A cable-controlled underwater observation and maintenance robot with changeable motion states

Abstract

The present invention relates to the field of underwater robot technology, and in particular to a cable-controlled observation and maintenance robot with switchable underwater motion states. A surface control unit and an underwater robot unit are connected via a fine optical fiber. The underwater robot unit includes a main frame, a buoyancy material shell mounted on the main frame, and a mounting cavity formed between the main frame and the buoyancy material shell. A control / navigation equipment compartment and a control energy source power compartment are mounted in the mounting cavity. Composite wheel position conversion devices are mounted at the four corners of the main frame, and propeller composite wheels are mounted on each composite wheel position conversion device to provide power to the robot, enabling the robot to switch between floating, crawling, or walking underwater. By adjusting the buoyancy state and position of the propeller composite wheels, the underwater robot unit can quickly switch between floating, crawling, and walking functions, adapting to relatively complex underwater operating environments and completing underwater observation and maintenance operations. The robot has strong environmental adaptability.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, in particular to a cable-controlled underwater observation and maintenance robot with changeable motion states. Background Art

[0002] The following are the problems encountered during routine inspections and emergency testing, maintenance and emergency testing of river, lake, and sea dams, underwater pipelines and cables, search and salvage of underwater abandoned objects by public security, procuratorial and judicial organs, crack detection and repair of reservoir dams, deep-water bottom and dam inspections of hydropower stations, inspections of South-to-North Water Diversion reservoirs and drainage channels, removal of foreign matter, and inspections of diversion tunnels of energy storage power stations:

[0003] ① There are many obstacles, such as garbage, aquatic plants, fishing nets, bricks and stones, etc.

[0004] ② Complex terrain, such as raised ground and severe waterway erosion;

[0005] ③ Affected by wind, waves, and interfaces, the water flow is turbulent, and conventional underwater robots can hardly work properly;

[0006] ④ During maintenance operations, there are many types of maintenance equipment carried, and their size and weight vary greatly. Summary of the Invention

[0007] The technical problem to be solved by the present invention is: in order to solve the problems existing in the existing technology in the above-mentioned background technology, a cable-controlled underwater observation and maintenance robot with changeable underwater motion state is provided, which can float in the water, crawl along the bottom of the water, or even walk, so as to adapt to the more complex underwater working environment and thereby complete underwater observation and maintenance operations.

[0008] The technical solution adopted by the present invention to solve the technical problem is: a cable-controlled underwater observation and maintenance robot with changeable motion state, comprising a surface control unit and an underwater robot unit, wherein the surface control unit and the underwater robot unit are connected via a fine optical fiber;

[0009] The underwater robot unit includes a main frame and a buoyancy material shell, which is installed on the main frame. A mounting cavity is formed between the main frame and the buoyancy material shell, and a control / navigation equipment cabin and a control energy power cabin are installed in the mounting cavity;

[0010] The composite wheel position conversion device is installed at the four corners of the main frame to change the position of the propeller composite wheel on the main frame;

[0011] The propeller composite wheel is installed on each composite wheel position conversion device to provide power to the robot and realize the switching of the robot's underwater state between floating, crawling or walking state.

[0012] Furthermore, the propeller composite wheel includes a propeller outer wheel and a pressure-resistant hub, the propeller outer wheel is mounted outside the pressure-resistant hub, and a buoyancy adjustment airbag is mounted between the propeller outer wheel and the pressure-resistant hub;

[0013] A hub cover is installed at the open end of the pressure-resistant hub, and a sealing partition is installed in the inner cavity of the pressure-resistant hub. The sealing partition divides the inner cavity of the pressure-resistant hub into a first sealed compartment and a second sealed compartment. An air hole is opened on the surface of the pressure-resistant hub, and the buoyancy adjustment airbag is connected to the first sealed compartment through the air hole. An exhaust pump is installed in the first sealed compartment to complete the exhaust of gas between the buoyancy adjustment airbag and the first sealed compartment.

[0014] A driving motor is installed in the second sealed chamber to drive the propeller composite wheel to rotate.

[0015] Furthermore, a plurality of blades are provided on the outer circumferential surface of the propeller outer wheel, and the transverse cross-section of each blade is in an "S" shape.

[0016] Furthermore, the composite wheel position conversion device includes a mounting bracket, an integrated double-joint module and a fixing flange, wherein the integrated double-joint module is installed between the mounting bracket and the fixing flange, the mounting bracket is connected to the propeller composite wheel, and the fixing flange is installed on the main frame;

[0017] The integrated double-joint module includes a casing one and a casing two, wherein the casing one is installed at one end of the casing two, and a mounting bracket is installed at the other end of the casing two. The horizontal rotation drive unit and the vertical rotation drive unit are installed in the cavity formed by splicing the casing one and the casing two.

[0018] Furthermore, one side surface of the second housing is an inclined surface, forming an inclined opening, and an end cover that matches the inclined opening is installed on the inclined opening.

[0019] Furthermore, the vertical rotation drive unit includes a reduction mechanism, an outer rotor and a circuit board. The reduction mechanism is arranged close to the fixed flange, the reduction mechanism is connected to one end of the outer rotor, and the circuit board is installed at the other end of the outer rotor.

[0020] Furthermore, the horizontal rotation driving portion includes a second reduction mechanism, a second outer rotor, a second circuit board, and a third reduction mechanism, wherein the second reduction mechanism is connected to one end of the second outer rotor, the second circuit board is installed at the other end of the second outer rotor, and the second circuit board is installed close to the first circuit board;

[0021] The second reduction mechanism is vertically arranged with the third reduction mechanism, and the second reduction mechanism is meshed with the third reduction mechanism through gears. A gear ring is installed at one end of the mounting bracket, and the third reduction mechanism is meshed with the gear ring.

[0022] Furthermore, the mounting bracket includes an inclined section, a horizontal section, and a vertical section connected in sequence by an arc section, the inclined section is connected to the propeller composite wheel, the inclined section and the horizontal section are connected to form an obtuse angle, the angle surface of the angle faces the propeller composite wheel, and the vertical section is connected to the second housing in the integrated double-joint module;

[0023] After the horizontal segment, the vertical segment and the integrated double-joint module are assembled, the cross-sectional shape in the transverse direction is "U"-shaped.

[0024] Furthermore, a buoyancy material shell is provided on the main frame, the main frame includes a support frame, a frame keel is installed on the support frame to separate the support frame into two parts, front and rear, a control / navigation equipment cabin is installed on one part of the support frame, and a control energy power cabin is installed on the other part of the support frame;

[0025] The frame keel is provided with several mounting interfaces for locking the control / navigation equipment cabin and the control energy power cabin;

[0026] Mounting frames are installed at both ends of the frame keel, and acoustic magnetic detection systems are installed on the mounting frames;

[0027] A vertical thruster is installed in the middle of the frame keel.

[0028] Furthermore, an operating manipulator is installed on the central axis of the main frame, and a plurality of concave storage platforms are provided on the top of the buoyancy material shell.

[0029] Beneficial effects of the present invention:

[0030] a) By adjusting the buoyancy state and position of the propeller composite wheel, the underwater robot unit can quickly switch between floating, crawling, and walking functions to adapt to more complex underwater operating environments, thereby completing underwater observation and maintenance operations, and has strong environmental adaptability;

[0031] b) The outer edge of the propeller composite wheel adopts a blade design, which can be used as a propeller, roller, and walking foot under the action of the drive motor and reduction device;

[0032] c) The air between the buoyancy adjustment airbag and the first sealed compartment in the pressure-resistant wheel hub is evacuated by an exhaust pump, changing the volume of the buoyancy adjustment airbag and enabling the propeller composite wheel to quickly and repeatedly adjust from "zero buoyancy to negative buoyancy". The propeller composite wheel buoyancy can be repeatedly adjusted between "zero buoyancy to negative buoyancy". In conjunction with the composite wheel position conversion device, the robot can maintain a stable state in the floating state and its center of gravity is close to the bottom in the crawling state, providing strong resistance to water flow.

[0033] d) The negative buoyancy of the four composite wheels can be adjusted in real time, thereby changing the strength with which the robot presses against the bottom of the water, thereby reducing energy consumption while providing appropriate resistance to current flow.

[0034] e) The streamlined shell is made of buoyant material and has a symmetrical layout and a groove on the top, which can reduce water resistance and manufacturing costs;

[0035] f) Through optical fiber communication, underwater fault conditions can be fed back to the surface in a timely manner, which is conducive to timely handling of emergency situations; remote reporting can be directly reported to the command system. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention will be further described below with reference to the accompanying drawings and examples.

[0037] Figure 1 It is a structural schematic diagram of the present invention;

[0038] Figure 2 This is a schematic diagram of the present invention after removing the shell;

[0039] Figure 3 It is an exploded view of the propeller composite wheel of the present invention;

[0040] Figure 4 is an exploded view of the position conversion device of the present invention;

[0041] Figure 5 This is a schematic diagram of the installation state of the propeller composite wheel and the position conversion device of the present invention;

[0042] Figure 6 It is a schematic diagram of the main framework of the present invention;

[0043] Figure 7 is a schematic diagram of the control / navigation equipment compartment of the present invention;

[0044] Figure 8 This is a schematic diagram of the energy power cabin of the present invention;

[0045] Figure 9 This is a schematic diagram of the structure of the present invention in a floating state in water;

[0046] Figure 10 This is a schematic diagram of the structure of the present invention in a crawling state in water;

[0047] 1. Propeller composite wheel, 2. Buoyancy material shell, 3. Vertical thruster, 4. Sonar, 5. Camera, 6. Light, 7. Storage platform, 8. Operation manipulator, 9. Altimeter, 10. Composite wheel position conversion device, 11. Water surface control unit, 12. Micro optical fiber, 13. Propeller outer wheel, 14. Buoyancy adjustment airbag, 15. Pressure-resistant hub, 16. Exhaust pump, 17. Sealing partition, 18. Drive motor rotor, 19. Drive motor stator, 20. Speed ​​reducer, 21. Air hole, 22. Speed ​​reducer 1, 23. Mounting bracket, 24. Outer rotor 1, 25. Outer rotor 2, 26. Speed ​​reducer 2, 27. Gear ring, 28. End cover, 29. Casing 2, 30. Circuit board 2, 31. Circuit board 1, 32. Casing 1, 33. Fixing flange, 34. Main frame, 35. Energy and power compartment, 36. Control / navigation equipment compartment, 37. Watertight connecting cable, 38. Frame keel, 39. Support frame, 40. Integrated double-joint module, 41. Watertight power supply socket, 42. Depth sensor, 43. Watertight socket, 44. Communication system, 45. Intelligent heading attitude measurement system, 46. Control system, 47. Equipment power centralized management system, 48. Battery management system, 49. Battery pack, 50. Mounting bracket, 51. Mounting interface, 52. Speed ​​reduction mechanism 3. DETAILED DESCRIPTION

[0048] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0049] like Figures 1 to 10 The illustrated cable-controlled observation and maintenance robot with transformable underwater motion states is a special unmanned remotely operated vehicle (ROV) comprising a surface control unit 11 and an underwater robot unit. The surface control unit 11 primarily controls the underwater motion of the underwater robot. The underwater robot unit is the core of the cable-controlled observation and maintenance robot with transformable underwater motion states and serves as the execution unit for the robot's underwater operations. The surface control unit 11 and the underwater robot unit are connected via a fine optical fiber 12 for transmitting and communicating surface and underwater information. Fiber-optic communication provides timely feedback on underwater faults and facilitates timely handling of emergencies. Specifically, remote reporting can directly report to a command system. When performing observation operations, the underwater robot unit 11 changes its motion mode by changing the buoyancy and relative position of the propeller composite wheel 1 according to the underwater environment, rapidly switching between a floating state in the water, a crawling state on the bottom, and a walking state on the bottom to adapt to complex underwater environments and different operational requirements.

[0050] Among them, the fine optical fiber 12 is wound on the fine optical fiber assembly. The fine optical fiber assembly is a passive pay-off device installed on the underwater robot unit and released as the underwater robot unit moves. It serves as a communication channel for transmitting surface and underwater information.

[0051] The underwater robot unit includes Figure 6 As shown, the main frame 34 provides a carrying space and installation interface for the equipment on the underwater robot unit;

[0052] The buoyancy material shell 2 is installed on the main frame 34. Its main function is to provide buoyancy and a guide cover for the robot. It is connected to the main frame 24 with bolts and is the basis for ensuring that the center of buoyancy of the robot is above the center of gravity in any state. Figure 1 As shown, the top of the buoyancy material shell 2 is provided with a plurality of concave storage platforms 7. An operating manipulator 8 is mounted on the central axis of the main frame 34. The operating manipulator 8 is mainly a tool for the robot to complete the operation task, and the task operation is performed by the operating manipulator 8. An installation cavity is formed between the main frame 34 and the buoyancy material shell 2, and a control / navigation equipment compartment 36 and a control energy power compartment 35 are installed in the installation cavity.

[0053] The composite wheel position conversion device 10 is mounted on the four corners of the main frame 34 to change the position of the propeller composite wheel 1 on the main frame 34. It secures the propeller composite wheel 1 to the bottom of the robot during crawling, secures the propeller composite wheel 1 to the interior of the robot during floating, and performs forward and reverse reciprocating motion during walking. When used in conjunction with the propeller composite wheel 1, it can switch between the robot's floating / crawling / walking states and is the core of the robot's state conversion and walking functions.

[0054] The propeller composite wheel 1 is installed on each composite wheel position conversion device 10 to provide power to the robot, providing crawling power to the robot in the crawling state, and at the same time adjusting the buoyancy state of the robot and changing the displacement of the propeller composite wheel. When providing crawling power, it is in a large negative buoyancy state (causing the entire robot to be pressed against the bottom of the water and crawl), and when providing propulsion, it is in a zero buoyancy state (causing the entire robot to float in the water with zero buoyancy), thereby realizing the switching of the robot from floating, crawling, or walking in the underwater state;

[0055] When performing observation tasks, float or crawl in the water;

[0056] When performing underwater maintenance tasks, it can crawl along the bottom of the water according to the maintenance equipment it carries and the underwater environment it observes;

[0057] When the composite wheel position conversion device 10 is in the deployed state and the propeller composite wheel 1 is stuck or locked, the underwater robot unit can walk underwater, and can more conveniently complete underwater observation and maintenance tasks.

[0058] like Figure 3 As shown, the propeller composite wheel 1 includes a propeller outer wheel 13 and a pressure-resistant hub 15. The propeller outer wheel 13 is installed outside the pressure-resistant hub 15, and a buoyancy adjustment airbag 14 is installed between the propeller outer wheel 13 and the pressure-resistant hub 15.

[0059] A hub cover is installed at the open end of the pressure-resistant hub 15, and a sealing partition 17 is installed in the inner cavity of the pressure-resistant hub 15. The sealing partition 17 divides the inner cavity of the pressure-resistant hub 15 into a first sealed cabin and a second sealed cabin. An air hole 21 is opened on the surface of the pressure-resistant hub 15, and the buoyancy adjustment airbag 14 is connected to the first sealed cabin through the air hole 21. An exhaust pump 16 is installed in the first sealed cabin to complete the exhaust of gas between the buoyancy adjustment airbag 14 and the first sealed cabin; a drive motor is installed in the second sealed chamber to drive the propeller composite wheel 1 to rotate.

[0060] Specifically: the gas between the buoyancy adjustment airbag 14 and the first sealed compartment in the pressure-resistant hub 15 is exhausted by the exhaust pump 16, and the volume of the buoyancy adjustment airbag 14 is changed, so that the propeller composite wheel 1 can be quickly and repeatedly adjusted from "zero buoyancy ←→ negative buoyancy". The buoyancy of the propeller composite wheel 1 can be repeatedly adjusted between "zero buoyancy ←→ negative buoyancy". With the cooperation of the composite wheel position conversion device 10, it can be ensured that the robot in the floating state is stable, the center of gravity of the robot in the crawling state is close to the bottom of the water, and the ability to resist water flow is strong.

[0061] Among them, the drive motor includes a drive motor rotor 18, a reduction device 20, and a drive motor stator 19, which are also integrated and installed inside the pressure-resistant hub 15. The drive motor is controlled to rotate at high speed to drive the propeller outer wheel 13 to generate propeller thrust, and the drive motor is controlled to rotate at low speed to drive the propeller outer wheel 13 to generate creeping force.

[0062] like Figure 3 As shown, a plurality of blades are provided on the outer circumference of the propeller outer wheel 13. The transverse cross-section of each blade is "S"-shaped. When the blade rotates at high speed, it has the same effect as a rotating propeller to generate water thrust; when it rotates at low speed, it has the same effect as a patterned roller to generate crawling force.

[0063] like Figure 4 As shown, the composite wheel position conversion device 10 includes a mounting bracket 23, an integrated double-joint module 40 and a fixing flange 33. The integrated double-joint module 40 is installed between the mounting bracket 23 and the fixing flange 33. The mounting bracket 23 is connected to the propeller composite wheel 1, and the fixing flange 33 is installed on the main frame 34;

[0064] The integrated double-joint module 40 includes a housing 1 32 and a housing 2 29, wherein the housing 1 32 is installed at one end of the housing 2 29, and the mounting bracket 23 is installed at the other end of the housing 2 29. The horizontal rotation drive unit and the vertical rotation drive unit are installed in the cavity formed by splicing the housing 1 32 and the housing 2 29, so that the position of the propeller composite wheel 1 inside the robot can be changed.

[0065] Among them, the mounting bracket 23 is installed on the top surface of the casing 2 29, the casing 1 32 is installed on the left side of the casing 2 29, and the right side of the casing 2 29 is a slope to form an inclined opening, on which an end cover 28 is installed to facilitate sealing and disassembly and maintenance.

[0066] The vertical rotation drive unit drives the outer rotor 1 (24) to rotate the composite wheel position conversion device 10 in a vertical plane relative to the assembly mounting flange 33. Specifically, the vertical rotation drive unit includes a reduction mechanism 1 (22), an outer rotor 1 (24), and a circuit board 1 (31). The reduction mechanism 1 (22) is positioned near the mounting flange 33 and connected to one end of the outer rotor 1 (24). The circuit board 1 (31) is mounted on the other end of the outer rotor 1 (24).

[0067] The horizontal rotation drive unit drives the second outer rotor 25 to rotate the mounting bracket 23 in the horizontal plane. Specifically, the horizontal rotation drive unit includes a second reduction mechanism 26, the second outer rotor 25, a second circuit board 30, and a third reduction mechanism 52. The second reduction mechanism 26 is connected to one end of the second outer rotor 25, and the second circuit board 30 is mounted on the other end of the second outer rotor 25, and is mounted adjacent to the first circuit board 31.

[0068] Among them, the inner stators are fixedly connected to the casing 2 29 and the casing 1 32, the reduction mechanism 2 26 and the reduction mechanism 3 52 are vertically arranged, the reduction mechanism 2 26 and the reduction mechanism 3 52 are meshed through gears (bevel gears), and a gear ring 27 is installed at one end of the mounting bracket 23, and the reduction mechanism 3 52 and the gear ring 27 are meshed.

[0069] The mounting bracket 23 includes an inclined section, a horizontal line section and a vertical section connected in sequence by arc sections. The inclined section is connected to the propeller compound wheel 1. An obtuse angle is formed between the inclined section and the horizontal line section. The angle surface faces the propeller compound wheel 1. The vertical section is connected to the casing 2 29 in the integrated double-joint module 40.

[0070] After the horizontal segment, the vertical segment and the integrated double-joint module 40 are assembled, the cross-section in the transverse direction is in a "U" shape.

[0071] like Figure 1 and Figure 6As shown, a buoyancy material shell 2 is provided on the main frame 34. The main frame 34 includes a support frame 39. A frame keel 38 is installed on the support frame 39 to separate the support frame 39 into two parts, front and rear. The frame keel 38 is the main load-bearing structure of the robot and is the basis for ensuring the stability of the robot. A control / navigation equipment cabin 36 is installed on one part of the support frame 39, and a control energy power cabin 35 is installed on the other part of the support frame 39.

[0072] The frame keel 38 is provided with a plurality of mounting interfaces 51 for locking the control / navigation equipment compartment 36 and the control energy power compartment 35;

[0073] Mounting brackets 50 are installed at both ends of the frame keel 38, and an acoustic magnetic detection system is installed on the mounting brackets 50;

[0074] A vertical thruster 3 is installed at the middle position of the frame keel 38. The vertical thruster 3 mainly cooperates with the robot in the floating state to adjust the vertical position and is used in conjunction with the propeller composite wheel 1 in the floating state.

[0075] Among them, such as Figures 7-8 As shown, the control / navigation equipment compartment 36 is mainly composed of a power supply watertight socket 41, a depth sensor 42, a watertight socket 43, a communication system 44, an intelligent heading attitude measurement system 45, a control system 46, and a centralized equipment power management system 47, and is the core of the robot control;

[0076] The energy power cabin 35 is mainly composed of a battery management system 48 and a battery pack 49, which provide safe power to the robot.

[0077] like Figure 2 As shown, the main function of the acoustic-magnetic detection system is to provide target information to the robot, and it is the "eye" of the robot's underwater movement. The acoustic-magnetic detection system includes two sonars 4, two cameras 5, two lighting lamps 6, an altimeter 9, etc.; one set of the acoustic-magnetic detection system is installed at the front and rear ends of the frame keel 38, and the acoustic-magnetic detection system is connected to the watertight socket 43 of the control / navigation cabin 36 through a watertight connecting cable. It is the "eye" of the robot's underwater detection mission target. Through the cooperation of the depth sensor 42 and the altimeter 9, the depth information of the robot from the water surface and the height information from the water bottom can be obtained in real time.

[0078] Working principle: The floating, crawling and walking of the present application are mainly achieved through the state of the propeller composite wheel 1 and its composite wheel position conversion device 10;

[0079] The propeller compound wheel 1 has blades on its outer edge and a buoyancy adjustment airbag 14, a reduction device 20, a drive motor, etc. inside. When rotating at high speed, the propeller compound wheel 1 has zero buoyancy and acts on the water like a propeller, providing propulsion for the robot's movement; when rotating at low speed, the propeller compound wheel 1 has negative buoyancy and contacts the bottom of the water like a patterned roller, providing crawling force for the robot's movement.

[0080] When in the floating state, the composite wheel position conversion device 10 is in a retracted state, and the exhaust pump 16 discharges the air in the first sealed compartment inside the pressure-resistant hub 15 into the buoyancy adjustment airbag 14. The air pressure of the buoyancy adjustment airbag 14 is adjusted according to the water depth intelligence (during the test phase, a large number of algorithms and drills are used to reach the corresponding water depth according to the air pressure of the exhaust pump 16) to keep the propeller composite wheel 1 in a zero buoyancy state (at this time, the entire robot is in a zero buoyancy state, and the propeller composite wheel 1 is arranged at a 45° angle relative to the main frame 34 inside the buoyancy material shell 2). At the same time, the propeller composite wheel 1 is controlled to rotate at a high speed to generate water thrust. Under the joint action of the four propeller composite wheels 1 and the one vertical thruster 3 (the vertical thruster 3 is installed in the middle of the main frame 34, on the gravity and buoyancy centerline of the robot), the robot completes omnidirectional movement in the water;

[0081] When in the crawling state, the composite wheel position conversion device 10 is in the deployed state, and the four propeller composite wheels 1 are arranged in the same layout as the "Bigfoot car", with strong obstacle-crossing ability; the exhaust pump 16 discharges the air in the buoyancy adjustment airbag 14 into the first sealed cabin inside the pressure-resistant wheel hub 15, so that the propeller composite wheel 1 maintains a negative buoyancy state. At this time, the robot as a whole is in a negative buoyancy state, a negative buoyancy state (the negative buoyancy of the four propeller composite wheels 1 can be adjusted in real time, thereby changing the strength of the robot pressing against the bottom of the water, while reducing energy consumption and providing appropriate anti-current capability), the propeller composite wheel 1 is arranged at the lower part of the main frame 34, and the entire robot is pressed against the bottom of the water, and the propeller composite wheel 1 is controlled to rotate at a low speed to generate a crawling force, and the robot crawls on the bottom of the water under the differential control of the four propeller composite wheels 1;

[0082] When in the walking state, the composite wheel position conversion device 10 is in the expanded state and the propeller composite wheel 1 is stuck or locked (that is, the drive motor is electromagnetically stuck or locked). The vertical rotation drive part in the composite wheel position conversion device 10 is controlled by the water surface control unit 11 to rotate forward and reverse, so that the underwater robot unit walks underwater like a "mechanical dog".

[0083] With the above-described preferred embodiments of the present invention as a guide, and with reference to the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical scope of this invention. The technical scope of this invention is not limited to the contents of the specification and must be determined according to the scope of the claims.

Claims

1. A cable-controlled underwater observation and maintenance robot with changeable motion states, characterized by: It comprises a water surface control unit (11) and an underwater robot unit, wherein the water surface control unit (11) and the underwater robot unit are connected via a fine optical fiber (12); The underwater robot unit comprises a main frame (34), A buoyancy material shell (2) is mounted on the main frame (34), with an installation cavity formed between the main frame (34) and the buoyancy material shell (2), wherein a control / navigation equipment cabin (36) and a control energy power cabin (35) are installed in the installation cavity; Composite wheel position conversion devices (10) are installed on the four corners of the main frame (34) to change the position of the propeller composite wheel (1) on the main frame (34); A propeller composite wheel (1) is mounted on each composite wheel position conversion device (10) to provide power to the robot and realize switching of the robot between a floating state, a crawling state, or a walking state; The propeller composite wheel (1) comprises a propeller outer wheel (13) and a pressure-resistant hub (15), the propeller outer wheel (13) is mounted outside the pressure-resistant hub (15), and a buoyancy adjustment airbag (14) is mounted between the propeller outer wheel (13) and the pressure-resistant hub (15); A hub cover is installed at the open end of the pressure-resistant hub (15), and a sealing partition (17) is installed in the inner cavity of the pressure-resistant hub (15). The sealing partition (17) divides the inner cavity of the pressure-resistant hub (15) into a first sealed cabin and a second sealed cabin. An air hole (21) is opened on the surface of the pressure-resistant hub (15), and the buoyancy adjustment air bag (14) is connected to the first sealed cabin through the air hole (21). An exhaust pump (16) is installed in the first sealed cabin to complete the exhaust of gas between the buoyancy adjustment air bag (14) and the first sealed cabin. A driving motor is installed in the second sealed chamber to drive the propeller composite wheel (1) to rotate.

2. The cable-controlled underwater observation and maintenance robot with changeable motion states according to claim 1, characterized in that: A plurality of blades are provided on the outer circumferential surface of the propeller outer wheel (13), and the transverse cross-section of each blade is in an "S" shape.

3. The cable-controlled underwater observation and maintenance robot with changeable motion states according to claim 1, characterized in that: The composite wheel position conversion device (10) comprises a mounting bracket (23), an integrated double-joint module (40) and a fixing flange (33), wherein the integrated double-joint module (40) is installed between the mounting bracket (23) and the fixing flange (33), the mounting bracket (23) is connected to the propeller composite wheel (1), and the fixing flange (33) is installed on the main frame (34); The integrated double-joint module (40) includes a housing 1 (32) and a housing 2 (29), wherein the housing 1 (32) is installed at one end of the housing 2 (29), and a mounting bracket (23) is installed at the other end of the housing 2 (29), and a horizontal rotation drive unit and a vertical rotation drive unit are installed in a cavity formed by splicing the housing 1 (32) and the housing 2 (29).

4. The cable-controlled underwater observation and maintenance robot with changeable motion states according to claim 3, characterized in that: One side surface of the second housing (29) is an inclined surface, forming an inclined opening, and an end cover (28) that matches the inclined opening is installed on the inclined opening.

5. The cable-controlled underwater observation and maintenance robot with changeable motion states according to claim 3, characterized in that: The vertical rotation drive unit includes a speed reduction mechanism (22), an outer rotor (24) and a circuit board (31), wherein the speed reduction mechanism (22) is arranged close to the fixed flange (33), the speed reduction mechanism (22) is connected to one end of the outer rotor (24), and the circuit board (31) is installed at the other end of the outer rotor (24).

6. The cable-controlled underwater observation and maintenance robot with changeable motion states according to claim 3, characterized in that: The horizontal rotation driving unit includes a second reduction mechanism (26), a second outer rotor (25), a second circuit board (30) and a third reduction mechanism (52), wherein the second reduction mechanism (26) is connected to one end of the second outer rotor (25), the second circuit board (30) is installed at the other end of the second outer rotor (25), and the second circuit board (30) is installed close to the first circuit board (31); The second speed reduction mechanism (26) and the third speed reduction mechanism (52) are vertically arranged, and the second speed reduction mechanism (26) and the third speed reduction mechanism (52) are meshed with each other through gears. A gear ring (27) is installed at one end of the mounting bracket (23), and the third speed reduction mechanism (52) and the gear ring (27) are meshed with each other.

7. The cable-controlled underwater observation and maintenance robot with changeable motion states according to claim 3, characterized in that: The mounting bracket (23) comprises an inclined section, a horizontal section, and a vertical section connected in sequence by arc sections, the inclined section being connected to the propeller composite wheel (1), an obtuse angle being formed between the inclined section and the horizontal section, the angled surface of the angle facing the propeller composite wheel (1), and the vertical section being connected to the second housing (29) of the integrated double-joint module (40); After the horizontal segment, the vertical segment and the integrated double-joint module (40) are assembled, the cross-sectional shape in the transverse direction is "U"-shaped.

8. The cable-controlled underwater observation and maintenance robot with changeable motion states according to claim 1, characterized in that: The main frame (34) is covered with a buoyancy material shell (2), and the main frame (34) includes a support frame (39). A frame keel (38) is installed on the support frame (39) to separate the support frame (39) into two parts, front and rear. A control / navigation equipment cabin (36) is installed on one part of the support frame (39), and a control energy power cabin (35) is installed on the other part of the support frame (39); The frame keel (38) is provided with a plurality of mounting interfaces (51) for locking the control / navigation equipment cabin (36) and the control energy power cabin (35); Both ends of the frame keel (38) are equipped with mounting frames (50), and an acoustic magnetic detection system is installed on the mounting frame (50); A vertical thruster (3) is installed at the middle position of the frame keel (38).

9. The cable-controlled underwater observation and maintenance robot with changeable motion states according to claim 8, characterized in that: An operating manipulator (8) is installed on the central axis of the main frame (34), and a plurality of concave storage platforms (7) are provided on the top of the buoyancy material shell (2).

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