Underwater movement carrier and underwater movement system

Abstract

The invention relates to an underwater movement carrier and an underwater movement system. The underwater movement carrier comprises a vehicle body provided with a longitudinally-through through hole, and the lower portion of the vehicle body is used for carrying a carried device; the propelling assembly is connected with the vehicle body and used for enabling the underwater moving carrier to move in water and adjusting the posture of the underwater moving carrier; and the quick release assembly can be arranged in the through hole and can limit the loaded device in the longitudinal direction, and the quick release assembly comprises a cam handle, a mandrel and an end sleeve. The underwater movement carrier disclosed by the invention can be used for replacing personnel to carry out conveying work in water; conveying and posture adjustment in water can be achieved, and therefore various conveying conditions and the landing requirement of a carried device are met; and the loaded device can be quickly, conveniently and reliably mounted and dismounted, so that the efficiency is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics technology, and in particular to an underwater sports vehicle and an underwater sports system. Background Art

[0002] The harsh marine environment has brought many changes to offshore operations. In some scenarios such as ocean search, ocean rescue, and operation and maintenance of offshore equipment (such as wind turbine towers), robots and other equipment are used to improve convenience. Robot systems are gradually becoming a key component of offshore operations. Robots can reduce labor costs and reduce safety risks for workers by replacing human labor. For example, the operation and maintenance of the outer wall of a wind turbine tower can reduce the risk of operation and maintenance accidents, improve detection efficiency and accuracy, and save maintenance costs. It is estimated that in the future, good robot systems can help wind power projects save a lot of costs during their life cycle.

[0003] At present, the operation and maintenance robots are put on the ladder by the operation and maintenance personnel from the bottom of the wind turbine. However, due to the special design of offshore wind turbines and the wide range of fields involved in offshore operation and maintenance technicians, these personnel must not only have high professional qualities, but also have the awareness of maritime rescue. Whether it is the low-performance tower climbing and berthing ability of the operation and maintenance vessels, or the severe impact of typhoons and other severe weather on high-tower wind turbines, it poses a great challenge to the safety of the operation and maintenance personnel. Summary of the invention

[0004] In order to overcome the problems existing in the related art, an exemplary embodiment of the present disclosure provides an underwater sports vehicle and an underwater sports system.

[0005] An exemplary embodiment of the first aspect of the present disclosure provides an underwater sports vehicle, wherein the underwater sports vehicle comprises: a body, provided with a through hole running longitudinally therethrough, the lower part of the body being used to carry a carried device; a propulsion assembly, connected to the body, and used to move the underwater sports vehicle in water and adjust the posture of the underwater sports vehicle; a quick-release assembly, which can be arranged in the through hole and can limit the carried device in the longitudinal direction, the quick-release assembly comprising: a cam handle, having a cam shaft arranged laterally, the cam handle being able to rotate along the cam shaft; a spindle, the upper end of which is hinged to the cam shaft, the lower end of which is provided with a radially protruding block, the block being used to limit the carried device in the longitudinal direction, the spindle being able to be arranged in the through hole and moving in the longitudinal direction driven by the rotation of the cam handle along the cam shaft; an end sleeve, which is sleeved on the radially outer side of the upper part of the spindle, the top surface being used to abut against the bottom end of the cam handle, and the bottom being used to abut against the top surface of the body or being fixedly connected to the body.

[0006] In some embodiments, the quick-release assembly further comprises a fastening nut which is threadedly connected to the outer periphery of the end sleeve and can be tightened upward to abut against the bottom end of the cam handle.

[0007] In some embodiments, the quick-release assembly further includes a sleeve, a top of which is connected to the end sleeve and is sleeved on the outside of the spindle.

[0008] In some embodiments, a through groove is provided at the lower part of the vehicle body, and a groove is provided on the side wall of the through groove for slidingly cooperating with a convex rib of the carried device; or, a convex rib is provided on the side wall of the through groove for slidingly cooperating with a groove of the carried device.

[0009] In some embodiments, the propulsion assembly includes: four vertically arranged first propeller assemblies, respectively fixed to both sides of the front and rear of the vehicle body; and two horizontally arranged second propeller assemblies, respectively fixed to both sides of the middle of the vehicle body.

[0010] In some embodiments, the water sports vehicle further includes: one or more buoyancy blocks connected to the vehicle body for providing buoyancy.

[0011] In some embodiments, at least one of the buoyancy blocks is disposed at a front end of the vehicle body.

[0012] In a second aspect, according to some other exemplary embodiments, the present disclosure provides an underwater sports system, comprising: a carried device; and an underwater sports vehicle as described in the first aspect, wherein the lower part of the body of the underwater sports vehicle is used to carry the carried device.

[0013] In some embodiments, the carried device is provided with a locking mechanism, which is coaxial with a longitudinal through hole provided in the vehicle body, for a protrusion provided at the lower end of the spindle to pass through.

[0014] In some embodiments, the carried device is an above-water tower inspection robot.

[0015] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: through the water sports vehicle of the present disclosure, it is possible to replace the work of transporting personnel in the water; it is possible to realize transportation and posture adjustment in the water, so as to cope with various transportation conditions and landing needs of the carried device; and it is possible to quickly, conveniently and reliably install and disassemble the carried device, thereby improving efficiency.

[0016] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present disclosure may be better understood by describing exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, in which:

[0018] Figure 1 is a schematic structural diagram of the underwater sports vehicle disclosed in the present invention;

[0019] Figure 2 is a schematic structural diagram of the vehicle body disclosed herein;

[0020] Figure 3 It is a structural schematic diagram of the connection between the quick-release assembly and the locking mechanism disclosed in the present invention;

[0021] Figure 4 is a structural schematic diagram of the locking mechanism disclosed in the present invention;

[0022] Figure 5 is a schematic diagram of the structure of a quick-release assembly when the cam handle is in a substantially vertical state according to an exemplary embodiment of the disclosure;

[0023] Figure 6 is a schematic diagram of the structure of a quick-release assembly when the cam handle is in a depressed state according to an exemplary embodiment of the disclosure;

[0024] Figure 7 is a schematic diagram of the structure of a quick-release assembly when a fastening nut is tightened according to an exemplary embodiment of the disclosure;

[0025] Figure 8 is a schematic structural diagram of a first propeller assembly and a second propeller assembly of the present invention;

[0026] Fig. 9 is a schematic diagram of the structure of the underwater sports system disclosed in the present invention;

[0027] Reference numerals:

[0028] 100. Underwater sports vehicles;

[0029] 110, vehicle body; 111, vehicle body through hole; 112, through groove; 1121, convex rib; 113, mounting portion adapted to the base of the first propeller assembly; 114, mounting portion adapted to the base of the second propeller assembly; 115, buoyancy block mounting portion;

[0030] 120, propulsion assembly; 121, first propeller assembly; 122, second propeller assembly; 1211, 1221, motor; 1212, 1222, base; 1213, 1223, propeller;

[0031] 130, quick release assembly; 131, cam handle; 1311, cam shaft; 132, spindle; 133, end sleeve; 134, fastening nut; 135, sleeve;

[0032] 140, buoyancy block;

[0033] 200, carried device;

[0034] 210. Locking mechanism; 211. Locking hole; 212. Abutting surface. DETAILED DESCRIPTION

[0035] The specific implementation methods of the present disclosure will be described below. It should be noted that in the specific description of these implementation methods, in order to provide a concise description, it is impossible for this specification to provide a detailed description of all the features of the actual implementation methods. It should be understood that in the actual implementation of any implementation method, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet system-related or business-related restrictions, various specific decisions are often made, and this will also change from one implementation method to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content disclosed by the present disclosure, some changes in design, manufacturing or production based on the technical content disclosed in the present disclosure are just conventional technical means, and should not be understood as insufficient content of the present disclosure.

[0036] Unless otherwise defined, the technical or scientific terms used in the claims and the specification shall have the usual meaning understood by persons with ordinary skills in the technical field to which the present disclosure belongs. The words "first", "second" and similar words used in the patent application specification and the claims of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "one" or "one" do not indicate a quantitative limitation, but indicate the existence of at least one. Words such as "include" or "comprise" and similar words mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalent elements, and do not exclude other elements or objects. Words such as "connect" or "connected" and similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0037] In order to solve the above technical problems, the present disclosure provides an underwater sports vehicle 100, such as Figure 1 , Figure 2 , Figure 3 as well as Fig. 9As shown, the underwater sports vehicle 100 may include: a vehicle body 110, a propulsion assembly 120, and a quick-release assembly 130. Among them, the lower part of the vehicle body 110 can be used to carry a carried device 200, such as a robot for offshore wind power tower inspection, etc., which can make the transportation in the water more stable, and the posture is easier to maintain or adjust. When reaching the specified position, the robot can more easily carry out search and detection work, or conveniently adjust the posture to land on a horizontal plane, inclined surface, or vertical surface. The lower part and other orientations mentioned in the present disclosure are based on the approximately horizontal state of the underwater sports vehicle 100, that is, the carried device 200 can be placed on a horizontal plane, or it can be the state of the underwater sports vehicle 100 moving normally in the water. In the following text, except for the state otherwise specified, it is described in this state. The vehicle body 110 may also be provided with a longitudinally penetrating vehicle body through hole 111, which may be used to cooperate with the quick-release assembly 130 to achieve longitudinal limitation of the carried device 200 installed below the vehicle body 110, and the operating part of the quick-release assembly 130 is above the vehicle body 110, so that it can be easily operated. The carried device 200 placed at the lower part of the vehicle body 110 can be conveniently installed, fixed and disassembled without turning over or inverting the vehicle body 110 and the carried device 200, thereby improving the efficiency of installation and disassembly and avoiding damage to the vehicle body 110 and the carried device 200 during the turning process.

[0038] The propulsion assembly 120 can be connected to the vehicle body 110, and is used to move the underwater sports vehicle 100 in the water and adjust the posture of the underwater sports vehicle 100. The propulsion assembly 120 may include propeller assemblies, jet assemblies, etc. arranged at multiple different positions to achieve multiple directions of travel such as forward movement and turning in the water; the posture of the underwater sports vehicle 100 in the water can also be adjusted through the torque generated by components at different positions, such as achieving the upward movement of the front of the vehicle in the water, or even achieving the underwater sports vehicle 100 to remain in a state close to or completely vertical in the water. The directions such as the front of the vehicle and the front part mentioned in the present disclosure, unless otherwise specified, can be based on the forward direction of the underwater sports vehicle 100 in the general state. The front of the forward direction in the general state is also the front position of the vehicle body 110, and the corresponding ones are the rear part and the rear.

[0039] like Figure 3-Figure 7As shown, the quick release assembly 130 can be arranged in the vehicle body through hole 111 and can limit the carried device 200 in the longitudinal direction, so as to facilitate the installation or removal of the carried device 200. The quick release assembly 130 may include: a cam handle 131, a spindle 132 and an end sleeve 133. Among them, the cam handle 131 may have a cam shaft 1311 arranged in the horizontal direction (i.e., in the state where the quick release assembly 130 is installed in the vehicle body through hole 111, in a direction perpendicular to the longitudinal direction), and the cam handle 131 can rotate along the cam shaft 1311. The cam handle 131 can be divided into a cam end and a handle end, and the two can be integrally formed or combined to form the cam handle 131. The cam end is provided with a cam shaft 1311, and the cam shaft 1311 can be arranged on both sides of the cam handle 131 to extend outward; or a groove is arranged at the bottom of the cam handle 131, and the cam shaft 1311 is arranged in the groove. The camshaft 1311 is eccentrically arranged so that when the cam handle 131 rotates along the camshaft 1311, the distance between the lowest end surface and the camshaft 1311 changes. Therefore, when the cam handle 131 is limited at the lowest position, the height of the camshaft 1311 changes during the rotation along the camshaft 1311, thereby driving the core shaft 132 hinged to the camshaft 1311 to move up and down.

[0040] The spindle 132 may be in the shape of a long rod as a whole, and a radially protruding bump may be provided at the lower end. The lower end mentioned here may refer to the end facing the lower part of the vehicle body 110 when the quick-release assembly 130 is installed in the vehicle body through hole 111; the radial direction may be the radial direction of the vehicle body through hole 111 or the spindle 132. There may be one, two or more bumps, which may cooperate with the locking device of the carried device 200 to achieve longitudinal positioning of the carried device 200. For example, a locking hole 211 corresponding to the bump is provided on the carried device 200. After the bump passes through the vehicle body through hole 111, it rotates along the circumferential direction with the spindle 132 at a certain angle, so that it intersects with the locking hole 211 and cannot pass through the locking hole 211, thereby achieving positioning.

[0041] In some embodiments, two protrusions may be provided, which are arranged in a straight line as a whole, and the corresponding locking mechanism 210 is provided with a straight-line locking hole 211, such as Figure 4 As shown, the straight-shaped protrusion can pass through the lock hole 211, and the spindle 132 rotates to drive the protrusion to rotate, so that the protrusion is staggered with the lock hole 211. The lower end surface of the locking mechanism 210 can be provided with abutment surfaces 212 on both sides of the lock hole 211, and the abutment surfaces 212 can be provided with transition slopes, so that the protrusion can be more easily guided during the rotation process, and a more stable locking can be achieved.

[0042] The upper end of the spindle 132 (i.e., the other end corresponding to the lower end) can be hinged to the camshaft 1311, and the upper end of the spindle 132 can be provided with a countersunk hole or a through hole corresponding to the camshaft 1311, and can be hinged to the camshaft 1311. For example, the camshaft 1311 is arranged on both sides of the cam handle 131, and the upper end of the spindle 132 is provided with a groove capable of accommodating the lower end of the cam handle 131, and the inner side wall opposite to the groove is provided with a countersunk hole or a through hole for installing the camshaft 1311; the camshaft 1311 can also be arranged in the groove at the bottom of the cam handle 131, and the upper end of the spindle 132 is accommodated in the groove at the bottom of the cam handle 131 and is provided with a through hole, and the camshaft 1311 is passed through the through hole of the spindle 132 to achieve hinge. The spindle 132 can be arranged in the through hole 111 of the vehicle body and move in the longitudinal direction under the drive of the cam handle 131 to rotate along the camshaft 1311, and the carried device 200 can be longitudinally limited in the locked state. Furthermore, the spindle 132 passes through the locking hole 211 to be positioned and locked, and also limits the lateral position of the carried device 200 , so that the carried device 200 can be conveniently and quickly positioned and assembled through the quick-release assembly 130 .

[0043] like Figure 5-Figure 7As shown, the end sleeve 133 can be sleeved on the outside of the spindle 132, and can be located radially outside the upper part of the spindle 132 (i.e., the side close to the cam handle 131). When the spindle 132 is placed in the vehicle body through hole 111, the bottom of the end sleeve 133 can abut against the top surface of the vehicle body 110, or can be detachably fixedly connected with the vehicle body 110 by means of threads, buckles, etc. The end sleeve 133 is fixed to the vehicle body 110 at least in the longitudinal direction, and the top surface of the end sleeve 133 is used to abut against the bottom end of the cam handle 131. Since the end sleeve 133 is fixed to the vehicle body 110 at least in the longitudinal direction, when the cam handle 131 rotates along the camshaft 1311, the bottom end of the cam handle 131 can maintain contact with the top surface of the end sleeve 133, thereby limiting the bottom end of the cam handle 131. Since the camshaft 1311 is eccentrically arranged, the camshaft 1311 can be raised and lowered relative to the end sleeve 133 and the vehicle body 110, thereby driving the spindle 132 hinged to the camshaft 1311 to move up and down. Exemplarily, when the cam handle 131 is in a basically vertical state, the cam shaft 1311 and the spindle 132 can be in a basically lowest position, and the cam handle 131 is rotated axially along the spindle 132 or the vehicle body through hole 111 to align the protrusion of the spindle 132 with the locking hole 211 of the carried device 200 and pass through the locking hole 211, and then the protrusion of the spindle 132 is staggered with the locking hole 211 by a certain angle along the axial direction of the spindle 132 or the vehicle body through hole 111, and then the cam handle 131 is pressed down so that the cam shaft 1311 drives the spindle 132 to be lifted, and the top surface of the protrusion abuts against the bottom surfaces on both sides of the locking hole 211 to achieve locking, thereby limiting the longitudinal movement of the carried device 200, and the locking device of the carried device 200 can also abut against the spindle 132 in the lateral direction in the locked state, thereby limiting the lateral movement of the carried device 200 by the spindle 132 passing through the vehicle body through hole 111.

[0044] The present disclosure is provided with a quick-release assembly 130, which can conveniently and safely install and remove the carried device 200 from the upper part of the vehicle body 110 in a fast, safe and reliable manner; the underwater sports vehicle 100 can conveniently carry the carried device 200 for propulsion and posture adjustment in the water, meeting the operation requirements of the carried device 200 in the water, such as movement and landing, etc., which reduces the labor cost and avoids the safety risk of manual transportation.

[0045] In some embodiments, Figure 5-Figure 7As shown, the quick release assembly 130 may further include a fastening nut 134, the fastening nut 134 may be provided with an internal thread, the outer peripheral surface of the end sleeve 133 may be provided with an external thread, the fastening nut 134 is threadedly connected to the outer peripheral thread of the end sleeve 133, and can be moved up and down along the axial direction of the end sleeve 133 by rotation. The bottom end of the cam handle 131 abuts against the top surface of the end sleeve 133, and the fastening nut 134 rotates upward, and the top surface of the fastening nut 134 can also abut against the bottom end of the cam handle 131. When the cam handle 131 is pressed down to achieve locking, the fastening nut 134 moves upward by rotating, so that the top surface of the fastening nut 134 abuts against the bottom end of the cam handle 131. Due to the eccentric setting of the lower cam end of the cam handle 131, the fastening nut 134 can prevent the cam handle 131 from lifting in the vertical direction, so that the cam handle 131 is more stable and reliable in the locking position, so that the loaded device 200 can still be locked in the face of wind and waves or bumps on the water. Figure 5 As shown, the cam handle 131 is in a substantially vertical state, and the spindle 132 and the locking mechanism 210 are not locked. At this time, the fastening nut 134 can be rotated to make its top surface lower than the top surface of the end sleeve 133, which will not affect the rotation of the cam handle 131; Figure 6 As shown, after the cam handle 131 is pressed down, the spindle 132 moves upward under the drive of the cam shaft 1311, and the lower protrusion can abut against the bottom surface of the locking mechanism 210. In this process, the top surface of the fastening nut 134 is lower than the top surface of the end sleeve 133 and does not contact the bottom end of the cam handle 131, making it easier to press the cam handle 131 down and rotate it to the locking position; Figure 7 As shown, after the cam handle 131 is pressed down, the fastening nut 134 is rotated to make it rise, and the top surface of the fastening nut 134 abuts against the lower end of the cam handle 131 and can be further tightened. The cam handle 131 is pressed against by surface deformation, making it difficult for the cam handle 131 to flip up, thereby further ensuring the stability of the cam handle 131 in the locked state, so that the spindle 132 can abut against the locking structure in the longitudinal direction to limit it more stably and reliably, thereby ensuring that the loaded device 200 is firmly loaded.

[0046] In some embodiments, Figure 3 , Figure 5-Figure 7 As shown, the quick release assembly 130 may further include a sleeve 135. Figure 3As shown, the top of the sleeve 135 can be connected to the end sleeve 133, and the sleeve 135 can be sleeved on the outside of the mandrel 132 as a whole. The top of the sleeve 135 can be provided with an external thread, and the end sleeve 133 can be provided with an internal thread, so that the sleeve 135 and the end sleeve 133 are threadedly connected; the outer peripheral surface of the top of the sleeve 135 can also be provided with a snap-fit ​​structure, which is matched and connected with the matching snap-fit ​​structure provided on the inner peripheral surface of the end sleeve 133. The outer diameter of the sleeve 135 is less than or equal to the inner diameter of the vehicle body through hole 111, so that the sleeve 135 can be smoothly inserted into the vehicle body through hole 111. The sleeve 135 can be used to protect the mandrel 132, and the outer diameter of the sleeve 135 can match the inner diameter of the vehicle body through hole 111. After being inserted into the vehicle body through hole 111, the sleeve 135 can slide and match with the vehicle body through hole 111, so that the position between the quick release assembly 130 and the vehicle body 110 is more stable.

[0047] In some embodiments, Figure 2 As shown, the lower part of the vehicle body 110 may be provided with a through slot 112, and the side wall of the through slot 112 is provided with a groove for slidingly cooperating with the convex rib of the carried device 200; or, the side wall of the through slot 112 is provided with a convex rib 1121 for slidingly cooperating with the groove of the carried device 200. In the embodiment of the present disclosure, the lower part of the vehicle body 110 may be provided with a through slot 112 open at the front and rear to accommodate the carried device 200, so that the movement of the carried device 200 in the lateral direction can be limited by the side walls on both sides of the through slot 112 to achieve limited installation. In addition, the through slot method can enable the underwater sports vehicle 100 to be installed directly from above the carried device 200 when the carried device 200 is placed on the ground or other planes, making the installation more convenient and quick. The side walls of the through slot 112 and the side of the carried device 200 may be provided with mortise and tenon structures respectively, which cooperate with each other. The carried device 200 may slide into the through slot 112 from the front or rear side of the through slot 112 to achieve positioning and installation. The movement of the carried device 200 in the longitudinal direction can be further limited by the mortise and tenon structure. Through the restrictions of the through slot 112 and the mortise and tenon structure, the carried device 200 basically only has the freedom of movement in the front-to-back direction (i.e., the extension direction of the through slot 112). With the further longitudinal and lateral restrictions of the quick-release assembly 130 and the locking mechanism 210, the position of the carried device 200 is limited and the installation is stable. In some embodiments, the side walls of the through slot 112 may be provided with grooves, and the carried device 200 may be provided with convex ribs, and the grooves and the convex ribs may be slidably matched. In other embodiments, such as Figure 2 , Fig. 9 As shown, the side wall of the through slot 112 may be provided with a convex rib 1121, and the carried device 200 is provided with a groove, and the convex rib 1121 and the groove of the carried device 200 are slidably matched to achieve positioning.

[0048] In some embodiments, Figure 1 , Figure 8As shown, the propulsion assembly 120 may include: four vertically arranged first propeller assemblies 121, which are respectively fixed to the two sides of the front part and the two sides of the rear part of the vehicle body 110; and two horizontally arranged second propeller assemblies 122, which are respectively fixed to the two sides of the middle part of the vehicle body 110. In the embodiment of the present disclosure, the first propeller assembly 121 can be arranged vertically and can operate independently, and can respectively provide an upward force (water flows downward through the paddles) or a downward force (water flows upward through the paddles) for the underwater transport vehicle, so that the underwater transport vehicle can move upward as a whole in the water (i.e., close to the water surface) or move downward as a whole (i.e., go deep into the water). The first propeller assembly 121 located at the front of the vehicle body 110 can also provide an upward force to make the front part of the underwater transport vehicle rise, and the first propeller assembly 121 located at the rear of the vehicle body 110 can also provide a downward force at the same time, further increasing the upward angle of the underwater transport vehicle, and the cooperation of the two can keep the underwater transport vehicle in a basically vertical posture.

[0049] In some scenarios, the carried device 200 may be a robot used to inspect an offshore wind turbine tower. The outer surface of the tower is basically vertical. In order to enable the robot to land on the outer surface of the tower, the robot is first carried to the vicinity of the tower by the underwater sports vehicle 100, and then the posture is adjusted by the propulsion assembly 120 so that the underwater sports vehicle 100 is basically vertical and basically parallel to the tower surface, thereby ensuring that the lower part of the robot can contact the tower surface and achieve smooth landing.

[0050] Different lifts can also be generated by the first propeller assemblies 121 located on the left and right sides to achieve lateral translation of the underwater transport vehicle in the water. The second propeller assembly 122 can be arranged basically horizontally and located in the middle of the vehicle body 110. The two second propeller assemblies 122 can independently provide forward force (water flow moves backward through the paddles) or backward force (water flow moves forward through the paddles). If the two second propeller assemblies 122 provide forward force at the same time and are equal in magnitude, the underwater transport vehicle is propelled forward by the two second propeller assemblies 122; if the two second propeller assemblies 122 provide backward force at the same time and are equal in magnitude, the underwater transport vehicle is propelled forward and backward by the two second propeller assemblies 122; if the force directions or magnitudes provided by the two second propeller assemblies 122 are different, the underwater transport vehicle can be turned or rotated horizontally. Four first propeller assemblies 121 are arranged at the four corners of the vehicle body 110, and the second propeller assemblies 122 are arranged at both sides of the middle of the vehicle body 110, and the direction and strength of rotation can be adjusted independently, so that the posture of the underwater sports vehicle can be adjusted to meet the needs of traveling, obstacle avoidance, landing, etc., and the posture can be moved or adjusted in accordance with the detection or other work needs of the carried device 200. The posture can be flexibly adjusted to improve the utilization rate of the propeller and adapt to different working environments and task requirements.

[0051] In some embodiments, Figure 8 As shown, the first propeller assembly 121 and the second propeller assembly 122 may both include propellers 1213, 1223, motors 1211, 1221 and bases 1212, 1222. The front and rear sides of the vehicle body 110 are provided with mounting portions 113 adapted to the base 1212 of the first propeller assembly 121, and the middle sides of the vehicle body 110 are provided with mounting portions 114 adapted to the base 1222 of the second propeller assembly 122. The bases 1212, 1222 and the mounting portions 113, 114 are adapted in shape and mounted on the mounting portions 113, 114. The mounting portion may have a groove matching the base, or both may be corresponding planes or arcs, so as to improve the installation stability of the propeller assembly. The base may be fixedly connected by a plurality of bolts or other means. The motors 1211 and 1221 can be fixedly connected to the bases 1212 and 1222, and the output shafts of the motors 1211 and 1221 are connected to the propellers 1213 and 1223 to drive the propellers 1213 and 1223 to rotate forward or reverse, and to controllably adjust the speed of the propellers 1213 and 1223. The first propeller assembly 121 and the second propeller assembly 122 can be modularly arranged to facilitate overall installation or replacement.

[0052] In some embodiments, Figure 1As shown, the underwater sports vehicle 100 may also include: one or more buoyancy blocks 140, connected to the vehicle body 110, for providing buoyancy. In the disclosed embodiment, the underwater sports vehicle 100, such as the first propeller assembly 121, the second propeller assembly 122, the quick release assembly 130 and other components themselves are often in a state of negative buoyancy in the water, that is, their own buoyancy is less than their own gravity, resulting in the need to form a lift through the propulsion assembly 120 to maintain the underwater sports vehicle 100 in the water or maintain the same water depth of travel, resulting in additional energy consumption. In this embodiment, one or more buoyancy blocks 140 can be provided on the vehicle body 110 to provide buoyancy for the underwater sports vehicle 100, so that the underwater sports vehicle 100 as a whole is neutrally buoyant, that is, the underwater sports vehicle 100 as a whole can basically maintain a uniform depth of suspension in the water, or the buoyancy blocks 140 can be provided according to the situation of the carried device 200, so that the underwater sports vehicle 100 is neutrally buoyant after the carried device 200 is carried by the underwater sports vehicle 100. The size and number of the buoyancy blocks 140 can also be set according to the density of water. The density of seawater is higher than that of fresh water, and the buoyancy generated per unit volume is strong, so the number of buoyancy blocks 140 can be relatively reduced or the volume of the buoyancy blocks 140 can be reduced. The buoyancy blocks 140 can be made of relatively low-density materials such as plastic, or can be structures with a closed cavity formed inside. In some embodiments, the buoyancy blocks 140 have a closed cavity, and the volume of the cavity can be adjusted according to the actual buoyancy requirements, thereby changing the buoyancy of the buoyancy blocks 140. One or more buoyancy blocks 140 can be provided and fixed at different positions of the vehicle body 110 to maintain the overall buoyancy balance of the vehicle body 110 while generating buoyancy to avoid unstable posture.

[0053] In some embodiments, at least one buoyancy block 140 is disposed on the buoyancy block mounting portion 115 at the front end of the vehicle body 110. Figure 1 As shown, at least one buoyancy block 140 is provided at the front end of the vehicle body 110, thereby providing buoyancy to the front end of the vehicle body 110. In some cases, the carried device 200 may be a robot for detecting an offshore wind turbine tower. When landing on an offshore wind turbine tower, the front end of the vehicle body 110 needs to be raised. The buoyancy block 140 provided at the front end of the vehicle body 110 can assist the front end of the vehicle body 110 to be raised, making landing easier and smoother.

[0054] Based on the same inventive concept, the present disclosure also provides an underwater sports system, such as Fig. 9As shown, the underwater sports system may include: a carried device 200; and an underwater sports vehicle 100 as in any of the above embodiments, wherein the lower part of the body 110 of the underwater sports vehicle 100 is used to carry the carried device 200. The underwater sports vehicle 100 can replace the transportation work of personnel in the water, carry the carried device 200 to achieve transportation and landing, and assist the carried device 200 to complete the work in the water; the underwater sports vehicle 100 can achieve transportation and posture adjustment in the water, so as to cope with various transportation conditions and the landing needs of the carried device 200; and can quickly, conveniently and reliably install and disassemble the carried device 200, thereby improving efficiency.

[0055] In some embodiments, Figure 3 , Figure 4 , Fig. 9 As shown, the carried device 200 may be provided with a locking mechanism 210, which is coaxial with the longitudinally penetrating body through hole 111 provided in the body 110, and through which a protrusion provided at the lower end of the spindle 132 passes. By cooperating with the quick release assembly 130 and the locking mechanism 210, the carried device 200 can be restricted in multiple directions of freedom, and can be quickly installed and removed. In some embodiments, as Figure 4 As shown, the locking mechanism 210 is provided with a straight lock hole 211, which is matched with the straight-lined one, and the straight-lined protrusion can pass through the lock hole 211. The spindle 132 rotates to drive the protrusion to rotate, so that the protrusion and the lock hole 211 are staggered. The lower end surface of the locking mechanism 210 can be provided with abutment surfaces 212 on both sides of the lock hole 211. The abutment surfaces 212 can be configured to have a transition slope, so that the protrusion can be more easily guided during the rotation process, and a more stable locking can be achieved.

[0056] In some embodiments, the carried device 200 may be an above-water tower inspection robot. The above-water tower inspection robot can inspect towers set in water such as lakes and seas, such as drilling platform support towers and offshore wind power towers set in water. The above-water tower inspection robot can move and inspect on the surface of the tower. The underwater motion vehicle 100 can conveniently transport the above-water tower inspection robot to the vicinity of the tower without manual transportation, which reduces labor costs and safety risks, especially for tower inspection in the sea. The propulsion assembly 120 of the underwater motion vehicle 100 can conveniently adjust the posture so that the above-water tower inspection robot can log in in a manner that is basically parallel to the surface of the tower. In addition, through the provision of the quick-release assembly 130 and the vehicle body 110, the above-water tower inspection robot can be conveniently and quickly installed and disassembled, and the stability and firmness of the position after installation are guaranteed.

[0057] The present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or multiple times in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0058] In the context of this application, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not refer to the singular, but may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

[0059] Similarly, it should be noted that in order to simplify the description of the disclosure of this application and thus help understand one or more application embodiments, in the above description of the embodiments of this application, multiple features are sometimes merged into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the object of this application are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0060] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is only for example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the embodiments of the present application.

Claims

1. An underwater sports vehicle, comprising: The vehicle body is provided with a longitudinally penetrating through hole, and the lower part of the vehicle body is used for carrying the carried device; A propulsion assembly connected to the vehicle body, used to move the underwater sports vehicle in the water and adjust the posture of the underwater sports vehicle; A quick-release assembly can be arranged in the through hole and can limit the position of the carried device in the longitudinal direction, and the quick-release assembly includes: A cam handle having a transversely arranged cam shaft, wherein the cam handle can rotate along the cam shaft; A spindle, the upper end of which is hinged to the camshaft, and the lower end of which is provided with a radially protruding block, the block being used to limit the position of the carried device in the longitudinal direction, the spindle being able to be arranged in the through hole and moving in the longitudinal direction when the cam handle rotates along the camshaft; The end sleeve is sleeved on the radial outer side of the upper part of the spindle, the top surface of which is used to abut against the bottom end of the cam handle, and the bottom of which is used to abut against the top surface of the vehicle body or be fixedly connected to the vehicle body.

2. The underwater sports vehicle according to claim 1, wherein: The quick-release assembly also includes a fastening nut, which is threadedly connected to the outer periphery of the end sleeve and can be tightened upward to abut against the bottom end of the cam handle.

3. The underwater sports vehicle according to claim 2, wherein: The quick-release assembly also includes a sleeve, the top of which is connected to the end sleeve and is sleeved on the outer side of the spindle.

4. The underwater sports vehicle according to claim 1, wherein: The lower part of the vehicle body is provided with a through groove, and the side wall of the through groove is provided with a groove for slidingly cooperating with the convex rib of the carried device; or, the side wall of the through groove is provided with a convex rib for slidingly cooperating with the groove of the carried device.

5. The underwater sports vehicle according to claim 1, wherein: The propulsion assembly comprises: Four vertically arranged first propeller assemblies are respectively fixed to both sides of the front part and both sides of the rear part of the vehicle body; Two horizontally arranged second propeller assemblies are respectively fixed on both sides of the middle part of the vehicle body.

6. The underwater sports vehicle according to claim 1, wherein: The underwater sports vehicle further includes: one or more buoyancy blocks connected to the vehicle body for providing buoyancy.

7. The underwater sports vehicle according to claim 6, wherein: At least one of the buoyancy blocks is disposed at the front end of the vehicle body.

8. An underwater sports system, comprising: The device being carried; as well as The underwater sports vehicle as described in any one of claims 1-7, wherein the lower part of the body of the underwater sports vehicle is used to carry the carried device.

9. The underwater exercise system according to claim 8, wherein: The carried device is provided with a locking mechanism, which is coaxial with a longitudinal through hole provided in the vehicle body and is used for a convex block provided at the lower end of the spindle to pass through.

10. The underwater exercise system according to claim 8, wherein: The carried device is an above-water tower inspection robot.

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