Underwater robot with underwater escape function

Abstract

The invention relates to an underwater robot with an underwater escape function. The underwater robot comprises a robot body, supporting legs are installed on the periphery of the bottom side of the robot body, and a base is installed on the bottom sides of the supporting legs. The robot body further comprises a stirring mechanism used for loosening silt. The stirring mechanism comprises a driving motor mounted on the bottom side of the supporting leg and a transmission shaft; the bottom side of the transmission shaft is fixedly connected with the base; the robot body further comprises a cutting mechanism used for cutting aquatic plants, and the cutting mechanism comprises a fixing plate fixed to the supporting legs and a rotating rod rotationally installed at the bottom of the fixing plate. The first cutters are fixed to the periphery of the outer wall of the rotating rod, the large gear is fixed to the outer wall of the transmission shaft, and the small gear is fixed to the bottom end of the rotating rod and meshed with the large gear. According to the underwater robot, the stirring mechanism is adopted, surrounding silt, coral and other constraints are stirred to be loose through rotation of the base, the cutting mechanism is adopted for cutting seaweed and other entanglements, detrapping can be effectively achieved, and it is ensured that the underwater robot can normally operate and keep good maneuverability.

Description

Technical Field

[0001] The invention relates to the technical field of marine engineering, and in particular to an underwater robot with an underwater escape function. Background Art

[0002] Underwater robots, also known as unmanned remote-controlled submersibles, are important equipment for performing extreme operations underwater. Due to the complex and dangerous underwater environment and the limited diving depth of humans, it has become a key tool for ocean development. In the early days, operators needed to issue instructions in abstract symbols or language through a human-computer interaction system, and monitor and troubleshoot based on information processed by computers. Now the development of intelligent underwater robot systems has begun. Operators only need to issue tasks, and the robots can autonomously plan, avoid obstacles, and complete the specified tasks.

[0003] However, existing underwater robots often get stuck in mud and cannot get out during their underwater work, especially the chassis at the bottom of the underwater robot. Once stuck in the mud, it will sink deeper and deeper due to the continuous operation of the engine, making it difficult to get out. In addition, there are a large number of aquatic plants such as seaweed and algae in the sea water, which will get entangled in the legs and other parts of the robot during operation, which not only affects the normal movement of the robot, but in severe cases may even cause the robot to lose power and be trapped.

[0004] In view of this, research and improvement are conducted on the existing problems, and an underwater robot with underwater escape function is provided, aiming to solve the problem and improve the practical value through this technology. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides an underwater robot with an underwater escape function, which adopts a stirring mechanism to loosen the surrounding mud, sand, corals and other constraints through the rotation of the base, and adopts a cutting mechanism to cut entanglements such as seaweed, which can effectively achieve escape and ensure that the underwater robot can operate normally and maintain good maneuverability.

[0006] The technical solution adopted by the present invention to solve its technical problems is: an underwater robot with underwater escape function, including a robot body; legs are installed around the bottom side of the robot body, and a base is installed on the bottom side of the legs; the robot body also includes a stirring mechanism for loosening mud and sand; the stirring mechanism includes a driving motor installed on the bottom side of the legs, and a transmission shaft connected to the output end of the driving motor through a coupling, and the bottom side of the transmission shaft is fixedly connected to the base; the robot body also includes a cutting mechanism for cutting aquatic plants arranged on the side of the legs, and the cutting mechanism includes a fixed plate fixed on the legs, a rotating rod rotatably installed on the bottom of the fixed plate, a plurality of first cutting knives fixed around the outer wall of the rotating rod, a large gear fixed to the outer wall of the transmission shaft, and a small gear fixed to the bottom end of the rotating rod and meshing with the large gear.

[0007] Furthermore, the cutting mechanism also includes a slide groove opened on the surface of the first cutter, a movable seat slidably matched with the slide groove, and a second cutter fixed on both sides of the movable seat; the second cutter has the freedom to move along the slide groove relative to the first cutter.

[0008] Furthermore, one end of the movable seat is fixedly connected to a sliding rod, and a second spring is installed between the other end and the inner wall of the slide groove; the interior of the rotating rod is hollow, and the end of the sliding rod passes through the outer wall of the rotating rod and extends into the inner cavity of the rotating rod; the bottom of the fixed plate is fixedly connected to a connecting rod, the connecting rod is inserted into the inner cavity of the rotating rod, and a cam is fixed on the connecting rod at a position corresponding to the sliding rod; the cam cooperates with the sliding rod.

[0009] Furthermore, the interior of the base is hollow, and the stirring mechanism also includes an airbag arranged inside the base; a nitrogen tank is also installed at the bottom of the robot body, and the nitrogen tank is connected to the air path of the airbag.

[0010] Furthermore, the stirring mechanism also includes a plurality of push rods penetrating the side wall of the base, a push plate is fixed to one end of the push rod extending into the base, and a stirring plate is fixed to one end of the push rod extending out of the base.

[0011] Furthermore, a first spring is sleeved on the push rod at a position between the push plate and the inner wall of the base.

[0012] Furthermore, a spray mechanism is provided on the side of the supporting leg; the spray mechanism is used to spray high-speed water flow toward the base and the vicinity of the cutting mechanism to assist in escaping from trouble.

[0013] Furthermore, the spray mechanism includes a connecting pipe installed on one side of the support leg; one end of the connecting pipe is connected to a water spray barrel, a movable plug is slidably installed inside the water spray barrel, and a third spring is installed between the top of the movable plug and the water spray barrel; a pull plate is also slidably installed inside the connecting pipe, and the movable plug and the pull plate are connected by a pull rope; a rack is fixed on the pull plate; a half gear meshing with the rack is fixed on the outer wall of the rotating rod near the top; a water spray head is installed at the bottom of the water spray barrel.

[0014] Furthermore, a gripping mechanism is also provided on the top of the robot body; the gripping mechanism includes a shell fixed on the outer wall of the robot body and a rotating motor placed in the shell; a mounting seat is fixed to one end of the output shaft of the rotating motor passing through the shell; and a clamping claw assembly is installed on the mounting seat.

[0015] Furthermore, the clamping jaw assembly includes a sleeve installed on a mounting seat, a piston plate is slidably mounted inside the sleeve, a guide rod is connected to one side of the piston plate, an electric cylinder is installed at one end of the guide rod passing through the sleeve, a mounting plate is fixedly connected to the output end of the electric cylinder, a cylinder is installed on the mounting plate, a connecting plate is installed at the output end of the cylinder, and a clamping jaw is hinged between the mounting plate and the connecting plate; a cavity on one side of the sleeve where the piston plate is connected to the guide rod is connected to the nitrogen tank through an air path.

[0016] Advantages of the present invention: The underwater robot with underwater escape function of the present invention adopts a stirring mechanism to loosen the surrounding mud and corals by rotating the base. At the same time, a cutting mechanism is used to cut entanglements such as seaweed, which can effectively achieve escape and ensure that the underwater robot can operate normally and maintain good maneuverability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A three-dimensional schematic diagram of an underwater robot with an underwater escape function according to an embodiment of the present invention;

[0018] Figure 2 A three-dimensional schematic diagram of an underwater robot with an underwater escape function in an embodiment of the present invention, viewed from an upward angle;

[0019] Figure 3 is a front cross-sectional schematic diagram of a base portion of an underwater robot with an underwater escape function according to an embodiment of the present invention;

[0020] Figure 4 A side cross-sectional schematic diagram of a base portion of an underwater robot with an underwater escape function according to an embodiment of the present invention;

[0021] Figure 5 is a cross-sectional schematic diagram of a cutting mechanism portion of an underwater robot with an underwater escape function according to an embodiment of the present invention;

[0022] Figure 6 A schematic cross-sectional view of a jetting mechanism of an underwater robot with an underwater escape function according to an embodiment of the present invention;

[0023] Figure 7 for Figure 6 A local enlarged schematic diagram of region A;

[0024] Figure 8 1 is a three-dimensional schematic diagram of the legs and base of an underwater robot with an underwater escape function according to an embodiment of the present invention;

[0025] Fig. 9 for Figure 8 A local enlarged schematic diagram of area B;

[0026] Fig.10is a three-dimensional schematic diagram from a top view of an underwater robot with an underwater escape function according to an embodiment of the present invention;

[0027] Fig.11 for Fig.10 A local enlarged schematic diagram of the C region;

[0028] Among them, 1-robot body, 2-legs, 3-base, 4-nitrogen tank, 5-stirring mechanism, 6-cutting mechanism, 7-injection mechanism, 8-grasping mechanism, 501-transmission shaft, 502-airbag, 503-drive motor, 504-push rod, 505-push plate, 506-stirring plate, 507-first spring, 508-installation slot, 601-fixed plate, 602-rotating rod, 603-first cutter, 604-large gear, 605-small gear, 606-slide slot, 607-moving seat, 608-second cutter, 609-large gear, 610-small gear, 611-small gear, 612-small gear, 613-small gear, 614-small gear, 615-small gear, 616-small gear, 617-small gear, 618-small gear, 619-small gear, 620-small gear, 621-small gear, 622-small gear, 623-small gear, 624-small gear, 625-small gear, 626-small gear, 627-small gear, 628-small gear, 629-small gear, 630-small gear, 631-small gear, 632-small gear, 633-small gear, 634-small gear, 635-small gear, 636-small gear, 637-small gear, 638-small gear, 639-small gear, 640-small gear, 641-small gear, 642-sliding slot, 643-moving seat, 644-sliding slot, 645-moving seat, 646-small gear, 09-second spring, 610-sliding rod, 611-connecting rod, 612-cam, 701-connecting pipe, 702-water spray tube, 703-movable plug, 704-third spring, 705-pull plate, 706-pull rope, 707-rack, 708-half gear, 709-water spray head, 801-housing, 802-rotating motor, 803-mounting seat, 804-sleeve, 805-piston plate, 806-guide rod, 807-electric cylinder, 808-mounting plate, 809-cylinder, 810-connecting plate, 811-clamping claw. DETAILED DESCRIPTION

[0029] In order to deepen the understanding of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The embodiments are only used to explain the present invention and do not limit the protection scope of the present invention.

[0030] Example

[0031] Please refer to Figures 1 to 11 As shown, this embodiment provides an underwater robot with an underwater escape function, including a robot body 1; legs 2 are installed around the bottom side of the robot body 1, and a base 3 is installed on the bottom side of the legs; the robot body 1 also includes a stirring mechanism 5 for loosening mud and sand; the stirring mechanism 5 includes a driving motor 503 installed on the bottom side of the legs 2, and a transmission shaft 501 connected to the output end of the driving motor 503 through a coupling, and the bottom side of the transmission shaft 501 is fixedly connected to the base 3; the robot body 1 also includes a cutting mechanism 6 for cutting aquatic plants arranged on the side of the legs 2, and the cutting mechanism 6 includes a fixed plate 601 fixed on the legs 2, a rotating rod 602 rotatably installed on the bottom of the fixed plate 601, a plurality of first cutting knives 603 fixed around the outer wall of the rotating rod 602, a large gear 604 fixed to the outer wall of the transmission shaft 501, and a small gear 605 fixed to the bottom end of the rotating rod 602 and meshing with the large gear 604. Specifically, as Figure 3 As shown, the bottom end of the leg 2 is provided with a mounting groove 508, and the drive motor 503 is installed in the mounting groove 508. When the underwater robot is trapped, the drive motor 503 drives the transmission shaft 501 to drive the base 3 to rotate rapidly, and the torque generated acts on the surrounding medium, so that the friction between the originally tightly packed mud and sand particles is reduced, the structure becomes loose, and the base is freed from the silt and escapes from the trap; at the same time, the transmission shaft 501 drives the rotating rod 602 to drive the first cutter 603 to rotate at a high speed through the transmission of the large gear 604 and the small gear 605, which can effectively cut and clean the water grass and debris wrapped around the leg 2, ensuring that the leg 2 of the underwater robot can successfully get rid of the constraints of these obstacles; through the cooperation of the stirring mechanism 5 and the cutting mechanism 6, the underwater robot can be successfully escaped from the trap, ensuring the normal operation and operation of the underwater robot in the underwater environment without interference, and maintaining its good maneuverability and work efficiency.

[0032] Refer to Figure 5As shown, the cutting mechanism 6 also includes a slide groove 606 provided on the surface of the first cutter 603, a moving seat 607 slidably matched with the slide groove 606, and a second cutter 608 fixed on both sides of the moving seat 607; the second cutter 608 has the freedom to move along the slide groove 606 relative to the first cutter 603. A slide bar 610 is fixedly connected to one end of the moving seat 607, and a second spring 609 is installed between the other end and the inner wall of the slide groove; the interior of the rotating rod 602 is hollow, and the end of the slide bar 610 passes through the outer wall of the rotating rod 602 and extends into the inner cavity of the rotating rod 602; the bottom of the fixed plate 601 is fixedly connected to a connecting rod 611, the connecting rod 611 is arranged in the inner cavity of the rotating rod 602, and a cam 612 is fixed on the connecting rod 611 at a position corresponding to the slide bar 610; the cam 612 cooperates with the slide bar 610. The rotating rod 602 rotatably mounted on the bottom of the fixed plate 601 will rotate relative to the connecting rod 611 fixedly connected to the bottom of the fixed plate 601 when rotating; the rotating rod 602 will rotate with the sliding rod 610, at this time, the cam 612 is stationary, and the sliding rod 610 will push the moving seat 607 to move under the action of the cam 612, and under the action of the second spring 609, the moving seat 607 will reset, thereby realizing that the moving seat 607 drives the second cutter 608 to reciprocate along the sliding groove 606 on the surface of the first cutter 603; Furthermore, through the cooperation of the second cutter 608 and the first cutter 603, the water plants can be cut more comprehensively and meticulously; not only can the main trunk of the water plants be cut off, but also those small branches that may be missed or the tightly entangled parts can be cleaned up, which greatly improves the cutting effect and removal efficiency of the cutting mechanism 6 on the water plants, ensuring that the underwater robot can run more smoothly during underwater operations and avoid being hindered by entanglement in water plants, thereby further improving the underwater robot's ability to escape and work reliability in complex underwater environments.

[0033] Refer to Figure 3 and Figure 4 As shown, the interior of the base 3 is hollow, and the stirring mechanism 5 further includes an air bag 502 disposed inside the base 3; a nitrogen tank 4 is also installed at the bottom of the robot body 1, and the nitrogen tank 4 is connected to the air bag 502. When the underwater robot is trapped in the mud, the nitrogen tank 4 supplies air to the air bag 502, so that the air bag 502 expands and increases in volume, thereby increasing the buoyancy of the underwater robot as a whole, reducing the pressure of the base 3 on the mud or coral, reducing friction, and making it easier for the underwater robot to get out of the mud.

[0034] Refer to Figure 3 and Figure 4As shown, the stirring mechanism 5 also includes a plurality of push rods 504 penetrating the side wall of the base 3, and a push plate 505 is fixed to one end of the push rod 504 extending into the base 3, and a stirring plate 506 is fixed to one end of the push rod 504 extending out of the base 3. During the expansion of the airbag 502, the airbag 502 squeezes the push plates 505 on all sides, and the push plates 505 drive the stirring plates 506 to move outward through the push rods 504; at the same time, under the action of the driving motor 503, the base 3 will rotate synchronously with the stirring plates 506, and the design of the stirring plates 506 can loosen the mud, sand or corals around the part where the base 3 is trapped, creating favorable conditions for the robot body 1 to escape.

[0035] Refer to Figure 3 As shown, the push rod 504 is also sleeved with a first spring 507 at a position between the push plate 505 and the inner wall of the base 3. When the underwater robot is out of trouble, the airbag 502 is deflated to return to the initial state, and the push plate 505, under the action of the first spring 507, drives the stirring plate 506 to return to the initial position through the push rod 504.

[0036] Refer to Figures 6 to 9As shown, a spray mechanism 7 is also provided on the side of the supporting leg 2; the spray mechanism 7 is used to spray high-speed water flow toward the base 3 and the cutting mechanism 6 to assist in getting out of trouble. The spray mechanism 7 includes a connecting pipe 701 installed on one side of the supporting leg 2; one end of the connecting pipe 701 is connected to a water spray barrel 702, and a movable plug 703 is slidably mounted inside the water spray barrel 702, and a third spring 704 is installed between the top of the movable plug 703 and the water spray barrel 702; a pull plate 705 is also slidably mounted inside the connecting pipe 701, and the movable plug 703 and the pull plate 705 are connected by a pull rope 706; a rack 707 is fixed on the pull plate 705; a half gear 708 meshing with the rack 707 is fixed on the outer wall of the rotating rod 602 near the top; a water spray head 709 is installed at the bottom of the water spray barrel 702. When the rotating rod 602 rotates, it will drive the half gear 708 to rotate synchronously. When the teeth of the half gear 708 are engaged with the rack 707, the half gear 708 will drive the rack 707, the pull plate 705, and the pull rope 706, and then drive the movable plug 703 to move upward, so that water is sucked into the water spray barrel 702. When the teeth of the half gear 708 are disengaged from the rack 707, under the action of the third spring 704, the movable plug 703 will move downward to spray the water from the water spray barrel 702; the ejected water flow can form an effect similar to that of a water cannon, and the impact force of the water flow will loosen the mud and sand, thereby creating more favorable conditions for the underwater robot to escape from the predicament, allowing the underwater robot to more easily break free from the shackles of mud and sand; for some aquatic plants or other entanglements with strong toughness, the water spray barrel 702 can cooperate with the cutting mechanism 6 to work together when cutting. During the operation of mechanism 6, the water jet 702 can first spray and impact the entangled objects, and the impact force of the water flow can loosen or partially break the entangled objects, thereby reducing the working difficulty of the cutting mechanism 6 and effectively improving the efficiency of cleaning the entangled objects; in addition, when the underwater robot is slightly stuck by the reef, the function of the water jet 702 to spray water will play an additional role. The water jetted by the water jet 702 will produce a reaction force, and the underwater robot will be subjected to a force opposite to the direction of the water jet. Using this reaction force, the underwater robot can achieve a certain degree of movement, thereby providing it with an outward thrust, helping the underwater robot to get out of the position stuck by the reef, enhancing the underwater robot's autonomous escape capability in complex underwater environments, and improving the reliability and adaptability of the underwater robot during underwater operations.

[0037] Refer to Fig.10 and Fig.11As shown, a gripping mechanism 8 is also provided on the top of the robot body 1; the gripping mechanism 8 includes a shell 801 fixed on the outer wall of the robot body 1, and a rotating motor 802 placed in the shell 801; a mounting seat 803 is fixed at one end of the output shaft of the rotating motor 802 passing through the shell; and a clamping claw assembly is installed on the mounting seat 803. The clamping jaw assembly includes a sleeve 804 installed on a mounting seat 803, a piston plate 805 is slidably mounted inside the sleeve 804, a guide rod 806 is connected to one side of the piston plate 805, an electric cylinder 807 is installed on one end of the guide rod 806 passing through the sleeve 804, a mounting plate 808 is fixedly connected to the output end of the electric cylinder 807, a cylinder 809 is installed on the mounting plate 808, a connecting plate 810 is installed on the output end of the cylinder 809, and a clamping jaw 811 is hinged between the mounting plate 808 and the connecting plate 810; a cavity on one side of the sleeve 804 where the piston plate 805 is connected to the guide rod 806 is connected to the nitrogen tank 4 through an air path. When the underwater robot needs to assist in getting out of trouble, the rotating motor 802 is started, and the rotating motor 802 drives the mounting seat 803 to adjust the angle so that the clamping claw 811 can find a suitable support point or an object that can be operated. Then the electric cylinder 807 is started, and the output end of the electric cylinder 807 is extended. Since the output end of the electric cylinder 807 is connected to the mounting plate 808, it will synchronously drive the clamping claw 811 to move. After the electric cylinder 807 adjusts the clamping claw 811 to a suitable position, the opening and closing action of the clamping claw 811 is controlled by controlling the extension and contraction of the air cylinder 809. The output end of the cylinder 809 drives the connecting plate 810 to move. 11 is hinged with the connecting plate 810, so that the clamping or loosening action of the clamping claw 811 can be realized. After the clamping claw 811 clamps the object, the underwater robot can use the clamped object as a support or leverage point, and then control the solenoid valve of the air circuit connected to the sleeve 804 to open, so that the nitrogen inside the nitrogen tank 4 enters the interior of the sleeve 804, and the nitrogen pushes the piston plate 805 to move, and the piston plate 805 then drives the guide rod 806 to move synchronously. When the piston plate 805 moves in the sleeve 804, a pulling force is generated, and then the robot body 1 is pulled through the entire grasping mechanism 8 to help the underwater robot get out of the stuck position.

[0038] The underwater robot with underwater escape function of this embodiment has the following working principle:

[0039] When the underwater robot body is stuck in mud or coral, the solenoid valve of the air path connected to the airbag is first controlled to open, and the nitrogen stored in the nitrogen tank enters the airbag, causing the airbag to expand continuously. The volume of the airbag increases after expansion, thereby significantly increasing the overall buoyancy of the underwater robot, which can reduce the pressure of the base on the mud or coral, reduce friction, and make it easier for the underwater robot to escape from the stuck state. During the expansion of the airbag, the airbag squeezes the push plates around, and the push plates drive the stirring plates to extend to the outside of the base. At the same time, the driving motor drives the base to rotate, and the base synchronously drives the stirring plates to rotate. Then, the stirring plates can loosen the mud or corals and other materials around the stuck part of the base. When the base rotates rapidly, the torque generated by it acts on the surrounding medium, reducing the friction between the originally tightly packed mud and sand particles, and the structure becomes loose, creating favorable conditions for the underwater robot body to escape.

[0040] When the outriggers are entangled by seaweed or algae, the driving motor also drives the large gear to rotate through the transmission shaft. The rotation of the large gear drives the small gear meshing with it to rotate synchronously, and then the small gear drives the rotating rod to rotate. During the rotation of the rotating rod, it synchronously drives the first cutters around it to perform a rotating cutting action. Through the high-speed rotation of the first cutter, the seaweed and debris entangled around the outriggers can be effectively cut and cleaned, ensuring that the outriggers of the underwater robot can smoothly get rid of the constraints of these obstacles, so that the underwater robot can get out of trouble better, ensuring the normal operation and operation of the underwater robot in the underwater environment without interference, and maintaining its good maneuverability and working efficiency;

[0041] When the cutting mechanism is in working state, the rotating rod will drive the half gear at its top to rotate during the rotation process, and the rotation of the half gear will push the rack meshing with the tooth part of the half gear to move, and the movement of the rack will drive the pull plate to move synchronously, and the pull plate is connected to the movable plug through the pull rope, and the movement of the pull plate will pull the movable plug to move, at this time, the movable plug will suck water into the water spray barrel through the water spray head to complete the water absorption action; when the tooth part of the half gear is disengaged from the rack, the movable plug will move in the opposite direction under the push of the reaction force of the third spring, so as to spray the seawater inside the water spray barrel, and the sprayed water cannon can spray water to the surrounding mud and sand, and the impact force of the water flow will make the mud and sand loose, thereby creating more favorable conditions for the underwater robot to escape from the predicament, making it easier for the underwater robot to break free from the shackles of mud and sand;

[0042] For some aquatic plants or other entanglements with strong toughness, the water spray can cooperate with the cutting mechanism to work together. During the working process of the cutting mechanism, the water spray can first spray and impact the entanglements, and the impact force of the water flow can loosen or partially break the entanglements, thereby reducing the working difficulty of the cutting mechanism and effectively improving the efficiency of cleaning the entanglements.

[0043] When the underwater robot needs to assist in getting out of trouble, the rotating motor is started, and the rotating motor drives the mounting seat to adjust the angle so that the clamp can find a suitable support point or an object that can be operated. Then the electric cylinder is started, and the output end of the electric cylinder is extended. Since the output end of the electric cylinder is connected to the mounting plate, it will drive the clamp installed on the mounting plate to move synchronously. After the electric cylinder adjusts the clamp to a suitable position, the opening and closing action of the clamp is controlled by controlling the extension and contraction of the cylinder. The output end of the cylinder drives the connecting plate to move. Since the clamp is hinged to the connecting plate, the clamp can be clamped or released. After the clamp clamps the object, the underwater robot can use the clamped object as a support or leverage point, and then control the solenoid valve of the air circuit connected to the casing to open, so that the nitrogen inside the nitrogen tank enters the inside of the casing, so that the nitrogen pushes the piston plate to move, and the piston plate drives the guide rod to move synchronously. When the piston plate moves in the casing, a pulling force is generated, which is transmitted to the robot body through the connecting parts of the entire grasping mechanism, helping the underwater robot to get out of the stuck position.

[0044] In an underwater robot with an underwater escape function of the present embodiment, the electromagnetic valve of the air circuit connected to the airbag is controlled to be opened, and the nitrogen in the nitrogen tank is filled into the airbag through the first air supply pipe to expand it, thereby increasing buoyancy, reducing the pressure on the base, and reducing friction, thereby helping it to escape. At the same time, the airbag expands and squeezes the push plate, driving the stirring plate to extend, and then the drive motor is started to drive the stirring plate and the base to rotate, loosening the surrounding mud, corals, etc. The base rotates quickly to reduce the friction of mud and sand particles, destroy the contact point between the coral and the underwater robot, reduce obstacles, and help the robot body to escape smoothly.

[0045] In an underwater robot with an underwater escape function of the present embodiment, in case the legs of the underwater robot are entangled by seaweed and algae, the base is rotated to drive the transmission shaft, so that the large gear drives the small gear, and the small gear drives the rotating rod, so that the first cutter rotates at high speed to cut and clean the entangled objects, helping the legs of the underwater robot to get rid of the constraints, ensuring that it can operate normally underwater and maintain good maneuverability.

[0046] In an underwater robot with an underwater escape function according to the present embodiment, when the cutting mechanism is working, the rotating rod drives the half gear to rotate, pushing the meshing rack to move, so that the pull plate pulls the movable plug connected to the pull rope, and the seawater is sucked into the water spray barrel through the water spray head. After the half gear is disengaged from the rack, the reaction force of the third spring pushes the movable plug to move in the opposite direction, and the water spray barrel sprays seawater to form a water cannon, which impacts the surrounding mud and sand to loosen it, and helps the underwater robot to escape. At the same time, for entanglements such as water plants with strong toughness, the water spray barrel and the cutting mechanism work together to spray and impact before cutting, and use the impact force of the water flow to loosen or partially break the entanglements, thereby reducing the difficulty of cutting, improving the efficiency of cleaning the entanglements, and providing guarantee for the normal operation of the underwater robot.

[0047] In an underwater robot with an underwater escape function of the present embodiment, the angle of the clamping jaws is adjusted by starting a rotating motor to find a suitable support point or an operable object, and then the electric cylinder is started to drive the clamping jaws to move to a suitable position; then the cylinder is controlled to extend and retract to make the clamping jaws clamp the object; then the solenoid valve of the air circuit connected to the casing is controlled to open, and the nitrogen in the nitrogen tank enters the casing to push the piston plate and the guide rod to move, generating a pulling force, which is transmitted to the robot body through the connecting components, thereby assisting the underwater robot to escape.

[0048] The above embodiments should not limit the present invention in any way, and any technical solutions obtained by equivalent replacement or equivalent conversion shall fall within the protection scope of the present invention.

Claims

1. An underwater robot with underwater escape function, characterized in that: The robot body (1) comprises a robot body (1); legs (2) are mounted around the bottom side of the robot body (1), and a base (3) is mounted on the bottom side of the legs; the robot body (1) also comprises a stirring mechanism (5) for loosening mud and sand; the stirring mechanism (5) comprises a drive motor (503) mounted on the bottom side of the legs (2), and a transmission shaft (501) connected to the output end of the drive motor (503) via a coupling; the bottom side of the transmission shaft (501) is fixedly connected to the base (3); the robot body (1) also comprises a stirring mechanism (5) for loosening mud and sand; the stirring mechanism (5) comprises a drive motor (503) mounted on the bottom side of the legs (2), and a transmission shaft (501) connected to the output end of the drive motor (503) via a coupling; the bottom side of the transmission shaft (501) is fixedly connected to the base (3); the robot body (1) also comprises a stirring mechanism (5) for loosening mud and sand; the stirring mechanism (5) comprises a driving motor (503) mounted on the bottom side of the legs (2), and a transmission shaft (501) connected to the output end of the driving ... stirring mechanism (5) for loosening mud and sand; the stirring mechanism (5) comprises a stirring mechanism (5) for loosening mud and sand; the stirring mechanism (5) comprises a stirring mechanism (5) for loosening mud and sand; The invention comprises a cutting mechanism (6) for cutting waterweeds and arranged on the side of a supporting leg (2), wherein the cutting mechanism (6) comprises a fixing plate (601) fixed on the supporting leg (2), a rotating rod (602) rotatably mounted on the bottom of the fixing plate (601), a plurality of first cutting knives (603) fixed around the outer wall of the rotating rod (602), a large gear (604) fixed to the outer wall of a transmission shaft (501), and a small gear (605) fixed to the bottom end of the rotating rod (602) and meshing with the large gear (604).

2. The underwater robot with underwater escape function according to claim 1, characterized in that: The cutting mechanism (6) further comprises a slide groove (606) provided on the surface of the first cutter (603), a movable seat (607) slidably matched with the slide groove (606), and a second cutter (608) fixed on both sides of the movable seat (607); the second cutter (608) has the freedom to move along the slide groove (606) relative to the first cutter (603).

3. The underwater robot with underwater escape function according to claim 2, characterized in that: One end of the movable seat (607) is fixedly connected to a sliding rod (610), and a second spring (609) is installed between the other end and the inner wall of the slide groove; the interior of the rotating rod (602) is hollow, and the end of the sliding rod (610) passes through the outer wall of the rotating rod (602) and extends into the inner cavity of the rotating rod (602); the bottom of the fixed plate (601) is fixedly connected to a connecting rod (611), the connecting rod (611) is inserted into the inner cavity of the rotating rod (602), and a cam (612) is fixed on the connecting rod (611) at a position corresponding to the sliding rod (610); the cam (612) cooperates with the sliding rod (610).

4. An underwater robot with underwater escape function according to any one of claims 1 to 3, characterized in that: The interior of the base (3) is hollow, and the stirring mechanism (5) further comprises an air bag (502) arranged inside the base (3); a nitrogen tank (4) is also installed at the bottom of the robot body (1), and the nitrogen tank (4) is connected to the air bag (502) by an air path.

5. The underwater robot with underwater escape function according to claim 4, characterized in that: The stirring mechanism (5) further comprises a plurality of push rods (504) penetrating the side wall of the base (3); a push plate (505) is fixed to one end of the push rod (504) extending into the base (3); and a stirring plate (506) is fixed to one end of the push rod (504) extending out of the base (3).

6. The underwater robot with underwater escape function according to claim 5, characterized in that: A first spring (507) is also sleeved on the push rod (504) at a position between the push plate (505) and the inner wall of the base (3).

7. The underwater robot with underwater escape function according to claim 4, characterized in that: A spray mechanism (7) is also provided on the side of the supporting leg (2); the spray mechanism (7) is used to spray a high-speed water flow toward the base (3) and the vicinity of the cutting mechanism (6) to assist in escaping from trouble.

8. The underwater robot with underwater escape function according to claim 7, characterized in that: The spray mechanism (7) comprises a connecting pipe (701) installed on one side of the supporting leg (2); one end of the connecting pipe (701) is connected to a water spray barrel (702), a movable plug (703) is slidably mounted inside the water spray barrel (702), and a third spring (704) is installed between the top of the movable plug (703) and the water spray barrel (702); a pull plate (705) is also slidably mounted inside the connecting pipe (701), and the movable plug (703) and the pull plate (705) are connected by a pull rope (706); a rack (707) is fixed on the pull plate (705); a half gear (708) meshing with the rack (707) is fixed on the outer wall of the rotating rod (602) at a position close to the top; and a water spray head (709) is installed at the bottom of the water spray barrel (702).

9. The underwater robot with underwater escape function according to claim 4, characterized in that: A gripping mechanism (8) is also provided on the top of the robot body (1); the gripping mechanism (8) comprises a shell (801) fixed on the outer wall of the robot body (1) and a rotating motor (802) disposed in the shell (801); a mounting seat (803) is fixed to one end of the output shaft of the rotating motor (802) passing through the shell; and a clamping claw assembly is installed on the mounting seat (803).

10. The underwater robot with underwater escape function according to claim 9, characterized in that: The clamping jaw assembly comprises a sleeve (804) mounted on a mounting seat (803), a piston plate (805) being slidably mounted inside the sleeve (804), a guide rod (806) being connected to one side of the piston plate (805), an electric cylinder (807) being mounted on one end of the guide rod (806) passing through the sleeve (804), a mounting plate (808) being fixedly connected to the output end of the electric cylinder (807), a cylinder (809) being mounted on the mounting plate (808), a connecting plate (810) being mounted on the output end of the cylinder (809), and a clamping jaw (811) being hingedly connected between the mounting plate (808) and the connecting plate (810); a cavity on one side of the sleeve (804) connected to the guide rod (806) on the piston plate (805) is connected to a nitrogen tank (4) through an air path.

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