

4. The retractable origami-style water-propulsion robot according to claim 1, characterized in that, The swing housing includes a transmission cavity and a storage cavity. The drive assembly is located inside the transmission cavity, and the folding paddle is located inside the storage cavity. A slot is opened at the end of the storage cavity away from the first pulley for the sliding out and retraction of the folding paddle.

5. A retractable origami-style water-propulsion robot according to claim 1, characterized in that, The airframe sealed compartment includes: An acrylic tube, wherein electronic components are disposed inside the acrylic tube; A first sealing chamber flange is provided at one end of the acrylic tube, and a first sleeve is provided on the side of the sealing chamber flange near the acrylic tube, and the first sleeve is fitted inside the acrylic tube. The second sealing chamber flange is located at the end of the acrylic tube away from the first sealing chamber flange. A second sleeve is provided on the side of the second sealing chamber flange close to the acrylic tube, and the second sleeve is fitted inside the acrylic tube. The first hatch cover is disposed on the side wall of the first sealing chamber flange and is used to seal the opening of the first sealing chamber flange; The second cover is located on the side wall of the second sealing chamber flange and is used to seal the opening of the second sealing chamber flange.

6. A retractable origami-style water-propelled robot according to claim 5, characterized in that, The electronic components include: A fixing plate is disposed inside the acrylic tube, and a PCB board and a battery are disposed on the fixing plate.

7. A retractable origami-style water-propelled robot according to claim 5, characterized in that, The first hatch cover is a semi-circular acrylic hatch cover. A first fixing ring is provided on the side of the first hatch cover away from the acrylic tube. The first fixing ring, the first hatch cover, and the first sealing chamber flange are connected by bolts. A second fixing ring is provided on the side of the second hatch cover away from the acrylic tube. The second fixing ring, the second hatch cover, and the second sealing chamber flange are connected by bolts.

8. A retractable origami-style water-propulsion robot according to claim 5, characterized in that, The outer surfaces of the first sleeve and the second sleeve are provided with sealing grooves, and a sealing ring is provided inside the sealing groove. The sealing ring protrudes from the sealing groove and is pressed against the inner wall of the acrylic tube.

9. A retractable origami-style water-propulsion robot according to claim 1, characterized in that, A connecting cylinder is fitted on the outer surface of the airtight compartment of the fuselage, and symmetrical mounting blocks are respectively provided on both sides of the connecting cylinder. The first servo motor is mounted on the side wall of the mounting block.

10. A retractable origami-style water-propelled robot according to claim 5, characterized in that, The swing housing includes an upper housing and a lower housing. Both the upper housing and the lower housing are provided with wire fixing holes. On the side of the wire fixing holes away from the acrylic tube, multiple wire passing holes are provided. The multiple wire passing holes are spaced apart along the length direction of the swing housing. Pull ropes are provided on both sides of the folding paddle. The two pull ropes correspond one-to-one with the two wire fixing holes. The end of the pull rope away from the folding paddle passes through the wire passing hole and exits from the wire fixing hole and is disposed on the surface of the swing housing.

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