Full-vector layout modular underwater robot

Abstract

The invention discloses a full-vector layout modular underwater robot, and relates to the technical field of underwater robots, the full-vector layout modular underwater robot comprises a frame, eight propellers are mounted on the frame, the eight propellers are uniformly distributed on the two sides of the frame, a camera system is arranged at one end of the frame, a light supplementing lamp is arranged outside the camera system, and the camera system is connected with the frame. The light supplementing lamp is fixedly installed on the frame, an electronic device bin is fixedly installed in the frame, and data and electrical interface blocks are arranged at the two ends of the electronic device bin. According to the full-vector layout modular underwater robot, the eight propellers are arranged in a full-vector mode on the basis of the gravity center balance principle and the symmetric layout principle, three-dimensional force decomposition and synthesis are conducted on the eight thrusts by adjusting the magnitude and the direction of the thrusts of the eight propellers, and the underwater robot has the omni-directional movement capacity; and due to the layout design of the frame type structure and the eight full-vector propellers, the robot has excellent mounting point distribution and strong load capacity.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to a full-vector layout modular underwater robot. Background Art

[0002] The thrusters of traditional underwater robots mostly adopt a partial vector layout with horizontal and vertical layouts, and can only perform simple straight-line forward, backward or up and down movements, but it is difficult to complete complex movements such as oblique movement and on-the-spot turning. When performing tasks in narrow underwater spaces (such as inside a sunken ship or in a coral reef), this lack of maneuverability will seriously limit its range of activities and operational flexibility.

[0003] Therefore, it is necessary to propose a full vector layout modular underwater robot to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a fully vector layout modular underwater robot to solve the problem that the thrusters of traditional underwater robots mostly adopt a horizontal and vertical layout or a partial vector layout, which can only perform simple straight-line forward, backward or up and down movements, but it is difficult to complete complex actions such as oblique movement and on-the-spot turning. When performing tasks in narrow underwater spaces (such as inside a sunken ship or in a coral reef), this lack of maneuverability will seriously limit its range of activities and operational flexibility.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a fully vector layout modular underwater robot, comprising a frame, on which thrusters are installed, and the thrusters are arranged in eight numbers, and the eight thrusters are evenly distributed on both sides of the frame, a camera system is arranged at one end of the frame, a fill light is arranged outside the camera system, and the fill light is fixedly installed on the frame, an electronic device warehouse is fixedly installed inside the frame, and data and electrical interfaces are arranged at both ends of the electronic device warehouse, and a buoyancy block is installed on the top of the frame.

[0006] Preferably, an emergency box is provided below the buoyancy block, the emergency box is fixedly connected to the frame, a partition tube is fixedly connected to the interior of the emergency box, the partition tube divides the interior of the emergency box into an installation chamber and a control chamber, the control chamber is close to the opening of the emergency box, a square box is fixedly connected to the outer wall of the electronic device compartment, an air bag is fixedly connected to the interior of the square box, an air hole is opened on the side of the partition tube close to the installation chamber, an air pipe is connected to the air bag, an end of the air pipe away from the air bag extends into the interior of the installation chamber, and is connected to the partition tube through the air hole.

[0007] Preferably, a threaded sleeve is fixedly connected to the outer wall of the partition tube close to the installation chamber, a second through groove is opened on the side of the partition tube close to the installation chamber, the threaded sleeve is connected to the partition tube through the second through groove, and a gas cylinder is threadedly connected to the threaded sleeve.

[0008] Preferably, a sealing plate is slidably provided at the opening of the emergency box.

[0009] Preferably, a first through groove is provided on one side of the partition tube close to the control chamber, a square rod is slidably arranged inside the first through groove, and the square rod is fixedly connected to the sealing plate, and a first needle rod is arranged inside the second through groove, and the first needle rod is fixedly connected to one end of the square rod away from the sealing plate.

[0010] Preferably, a fixing block is fixedly connected to the outer wall of the partition tube on one side close to the control chamber. A vertical rod is slidably arranged on the fixing block, a vertical slot for the vertical rod to pass through is provided on the square rod, a third through slot is provided on the side of the partition tube close to the control chamber, a second needle rod is provided inside the second through slot, the second needle rod is slidably connected inside the third through slot, a triangular block is fixedly connected to the side of the vertical rod close to the partition tube, and the hypotenuse of the triangular block cooperates with the second needle rod.

[0011] Preferably, a block is fixedly connected to the top of the vertical rod, a spring is sleeved on the outside of the vertical rod, one end of the spring is fixedly connected to the lower surface of the block, and the other end of the spring is fixedly connected to the upper surface of the fixed block.

[0012] Preferably, an electromagnet is fixedly connected to the inner wall of the control chamber, and a magnetic block is fixedly connected to a side of the block facing away from the vertical rod, and the electromagnet cooperates with the magnetic block.

[0013] Preferably, a positioning plate is fixedly connected to the inner wall of the control chamber, a cross bar is slidably provided on the positioning plate, one end of the cross bar is fixedly connected to the sealing plate, and the other end of the cross bar is abutted and matched with the block.

[0014] Preferably, the sealing plate is fixedly mounted on the emergency box by means of bolts.

[0015] Technical effects and advantages of the present invention:

[0016] 1. The present invention arranges eight thrusters on the frame of the underwater robot based on the principle of center of gravity balance and symmetrical layout. By adjusting the magnitude and direction of the thrusts of the eight thrusters, the eight thrusts are decomposed and synthesized into three-dimensional forces, so that the underwater robot has omnidirectional motion capability. The frame structure and the layout design of the eight thrusters of the full vector make the robot have excellent mounting point distribution and strong load capacity.

[0017] 2. By setting up the first needle rod, the second needle rod and the airbag and other structures, when the underwater robot fails, regardless of whether the power supply system can be used normally, the airbag can be expanded and driven to float to the surface of the water to achieve the effect of self-rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a structural schematic diagram of Example 1 of a full vector layout modular underwater robot of the present invention.

[0019] Figure 2 It is a schematic diagram of the framework and propeller structure of the present invention.

[0020] Figure 3 This is a schematic structural diagram of Example 2 of a full vector layout modular underwater robot according to the present invention.

[0021] Figure 4 It is a schematic diagram of the square box and airbag structure of the present invention.

[0022] Figure 5 It is a schematic diagram of the spacer tube and sealing plate structure of the present invention.

[0023] Figure 6 This is a schematic diagram of the structure of the installation chamber and the control chamber of the present invention.

[0024] Figure 7 For the present invention Figure 6 A schematic diagram of the enlarged structure in the middle.

[0025] Figure 8 For the present invention Figure 6 Enlarged schematic diagram of the structure at point B in the middle.

[0026] In the figure: 1. frame; 2. thruster; 3. camera system; 4. fill light; 5. electronic device compartment; 6. buoyancy block; 7. data and electrical interface; 8. emergency box; 9. square box; 10. air bag; 11. air pipe; 12. partition tube; 13. installation chamber; 14. control chamber; 15. threaded sleeve; 16. gas cylinder; 17. air hole; 18. bolt; 19. square rod; 20. sealing plate; 21. first through groove; 22. second through groove; 23. first needle rod; 24. vertical groove; 25. third through groove; 26. second needle rod; 27. fixing block; 28. vertical rod; 29. ​​triangular block; 30. spring; 31. square block; 32. magnetic block; 33. electromagnet; 34. positioning plate; 35. cross bar. DETAILED DESCRIPTION

[0027] Embodiment 1, the present invention provides as Figure 1-2The full vector layout modular underwater robot shown includes a frame 1, on which a propeller 2 is installed. The propeller 2 includes a motor, propeller blades and other structures. The number of the propellers 2 is eight, and the eight propellers 2 are evenly distributed on both sides of the frame 1. The eight propellers 2 form a propulsion system.

[0028] The present invention arranges eight thrusters 2 on the frame 1 of the underwater robot in full vector based on the center of gravity balance principle and the symmetrical layout principle. By adjusting the magnitude and direction of the thrusts of the eight thrusters 2, the eight thrusts are decomposed and synthesized in three dimensions, so that the underwater robot has omnidirectional motion capability.

[0029] When the propeller 2 of the underwater robot works in the water, it interacts with the water flow to push the surrounding water to flow backwards, and the water generates a forward reaction force on the propeller 2, thereby causing the propeller 2 to generate thrust.

[0030] In three-dimensional space, any force can be decomposed into components along three mutually perpendicular coordinate axes (usually the x, y, and z axes).

[0031] The eight thrusters 2 of the underwater robot with full vector layout generate thrust in eight directions. For example, after decomposing and synthesizing each thrust, the eight thrusters 2 generate an upward thrust as a whole, so that the underwater robot can achieve ascending motion. In this way, by changing the thrust of each thruster 2, the underwater robot can be easily and conveniently controlled to move forward, left and right, and up and down. At the same time, the underwater robot can be equipped with attitude sensors such as depth sensors and inertial measurement units (IMUs), and closed-loop control can be performed based on the information fed back by the sensors, so that the underwater robot can achieve 360° arbitrary angle (such as oblique) and attitude motion control and hovering lock.

[0032] In a flowing water environment, the underwater robot will be affected by the water flow and will be displaced horizontally. The eight thrusters 2 in the full vector layout work together to generate stronger thrust and more flexible power distribution, and have strong flow resistance, with a flow resistance of ≥ 3 knots. The frame structure and the layout design of the eight full vector thrusters 2 give the robot an excellent distribution of mounting points and strong load capacity.

[0033] A camera system 3 is provided at one end of the frame 1. The camera system 3 includes a high-definition camera and other structures. A fill light 4 is provided outside the camera system 3 and is fixedly mounted on the frame 1. The fill light 4 cooperates with the high-definition camera.

[0034] An electronic device compartment 5 is fixedly installed inside the frame 1. The electronic device compartment 5 is used to install electronic devices, such as communication modules, etc. Both ends of the electronic device compartment 5 are provided with data and electrical interfaces 7 for connecting with electronic devices. A buoyancy block 6 is installed on the top of the frame 1. The buoyancy block 6 provides the necessary buoyancy for the underwater robot to ensure that it can maintain a stable working state in the water.

[0035] Embodiment 2, the present invention provides as Figure 3 to Figure 8 The full vector layout modular underwater robot shown in the figure takes into account that once the propeller 2 fails or malfunctions, the underwater robot loses driving force and will sink below the water surface due to its own gravity, which will not only cause the problem of difficulty in salvage, but also easily sink to the bottom and be lost. In order to enable the underwater robot to quickly surface after a problem occurs, a square box 9 is fixedly connected to the outer wall of the electronic device compartment 5, and an air bag 10 is fixedly connected to the inside of the square box 9. When the air bag 10 expands and becomes larger, it can drive the underwater robot to surface.

[0036] An emergency box 8 is arranged below the buoyancy block 6. The emergency box 8 is fixedly connected to the frame 1. A partition tube 12 is fixedly connected inside the emergency box 8. The partition tube 12 divides the interior of the emergency box 8 into an installation chamber 13 and a control chamber 14. The control chamber 14 is close to the opening of the emergency box 8. An air hole 17 is opened on the side of the partition tube 12 close to the installation chamber 13. An air pipe 11 is connected to the airbag 10. One end of the air pipe 11 away from the airbag 10 extends into the interior of the installation chamber 13 and is connected to the partition tube 12 through the air hole 17.

[0037] A sealing plate 20 is slidably provided at the opening of the emergency box 8. When not in use, the sealing plate 20 is fixedly mounted on the emergency box 8 by bolts 18 so that the sealing plate 20 will not move.

[0038] A threaded sleeve 15 is fixedly connected to the outer wall of the partition tube 12 on one side close to the installation chamber 13. A second through groove 22 is opened on the side of the partition tube 12 close to the installation chamber 13. The threaded sleeve 15 is connected to the partition tube 12 through the second through groove 22. A gas cylinder 16 is threadedly connected to the threaded sleeve 15, and the gas cylinder 16 is filled with high-pressure gas.

[0039] A first through slot 21 is provided on one side of the partition tube 12 close to the control chamber 14, and a square rod 19 is slidably provided inside the first through slot 21, and the square rod 19 is fixedly connected to the sealing plate 20. A first needle rod 23 is provided inside the second through slot 22, and the first needle rod 23 is fixedly connected to one end of the square rod 19 away from the sealing plate 20. When the first needle rod 23 moves toward the gas cylinder 16, it will puncture the gas cylinder 16, and the high-pressure gas inside the gas cylinder 16 will enter the interior of the partition tube 12 through the second through slot 22, and then be filled into the interior of the airbag 10 through the air hole 17 and the air tube 11. When the airbag 10 expands, it can drive the underwater robot to the surface.

[0040] A fixed block 27 is fixedly connected to the outer wall of the partition tube 12 on one side close to the control chamber 14. A vertical rod 28 is slidably arranged on the fixed block 27, and a vertical slot 24 for the vertical rod 28 to pass through is provided on the square rod 19. A third through slot 25 is provided on the side of the partition tube 12 close to the control chamber 14, and a second needle rod 26 is provided inside the second through slot 22, and the second needle rod 26 is slidably connected inside the third through slot 25. A triangular block 29 is fixedly connected to the side of the vertical rod 28 close to the partition tube 12, and the hypotenuse of the triangular block 29 cooperates with the second needle rod 26, and there is a certain damping feeling between the second needle rod 26 and the third through slot 25, so that the second needle rod 26 will not slide at will, and will only slide when squeezed by the triangular block 29. A square block 31 is fixedly connected to the top of the vertical rod 28, and a spring 30 is sleeved on the outside of the vertical rod 28, one end of the spring 30 is fixedly connected to the lower surface of the square block 31, and the other end of the spring 30 is fixedly connected to the upper surface of the fixed block 27.

[0041] An electromagnet 33 is fixedly connected to the inner wall of the control chamber 14, and a magnetic block 32 is fixedly connected to the side of the block 31 facing away from the vertical rod 28. The electromagnet 33 cooperates with the magnetic block 32, and the electromagnet 33 can share the same power supply system with the underwater robot.

[0042] A positioning plate 34 is fixedly connected to the inner wall of the control chamber 14 , and a cross bar 35 is slidably provided on the positioning plate 34 . One end of the cross bar 35 is fixedly connected to the sealing plate 20 , and the other end of the cross bar 35 is abutted against the block 31 .

[0043] In actual use, when not in use, the sealing plate 20 is fixedly mounted on the emergency box 8 by bolts 18, so that the sealing plate 20 will not move. Even if the underwater robot touches the sealing plate 20 during the transfer process, the sealing plate 20 will not move.

[0044] When the underwater robot needs to be used, before putting it underwater, start the electromagnet 33 and control the magnetism of the electromagnet 33 and the magnetic block 32 that are close to each other to be of the same polarity. Under the action of the repulsive force, the block 31 is pushed to move toward the fixed block 27, and the end of the cross bar 35 away from the sealing plate 20 abuts against the block 31. At the same time, the vertical rod 28 extends into the interior of the vertical groove 24, and at this time the triangular block 29 will not contact the second needle rod 26. Then remove the bolt 18, and during use, the electromagnet 33 maintains the magnetic force.

[0045] When the underwater robot fails and the power supply system can still be used, the magnetic force of the electromagnet 33 is increased, so that the block 31 continues to move toward the fixed block 27, and the hypotenuse of the triangular block 29 squeezes the second needle rod 26 to move toward the gas cylinder 16. The second needle rod 26 punctures the gas cylinder 16, and the high-pressure gas inside the gas cylinder 16 enters the interior of the partition tube 12 through the second through groove 22, and then is filled into the interior of the airbag 10 through the air hole 17 and the air tube 11. When the airbag 10 expands and becomes larger, it can drive the underwater robot to the surface of the water.

[0046] When the underwater robot fails and the power supply system cannot be used, the repulsive force between the electromagnet 33 and the magnetic block 32 is lost, and the restoring elastic force of the spring 30 causes the block 31 to move away from the fixed block 27, and the cross bar 35 is staggered from the block 31. At the same time, the vertical rod 28 is pulled out from the inside of the vertical groove 24. At this time, the sealing plate 20 is affected by the pressure in the water and will move toward the partition tube 12, driving the square rod 19 and the first needle rod 23 to move toward the gas cylinder 16. The first needle rod 23 punctures the gas cylinder 16, and the high-pressure gas inside the gas cylinder 16 enters the interior of the partition tube 12 through the second through groove 22, and then is filled into the interior of the airbag 10 through the air hole 17 and the air tube 11. When the airbag 10 expands and becomes larger, it can drive the underwater robot to the surface.

[0047] By providing the first needle rod 23, the second needle rod 26 and the airbag 10 and other structures, when the underwater robot fails, no matter whether the power supply system can be used normally or not, the airbag 10 can be expanded and enlarged, and drive the underwater robot to float to the surface, thereby achieving the effect of self-rescue.

Claims

1. A fully vector layout modular underwater robot, comprising a frame (1), characterized in that: The frame (1) is provided with a propeller (2), the number of the propellers (2) being eight, and the eight propellers (2) being evenly distributed on both sides of the frame (1); a camera system (3) is provided at one end of the frame (1); a fill light (4) is provided outside the camera system (3), and the fill light (4) is fixedly installed on the frame (1); an electronic device compartment (5) is fixedly installed inside the frame (1), and data and electrical interfaces (7) are provided at both ends of the electronic device compartment (5); and a buoyancy block (6) is installed on the top of the frame (1).

2. The full vector layout modular underwater robot according to claim 1, characterized in that: An emergency box (8) is arranged below the buoyancy block (6). The emergency box (8) is fixedly connected to the frame (1). A partition tube (12) is fixedly connected inside the emergency box (8). The partition tube (12) divides the inside of the emergency box (8) into an installation chamber (13) and a control chamber (14). The control chamber (14) is close to the opening of the emergency box (8). A square box (9) is fixedly connected to the outer wall of the electronic device compartment (5). An air bag (10) is fixedly connected inside the square box (9). An air hole (17) is opened on one side of the partition tube (12) close to the installation chamber (13). An air pipe (11) is connected to the air bag (10). One end of the air pipe (11) away from the air bag (10) extends into the interior of the installation chamber (13) and is connected to the partition tube (12) through the air hole (17).

3. The full vector layout modular underwater robot according to claim 2, characterized in that: A threaded sleeve (15) is fixedly connected to the outer wall of the partition tube (12) on one side close to the installation chamber (13); a second through groove (22) is provided on the side of the partition tube (12) close to the installation chamber (13); the threaded sleeve (15) is connected to the partition tube (12) via the second through groove (22); and a gas cylinder (16) is threadedly connected to the threaded sleeve (15).

4. The full vector layout modular underwater robot according to claim 4, characterized in that: A sealing plate (20) is slidably provided at the opening of the emergency box (8).

5. The full vector layout modular underwater robot according to claim 5, characterized in that: A first through groove (21) is provided on one side of the partition tube (12) close to the control chamber (14); a square rod (19) is slidably arranged inside the first through groove (21), and the square rod (19) is fixedly connected to the sealing plate (20); a first needle rod (23) is arranged inside the second through groove (22), and the first needle rod (23) is fixedly connected to one end of the square rod (19) away from the sealing plate (20).

6. The full vector layout modular underwater robot according to claim 5, characterized in that: A fixing block (27) is fixedly connected to the outer wall of the partition tube (12) on one side close to the control chamber (14). A vertical rod (28) is slidably arranged on the fixing block (27), a vertical slot (24) for the vertical rod (28) to pass through is provided on the square rod (19), a third through slot (25) is provided on the side close to the control chamber (14) of the partition tube (12), a second needle rod (26) is provided inside the second through slot (22), the second needle rod (26) is slidably connected inside the third through slot (25), a triangular block (29) is fixedly connected to the side of the vertical rod (28) close to the partition tube (12), and the hypotenuse of the triangular block (29) cooperates with the second needle rod (26).

7. The full vector layout modular underwater robot according to claim 6, characterized in that: The top of the vertical rod (28) is fixedly connected to a block (31), the outside of the vertical rod (28) is sleeved with a spring (30), one end of the spring (30) is fixedly connected to the lower surface of the block (31), and the other end of the spring (30) is fixedly connected to the upper surface of the fixed block (27).

8. The full vector layout modular underwater robot according to claim 7, characterized in that: An electromagnet (33) is fixedly connected to the inner wall of the control chamber (14), and a magnetic block (32) is fixedly connected to the side of the block (31) facing away from the vertical rod (28), and the electromagnet (33) cooperates with the magnetic block (32).

9. The full vector layout modular underwater robot according to claim 8, characterized in that: A positioning plate (34) is fixedly connected to the inner wall of the control chamber (14), a cross bar (35) is slidably arranged on the positioning plate (34), one end of the cross bar (35) is fixedly connected to the sealing plate (20), and the other end of the cross bar (35) is abutted against the block (31).

10. The full vector layout modular underwater robot according to claim 4, characterized in that: The sealing plate (20) is fixedly mounted on the emergency box (8) by means of bolts (18).

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