Underwater robot capable of flying

Abstract

The invention discloses a flying type underwater robot, and relates to the technical field of underwater robots, the flying type underwater robot comprises a body, and the body is provided with four vertical propellers and two horizontal propellers; buoyancy devices are arranged on the periphery of the bottom of the body. The buoyancy device comprises two fixing plates connected with the body, guide plates are evenly and annularly arranged on the opposite sides of the two fixing plates, a first air bag is arranged on the fixing plate on one side and communicates with the first air supply assembly, a transmission assembly is arranged on the fixing plate on the other side and provided with a vertical supporting plate, and the vertical supporting plate is provided with a second air bag which communicates with the second air supply assembly. When the vertical propeller moves the body to the water surface, air is extracted through the first air supply assembly to be inflated into the first air bag, the first air bag is inflated and expanded, then the body can float upwards, and therefore the vertical propeller leaves the water surface, and low-altitude flight can be conveniently carried out through water breaking.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and particularly to a flyable underwater robot. Background Art

[0002] An underwater robot, also known as a remotely operated underwater vehicle, is an underwater operation robot. Many countries and rescue organizations use underwater robots for rescue and salvage work, especially for deep-water rescue and salvage operations. The underwater unmanned robot replaces divers to perform underwater search, video observation, and salvage assistance work underwater. It is equipped with a 4K camera lens capable of shooting high-definition videos and pictures, and a front LED fill light, and can dive to a depth of 150 meters. Four vertical thrusters and two horizontal thrusters are distributed around the fuselage, enabling it to move freely underwater and maintain stability, and can effectively achieve 360-degree full-attitude control.

[0003] CN216269840U discloses an underwater drone for hull detection. Longitudinal vertical thrusters are symmetrically arranged on both sides of the drone body. A transverse vertical thruster and a steering thruster are arranged on one side of the drone body away from the ultrasonic detector. A steering motor is fixedly connected to the outside of the drone body, and the output end of the steering motor is fixedly connected to the steering thruster. The longitudinal vertical thruster and the transverse vertical thruster are respectively used to drive the drone to dive and move forward, and the angle of the steering thruster is controlled by the steering motor to make the steering thruster push the drone to turn.

[0004] However, this underwater robot lacks a buoyancy device, so that the vertical thrusters of the underwater robot cannot leave the water surface, and thus it cannot perform low-altitude flight through the water surface when rising to the water surface, resulting in poor use effects. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a flyable underwater robot, which solves the problems existing in the above prior art.

[0006] To achieve the above object, the present invention is realized through the following technical solutions: A flyable underwater robot, including a body, on which four vertical thrusters and two horizontal thrusters are provided;

[0007] Buoyancy devices are provided at the four-week bottom of the body;

[0008] The buoyancy device includes two fixing plates both connected to the main body. Guide plates are evenly arranged circumferentially on the opposite sides of the two fixing plates. An airbag I is arranged on one side fixing plate, and the airbag I is communicated with an air supply component I. A transmission component is arranged on the other side fixing plate, and a vertical support plate is arranged on the transmission component. Connecting blocks are evenly arranged on the support plate. Porous cylinders are arranged at the bottoms of the connecting blocks. An airbag II is arranged on the inner wall of the bottom of the porous cylinder, and the airbag II is communicated with an air supply component II. Among them, after the airbag I is inflated, the transmission component automatically drives the support plate to rotate to a horizontal state, and the air supply component II sends air into the airbag II.

[0009] Preferably, the air supply component I includes a waterproof shell arranged on one side fixing plate. An air pump is arranged inside the waterproof shell. The exhaust port of the air pump is communicated with an exhaust pipe passing through the waterproof shell. The exhaust pipe is communicated with the airbag I. The air inlet of the air pump is communicated with an air extraction pipe passing through the waterproof shell. The top of the air extraction pipe penetrates through the main body and extends above the main body. An inclined pipe is connected to the top of the air extraction pipe, and a valve I is arranged on the inclined pipe.

[0010] Preferably, the transmission component includes a movable plate opposite to the airbag I. The movable plate is slidably connected to the guide plate. A movable rod passing through the fixing plate is arranged on the movable plate. A spring I is arranged on the movable rod, and the spring I is arranged inside an installation cover. The installation cover is arranged on the fixing plate. A toothed rod is arranged at the bottom of the movable rod. A gear is meshed and connected to the bottom of the toothed rod. The gear is arranged on a driving shaft. A driving bevel gear is arranged on the driving shaft. A driven bevel gear is meshed and connected to the driving bevel gear. The driven bevel gear is arranged on a driven shaft. Both the driving shaft and the driven shaft are connected to the installation cover through bearings. The driven shaft is connected to the support plate.

[0011] Preferably, the air supply component II includes a fixed box arranged on the support plate. The top of the fixed box is communicated with the airbag II. A fixed frame is arranged at the bottom of the main body, and a hose is communicated between the fixed box and the fixed frame. A sealing ring is arranged on the inner wall of the fixed frame. A push plate is arranged on the sealing ring. An inverted T-shaped connecting rod is arranged at the bottom of the push plate.

[0012] Preferably, vertical rods are arranged on the front and rear sides of the top of the connecting rod. Installation rods are slidably sleeved on the outer sides of the vertical rods. Springs II connected to the vertical rods are arranged inside the installation rods. A runner is arranged on the connecting rod.

[0013] Preferably, the bottom of the runner is in fit connection with a cam. A wheel shaft is arranged on the cam, and the wheel shaft is connected to a long cover through a bearing. The long cover is connected to the installation cover.

[0014] Preferably, sprockets are provided on both the axle and the driven shaft, and a chain is connected between the sprockets on both sides. The chain is located inside the mounting cover and the long cover.

[0015] Preferably, an air release port is provided on the first airbag, and a second valve is provided on the air release port.

[0016] The present invention provides a flyable underwater robot. Compared with the prior art, it has the following beneficial effects:

[0017] 1. For this flyable underwater robot, when the vertical thruster moves the body up to the water surface, the first air supply component extracts air and fills it into the first airbag, causing the first airbag to inflate and expand. As a result, the body can float upward, enabling the vertical thruster to leave the water surface for low-altitude flight through breaking the water.

[0018] 2. For this flyable underwater robot, when the support plate and the porous cylinder are in the diving state, the support plate is in a vertical state and basically does not impede diving. Water enters the porous cylinder through the surface holes and also basically does not impede diving. After the first airbag is inflated and expanded, it will squeeze the movable plate on the transmission component, causing the transmission component to automatically drive the support plate and the porous cylinder to rotate to a horizontal state. After the body floats, it may shake and tilt due to wind and waves, making it easy for the vertical thruster after leaving the water surface to plunge back into the water, affecting the takeoff of the body. At this time, the surrounding horizontal support plates can increase the support area of the body to reduce the amplitude of shaking and tilting, so that the vertical thruster after leaving the water surface is not easily plunged back into the water to ensure the stable and rapid takeoff of the body. Moreover, the transmission component can also drive the second air supply component to automatically send air into the second airbag, causing the second airbag to inflate and expand and finally fill the porous cylinder, squeezing out all the water in the porous cylinder, so that the porous cylinder becomes a floating cylinder. Cooperating with the support plate can further reduce the amplitude of shaking and tilting of the body, and can push up the support plate, enabling the vertical thruster to further float away from the water surface, thus further ensuring the stable and rapid takeoff of the body. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a schematic diagram of the buoyancy device of the present invention;

[0021] Figure 3 It is a schematic diagram of the first airbag and the movable plate of the present invention;

[0022] Figure 4 It is a schematic diagram of the transmission component of the present invention;

[0023] Figure 5 It is a schematic diagram of the second air supply component of the present invention;

[0024] Figure 6 For the present invention Figure 2 The enlarged schematic view of position A in the present invention

[0025] In the figure: 1. Body; 2. Vertical thruster; 3. Horizontal thruster; 4. Fixed plate; 5. Guide plate; 6. Airbag I; 7. Waterproof shell; 8. Exhaust pipe; 9. Support plate; 10. Connecting block; 11. Porous cylinder; 12. Airbag II; 13. Air extraction pipe; 14. Inclined pipe; 15. Valve I; 16. Movable rod; 17. Movable plate; 18. Spring I; 19. Installation cover; 20. Rack; 21. Gear; 22. Driving bevel gear; 23. Driven bevel gear; 24. Driven shaft; 25. Fixed box; 26. Hose; 27. Fixed frame; 28. Sealing ring; 29. Pushing plate; 30. Connecting rod; 31. Vertical rod; 32. Installation rod; 33. Spring II; 34. Runner; 35. Cam; 36. Chain; 37. Long cover; 38. Driving shaft; 39. Air release port; 40. Valve II. Specific embodiments

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] Refer to Figures 1-6 , the present invention provides the following two technical solutions:

[0028] The first embodiment: A flyable underwater robot, including a body 1, on which four vertical thrusters 2 and two horizontal thrusters 3 are provided;

[0029] Buoyancy devices are provided at the four surrounding areas of the bottom of the body 1;

[0030] The buoyancy device includes two fixing plates 4 both connected to the main body 1. Guide plates 5 are evenly arranged circumferentially on the opposite sides of the two fixing plates 4. An airbag 6 is arranged on one side fixing plate 4. After the airbag 6 expands, it moves under the guidance of the guide plate 5, and the airbag 6 is communicated with the first air supply component. A transmission component is arranged on the other side fixing plate 4, and a vertical support plate 9 is arranged on the transmission component. Connecting blocks 10 are evenly arranged on the support plate 9, and porous cylinders 11 are arranged at the bottoms of the connecting blocks 10. When the support plate 9 and the porous cylinders 11 are in the diving state, the support plate 9 is in the vertical state and basically does not impede diving. Water enters through the surface holes of the porous cylinders 11 and basically does not impede diving. An airbag 12 is arranged on the inner wall of the bottom of the porous cylinder 11, and the airbags 12 are all communicated with the second air supply component. Among them, after the airbag 6 is inflated, the transmission component automatically drives the support plate 9 to rotate to the horizontal state, and the second air supply component sends air into the airbag 12.

[0031] The first air supply component includes a waterproof housing 7 arranged on one side fixing plate 4. An air pump is arranged inside the waterproof housing 7. The waterproof housing 7 is used to protect the internal air pump. The exhaust port of the air pump is communicated with an exhaust pipe 8 passing through the waterproof housing 7, and the exhaust pipe 8 is communicated with the airbag 6. The intake port of the air pump is communicated with a suction pipe 13 passing through the waterproof housing 7. The top of the suction pipe 13 penetrates the main body 1 and extends above the main body 1 for pumping air after the main body 1 floats to the water surface. A slant pipe 14 is connected to the top of the suction pipe 13, and a first valve 15 is arranged on the slant pipe 14. The first valve 15 is used to prevent water from entering the suction pipe 13, and the slant pipe 14 is used to drain water.

[0032] The transmission component includes a movable plate 17 opposite to the airbag 6. The movable plate 17 is slidably connected to the guide plate 5. A movable rod 16 passing through the fixing plate 4 is arranged on the movable plate 17. A first spring 18 is arranged on the movable rod 16, and the first spring 18 is arranged inside a mounting cover 19. The mounting cover 19 is arranged on the fixing plate 4. A rack 20 is arranged at the bottom of the movable rod 16. The bottom of the rack 20 is meshed and connected with a gear 21. The movable rod 16 moves, so that the rack 20 drives the gear 21 to rotate. The gear 21 is arranged on a driving shaft 38. A driving bevel gear 22 is arranged on the driving shaft 38. The driving bevel gear 22 is meshed and connected with a driven bevel gear 23. The driven bevel gear 23 is arranged on a driven shaft 24. The driving shaft 38 and the driven shaft 24 are both connected to the mounting cover 19 through bearings. The driven shaft 24 is connected to the support plate 9, so that the driven shaft 24 can rotate synchronously with the support plate 9.

[0033] The air supply component two includes a fixed box 25 arranged on the support plate 9. The top of the fixed box 25 is communicated with the second airbag 12. The bottom of the main body 1 is provided with a fixed frame 27, and a hose 26 is communicated between the fixed box 25 and the fixed frame 27. A sealing ring 28 is arranged on the inner wall of the fixed frame 27. A push plate 29 is arranged on the sealing ring 28. A reverse T-shaped connecting rod 30 is arranged at the bottom of the push plate 29. By adopting the reverse T-shaped connecting rod 30, when the push plate 29 is extruded, the connecting rod 30 will not be blocked by the fixed frame 27. By moving the connecting rod 30 upward to extrude the push plate 29, the sealing ring 28 can move in the fixed frame 27, and the air between the fixed frame 27 and the main body 1 can be squeezed into the fixed box 25 through the hose 26, and then into the second airbag 12, so that the second airbag 12 expands and fills the porous cylinder 11.

[0034] Vertical rods 31 are arranged on the front and rear sides of the top of the connecting rod 30. An installation rod 32 is slidably sleeved on the outer side of the vertical rod 31. A second spring 33 connected to the vertical rod 31 is arranged in the installation rod 32, so that when the connecting rod 30 rises, the second spring 33 is extruded. When it does not rise, the second spring 33 drives the connecting rod 30 to reset downward. A runner 34 is arranged on the connecting rod 30.

[0035] The bottom of the runner 34 is in fit connection with a cam 35. A wheel shaft is arranged on the cam 35, and the wheel shaft is connected to the long cover 37 through a bearing. The long cover 37 is connected to the installation cover 19. The rotation of the wheel shaft drives the cam 35 to rotate, which can squeeze the runner 34, so that the runner 34 drives the connecting rod 30 to rise.

[0036] Sprockets are arranged on both the wheel shaft and the driven shaft 24, and a chain 36 is connected between the two sprockets on both sides. The chain 36 is located inside the installation cover 19 and the long cover 37, so that the wheel shaft and the driven shaft 24 rotate synchronously.

[0037] The second implementation mode is mainly different from the first implementation mode in that: a deflation port 39 is arranged on the first airbag 6, and a second valve 40 is arranged on the deflation port 39. When diving is required, the second valve 40 is opened, and the gas inside the first airbag 6 can be discharged through the deflation port 39. When the push plate 29 moves downward, the air in the second airbag 12 can be pumped out.

[0038] At the same time, the content not described in detail in this specification belongs to the prior art well-known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited, and conventional equipment can be used.

[0039] When in use, when the vertical thruster 2 moves the main body 1 upward to the water surface, the air intake assembly one extracts air and fills it into the airbag one 6, so that the airbag one 6 is between the two fixed plates 4. After being guided by the guide plate 5, it inflates and expands. Then, the main body 1 can float upward through the airbag one 6 that expands around, so that the vertical thruster 2 leaves the water surface. When the airbag one 6 inflates and expands, it will squeeze the movable plate 17, so that the movable rod 16 squeezes the spring one 18, driving the rack 20 to move, making the gear 21 rotate. Then, the driving shaft 38 drives the driving bevel gear 22 to rotate, so that the driven bevel gear 23 drives the driven shaft 24 and the support plate 9 to rotate. When the movable plate 17 is squeezed onto the fixed plate 4, at this time, the support plate 9 and the porous cylinder 11 both rotate to the horizontal state. Then, the horizontal support plates 9 around can increase the support area of the main body 1 to reduce the amplitude of shaking and tilting, so that the vertical thruster 2 after leaving the water surface is not easily inserted into the water surface again, ensuring the stable and rapid takeoff of the main body 1. When the driven shaft 24 rotates, the wheel shaft can drive the cam 35 to rotate, and then squeeze the runner 34, so that the connecting rod 30 pushes the push plate 29 to squeeze the air between the fixed frame 27 and the main body 1, making the hose 26 send air into the fixed box 25, so that the airbag two 12 inflates and expands and finally fills the porous cylinder 11, squeezing all the water in the porous cylinder 11 out. Thus, the porous cylinder 11 becomes a floating cylinder, which can further reduce the amplitude of shaking and tilting of the main body 1 in cooperation with the horizontal support plate 9, and can push up the support plate 9 upward, so that the vertical thruster 2 can further float away from the water surface, further ensuring the stable and rapid takeoff of the main body 1.

[0040] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0041] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A flyable underwater robot, characterized in that: It includes a main body (1), and four vertical thrusters (2) and two horizontal thrusters (3) are arranged on the main body (1); Buoyancy devices are arranged around the bottom of the main body (1); The buoyancy device includes two fixing plates (4) both connected to the main body (1). Guide plates (5) are evenly arranged in a circumferential direction on the opposite sides of the two fixing plates (4). An airbag one (6) is arranged on one side fixing plate (4), and the airbag one (6) is communicated with an air supply component one. A transmission component is arranged on the other side fixing plate (4), and a vertical support plate (9) is arranged on the transmission component. Connecting blocks (10) are evenly arranged on the support plate (9). Porous cylinders (11) are arranged at the bottoms of the connecting blocks (10). An airbag two (12) is arranged on the inner wall of the bottom of the porous cylinder (11), and the airbag two (12) is communicated with an air supply component two. Among them, after the airbag one (6) is inflated, the transmission component automatically drives the support plate (9) to rotate to a horizontal state, and the air supply component two sends air into the airbag two (12).

2. The flying underwater robot according to claim 1, wherein: The air supply component one includes a waterproof shell (7) arranged on one side fixing plate (4). An air pump is arranged in the waterproof shell (7). The exhaust port of the air pump is communicated with an exhaust pipe (8) penetrating through the waterproof shell (7). The exhaust pipe (8) is communicated with the airbag one (6). The air inlet of the air pump is communicated with an air extraction pipe (13) penetrating through the waterproof shell (7). The top of the air extraction pipe (13) penetrates through the main body (1) and extends above the main body (1). An inclined pipe (14) is connected to the top of the air extraction pipe (13), and a valve one (15) is arranged on the inclined pipe (14).

3. The flying underwater robot according to claim 1, characterized in that: The transmission component includes a movable plate (17) opposite to the airbag one (6). The movable plate (17) is slidably connected to the guide plate (5). A movable rod (16) penetrating through the fixing plate (4) is arranged on the movable plate (17). A spring one (18) is arranged on the movable rod (16), and the spring one (18) is arranged in a mounting cover (19). The mounting cover (19) is arranged on the fixing plate (4). A toothed rod (20) is arranged at the bottom of the movable rod (16). A gear (21) is meshed and connected to the bottom of the toothed rod (20). The gear (21) is arranged on a driving shaft (38). A driving bevel gear (22) is arranged on the driving shaft (38). A driven bevel gear (23) is meshed and connected to the driving bevel gear (22). The driven bevel gear (23) is arranged on a driven shaft (24). The driving shaft (38) and the driven shaft (24) are both connected to the mounting cover (19) through bearings. The driven shaft (24) is connected to the support plate (9).

4. The flying underwater robot according to claim 3, wherein: The air supply component II includes a fixed box (25) arranged on the support plate (9). The top of the fixed box (25) is in communication with the second airbag (12). The bottom of the body (1) is provided with a fixed frame (27), and a hose (26) is communicated between the fixed box (25) and the fixed frame (27). A sealing ring (28) is arranged on the inner wall of the fixed frame (27). A push plate (29) is arranged on the sealing ring (28). The bottom of the push plate (29) is provided with an inverted T-shaped connecting rod (30).

5. The flying underwater robot according to claim 4, wherein: Vertical rods (31) are arranged on the front and rear sides of the top of the connecting rod (30). The outer sides of the vertical rods (31) are slidably sleeved with mounting rods (32). A second spring (33) connected to the vertical rods (31) is arranged in the mounting rods (32). A runner (34) is arranged on the connecting rod (30).

6. The flying underwater robot according to claim 5, wherein: The bottom of the runner (34) is in fitting connection with a cam (35). A wheel shaft is arranged on the cam (35), and the wheel shaft is connected to the long cover (37) through a bearing. The long cover (37) is connected to the mounting cover (19).

7. A flyable underwater robot according to claim 6, characterized in that: Sprockets are arranged on both the wheel shaft and the driven shaft (24), and a chain (36) is connected between the two sprockets on both sides. The chain (36) is located inside the mounting cover (19) and the long cover (37).

8. The flying underwater robot according to claim 1, characterized in that: An air release port (39) is arranged on the first airbag (6), and a second valve (40) is arranged on the air release port (39).

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