Miniature underwater autonomous robot capable of landing in shallow water

Abstract

The miniature underwater autonomous robot comprises a robot body, a power mechanism used for driving in water is arranged at the tail end of the robot body, a storage bin is arranged at the position, close to the front end, of the robot body, and a sliding groove and a limiting groove which communicate with the storage bin are formed in the robot body; the miniature underwater autonomous robot capable of landing in the shallow water solves the problems that when an original robot is recycled, the recycling environment is a shoal or a shallow water wharf with the lower depth, so that stern propelling equipment cannot directly sail to the shoreside to be recycled, and the recycling efficiency is high. The problems that recovery limitation is generated due to the fact that the ship can only sail to a place with a certain distance away from the shoreside, especially recovery is particularly difficult in outdoor random wild beaches or shallow water areas, professional hoisting equipment and ships are generally not configured in the environment, and therefore certain challenges are generated on recovery of the equipment are solved.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, in particular to a miniature autonomous underwater robot capable of landing in shallow water. Background Art

[0002] Common micro underwater autonomous robots have many different forms, which can be roughly divided into revolving body, arrow body, multi-body, etc. Among them, the torpedo-type revolving body is the most numerous. The main body includes an internal sealed control cabin and adopts a single forward thruster and stern rudder drive scheme or a stern multi-drive vector propulsion scheme.

[0003] Based on the above appearance characteristics, this type of stern-propelled micro underwater autonomous robot can only work in an environment with a certain water depth, and this type of micro underwater robot is mostly recovered manually, that is, the staff directly picks up the equipment from the water without the help of lifting tools or ships. However, if the recovery environment is a shallow beach or a shallow dock with a low depth, the stern-propelled equipment cannot be directly sailed to the shore for recovery, and can only sail to a place a certain distance from the shore. This creates a recovery restriction, especially in random wild beaches or shallow waters outdoors. It is particularly difficult to recover. This type of environment is generally not equipped with professional lifting equipment and ships, which poses certain challenges to the recovery of the equipment. To this end, we propose a micro underwater autonomous robot that can land in shallow water. Summary of the invention

[0004] The purpose of the present invention is to provide a micro underwater autonomous robot capable of shallow water landing, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a micro underwater autonomous robot capable of shallow water landing, comprising a body, wherein the tail end of the body is provided with a power mechanism for driving in water, and the body is provided with a storage bin near the front end, and the body is provided with a sliding groove and a limiting groove connected to the storage bin, and the limiting groove is located in the middle part of the sliding groove; a moving component, the moving component is arranged in the storage bin and connected to the sliding groove, and comprises an empty bin cover arranged at the storage bin and slidably connected to the sliding groove, and a fixing plate is fixedly connected to the inner side of the empty bin cover; a ground contact component, the ground contact component is arranged in the storage bin and connected to the sliding groove The moving assembly is connected, and it includes a flip shaft arranged in the storage bin and rotatably connected to the body. The flip shaft is provided with a flip frame with one end fixedly connected thereto, and the other end of the flip frame is rotatably connected to a rolling wheel, which solves the problem that when the robot is originally recovered, the recovery environment is a shallow beach or a shallow dock with a low depth, which will cause the stern-propelled equipment to be unable to sail directly to the shore for recovery, and can only sail to a place a certain distance from the shore. This creates a recovery restriction, especially in random wild beaches or shallow water areas outdoors. It is particularly difficult to recover. This environment is generally not equipped with professional lifting equipment and ships, which poses certain challenges to the recovery of the equipment.

[0006] Preferably, the moving assembly includes a blocking plate arranged in the storage bin and close to one side of the sliding slot, the blocking plate is adapted to the position of the fixed plate, and a lifting frame is fixedly connected to the blocking plate, an electric telescopic rod installed in the body is arranged above the lifting frame, the output end of the electric telescopic rod is slidably connected to a waterproof baffle installed in the storage bin, the waterproof baffle is provided with a plug-in slot, a vertical block is fixedly connected to the top end of the output end of the electric telescopic rod, a lifting seat with one end fixedly connected thereto is provided on the vertical block, an upward inclined surface is provided on one end of the lifting seat close to the waterproof baffle, a lifting seat located at the plug-in slot is fixedly connected to the top end of the lifting frame, a downward inclined surface adapted to the inclined surface on the lifting seat is provided on the lifting seat, a pull-back member located in the limit slot is connected to the fixed plate, and a rebound member connected to the body is provided on the blocking plate.

[0007] Preferably, the retraction member includes a limiting shaft which is arranged on the fixed plate and fixedly connected to the fixed plate at one end, the limiting shaft is arranged in the limiting groove and is slidably connected to the machine body, a tension spring which has one end fixedly connected to the machine body is sleeved on the limiting shaft, and the other end of the tension spring is fixedly connected to the fixed plate.

[0008] Preferably, the resilient member includes a lifting block which is arranged on the blocking plate and fixedly connected to the blocking plate on one side, the other side of the lifting block is slidably connected to the machine body, and a mounting seat installed on the side wall of the storage bin is arranged above the lifting block, a connecting shaft which is slidably connected to the lifting block is fixedly connected to the bottom end of the mounting seat, and a first spring which is located between the lifting block and the mounting seat is sleeved on the connecting shaft.

[0009] Preferably, the ground contact assembly includes a top plate arranged in the storage bin and fixedly connected to the body, a plurality of groups of movable grooves are provided on the top plate, and a plurality of groups of racks are slidably connected through the plurality of groups of grooves, the plurality of groups of racks are respectively meshed and connected with a plurality of groups of first gears fixedly connected to the flip shaft, and an end of the rack close to the electric telescopic rod is fixedly connected with a driving rod, a clamping groove is provided on the driving rod, and ends of the two groups of driving rods away from the rack are fixedly connected with a driving frame, the driving frame is fixedly connected to the output end of the electric telescopic rod, and the driving rod is connected to a clamping piece arranged in the storage bin through the clamping groove.

[0010] Preferably, the clamping member includes a clamping shaft arranged in the storage compartment and slidably connected to the machine body, a resistance block is fixedly connected to the clamping shaft, a second spring sleeved on the clamping shaft is arranged between the resistance block and the machine body, and a pressing rod is fixedly connected between multiple groups of the resistance blocks.

[0011] Preferably, fitting plates adapted to the first gear are fixedly connected to both sides of the rack, which is conducive to a more stable connection between the rack and the first gear when moving.

[0012] Preferably, the top end of the clamping shaft is spherical, which helps to reduce the friction between the driving rod and the end of the clamping shaft when moving, and increase the smoothness of the overall operation.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] The present invention solves the problem that when the robot is originally recovered, if the recovery environment is a shallow beach or a shallow dock with a low depth, the stern-propelled device cannot sail directly to the shore for recovery, and can only sail to a place a certain distance from the shore. This creates recovery restrictions, especially in random wild beaches or shallow water areas outdoors. It is particularly difficult to recover in such environments. Generally, professional lifting equipment and ships are not configured, which poses certain challenges to the recovery of the equipment. Through the cooperation of the mobile component and the ground-touching component, when the robot reaches the shallow beach, in order to facilitate recovery, the empty compartment cover is first released through the operation of the mobile component. The empty bin cover is immediately pulled toward the sliding groove when the fixed plate below slides in the limit groove, thereby removing the obstruction to the storage bin. Then the ground contact assembly gradually operates, driving the flip shaft to rotate and then driving the flip frame and the rolling wheels to flip, until the flip frame rotates 90 degrees and is vertical to the body, thereby lifting the front end of the robot and increasing the relative amount of water entering the tail end, and the amount of propulsion of the power mechanism, avoiding the need for professional lifting equipment and ships due to the randomness of the environment, and enabling the equipment to directly touch the bottom in shallow water and sail to the shore for manual recovery. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 This is a schematic diagram of the moving process of the empty bin cover of the present invention;

[0017] Figure 3 This is a schematic diagram of the overall internal structure of the storage bin of the present invention;

[0018] Figure 4 for Figure 3 A magnified image of area A;

[0019] Figure 5 It is a schematic diagram of the coordination of the moving assembly and the ground contact assembly structure of the present invention;

[0020] Figure 6 It is a schematic diagram of the structure coordination of the mobile assembly of the present invention;

[0021] Figure 7 It is a schematic diagram of the overall structural position of the resilient member of the present invention;

[0022] Figure 8 This is a schematic diagram of the structure of the pullback member of the present invention;

[0023] Fig. 9 It is a schematic diagram of the structure of the ground contact assembly of the present invention;

[0024] Fig.10 for Fig. 9 Enlarged view of area B;

[0025] Fig.11 It is a schematic diagram of the structural coordination of the clamping part of the present invention;

[0026] Fig.12 It is a schematic diagram of the overall structure coordination of the inner side of the storage bin of the present invention.

[0027] In the figure: 1, machine body; 2, power mechanism; 3, storage compartment; 4, sliding slot; 5, limit slot; 6, moving assembly; 7, empty compartment cover; 8, fixed plate; 9, ground contact assembly; 10, turning axis; 11, turning frame; 12, rolling wheel; 13, blocking plate; 14, lifting frame; 15, electric telescopic rod; 16, waterproof partition; 17, plug-in notch; 18, vertical block; 19, lifting seat; 20, lifting seat; 21, Pull-back member; 22, rebound member; 23, limit shaft; 24, tension spring; 25, lifting block; 26, mounting seat; 27, connecting shaft; 28, first spring; 29, top plate; 30, moving groove; 31, rack; 32, first gear; 33, driving rod; 34, clamping groove; 35, driving frame; 36, clamping member; 37, clamping shaft; 38, resistance block; 39, second spring; 40, pressing rod; 41, bonding plate. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It should also be noted that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0029] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] See also Figure 1-12 The present invention provides a technical solution: a micro underwater autonomous robot capable of shallow water landing, comprising a body 1, a power mechanism 2 for driving in water is arranged at the rear end of the body 1, and a storage bin 3 is arranged near the front end of the body 1, a sliding groove 4 and a limit groove 5 connected to the storage bin 3 are opened on the body 1, and the limit groove 5 is located in the middle part of the sliding groove 4; a moving component 6, the moving component 6 is arranged in the storage bin 3 and connected to the sliding groove 4, and comprises an empty bin cover 7 arranged at the storage bin 3 and slidably connected to the sliding groove 4, and a fixed plate 8 is fixedly connected to the inner side of the empty bin cover 7; a ground contact component 9, the ground contact component 9 is arranged in the storage bin 3 and connected to the moving component 6, and comprises a flip shaft 10 arranged in the storage bin 3 and rotatably connected to the body 1, and a flip frame 11 is arranged on the flip shaft 10, and a flip frame 11 is fixedly connected to the flip shaft 10 at one end, and a rolling wheel 12 is rotatably connected to the other end of the flip frame 11.

[0031] In this embodiment, the moving assembly 6 includes a blocking plate 13 arranged in the storage bin 3 and close to one side of the sliding groove 4. The blocking plate 13 is adapted to the position of the fixed plate 8. When the blocking plate 13 is in the initial position, the lowest end height is lower than the top end height of the fixed plate 8. The blocking plate 13 is fixedly connected to a lifting frame 14. An electric telescopic rod 15 installed in the machine body 1 is arranged above the lifting frame 14. The output end of the electric telescopic rod 15 is slidably connected to a waterproof partition 16 installed in the storage bin 3. The waterproof partition 16 is provided with a plug-in slot 17. The top end of the output end of the electric telescopic rod 15 is fixedly connected to a vertical block 18, and the vertical block 18 is provided with A lifting seat 19 is fixedly connected to it at one end, and the lifting seat 19 is inserted into the plug-in slot 17 when moving. The cross-sectional area of ​​the plug-in slot 17 is larger than the lifting seat 19 to prevent the insertion from being unable to be inserted due to excessive insertion pressure in the water when the cross-sectional areas are the same. An upward inclined surface is provided on the end of the lifting seat 19 close to the waterproof baffle 16, and a lifting seat 20 located at the plug-in slot 17 is fixedly connected to the top of the lifting frame 14. The lifting seat 20 is provided with a downward inclined surface adapted to the inclined surface on the lifting seat 19, a pull-back member 21 located in the limit slot 5 is connected to the fixed plate 8, and a rebound member 22 connected to the body 1 is provided on the blocking plate 13.

[0032] Furthermore, the pullback member 21 includes a limiting shaft 23 which is arranged on the fixed plate 8 and fixedly connected to the fixed plate 8 at one end. The limiting shaft 23 is arranged in the limiting groove 5 and is slidably connected to the body 1. A tension spring 24 is sleeved on the limiting shaft 23 and one end of which is fixedly connected to the body 1. The other end of the tension spring 24 is fixedly connected to the fixed plate 8. The rebound member 22 includes a lifting block 25 which is arranged on the blocking plate 13 and fixedly connected to the blocking plate 13 at one side. The other side of the lifting block 25 is slidably connected to the body 1, and a mounting seat 26 installed on the side wall of the storage bin 3 is arranged above the lifting block 25. The bottom end of the mounting seat 26 is fixedly connected to a connecting shaft 27 which is slidably connected to the lifting block 25. The connecting shaft 27 is sleeved with a first spring 28 located between the lifting block 25 and the mounting seat 26.

[0033] like Figure 2-Figure 5 as well as Figure 9-11As shown, the ground contact assembly 9 includes a top plate 29 arranged in the storage bin 3 and fixedly connected to the body 1, a plurality of groups of movable grooves 30 are provided on the top plate 29, and a plurality of groups of racks 31 are slidably connected through the plurality of groups of grooves, the plurality of groups of racks 31 are respectively meshed and connected with a plurality of groups of first gears 32 fixedly connected to the flip shaft 10, and the end of the rack 31 close to the electric telescopic rod 15 is fixedly connected with a driving rod 33, and a clamping groove 34 is provided on the driving rod 33, and the ends of the two groups of driving rods 33 away from the rack 31 are fixedly connected with a driving frame 35, and the driving frame 35 is fixedly connected to the output end of the electric telescopic rod 15, and the driving rod 33 is connected to the first gear 32 through the clamping groove 34. The clamping member 36 in the storage bin 3 includes a clamping shaft 37 which is arranged in the storage bin 3 and is slidably connected to the body 1. A resistance block 38 is fixedly connected to the clamping shaft 37. A second spring 39 which is sleeved on the clamping shaft 37 is arranged between the resistance block 38 and the body 1. A pressing rod 40 is fixedly connected between multiple groups of resistance blocks 38. In order to facilitate a more stable connection between the rack 31 and the first gear 32 when moving, fitting plates 41 which are adapted to the first gear 32 are fixedly connected on both sides of the rack 31. In addition, in order to reduce the friction between the driving rod 33 and the end of the clamping shaft 37 when moving, the top of the clamping shaft 37 is spherical.

[0034] In a specific embodiment, when the robot reaches the shallows, in order to facilitate the recovery by the staff, the electric telescopic rod 15 is controlled to operate, and the output end of the electric telescopic rod 15 is retracted inwardly, thereby driving the fixedly connected vertical block 18 to move, and driving the lifting seat 19 to move, and sliding with each other through the inclined surfaces between the lifting seat 19 and the lifting seat 20, and gradually lifting the lifting seat 20 during the sliding process, and the lifting frame 14 on the lifting seat 20 gradually rises, thereby driving the blocking plate 13 at the bottom to rise, until the lifting seat 20 moves to the top of the lifting seat 19, the lifting seat 19 continues to move, and finally passes through the plug-in slot 17 and is inserted into the body 1, and at this time the blocking plate 13 is freed from the blocking of the fixed plate 8, the tension spring 24 is quickly pulled back, and drives the fixed plate 8 to slide in the limiting slot 5, and the limiting shaft 23 on the fixed plate 8 slides into the body 1, and at this time the empty bin cover 7 is driven and moved to the sliding slot 4, and the blocking of the storage bin 3 is released;

[0035] During the retraction of the output end of the electric telescopic rod 15, the fixedly connected driving frame 35 is driven to move, and the driving frame 35 drives the driving rod 33 to move at the same time. When the driving rod 33 moves, the rack 31 is driven to slide in the moving groove 30 on the top plate 29, and the first gear 32 is meshed with the rack 31, thereby driving the first gear 32 to rotate, and then driving the flip shaft 10 to rotate, and the flip frame 11 on the flip shaft 10 is flipped. After the flip frame 11 rotates 90 degrees, the rolling wheel 12 at the end of the flip frame 11 is turned. It is flipped to the outside of the storage bin 3, and when the driving rod 33 moves, the end of the clamping shaft 37 is always close to the driving rod 33. After the flip frame 11 rotates 90 degrees, the clamping shaft 37 moves to the clamping groove 34, and the second spring 39 rebounds, and drives the clamping shaft 37 and the body 1 to slide through the resistance block 38, and finally inserts into the clamping groove 34. At this time, the position of the flip frame 11 is fixed, and the rolling wheel 12 in the flipped storage bin 3 contacts the ground in the shallows, and is pushed by the power mechanism 2 to gradually drive the whole to the shore for easy recovery.

[0036] It is worth noting that when the blocking plate 13 rises, the lifting block 25 slides upward on the connecting shaft 27 to squeeze the first spring 28. After the robot is recovered, the empty bin cover 7 is pushed above the storage bin 3 again, and the electric telescopic rod 15 is controlled to extend outward again. When the initial state is restored, the first spring 28 can rebound through the resistance of the fixed seat and restore the whole to the initial state. The blocking plate 13 blocks the fixed plate 8 again, and the whole is as shown in FIG. Figure 1 shown.

[0037] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0038] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A miniature underwater autonomous robot capable of shallow water landing, characterized in that: include: A machine body (1), wherein a power mechanism (2) for driving in water is arranged at the rear end of the machine body (1), and a storage bin (3) is arranged near the front end of the machine body (1), and a sliding groove (4) and a limiting groove (5) which are connected to the storage bin (3) are provided on the machine body (1), and the limiting groove (5) is located in the middle part of the sliding groove (4); A moving assembly (6), the moving assembly (6) being arranged in the storage bin (3) and connected to the sliding groove (4), comprising an empty bin cover (7) arranged at the storage bin (3) and slidably connected to the sliding groove (4), a fixing plate (8) being fixedly connected to the inner side of the empty bin cover (7); A ground contact component (9) is arranged in the storage bin (3) and connected to the moving component (6), comprising a flip shaft (10) arranged in the storage bin (3) and rotatably connected to the body (1), a flip frame (11) having one end fixedly connected thereto is provided on the flip shaft (10), and a rolling wheel (12) is rotatably connected to the other end of the flip frame (11).

2. The micro underwater autonomous robot capable of shallow water landing according to claim 1, characterized in that: The moving assembly (6) comprises a blocking plate (13) arranged in the storage bin (3) and close to one side of the sliding groove (4); the blocking plate (13) is matched with the fixed plate (8) in position, and a lifting frame (14) is fixedly connected to the blocking plate (13); an electric telescopic rod (15) installed in the machine body (1) is arranged above the lifting frame (14); the output end of the electric telescopic rod (15) is slidably connected to a waterproof partition (16) installed in the storage bin (3); the waterproof partition (16) is provided with a plug-in slot (17); the top end of the output end of the electric telescopic rod (15) is fixedly connected to a waterproof partition (16) installed in the storage bin (3); A vertical block (18) is connected, and a lifting seat (19) is provided on the vertical block (18) with one end fixedly connected thereto, and an upward inclined surface is provided on the end of the lifting seat (19) close to the waterproof baffle (16), and a lifting seat (20) located at the plug-in slot (17) is fixedly connected to the top of the lifting frame (14), and a downward inclined surface is provided on the lifting seat (20) that matches the inclined surface on the lifting seat (19), and a pull-back member (21) located in the limit groove (5) is connected to the fixed plate (8), and a rebound member (22) connected to the machine body (1) is provided on the blocking plate (13).

3. The micro underwater autonomous robot capable of shallow water landing according to claim 2, characterized in that: The retraction member (21) comprises a limiting shaft (23) which is arranged on the fixing plate (8) and fixedly connected to the fixing plate (8) at one end; the limiting shaft (23) is arranged in the limiting groove (5) and is slidably connected to the machine body (1); a tension spring (24) is sleeved on the limiting shaft (23) and fixedly connected to the machine body (1) at one end; and the other end of the tension spring (24) is fixedly connected to the fixing plate (8).

4. The micro underwater autonomous robot capable of shallow water landing according to claim 3, characterized in that: The resilient member (22) comprises a lifting block (25) which is arranged on the blocking plate (13) and fixedly connected to the blocking plate (13) on one side, the other side of the lifting block (25) being slidably connected to the machine body (1), and a mounting seat (26) mounted on the side wall of the storage bin (3) being arranged above the lifting block (25), a connecting shaft (27) which is slidably connected to the lifting block (25) being fixedly connected to the bottom end of the mounting seat (26), and a first spring (28) which is located between the lifting block (25) and the mounting seat (26) being sleeved on the connecting shaft (27).

5. The micro underwater autonomous robot capable of shallow water landing according to claim 4, characterized in that: The ground contact assembly (9) comprises a top plate (29) arranged in the storage bin (3) and fixedly connected to the body (1); a plurality of movable grooves (30) are provided on the top plate (29); a plurality of racks (31) are slidably connected through the plurality of grooves; the plurality of racks (31) are respectively meshed and connected with a plurality of first gears (32) fixedly connected to the flip shaft (10); and a driving rod (33) is fixedly connected to one end of the rack (31) close to the electric telescopic rod (15); a clamping groove (34) is provided on the driving rod (33); a driving frame (35) is fixedly connected to one end of the two driving rods (33) away from the rack (31); the driving frame (35) is fixedly connected to the output end of the electric telescopic rod (15); and the driving rod (33) is connected to a clamping member (36) arranged in the storage bin (3) through the clamping groove (34).

6. The micro underwater autonomous robot capable of shallow water landing according to claim 5, characterized in that: The clamping member (36) comprises a clamping shaft (37) which is arranged in the storage bin (3) and slidably connected to the machine body (1); a resisting block (38) is fixedly connected to the clamping shaft (37); a second spring (39) which is sleeved on the clamping shaft (37) is arranged between the resisting block (38) and the machine body (1); and a plurality of groups of the resisting blocks (38) are fixedly connected to each other with pressing rods (40).

7. The micro underwater autonomous robot capable of shallow water landing according to claim 5, characterized in that: Fitting plates (41) adapted to the first gear (32) are fixedly connected to both sides of the rack (31).

8. The micro underwater autonomous robot capable of shallow water landing according to claim 6, characterized in that: The top end of the clamping shaft (37) is spherical.

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