Amphibious crawling mechanism of underwater robot

Abstract

The amphibious crawling mechanism of the underwater robot comprises a propeller arranged on a robot body of the underwater robot, and the lower side of the robot body is detachably connected with a crawler mechanism; the crawler mechanism comprises a chassis arranged on the lower side of the robot body, crawlers arranged on the two opposite sides of the chassis and a first driving mechanism used for driving the crawlers. A connecting piece is vertically arranged on the chassis, an inserting groove is formed in the lower side of the robot body, the upper end of the connecting piece is inserted into the inserting groove, and a clamping mechanism used for clamping the connecting piece to lock the connecting piece in the inserting groove is arranged on the robot body. According to the amphibious crawling mechanism of the underwater robot, the crawler belt mechanism and the robot body are detachably connected, and the endurance of the underwater robot during underwater suspension operation can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to an amphibious crawling mechanism of an underwater robot. Background Art

[0002] The existing underwater robot can refer to the patent with application number CN2020223542763. The existing underwater robot includes a robot body and a chassis arranged on the lower side of the robot body. Tracks are arranged on the left and right sides of the chassis, and a thruster is arranged on the robot body. The tracks are used for the underwater robot to walk on land, and the thruster is used for the underwater robot to float, dive, move forward and backward underwater. In the existing underwater robots, the chassis and the robot body are installed together and cannot be separated. Sometimes when the power supply is used to lay cables underwater, the underwater robot needs to be suspended underwater for a long time to perform shooting operations, and the chassis and tracks undoubtedly increase the weight of the underwater robot, thereby increasing the power consumption of the thruster, thereby reducing the endurance of the underwater robot. Summary of the invention

[0003] In order to solve the shortcomings of existing underwater robots, such as the inability to separate a chassis and a robot body, resulting in a short endurance time during underwater suspended operations, the present invention proposes an amphibious crawling mechanism of an underwater robot, in which the track mechanism and the robot body are detachably connected, thereby improving the endurance of the underwater robot during underwater suspended operations.

[0004] To achieve the above object, the present invention adopts the following technical solution: An amphibious crawling mechanism of an underwater robot includes a propeller arranged on a robot body of the underwater robot, and a track mechanism is detachably connected to the lower side of the robot body; the track mechanism includes a chassis arranged on the lower side of the robot body, tracks arranged on opposite sides of the chassis, and a first driving mechanism for driving the tracks; a connecting piece is vertically arranged on the chassis, a slot is arranged on the lower side of the robot body, the upper end of the connecting piece is inserted into the slot, and a clamping mechanism for clamping the connecting piece to lock the connecting piece in the slot is arranged on the robot body.

[0005] Through the above settings, the track mechanism can be used for the underwater robot to walk on land, and the thruster facilitates the underwater robot to move underwater, thereby realizing the amphibious operation of the underwater robot; when the underwater robot needs to operate suspended in the water, the track mechanism can be removed from the bottom side of the robot body, thereby reducing the weight of the underwater robot, and the power consumption of the thruster will be reduced when moving in the water, thereby increasing the endurance of the underwater robot.

[0006] Furthermore, a first slide groove is provided on one side of the slot, a second slide groove is provided on the other side of the slot, and a third slide groove is provided on the upper side of the slot, and the upper sides of the first slide groove and the second slide groove are connected to the third slide groove; the clamping mechanism includes a first connecting rod and a second connecting rod respectively slidably connected to the first slide groove and the second slide groove, one end of the first connecting rod is fixedly connected to the first clamping plate, the other end of the first connecting rod is fixedly connected to the first slider, one end of the second connecting rod is fixedly connected to the second clamping plate, and the other end of the second connecting rod is fixedly connected to the second slider, the first clamping plate and the second clamping plate are clamped at opposite sides of the connecting piece, the first slider and the second slider are slidably connected in the third slide groove, and the clamping mechanism also includes a second driving mechanism for driving the first slider and the second slider to open and close.

[0007] Furthermore, the second driving mechanism includes a screw rotatably connected in the third slide groove, and a first motor capable of driving the screw; the screw includes a first threaded portion threadedly connected to the first slider, and a second threaded portion threadedly connected to the second slider, and the thread directions of the first threaded portion and the second threaded portion are opposite.

[0008] Furthermore, the chassis is provided with a guide groove running through the upper and lower sides of the chassis, the lower end of the connecting piece is inserted into the guide groove, the lower end of the connecting piece is tapered, and a third driving mechanism is provided on the chassis, which can drive the connecting piece to move downward so that the lower end of the connecting piece is inserted into the bottom of the water; a positioning device is provided on the chassis for positioning the track mechanism in the water.

[0009] Through the above arrangement, when the underwater robot needs to operate in suspension, the track mechanism can load the robot body to bring the robot body into or out of the water area, and the track mechanism can be detached and connected underwater to achieve a labor-saving effect.

[0010] Furthermore, the lower end of the slot is provided with a chamfer to facilitate the insertion of the upper end of the connector.

[0011] Furthermore, a camera is arranged on the lower side of the robot body, and a QR code is arranged on the upper side of the chassis. The camera can recognize the QR code so that the robot body can land on the upper side of the chassis.

[0012] Through the above settings, the robot body can be positioned through the QR code, so that the robot body can land accurately on the upper side of the chassis, and the connecting parts can be smoothly inserted into the slot.

[0013] Furthermore, the connecting member includes a threaded section, a transmission section and an insertion section which are arranged in sequence from top to bottom, the threaded section, the transmission section and the insertion section are integrally formed, the upper end of the threaded section is clamped by the first clamping plate and the second clamping plate, the lower end of the threaded section is threadedly connected in the guide groove, and the third driving mechanism includes a transmission gear which is sleeved on the transmission section, and the transmission gear is rotated so that the transmission gear and the transmission section rotate synchronously and the connecting member moves upward or downward; a driving gear which meshes with the transmission gear and a second motor which can drive the driving gear are arranged in the chassis.

[0014] Through the above arrangement, the reliability of the connection between the connecting piece and the clamping mechanism can be increased, and the connecting piece can be inserted into the bottom of the water more easily.

[0015] Furthermore, the cross section of the transmission section is square.

[0016] Through the above arrangement, the transmission section and the transmission gear will not rotate relative to each other, and the transmission section can only move up and down relative to the transmission gear. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of an underwater robot according to an embodiment.

[0018] Figure 2 2 is a top view of the underwater robot of the embodiment.

[0019] Figure 3 2 is a cross-sectional view of an underwater robot according to an embodiment.

[0020] Figure 4 for Figure 3 Enlarged view of point A. DETAILED DESCRIPTION

[0021] The technical solution of the present invention is further specifically described below through embodiments and in conjunction with the accompanying drawings.

[0022] See also Figures 1 to 4 , an amphibious crawling mechanism of an underwater robot, including a propeller 2 arranged on a robot body 1 of the underwater robot, and a track mechanism is detachably connected to the lower side of the robot body; the track mechanism includes a chassis 3 arranged on the lower side of the robot body, tracks 4 arranged on opposite sides of the chassis 3, and a first driving mechanism (not shown in the figure) for driving the tracks 4; a connecting member 5 is vertically arranged on the chassis 3, a slot 6 is arranged on the lower side of the robot body, the upper end of the connecting member 5 is inserted into the slot 6, and a clamping mechanism for clamping the connecting member 5 to lock the connecting member 5 in the slot 6 is arranged on the robot body.

[0023] Through the above-mentioned arrangement, the track mechanism can be used for the underwater robot to walk on land, and the propeller 2 facilitates the underwater robot to move underwater, thereby realizing the amphibious operation of the underwater robot; when the underwater robot needs to operate suspended in the water, the track mechanism can be removed from the lower side of the robot body, thereby reducing the weight of the underwater robot, and the power consumption of the propeller 2 will be reduced when moving in the water, thereby increasing the endurance of the underwater robot.

[0024] Specifically, a first controller which can be equipped with a first remote controller is provided in the robot body, and the first remote controller controls the propeller 2 through the first controller, thereby controlling the movement of the robot body in the water; a positioning chip is provided in the robot body, which can locate the position of the robot body in the water in real time; wherein, the robot body, the propeller 2, the first controller, the first remote controller and the positioning chip can refer to the existing underwater robots, and will not be repeated; a first power supply which can supply power to the propeller 2, the first controller and the positioning chip is provided in the robot body. A second controller which can be controlled by a second remote controller is provided in the chassis 3, and the second remote controller controls the first driving mechanism through the second controller, thereby controlling the movement of the crawler 4; wherein, the first driving mechanism, the second controller and the second remote controller can refer to the existing crawler robots, and will not be repeated; a second power supply which can supply power to the first driving mechanism and the second controller is provided in the chassis 3, and the first power supply and the second power supply are independent of each other, and when the crawler mechanism is removed from the lower side of the robot body, it will not affect the operation of the propeller 2.

[0025] The crawler mechanism is suitable for the underwater robot to walk on land or underwater. When the underwater robot walks underwater, the propeller 2 can help the underwater robot to move, thereby reducing the resistance of the underwater robot under water. When the underwater robot needs to suspend in the water for operation, the crawler mechanism can be removed from the lower side of the robot body, thereby reducing the weight of the underwater robot, and the power consumption of the propeller 2 will be reduced when moving in the water, thereby increasing the endurance of the underwater robot.

[0026] When the track mechanism needs to be disassembled, the clamping mechanism loosens the upper end of the connecting member 5, and the robot body and the track mechanism can be separated up and down, and the upper end of the connecting member 5 is pulled out from the slot 6; when the track mechanism needs to be reinstalled, the upper end of the connecting member 5 is inserted into the slot 6, and the clamping mechanism re-clamps the upper end of the connecting member 5.

[0027] As an implementation method, a first slide groove 7 is provided on one side of the slot 6, a second slide groove 8 is provided on the other side of the slot 6, and a third slide groove 9 is provided on the upper side of the slot 6, and the upper sides of the first slide groove 7 and the second slide groove 8 are connected to the third slide groove 9; the clamping mechanism includes a first connecting rod 10 and a second connecting rod 11 which are respectively slidably connected to the first slide groove 7 and the second slide groove 8, one end of the first connecting rod 10 is fixedly connected to a first clamping plate 12, the other end of the first connecting rod 10 is fixedly connected to a first slider 13, one end of the second connecting rod 11 is fixedly connected to a second clamping plate 14, and the other end of the second connecting rod 11 is fixedly connected to a second slider 15, the first clamping plate 12 and the second clamping plate 14 are clamped at opposite sides of the connecting member 5, the first slider 13 and the second slider 15 are slidably connected in the third slide groove 9, and the clamping mechanism also includes a second driving mechanism for driving the first slider 13 and the second slider 15 to open and close.

[0028] In the present application, when the second driving mechanism drives the first slider 13 and the second slider 15 to move away from each other, the first slider 13 and the second slider 15 move toward the ends of the third slide groove 9 respectively, the first connecting rod 10 moves along the first slide groove 7 away from the connecting member 5, the second connecting rod 11 moves along the second slide groove 8 away from the connecting member 5, and the first clamping plate 12 and the second clamping plate 14 loosen the connecting member 5; when the second driving mechanism drives the first slider 13 and the second slider 15 to approach each other, the first slider 13 and the second slider 15 move toward the middle of the third slide groove 9 respectively, the first connecting rod 10 moves along the first slide groove 7 toward the connecting member 5, the second connecting rod 11 moves along the second slide groove 8 toward the connecting member 5, and the first clamping plate 12 and the second clamping plate 14 clamp the connecting member 5.

[0029] As an implementation method, the second driving mechanism includes a screw 16 rotatably connected in the third slide groove 9, and a first motor 17 that can drive the screw 16; the screw 16 includes a first threaded portion 161 threadedly connected to the first slider 13, and a second threaded portion 162 threadedly connected to the second slider 15, and the thread directions of the first threaded portion 161 and the second threaded portion 162 are opposite.

[0030] When the first motor 17 drives the screw 16 to rotate, the first threaded portion 161 and the second threaded portion 162 rotate synchronously, the first threaded portion 161 and the first slider 13 rotate relatively, and the second threaded portion 162 and the second slider 15 rotate relatively. When the thread directions of the first threaded portion 161 and the second threaded portion 162 are opposite, the movement directions of the first slider 13 and the second slider 15 are opposite, and the first slider 13 and the second slider 15 move away from or approach each other.

[0031] As an implementation method, the chassis 3 is provided with a guide groove 18 that runs through the upper and lower sides of the chassis 3. The lower end of the connecting member 5 is inserted into the guide groove 18. The lower end of the connecting member is conical. The chassis 3 is provided with a third driving mechanism, which can drive the connecting member 5 to move downward so that the lower end of the connecting member 5 is inserted into the bottom of the water; the chassis 3 is provided with a positioning device (not shown in the figure) that can locate the position of the track mechanism in the water.

[0032] Through the above arrangement, when the underwater robot needs to operate in suspension, the track mechanism can load the robot body to bring the robot body into or out of the water area, and the track mechanism can be detached and connected underwater to achieve a labor-saving effect.

[0033] Specifically, underwater robots are generally heavy. Even if the track mechanism is removed from the lower side of the robot body, the weight of the robot body is still relatively heavy, and it is more laborious to carry it by manpower; in the present application, when suspended operation is required, the track mechanism loads the robot body from the shore into the water, and the positioning device in the chassis 3 locates the position of the track mechanism in real time; in the water, the clamping mechanism releases the connecting member 5, and the propeller 2 drives the robot body to leave the track mechanism, and then performs suspended operation in the water; the third driving mechanism drives the connecting member 5 to move downward, and inserts the lower end of the connecting member 5 into the bottom of the water to prevent the water flow from washing away the track mechanism; when the robot body operation is completed, the propeller 2 drives the robot body back to the top of the chassis 3 according to the position of the track mechanism, and then descends to the upper side of the chassis 3, the third driving mechanism drives the connecting member 5 to move upward, the connecting member 5 is pulled out from the bottom of the water and inserted into the slot 6, the clamping mechanism re-clamps the connecting member 5, and then the track mechanism moves back to the shore.

[0034] As an implementation method, a chamfer 19 is provided at the lower end of the slot 6 to facilitate the insertion of the upper end of the connector 5 .

[0035] As an implementation method, a camera 20 is set on the lower side of the robot body, and a QR code 21 is set on the upper side of the chassis 3. The camera 20 can recognize the QR code 21 so that the robot body can land on the upper side of the chassis 3.

[0036] Through the above arrangement, the robot body can be positioned through the two-dimensional code 21 , so that the robot body can land accurately on the upper side of the chassis 3 , and the connector 5 can be smoothly inserted into the slot 6 .

[0037] Specifically, the positioning accuracy of the positioning chip and the positioning device may be low. In order to make the robot body land on the chassis 3 more accurately, when the robot body moves to the top of the chassis 3, the camera 20 can capture the QR code 21. At this time, if the QR code 21 is not in the center of the field of view of the camera 20, the first controller will automatically control the propeller 2, and the propeller 2 drives the robot body to make the QR code 21 automatically move to the center of the field of view of the camera 20, so that the slot 6 and the connector 5 are basically aligned. After the propeller 2 drives the robot body to move downward, the connector 5 can be smoothly inserted into the slot 6; among them, the principle of positioning the QR code 21 can refer to the corresponding QR code positioning technology of the drone, and will not be repeated.

[0038] As an implementation method, the connecting member 5 includes a threaded section 51, a transmission section 52 and an insertion section 53 which are arranged in sequence from top to bottom. The threaded section 51, the transmission section 52 and the insertion section 53 are integrally formed. The upper end of the threaded section 51 is clamped by the first clamping plate 12 and the second clamping plate 14. The lower end of the threaded section 51 is threadedly connected in the guide groove 18. The third driving mechanism includes a transmission gear 22 which is sleeved on the transmission section 52. The transmission gear 22 is rotated so that the transmission gear 22 and the transmission section 52 rotate synchronously and the connecting member 5 moves upward or downward. A driving gear 23 meshing with the transmission gear 22 and a second motor 24 that can drive the driving gear 23 are provided in the chassis 3.

[0039] Through the above arrangement, the reliability of the connection between the connecting member 5 and the clamping mechanism can be increased; and the connecting member 5 can be inserted into the bottom of the water more easily.

[0040] Specifically, the threaded section 51 increases the friction coefficient of the surface of the connecting member 5 on the one hand, and on the other hand, when the connecting rod rotates, the threaded section 51 will drive the transmission section 52 and the insertion section 53 to move upward or downward; when the second motor 24 drives the transmission gear 22 to rotate through the driving gear 23, the transmission gear 22 rotates in situ in the chassis 3, and the transmission gear 22 drives the threaded section 51 to rotate through the transmission section 52. When the threaded section 51 and the guide groove 18 rotate relative to each other, the threaded section 51 moves upward or downward, and at this time, the transmission section 52 will move upward or downward relative to the transmission gear 22; when the insertion section 53 moves downward, the insertion section 53 will rotate while being inserted into the bottom of the water.

[0041] As an implementation manner, the cross section of the transmission section 52 is square.

[0042] Through the above arrangement, the transmission section 52 and the transmission gear 22 will not rotate relative to each other, and the transmission section 52 can only move up and down relative to the transmission gear 22 .

[0043] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the protection scope of the appended claims of the present invention.

Claims

1. An amphibious crawling mechanism of an underwater robot, characterized in that: It includes a propeller arranged on the robot body of the underwater robot, and a crawler mechanism is detachably connected to the lower side of the robot body; The crawler mechanism includes a chassis arranged at the lower side of the robot body, crawlers arranged at opposite sides of the chassis, and a first driving mechanism for driving the crawlers; A connecting piece is vertically arranged on the chassis, a slot is arranged on the lower side of the robot body, the upper end of the connecting piece is inserted into the slot, and a clamping mechanism for clamping the connecting piece to lock the connecting piece in the slot is arranged on the robot body.

2. The amphibious crawling mechanism of an underwater robot according to claim 1, characterized in that: A first slide groove is provided on one side of the slot, a second slide groove is provided on the other side of the slot, a third slide groove is provided on the upper side of the slot, and the upper sides of the first slide groove and the second slide groove are both connected to the third slide groove; The clamping mechanism includes a first connecting rod and a second connecting rod respectively slidably connected in the first sliding groove and the second sliding groove, one end of the first connecting rod is fixedly connected to the first clamping plate, the other end of the first connecting rod is fixedly connected to the first slider, one end of the second connecting rod is fixedly connected to the second clamping plate, and the other end of the second connecting rod is fixedly connected to the second slider, the first clamping plate and the second clamping plate are clamped on opposite sides of the connecting member, the first slider and the second slider are slidably connected in the third sliding groove, and the clamping mechanism also includes a second driving mechanism for driving the first slider and the second slider to open and close.

3. The amphibious crawling mechanism of an underwater robot according to claim 2, characterized in that: The second driving mechanism includes a screw rod rotatably connected to the third slide slot, and a first motor capable of driving the screw rod; The screw rod includes a first threaded portion threadedly connected to the first slider, and a second threaded portion threadedly connected to the second slider, and the thread directions of the first threaded portion and the second threaded portion are opposite.

4. The amphibious crawling mechanism of an underwater robot according to claim 2, characterized in that: The chassis is provided with a guide groove running through the upper and lower sides of the chassis, the lower end of the connecting member is inserted into the guide groove, the lower end of the connecting member is tapered, and the chassis is provided with a third driving mechanism, the third driving mechanism can drive the connecting member to move downward, so that the lower end of the connecting member is inserted into the bottom of the water; The chassis is provided with a positioning device which can locate the position of the crawler mechanism in water.

5. The amphibious crawling mechanism of an underwater robot according to claim 2, characterized in that: The lower end of the slot is provided with a chamfer to facilitate the insertion of the upper end of the connector.

6. The amphibious crawling mechanism of an underwater robot according to claim 2, characterized in that: A camera is arranged on the lower side of the robot body, and a QR code is arranged on the upper side of the chassis. The camera can identify the QR code so that the robot body can land on the upper side of the chassis.

7. The amphibious crawling mechanism of an underwater robot according to claim 4, characterized in that: The connecting member includes a threaded section, a transmission section and an insertion section which are arranged in sequence from top to bottom, and the threaded section, the transmission section and the insertion section are integrally formed. The upper end of the threaded section is clamped by the first clamping plate and the second clamping plate, and the lower end of the threaded section is threadedly connected in the guide groove. The third driving mechanism includes a transmission gear sleeved on the transmission section, and the transmission gear is rotated so that the transmission gear and the transmission section rotate synchronously and the connecting member moves upward or downward. A driving gear meshing with the transmission gear and a second motor capable of driving the driving gear are provided in the chassis.

8. The amphibious crawling mechanism of an underwater robot according to claim 7, characterized in that: The cross section of the transmission section is square.

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