A type of underwater robot

Abstract

This invention relates to the field of submersible robot technology and discloses a submersible robot, comprising: a shell and a drive structure for driving its movement. The shell includes a head, a body, and a tail connected in sequence. The body is a cylindrical structure, and a propeller is connected to the outer periphery of the body. The drive structure includes a support frame and a propulsion mechanism, a steering mechanism, and a pitching mechanism connected thereto. The support frame is located inside the body. The propulsion mechanism includes a drive motor and a first counterweight. The stator of the drive motor is fixed to the support frame, and the rotor of the drive motor is fixed to the shell. The first counterweight is fixed to the bottom of the support frame. The rotation of the stator drives the first counterweight to rotate, providing torque to the robot. The rotation of the rotor drives the shell and the propeller to rotate synchronously, relying on the reaction force to propel the robot to move on the surface / underwater. This invention provides a submersible robot that simplifies the drive structure and its control system, resulting in a simple structure.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, and in particular to an underwater robot. Background Technology

[0002] In recent years, submersible robots have demonstrated broad application potential in fields such as marine exploration, underwater monitoring, military reconnaissance, and pipeline inspection. However, existing submersible robots still face many technical bottlenecks, especially low propulsion efficiency, complex structure, and insufficient integration, which seriously restrict their performance improvement and practical application effectiveness.

[0003] Current underwater robot technology offers multi-dimensional solutions to problems such as low propulsion efficiency and complex structures. In terms of propulsion system optimization, biomimetic propulsion (such as fin-like oscillation) can improve efficiency and reduce noise, but faces the challenge of complex control algorithms; ducted propellers and pump-jet propulsion improve propulsion performance through flow channel optimization, but require stringent manufacturing precision; magnetohydrodynamic propulsion, while offering the advantage of zero mechanical loss, is limited by material properties and magnetic field control technology. In the area of ​​structural simplification, modular design significantly reduces the number of parts, but the standardization of module interfaces is insufficient; flexible materials and continuum structures improve environmental adaptability, but bring challenges to material durability and multi-degree-of-freedom control. Recent research trends focus on biomimetic-mechanical hybrid drive optimization, but dynamic coupling of biomimetic mechanisms and reliability verification of novel propulsion systems remain critical technical bottlenecks that urgently need to be overcome.

[0004] For example, Chinese patent CN115535195B proposes an underwater robot based on a hybrid drive of biomimetic oscillation and propeller, such as... Figure 1 As shown, this robot uses a hybrid propulsion system, combining biomimetic propulsion and traditional propeller propulsion. By controlling the oscillation frequency and angle of each biomimetic fin-driven servo motor, as well as the speed and direction of the propeller-driven motor, the two propulsion methods work together to precisely control the vehicle's motion attitude. This combines the advantages of both biomimetic and propeller propulsion, allowing for the selection of the appropriate propulsion method under different operating conditions. However, due to the use of a hybrid propulsion system, the control system is highly complex. Precise control of the oscillation frequency and angle of each biomimetic fin-driven servo motor, as well as the speed and direction of the propeller-driven motor, is required, placing high demands on the control algorithm and control accuracy. Furthermore, the robot's structure is very complex; the pectoral fin joint assembly contains multiple servos and complex mechanical structures, and all parts must meet waterproofing requirements, resulting in a very complex overall structural design. Therefore, it is necessary to propose a new type of submersible robot. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a submersible robot that simplifies its drive structure and control system, resulting in a simple structure.

[0006] This invention provides a submersible robot, comprising: an outer shell and a drive structure for driving its movement. The outer shell includes a head, a body, and a tail connected in sequence. The body is a cylindrical structure, and a propeller is connected to the outer periphery of the body. The drive structure includes a support frame and a propulsion mechanism, a steering mechanism, and a pitching mechanism connected thereto. The support frame is located inside the body. The propulsion mechanism includes a drive motor and a first counterweight. The stator of the drive motor is fixed to the support frame, and the rotor of the drive motor is fixed to the outer shell. The first counterweight is fixed to the bottom of the support frame. The rotation of the stator drives the first counterweight to rotate, providing torque to the robot. The rotation of the rotor drives the outer shell and the propeller to rotate synchronously, and the robot moves on the surface / underwater by relying on the reaction force.

[0007] Optionally, the head is conical, and the drive motor is located at the head or tail.

[0008] Optionally, the first counterweight is fixed to the bottom outer wall of the bracket, and the first counterweight covers the bottom of the bracket along the axial direction of the outer shell and extends out of the bracket.

[0009] Optionally, the propeller can be detachably connected to the body via a connecting component, which includes a first snap-fit ​​part fixed to the body and a second snap-fit ​​part fixed to the root of the propeller. The first snap-fit ​​part and the second snap-fit ​​part engage and are fixed by threads.

[0010] Optionally, the propeller includes multiple blades arranged circumferentially around the outer periphery of the body.

[0011] Optionally, the pitching mechanism includes an airbag and an inflation / deflation assembly connected thereto, with the airbag fixed to the tail end.

[0012] Optionally, the steering mechanism includes a steering motor and a second counterweight. The steering motor is fixed to the top wall of the middle part of the body, and the output shaft of the steering motor is fixed to the second counterweight.

[0013] Optionally, both ends of the body are provided with cross-shaped grooves. One end of the bracket is connected to the rotor through a cross-shaped plug, and the other end of the bracket is rotatably connected to the cross-shaped plug. The cross-shaped plug and the cross-shaped groove are inserted and matched.

[0014] Optionally, the head and body, as well as the body and tail, are threaded connections.

[0015] The technical solution provided by the embodiments of the present invention has the following advantages compared with the prior art:

[0016] This invention provides a submersible robot that integrates the propulsion mechanism with the main structure through a "propeller-shell integration" design, achieving an innovative "robot as propeller" configuration. By directly connecting the propeller to the outer periphery of the body, making it part of the shell, the propulsion unit and the load-bearing structure are combined into one. When the drive motor is working, its stator drives the support and all components fixed on it to rotate at a certain angle. The rotation of the first counterweight fixed at the bottom of the support provides the power torque for the robot's movement, while the rotor drives the shell to rotate against the resistance torque in the water. The propeller is mounted on the robot's shell. When the robot rotates, the propeller can deflect the surrounding water backward, and the reaction force propels the robot to move on the surface / underwater. This significantly simplifies the mechanical structure, greatly improves propulsion efficiency, and significantly enhances system reliability. This unique integrated design allows the robot to achieve efficient propulsion and flexible switching between surface and underwater modes without the need for mechanism changes. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of an existing underwater robot based on a hybrid drive of biomimetic oscillation and propeller.

[0018] Figure 2 A front view of the outer shell of a submersible robot provided in an embodiment of the present invention;

[0019] Figure 3 A side view of the outer shell of a submersible robot provided in an embodiment of the present invention;

[0020] Figure 4 for Figure 2 Enlarged schematic diagram of the local structure at point G;

[0021] Figure 5 This is a schematic diagram of the overall internal structure of a submersible robot provided in an embodiment of the present invention;

[0022] Figure 6 A side view of the body provided in an embodiment of the present invention.

[0023] Explanation of reference numerals in the attached figures:

[0024] 1. Outer shell; 10. Head; 11. Body; 12. Tail; 13. Propeller; 14. Cross-shaped groove; 15. Cross-shaped insert; 2. Bracket; 3. Propulsion mechanism; 30. Drive motor; 31. First counterweight; 4. Steering mechanism; 40. Steering motor; 41. Second counterweight; 5. Pitch mechanism; 50. Airbag; 51. Inflation / depression assembly; 6. Connecting parts; 60. First snap-fit ​​part; 61. Second snap-fit ​​part; 7. System battery. Detailed Implementation

[0025] The following detailed description of a specific embodiment of the present invention is provided in conjunction with the accompanying drawings. However, it should be understood that the scope of protection of the present invention is not limited to the specific embodiment.

[0026] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the technical solution of this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0027] The present invention will be described below through several specific embodiments. To keep the following description of the embodiments clear and concise, detailed descriptions of known functions and components may be omitted. When any component of an embodiment of the present invention appears in more than one drawing, the component may be represented by the same reference numerals in each drawing.

[0028] In terms of propulsion efficiency, traditional underwater propulsion methods (such as propeller-driven, foot-paddle, foot-fin, and wheel-fin propellers) are limited by hydrodynamic characteristics, resulting in significant energy loss and insufficient endurance, making it difficult to meet the needs of long-term, large-scale operations. At the same time, the complex mechanical transmission structure design makes it difficult to optimize the size and weight of the submersible robot, which not only increases manufacturing costs but also reduces the reliability and ease of maintenance of the system.

[0029] Therefore, it is urgent to optimize the propulsion system and simplify the structure of underwater robots through innovative design in order to improve their overall performance and meet the growing needs of marine development and exploration.

[0030] refer to Figure 2 , Figure 3 and Figure 5 ,in, Figure 2 This is a front view of the outer shell of a submersible robot provided in an embodiment of the present invention. Figure 3 This is a side view of the outer shell of a submersible robot provided in an embodiment of the present invention. Figure 5 This is a schematic diagram of the overall internal structure of a submersible robot provided in an embodiment of the present invention, as shown below. Figure 2 , Figure 3 and Figure 5As shown, this embodiment of the invention provides a submersible robot, including: a shell 1 and a drive structure for its movement. The shell 1 is made of pressure-resistant composite material and includes three parts: a head 10, a body 11, and a tail 12, which are designed according to hydrodynamics. The body 11 has a cylindrical structure, and a propeller 13 is connected to the outer periphery of the body 11. The drive structure includes a support 2 and a propulsion mechanism 3, a steering mechanism 4, and a pitching mechanism 5 connected thereto. The drive system adopts a multi-mechanism cooperative control scheme, including a rigid support 2 and a propulsion mechanism 3, a steering mechanism 4, and a pitching mechanism 5 connected thereto. The support 2 is located on the body... Inside part 11, the propulsion mechanism 3 includes a drive motor 30 and a first counterweight 31. The stator of the drive motor 30 is fixed to the bracket 2. The stator of the drive motor 30 can be rigidly connected to the bracket 2 through a flange. The rotor of the drive motor 30 is fixed to the outer shell 1 and can be coupled to the outer shell 1 through an electromagnetic clutch. The first counterweight 31 is fixed to the bottom of the bracket 2. The rotation of the stator drives the first counterweight 31 to rotate, providing power torque to the robot. The rotation of the rotor drives the outer shell 1 and the propeller 13 to rotate synchronously. The robot moves on the water surface / underwater by relying on the reaction force. The system battery 7 is fixed inside the bracket 2 and connected to the main control board.

[0031] This invention provides a submersible robot that integrates the propulsion mechanism with the main structure through a "propeller-shell integration" design, achieving an innovative "robot as propeller" configuration. By directly connecting the propeller to the outer periphery of the body, making it part of the shell, the propulsion unit and the load-bearing structure are combined into one. When the drive motor is working, its stator drives the support and all components fixed on it to rotate at a certain angle. The rotation of the first counterweight fixed at the bottom of the support provides the power torque for the robot's movement, while the rotor drives the shell to rotate against the resistance torque in the water. The propeller is mounted on the robot's shell. When the robot rotates, the propeller can deflect the surrounding water backward, and the reaction force propels the robot to move on the surface / underwater. This significantly simplifies the mechanical structure, greatly improves propulsion efficiency, and significantly enhances system reliability. This unique integrated design allows the robot to achieve efficient propulsion and flexible switching between surface and underwater modes without the need for mechanism changes.

[0032] Specifically, the head 10 is conical, and the drive motor 30 is located at the head 10 or the tail 12.

[0033] A conical head can more effectively guide water flow smoothly along the surface (laminar flow) and reduce turbulence at the tail (low-pressure vortex region). Turbulence generates pressure drag, and the conical design can delay or reduce this effect. The conical head, through its gradually changing cross-section, makes the pressure distribution more gradual, reducing pressure drag. A conical head can reduce drag by more than 50% (the specific value depends on the cone angle, speed, etc.). For example, the conical heads of fish and submarines are the result of natural and engineering optimization. The drive motor 30 is preferably located at the robot's head 10 or tail 12 because the robot's motion principle is that the rotor of the drive motor 30 drives the robot's outer shell 1 to rotate. The rotor of the drive motor 30 needs to be connected to the robot's outer shell 1, and the closer the two are, the better. In addition, placing the drive motor 30 at the head 10 or tail 12 can maximize the free space inside the robot for other functions, such as control panels, counterweights, etc., improving space utilization.

[0034] Optionally, the first counterweight 31 is fixed to the bottom outer wall of the bracket 2, and the first counterweight 31 covers the bottom of the bracket 2 along the axial direction of the outer shell 1 and extends out of the bracket 2.

[0035] The heavier the first counterweight 31, the better. The heavier the counterweight, the greater the driving torque it provides, and the faster the robot can move. The part of the first counterweight 31 extending out of the bracket 2 can be left as long as it does not affect the robot assembly. On this basis, the heavier the counterweight, the better.

[0036] refer to Figure 4 , Figure 4 for Figure 2 A magnified schematic diagram of the local structure at point G, as shown below. Figure 4 As shown, the propeller 13 is detachably connected to the body 11 via the connecting component 6. The connecting component 6 includes a first snap-fit ​​part 60 fixed to the body 11 and a second snap-fit ​​part 61 fixed to the root of the propeller 13. The first snap-fit ​​part 60 and the second snap-fit ​​part 61 engage and are fixed by threads. The first snap-fit ​​part 60 adopts a high-strength stainless steel annular flange, which is fixed to the reinforcing rib on the outer wall of the body 11 by an array of waterproof bolts. A waterproof conductive slip ring is integrated on the inner side of the flange for propeller power / signal transmission. The end face is designed with a conical positioning groove (with an O-ring seal) to ensure docking accuracy and waterproofing. The second snap-fit ​​part 61 is integrally formed with the root of the propeller 13 and adopts a lightweight titanium alloy structure. A radial protrusion key is set at the end to match the groove of the first snap-fit ​​part 60 to achieve anti-torsion positioning. A threaded sleeve is reserved in the center for final locking.

[0037] Making the propeller 13 and body 11 detachable can greatly reduce the manufacturing difficulty. The body 11 and propeller 13 of the robot can be manufactured separately. The robot is driven by the propeller 13 when it moves in water / on the water surface. However, if the propeller 13 is still fixed to the body when the robot is not in use, it is difficult to place and the propeller 13 is easy to be crushed. Making it detachable can make it convenient to place the robot when it is not in use.

[0038] Optionally, the propeller 13 includes multiple blades arranged circumferentially around the body 11.

[0039] Optionally, the pitch mechanism 5 includes an airbag 50 and an inflation / deflation assembly 51 connected thereto. The airbag 50 is fixed to the end of the tail section 12. Specifically, the inflation / deflation assembly 51 includes an air pump and an air tube. The air pump is fixed on the bracket 2 and connected to the airbag 50 through the air tube. The airbag 50 is made of a thin silicone sheet.

[0040] Surface / underwater movement switching principle: The airbag 50 is connected to the air pump inside the robot through a rubber air tube. When the air pump is working, it inflates the airbag 50, causing the tail 12 of the robot to tilt upwards, allowing the robot to move into the water. When the air pump is working, it expels the air from the airbag 50 into the robot, causing the airbag 50 to contract, causing the tail 12 of the robot to sink. Using propulsion, the robot can move towards the surface. After the robot is underwater, the overall balance of the robot can be maintained by controlling the inflation of the airbag 50. At this time, it is only necessary to inflate the airbag 50 again to make the robot head-heavy and move underwater, and vice versa.

[0041] Optionally, the steering mechanism 4 includes a steering motor 40 and a second counterweight 41. The steering motor 40 is fixed to the top wall of the middle part of the body 11, and the output shaft of the steering motor 40 is fixed to the second counterweight 41.

[0042] Steering motion: When the steering motor 40 is working, its rotor drives the second counterweight 41 to rotate and generate angular acceleration. At the same time, according to the conservation of angular momentum, the entire robot also generates angular acceleration in the opposite direction to the rotation direction of the second counterweight 41, thereby driving the robot to turn.

[0043] refer to Figure 6 , Figure 6 A side view of the body provided in an embodiment of the present invention, such as Figure 6 As shown, both ends of the body 11 are provided with cross-shaped grooves 14, which can be milled into shape on the end face of the body 11 using a five-axis machining center. One end of the bracket 2 is connected to the rotor through a cross-shaped insert 15, and the other end of the bracket 2 is rotatably connected to the cross-shaped insert 15 through a bearing. It can be integrally forged from martensitic stainless steel and subjected to deep cryogenic treatment to improve dimensional stability. The cross-shaped insert 15 and the cross-shaped groove 14 are inserted and fitted together.

[0044] Optionally, the head 10 and body 11, as well as the body 11 and tail 12, are threaded connections. Threaded connections are typically designed with a certain axial clamping force, effectively compressing the O-ring seal to achieve a highly reliable water seal and prevent water ingress. For deep-water applications, as water pressure increases, the sealing effect of the threaded connection combined with the O-ring seal actually strengthens, resulting in a tighter seal. Threaded connections have good self-locking properties, making them less prone to loosening due to vibration or external forces during underwater operation. Compared to snap-fit ​​connections, they have higher structural strength and will not break under severe movement or impact. Loosening the screws allows for easy separation of the two parts, making maintenance and replacement of internal modules such as batteries and sensors convenient without the need for special tools or numerous screws, thus improving on-site operational convenience. Compared to flange + bolt connections, threaded connections do not require exposed screws or nuts, resulting in a more streamlined design, lower water resistance, and improved overall aesthetics and hydrodynamic efficiency.

[0045] The robot design proposed in this invention is an innovative "propeller-shell integrated" underwater robot drive scheme. Its core lies in the deep integration of the propulsion system with the robot's main structure, achieving a structural revolution in the drive method. Compared to traditional external propeller propulsion, this scheme eliminates the end-effect eddy current losses of traditional propellers by integrating the propeller blades with the robot's shell, significantly improving propulsion efficiency. Simultaneously, by eliminating the separate propeller transmission mechanism, it not only greatly simplifies the mechanical structure but also completely solves the shaft sealing and waterproofing problems faced by traditional propellers. Compared to biomimetic propulsion methods, this integrated drive overcomes the drawbacks of complex control and slow response speed of biomimetic mechanisms while maintaining high propulsion efficiency. In particular, this integrated design allows the robot to achieve efficient propulsion in both surface and underwater environments without the need for additional mode-switching mechanisms, demonstrating significant advantages in structural reliability, propulsion efficiency, and environmental adaptability.

[0046] This invention proposes a revolutionary "propeller-shell integrated" submersible robot design. By integrating the propulsion system with the robot's main structure, it achieves an innovative "robot as propeller" configuration. This design uses an integral propeller structure as part of the robot's shell, combining the propulsion mechanism with the load-bearing structure, significantly simplifying the mechanical structure, greatly improving propulsion efficiency, and substantially enhancing system reliability. This unique integrated design allows the robot to achieve efficient propulsion and flexible switching between surface and underwater environments without structural changes, making it particularly suitable for underwater operations requiring long endurance and high maneuverability, including tasks such as marine environmental monitoring, underwater pipeline inspection, military reconnaissance, and scientific research. Its hollow internal structure provides ample space for equipment payload while maintaining excellent hydrodynamic performance, offering a completely new technical solution for the field of submersible robots and achieving significant breakthroughs in propulsion efficiency, structural simplification, and functional integration.

[0047] The above inventions are merely a few specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A submersible robot, characterized in that, include: The outer shell (1) and the driving structure that drives its movement, wherein, The outer shell (1) includes a head (10), a body (11) and a tail (12) connected in sequence. The body (11) is a cylindrical structure and a propeller (13) is connected to the outer periphery of the body (11). The drive structure includes a bracket (2) and a propulsion mechanism (3), a steering mechanism (4) and a pitching mechanism (5) connected thereto. The bracket (2) is located inside the body (11). The propulsion mechanism (3) includes a drive motor (30) and a first counterweight (31). The stator of the drive motor (30) is fixed to the bracket (2), and the rotor of the drive motor (30) is fixed to the outer shell (1). The first counterweight (31) is fixed to the bottom of the bracket (2). The rotation of the stator drives the first counterweight (31) to rotate, providing power torque to the robot. The rotation of the rotor drives the outer shell (1) and the propeller (13) to rotate synchronously, relying on the reaction force to propel the robot to move on the water surface / underwater. The pitch mechanism (5) includes an airbag (50) and an inflation / deflation assembly (51) connected thereto, wherein the airbag (50) is fixed to the end of the tail (12); The steering mechanism (4) includes a steering motor (40) and a second counterweight (41). The steering motor (40) is fixed to the top wall of the middle part of the body (11), and the output shaft of the steering motor (40) is fixed to the second counterweight (41). The airbag (50) is connected to the air pump inside the robot through a rubber tube. When the air pump is working, it inflates the air inside the robot into the airbag (50), causing the airbag (50) to expand and the tail (12) of the robot to tilt upwards, allowing the robot to move into the water. When the air pump is working, it expels the air inside the airbag (50) into the robot, causing the airbag (50) to contract and the tail (12) of the robot to sink. Relying on propulsion, the robot can move towards the water surface. After the robot enters the water, the overall balance of the robot can be achieved by controlling the inflation amount of the airbag (50). At this time, it is only necessary to inflate the airbag (50) again, and the robot can move underwater with a top-heavy body, and vice versa.

2. The submersible robot as described in claim 1, characterized in that, The head (10) is conical, and the drive motor (30) is located at the head (10) or the tail (12).

3. The underwater robot as described in claim 1, characterized in that, The first counterweight (31) is fixed to the bottom outer wall of the bracket (2), and the first counterweight (31) covers the bottom of the bracket (2) along the axial direction of the outer shell (1) and extends out of the bracket (2).

4. A submersible robot as described in claim 1, characterized in that, The propeller (13) is detachably connected to the body (11) via a connecting component (6). The connecting component (6) includes a first snap-fit ​​part (60) fixed to the body (11) and a second snap-fit ​​part (61) fixed to the root of the propeller (13). The first snap-fit ​​part (60) and the second snap-fit ​​part (61) engage and are fixed by threads.

5. A submersible robot as described in claim 1, characterized in that, The propeller (13) includes a plurality of blades arranged circumferentially around the body (11).

6. A submersible robot as described in claim 1, characterized in that, Both ends of the body (11) are provided with cross-shaped grooves (14). One end of the bracket (2) is connected to the rotor through a cross-shaped plug (15), and the other end of the bracket (2) is rotatably connected to the cross-shaped plug (15). The cross-shaped plug (15) is inserted into the cross-shaped groove (14).

7. A submersible robot as described in claim 1, characterized in that, The head (10) and body (11) are threaded together, as are the body (11) and tail (12).

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