A reconfigurable underwater robot capable of adapting to multiple terrains

Abstract

The application discloses a kind of reconfigurable underwater robots capable of adapting to multiple terrains in underwater robot technical field, including underwater robot main body, support chassis, four first positioning rods are fixedly installed in the inside of support chassis, four second positioning rods, first rectangular ring is provided between four first positioning rods, first positioning rod is slidably connected with the outside of first rectangular ring, the outside of four second positioning rods is provided with second rectangular ring, second positioning rod is slidably connected with the four inside of right angle of second rectangular ring, first rectangular ring is in the upside of second rectangular ring, the inside of first rectangular ring is provided with four first cutters, the outside of second rectangular ring is provided with four second cutters, cutting mechanism is provided between first rectangular ring and second rectangular ring, solve the problem that current reconfigurable underwater robots capable of adapting to multiple terrains cannot automatically escape from trouble during operation.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, specifically to a reconfigurable underwater robot capable of adapting to various terrains. Background Technology

[0002] Reconfigurable underwater robots, also known as remotely operated vehicles (ROVs), are robots designed for extreme underwater operations. Given the harsh and dangerous underwater environment and the limited diving depth of humans, underwater robots have become crucial tools for ocean exploration. The complex and varied working environments of underwater robots make their adaptability to different terrains particularly important.

[0003] In existing technologies, underwater robots are powered by rotating propeller blades when operating in water. However, the structure of the propeller blades is relatively simple. Algae or discarded fishing lines in the water often get tangled in the blades, causing them to jam and preventing further operation. In such cases, workers can only forcibly pull the underwater robot back with ropes. During the forced retrieval of the machine, the blades are subjected to strong pulling, which can easily cause damage and affect the service life of the underwater robot. Furthermore, existing reconfigurable underwater robots that can adapt to various terrains cannot automatically extricate themselves from getting stuck during operation.

[0004] Based on this, the present invention designs a reconfigurable underwater robot that can adapt to various terrains to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a reconfigurable underwater robot with automatic extrication function during operation and adaptability to various terrains, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a reconfigurable underwater robot capable of adapting to various terrains, comprising an underwater robot body and a support base. Four first positioning rods and four second positioning rods are fixedly installed on the inner side of the support base. A first rectangular ring is arranged between the four first positioning rods. Each first positioning rod is slidably connected to the outer side of the first rectangular ring. A second rectangular ring is arranged on the outer side of the four second positioning rods. Each second positioning rod is slidably connected to the four right-angled inner sides of the second rectangular ring. The first rectangular ring is located above the second rectangular ring. Four first cutters are arranged on the inner side of the first rectangular ring, and four second cutters are arranged on the outer side of the second rectangular ring. A cutting mechanism is arranged between the first and second rectangular rings. The cutting mechanism is used to drive the first and second rectangular rings to move closer together when the propeller blades of the underwater robot body are entangled and jammed. Sawing mechanisms are arranged on the left and right sides of both the first and second rectangular rings. The sawing mechanisms are used to drive the first or second cutters to reciprocate horizontally when the first or second cutters are obstructed during movement.

[0007] As a further embodiment of the present invention, the cutting mechanism includes a first mounting box fixedly installed at both ends of a first rectangular ring, a second mounting box fixedly installed on the inner sides of both ends of a second rectangular ring, a first motor fixedly installed at both ends of the support frame, a first take-up roller fixedly installed at the output end of the first motor, a first pull rope fixedly installed on the inner side of the first take-up roller, and the other end of the first pull rope connected to the first mounting box; a second motor fixedly installed on both sides of the underwater robot body, a second take-up roller fixedly installed at the output end of the second motor, a second pull rope fixedly installed on the inner side of the second take-up roller, and the other end of the second pull rope connected to the second mounting box;

[0008] As a further embodiment of the present invention, a first elastic band is fixedly installed on the outside of the first mounting box, and the other end of the first elastic band is fixedly connected to the underwater robot body; a second elastic band is fixedly installed on the outside of the second mounting box, and the other end of the second elastic band is fixedly connected to the support base.

[0009] As a further embodiment of the present invention, the sawing mechanism includes a first limiting rod fixedly installed on the side of the first cutter near the first rectangular ring. The first limiting rod is located inside the first rectangular ring and slidably connected to it, and the first limiting rod can slide horizontally inside the first rectangular ring. A second limiting rod is fixedly installed on the side of the second cutter near the second rectangular ring. The second limiting rod is located inside the second rectangular ring and slidably connected to it, and the second limiting rod can slide horizontally inside the second rectangular ring. A sliding frame is slidably connected to the opening of the first mounting box and the second mounting box. The sliding frame is fixedly connected to the adjacent first limiting rod and the second limiting rod. A driving mechanism is provided inside the first mounting box and the second mounting box. The driving mechanism is used to drive the sliding frame to reciprocate inside the first mounting box or the second mounting box when the movement of the first cutter or the second cutter is obstructed.

[0010] As a further embodiment of the present invention, the driving mechanism includes a third take-up roller disposed on the inner side of both the first mounting box and the second mounting box. The third take-up roller is rotatably connected to the inner wall of the first mounting box and the second mounting box via a torsion spring. The first pull rope and the second pull rope are both wound around the outer side of the adjacent third take-up roller. A plug is fixedly installed on the side of the third take-up roller near the first rectangular ring and the second rectangular ring. The end of the plug passes through the sliding frame and is slidably connected to it.

[0011] As a further aspect of the present invention, the two adjacent first cutters are connected to each other by a first hinge rod at their close ends, and the two adjacent second cutters are connected to each other by a second hinge rod at their close ends.

[0012] As a further aspect of the present invention, the blades of the first and second cutters on the same side correspond to each other, and the two can fit together during movement.

[0013] As a further aspect of the present invention, both the first cutter and the second cutter are located inside the support base, and the first cutter and the second cutter can completely cover the outer side of the underwater robot's propeller during movement.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] 1. This invention, by setting up a cutting mechanism, when the propeller of the underwater robot body attracts algae or fishing line during operation and gets entangled and stuck, the cutting mechanism drives the first and second cutters to gradually approach each other. During the movement, the first and second cutters cut around the bottom of the underwater robot body, cutting off the algae and fishing line wrapped around the propeller from all directions, thereby freeing the underwater robot body. The staff no longer needs to pull the underwater robot with great force, and at the same time, it avoids damage to the propeller caused by strong pulling, increases the service life of the underwater robot, and saves maintenance costs.

[0016] 2. By setting up a sawing mechanism, when the first and second cutters are blocked during movement, the sawing mechanism is activated to drive the first and second cutters to perform horizontal reciprocating sawing of algae and fishing line, thereby enhancing the cutting effect of the device, improving the underwater robot's escape efficiency, increasing the practicality of the device, and solving the problem that existing reconfigurable underwater robots that can adapt to various terrains cannot automatically escape during operation. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the rear-tilt view structure of the present invention;

[0019] Figure 3 This is a schematic diagram of the internal structure of the present invention from a forward tilting angle.

[0020] Figure 4 For the present invention Figure 3 Enlarged structural diagram at point A in the middle;

[0021] Figure 5 This is a schematic diagram of the cross-sectional structure from a forward tilting angle of the present invention;

[0022] Figure 6 For the present invention Figure 5 Enlarged structural diagram at point B;

[0023] Figure 7 This is a schematic diagram of the first mounting box and the main structure of the underwater robot in this invention;

[0024] Figure 8 This is a schematic diagram of the connection structure between the first mounting box and the first motor in this invention;

[0025] Figure 9 This is a schematic diagram of the connection structure between the first mounting box and the third take-up roller in this invention;

[0026] Figure 10 This is a schematic diagram of the connection structure between the sliding frame and the third take-up roller in this invention.

[0027] The attached diagram lists the components represented by each number as follows:

[0028] 1. Underwater robot body; 2. Support base frame; 3. First positioning rod; 4. Second positioning rod; 5. First rectangular ring; 6. Second rectangular ring; 7. First cutter; 8. Second cutter; 9. First mounting box; 10. Second mounting box; 11. First motor; 12. First take-up roller; 13. First pull rope; 14. Second motor; 15. Second take-up roller; 16. Second pull rope; 17. First elastic band; 18. Second elastic band; 19. First limiting rod; 20. Second limiting rod; 21. Sliding frame; 22. Third take-up roller; 23. Insert rod; 24. First hinge rod; 25. Second hinge rod. Detailed Implementation

[0029] Please see Figures 1-10 This invention provides a technical solution: a reconfigurable underwater robot capable of adapting to various terrains, comprising an underwater robot body 1 and a support base 2. Four first positioning rods 3 and four second positioning rods 4 are fixedly installed on the inner side of the support base 2. A first rectangular ring 5 is disposed between the four first positioning rods 3, and each of the first positioning rods 3 is slidably connected to the outer side of the first rectangular ring 5. A second rectangular ring 6 is disposed on the outer side of each of the four second positioning rods 4, and each of the second positioning rods 4 is slidably connected to the four right-angled inner sides of the second rectangular ring 6. The first rectangular ring 5 is positioned on top of the second rectangular ring 6. On the side, four first cutters 7 are provided on the inner side of the first rectangular ring 5, and four second cutters 8 are provided on the outer side of the second rectangular ring 6. A cutting mechanism is provided between the first rectangular ring 5 and the second rectangular ring 6. The cutting mechanism is used to drive the first rectangular ring 5 and the second rectangular ring 6 to move closer to each other when the propeller of the underwater robot body 1 is entangled and jammed. Sawing mechanisms are provided on the left and right sides of the first rectangular ring 5 and the second rectangular ring 6. The sawing mechanisms are used to drive the first cutter 7 or the second cutter 8 to move horizontally back and forth when the first cutter 7 or the second cutter 8 is obstructed during the movement.

[0030] The cutting mechanism includes a first mounting box 9 fixedly installed at both ends of a first rectangular ring 5, a second mounting box 10 fixedly installed on the inner sides of both ends of a second rectangular ring 6, a first motor 11 fixedly installed at both ends of a support base 2, a first take-up roller 12 fixedly installed at the output end of the first motor 11, a first pull rope 13 fixedly installed on the inner side of the first take-up roller 12, and the other end of the first pull rope 13 connected to the first mounting box 9; a second motor 14 fixedly installed on both sides of the underwater robot body 1, a second take-up roller 15 fixedly installed at the output end of the second motor 14, a second pull rope 16 fixedly installed on the inner side of the second take-up roller 15, and the other end of the second pull rope 16 connected to the second mounting box 10;

[0031] When the propellers of the underwater robot body 1 attract algae or fishing line during operation, causing them to become entangled and jammed, the first motor 11 and the second motor 14 start, driving the first take-up roller 12 and the second take-up roller 15 to rotate. The first take-up roller 12 rotates to wind up the first pull rope 13. As the first pull rope 13 is wound up, it pulls the first mounting box 9 downward, which in turn moves the first rectangular ring 5 downward. The downward movement of the first rectangular ring 5 causes several first cutters 7 to move downward simultaneously. At the same time, the second take-up roller 15 winds up the second pull rope 16. As the second pull rope 16 is wound up, it pulls the second mounting box 10 upward, which in turn moves the second rectangular ring 6 upward simultaneously. When the first rectangular ring 5 and the second rectangular ring 6 are in motion, they are limited by the first positioning rod 3 and the second positioning rod 4 respectively, so that the first rectangular ring 5 and the second rectangular ring 6 move vertically upward and downward. During the movement, the first rectangular ring 5 and the second rectangular ring 6 drive the first cutter 7 and the second cutter 8 to gradually approach each other. During the movement, the first cutter 7 and the second cutter 8 cut around the bottom of the underwater robot body 1, cutting off the algae and fishing line wrapped around the propeller from all directions. This allows the underwater robot body 1 to regain its freedom, and the staff no longer need to pull the underwater robot with great force. At the same time, it avoids damage to the propeller caused by great force, increases the service life of the underwater robot, and saves maintenance costs.

[0032] By setting up a first cutter 7 and a second cutter 8, the first cutter 7 and the second cutter 8 gradually overlap as they approach each other, thereby cutting the surrounding algae and fishing line more thoroughly. When the first cutter 7 and the second cutter 8 are obstructed during their movement, the sawing mechanism is activated, driving the first cutter 7 and the second cutter 8 to perform horizontal reciprocating sawing of the algae and fishing line, thereby enhancing the cutting effect of the device, improving the underwater robot's escape efficiency, increasing the practicality of the device, and solving the problem that existing reconfigurable underwater robots that can adapt to various terrains cannot automatically escape during operation.

[0033] As a further embodiment of the present invention, a first elastic band 17 is fixedly installed on the outside of the first mounting box 9, and the other end of the first elastic band 17 is fixedly connected to the underwater robot body 1. A second elastic band 18 is fixedly installed on the outside of the second mounting box 10, and the other end of the second elastic band 18 is fixedly connected to the support base 2.

[0034] When the seaweed or fishing line is cut, the first motor 11 and the second motor 14 stop operating. At this time, the first elastic band 17 pulls the first mounting box 9 upward under the action of the elastic force to reset. At the same time, the second elastic band 18 pulls the second mounting box 10 downward under the action of the elastic force to reset, thus preparing for subsequent maintenance and next use.

[0035] As a further embodiment of the present invention, the sawing mechanism includes a first limiting rod 19 fixedly installed on the side of the first cutter 7 near the first rectangular ring 5. The first limiting rod 19 is located inside the first rectangular ring 5 and slidably connected to it, and the first limiting rod 19 can slide horizontally inside the first rectangular ring 5. A second limiting rod 20 is fixedly installed on the side of the second cutter 8 near the second rectangular ring 6. The second limiting rod 20 is located inside the second rectangular ring 6 and slidably connected to it, and the second limiting rod 20 can slide horizontally inside the second rectangular ring 6. A sliding frame 21 is slidably connected to the opening of the first mounting box 9 and the second mounting box 10. The sliding frame 21 is fixedly connected to the adjacent first limiting rod 19 and second limiting rod 20. A driving mechanism is provided inside the first mounting box 9 and the second mounting box 10. The driving mechanism is used to drive the sliding frame 21 to slide back and forth inside the first mounting box 9 or the second mounting box 10 when the movement of the first cutter 7 or the second cutter 8 is obstructed.

[0036] When the first cutter 7 or the second cutter 8 is blocked during its movement and can no longer move, taking the first cutter 7 as an example, the first cutter 7 is blocked and can no longer move downwards. At this time, the first motor 11 continues to wind up the first pull rope 13, and the drive mechanism starts to drive the sliding frame 21 to slide back and forth at the opening of the first mounting box 9. The movement of the sliding frame 21 drives the first limit rod 19 to slide horizontally back and forth on the inner side of the first rectangular ring 5. The sliding of the first limit rod 19 drives the first cutter 7 to slide horizontally back and forth. During the horizontal sliding of the first cutter 7, it performs horizontal sawing on the obstruction, making the obstruction easier to cut. The second cutter 8 is the same as the first cutter 7, thereby improving the cutting efficiency of the first cutter 7 and the second cutter 8, improving the underwater robot's escape efficiency, and increasing the practicality of this device.

[0037] As a further embodiment of the present invention, the driving mechanism includes a third take-up roller 22 disposed on the inner side of both the first mounting box 9 and the second mounting box 10. The third take-up roller 22 is rotatably connected to the inner wall of the first mounting box 9 and the second mounting box 10 through a torsion spring. The first pull rope 13 and the second pull rope 16 are both wound around the outer side of the adjacent third take-up roller 22. The side of the third take-up roller 22 near the first rectangular ring 5 and the second rectangular ring 6 is fixedly mounted with a plug rod 23. The end of the plug rod 23 passes through the sliding frame 21 and is slidably connected to it.

[0038] Taking the first cutter 7 being obstructed during its movement as an example, the first cutter 7 is obstructed and can no longer move. At this time, the first take-up roller 12 gradually pulls the first pull rope 13 out from the outside of the third take-up roller 22, thereby driving the third take-up roller 22 to rotate. At the same time, the torsion spring on the side of the third take-up roller 22 gradually stores power. As the third take-up roller 22 rotates, it drives the insertion rod 23 to move. The movement of the insertion rod 23 pushes the sliding frame 21 to move horizontally and slides inside it, thereby realizing the horizontal reciprocating motion of the sliding frame 21, providing power for the movement of the first cutter 7. When the first cutter 7 is no longer obstructed, the third take-up roller 22 moves in the opposite direction under the action of the torsion spring's restoring force and rewinds the first pull rope 13 again, thus preparing for the next drive.

[0039] As a further embodiment of the present invention, the two adjacent first cutters 7 are connected to each other by a first hinge rod 24 at their close ends, and the two adjacent second cutters 8 are connected to each other by a second hinge rod 25 at their close ends.

[0040] The sliding frame 21 moves to drive the first cutter 7 on the left and right sides to move. While the first cutter 7 on the left and right sides moves, the first hinge rod 24 pushes and pulls the first cutter 7 on the front and rear sides, thereby realizing the synchronous horizontal reciprocating motion of the four first cutters 7. Similarly, when any one of the first cutters 7 is blocked, the drive mechanism can drive all four first cutters 7 to saw it. The movement mode of the second cutter 8 is the same as above.

[0041] As a further aspect of the present invention, the blades of the first cutter 7 and the second cutter 8 on the same side correspond to each other, and the two can fit together during movement.

[0042] As the first cutting blade 7 and the second cutting blade 8 approach each other, they gradually overlap, thus cutting the surrounding algae and fishing line, allowing the algae and fishing line to be removed more thoroughly.

[0043] As a further embodiment of the present invention, the first cutter 7 and the second cutter 8 are both located inside the support base, and the first cutter 7 and the second cutter 8 can completely cover the outer side of the underwater robot's propeller during movement.

[0044] During the movement of the underwater robot body 1, the support frame 2 protects the first cutter 7 and the second cutter 8, thereby preventing the underwater robot from colliding and causing blade wear, and improving the service life of the first cutter 7 and the second cutter 8.

[0045] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0046] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A reconfigurable underwater robot capable of adapting to various terrains, comprising an underwater robot body (1) and a support base (2), characterized in that: Four first positioning rods (3) and four second positioning rods (4) are fixedly installed on the inner side of the support base (2). A first rectangular ring (5) is provided between the four first positioning rods (3). The first positioning rods (3) are all slidably connected to the outer side of the first rectangular ring (5). A second rectangular ring (6) is provided on the outer side of the four second positioning rods (4). The second positioning rods (4) are all slidably connected to the four right-angled inner sides of the second rectangular ring (6). The first rectangular ring (5) is located on the upper side of the second rectangular ring (6). Four first cutters (7) are provided on the inner side of the first rectangular ring (5). Four second cutters (8) are provided on the outer side of the second rectangular ring (6). A cutting mechanism is provided between the first rectangular ring (5) and the second rectangular ring (6). The cutting mechanism is used to drive the first rectangular ring (5) and the second rectangular ring (6) to move closer to each other when the propeller of the underwater robot body (1) is entangled and jammed. A sawing mechanism is provided on both the left and right sides of the first rectangular ring (5) and the second rectangular ring (6). The sawing mechanism is used to drive the first cutter (7) or the second cutter (8) to move horizontally and reciprocally when the first cutter (7) or the second cutter (8) is obstructed during the movement. The cutting mechanism includes a first mounting box (9) fixedly installed at both ends of the first rectangular ring (5), a second mounting box (10) fixedly installed on the inner side of both ends of the second rectangular ring (6), a first motor (11) fixedly installed at both ends of the support frame (2), a first take-up roller (12) fixedly installed at the output end of the first motor (11), a first pull rope (13) fixedly installed on the inner side of the first take-up roller (12), and the other end of the first pull rope (13) connected to the first mounting box (9). A second motor (14) fixedly installed on both sides of the underwater robot body (1), a second take-up roller (15) fixedly installed at the output end of the second motor (14), a second pull rope (16) fixedly installed on the inner side of the second take-up roller (15), and the other end of the second pull rope (16) connected to the second mounting box (10). The sawing mechanism includes a first limiting rod (19) fixedly installed on one side of the first cutter (7) near the first rectangular ring (5). The first limiting rod (19) is located inside the first rectangular ring (5) and slidably connected to it, and the first limiting rod (19) can slide horizontally inside the first rectangular ring (5). A second limiting rod (20) is fixedly installed on one side of the second cutter (8) near the second rectangular ring (6). The second limiting rod (20) is located inside the second rectangular ring (6) and slidably connected to it, and the second limiting rod (20) can slide horizontally inside the second rectangular ring (6). The sliding frame (21) slides horizontally inside the second rectangular ring (6). The openings of the first mounting box (9) and the second mounting box (10) are slidably connected to the sliding frame (21). The sliding frame (21) is fixedly connected to the adjacent first limiting rod (19) and second limiting rod (20). The inner sides of the first mounting box (9) and the second mounting box (10) are provided with a driving mechanism. The driving mechanism is used to drive the sliding frame (21) to slide back and forth inside the first mounting box (9) or the second mounting box (10) when the movement of the first cutter (7) or the second cutter (8) is obstructed.

2. The reconfigurable underwater robot capable of adapting to multiple terrains according to claim 1, characterized in that: A first elastic band (17) is fixedly installed on the outside of the first mounting box (9), and the other end of the first elastic band (17) is fixedly connected to the underwater robot body (1). A second elastic band (18) is fixedly installed on the outside of the second mounting box (10), and the other end of the second elastic band (18) is fixedly connected to the support base (2).

3. A reconfigurable underwater robot capable of adapting to various terrains according to claim 1, characterized in that: The driving mechanism includes a third take-up roller (22) provided on the inner side of both the first mounting box (9) and the second mounting box (10). The third take-up roller (22) is rotatably connected to the inner wall of the first mounting box (9) and the second mounting box (10) through a torsion spring. The first pull rope (13) and the second pull rope (16) are both wound around the outer side of the adjacent third take-up roller (22). The third take-up roller (22) is fixedly installed with a plug rod (23) on the side near the first rectangular ring (5) and the second rectangular ring (6). The end of the plug rod (23) passes through the sliding frame (21) and is slidably connected to it.

4. A reconfigurable underwater robot capable of adapting to various terrains according to claim 3, characterized in that: The two adjacent first cutters (7) are connected by a first hinge rod (24) at their closest ends, and the two adjacent second cutters (8) are connected by a second hinge rod (25) at their closest ends.

5. A reconfigurable underwater robot capable of adapting to multiple terrains according to claim 3, characterized in that: The blades of the first cutter (7) and the second cutter (8) on the same side correspond to each other, and the two can fit together during movement.

6. A reconfigurable underwater robot capable of adapting to multiple terrains according to claim 3, characterized in that: The first cutter (7) and the second cutter (8) are both located inside the support base, and the first cutter (7) and the second cutter (8) can completely cover the outer side of the underwater robot's propeller during movement.

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