Vector flapping wing hybrid propulsion type intelligent underwater robot

Abstract

The invention discloses a vector flapping wing hybrid propulsion type intelligent underwater robot, and relates to the technical field of underwater robots. The underwater robot comprises a shell, a vector driving mechanism, flapping wing driving mechanisms and a controller, the flapping wing driving mechanisms are located on the two sides of the shell and comprise rotating shafts, flapping wings, flapping wing motors and a plurality of connecting rods, and the flapping wings are made of flexible materials; a plurality of containing cavities are formed in the two sides of the shell, and the rotating shaft penetrates through the containing cavities and is connected with the flapping wing motor. One side of each connecting rod penetrates through the rotating shaft and the shell to be fixedly connected with the flapping wing, and the other side of each connecting rod is provided with a balancing weight. The flapping wing is divided into a plurality of connecting sections by the connecting rods, and the width of each connecting section is gradually reduced. The flapping wing driving mechanism is matched with the vector driving mechanism, multi-degree-of-freedom flexible movement can be realized, and the underwater robot can realize more flexible maneuverability by utilizing the structural characteristic that the width of the connecting section is gradually shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and in particular to a vector flapping-wing hybrid propulsion type intelligent underwater robot. Background Art

[0002] Traditional underwater robots (AUVs) are characterized by propeller propulsion and rigid structures. They are classified into two categories: tethered (ROVs) and autonomous (AUVs). They are primarily used for tasks such as deep-sea exploration, pipeline inspection, and military reconnaissance. However, in practice, these robots suffer from low propulsion efficiency, poor maneuverability, insufficient noise and stealth, and limited environmental adaptability due to high propeller energy consumption, difficulty maneuvering in complex terrain, and the vulnerability of their rigid structures to interference from currents.

[0003] At present, bionic flapping-wing underwater robots are gradually replacing traditional underwater robots. Bionic flapping-wing underwater robots simulate the flexible flapping motion of fish through bionic design, combined with the tail vortex energy recovery mechanism, to achieve efficient propulsion, zero-radius turning and hovering. At the same time, the low noise characteristics are close to those of natural organisms, suitable for covert reconnaissance and ecological non-interference monitoring. In addition, the flexible structure can also adapt to turbulence, use vortex to assist propulsion, and have bionic camouflage capabilities (such as camouflaging fish to perform tasks). However, there are still several problems with current bionic flapping-wing underwater robots. First, the maneuverability of current bionic flapping-wing underwater robots is poor. Due to insufficient power, they cannot perform operations such as fast movement and turning. Second, the freedom of movement of current bionic flapping-wing underwater robots is limited, and they cannot achieve functions such as zero-radius turning, vertical lifting and hovering. They cannot guarantee smooth and flexible movement in low-speed and complex water flow environments. Summary of the Invention

[0004] In response to the problems that the current flapping-wing underwater robots have poor maneuverability, limited freedom of movement, and cannot guarantee smooth and flexible propulsion in low-speed and complex water flow environments, the present invention provides a vector flapping-wing hybrid propulsion intelligent underwater robot.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A vector flapping-wing hybrid propulsion intelligent underwater robot includes a housing, a vector drive mechanism, a flapping-wing drive mechanism, and a controller. The vector drive mechanism is disposed at the rear of the housing, the flapping-wing drive mechanism is disposed on both sides of the housing, and the controller is disposed within the housing and connected to the vector drive mechanism and the flapping-wing drive mechanism, respectively. The flapping-wing drive mechanism includes a rotating shaft, flapping wings, a flapping-wing motor, and a plurality of connecting rods. The flapping wings are made of flexible material and are located on both sides of the housing. Each side of the housing has a plurality of accommodating cavities, with partitions between adjacent accommodating cavities. The rotating shaft passes through the partitions and its ends are connected to the flapping-wing motors. Each connecting rod passes through the rotating shaft and the housing to be fixedly connected to the flapping wing on the same side. A counterweight is fixed to the inner end of each connecting rod. The flapping-wing motor drives the flapping wings to swing back and forth via the rotating shaft and the connecting rods. The connecting rods divide the flapping wings into a plurality of connecting segments, and the widths of the plurality of connecting segments on both sides of the housing gradually decrease in the same direction.

[0007] Furthermore, the shell includes an upper shell and a lower shell, the upper shell and the lower shell are detachably connected to form a cavity, and the controller is fixed in the cavity.

[0008] Furthermore, the upper shell is provided with an opening communicating with the cavity, and a sealing cover is disposed at the opening.

[0009] Furthermore, the left and right sides of the upper shell and the left and right sides of the lower shell each have a plurality of barrel bodies, and the accommodating cavity is formed by correspondingly connecting the barrel bodies of the upper shell and the barrel bodies of the lower shell.

[0010] Furthermore, the upper shell has a plurality of arc-shaped notches on the left and right sides adjacent to the edge of the barrel body, and the lower shell has a plurality of arc-shaped notches on the left and right sides adjacent to the edge of the barrel body. The arc-shaped notches of the upper shell and the arc-shaped notches of the lower shell are correspondingly connected to form a movable opening connected to the accommodating cavity, and the movable opening is used for the movement of the connecting rod.

[0011] Furthermore, the width of each connecting section gradually shortens from front to back.

[0012] Furthermore, the vector drive mechanism includes a first motor, a second motor, a third motor, a fixing frame, a protective shell and a propeller, the first motor is fixedly connected to the rear of the shell and is connected to the fixing frame through a transmission shaft; the second motor is fixedly connected to one side of the fixing frame and is connected to the protective shell through a transmission shaft; the third motor is fixed in the protective shell and is connected to the propeller through a transmission shaft and a bushing.

[0013] Furthermore, the fixing frame is U-shaped, and the first motor is fixed to one side of the fixing frame to drive the protective shell to rotate in the fixing frame.

[0014] Furthermore, the shell is equipped with a plurality of sensors, a robotic arm is installed at the bottom of the lower shell, and the controller is connected to the robotic arm and each sensor respectively.

[0015] Furthermore, a mounting opening is provided on the front side of the shell, and the mounting opening is used to fix the camera.

[0016] The beneficial effects of the present invention are as follows: the flapping wing drive mechanism and the vector drive mechanism in the present invention cooperate to flexibly move in multiple degrees of freedom in three-dimensional space, realize functions such as zero-radius turning, vertical lifting and hovering, and at the same time, the design of gradually shortening the width of the connecting section on the flapping wing from front to back can expand the contact area with the water when paddling, generate a strong initial thrust through a larger swing amplitude, and effectively reduce the turbulent disturbance of the water flow at the tail, reduce the water resistance during movement, and make the water flow more smoothly peel off from the wing surface of the flapping wing, so that the underwater robot can achieve more flexible maneuverability and provide smooth and flexible propulsion in complex water environments with different water depths and flow rates. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Shown is a schematic diagram of the structural principle of an embodiment of the present invention.

[0018] Figure 2 Shown Figure 1 Front view of .

[0019] Figure 3 Shown Figure 2 Cross-sectional view at point A.

[0020] Figure 4 Shown Figure 1 Right side view.

[0021] Figure 5 Shown Figure 1 Top view of .

[0022] Explanation of the accompanying drawings: 1. Upper shell; 2. Lower shell; 3. Sealing cover; 4. Accommodating chamber; 5. Partition; 6. Flapping wing; 7. Flapping wing motor; 8. Rotating shaft; 9. Counterweight; 10. Connecting rod; 11. First motor; 12. Fixed bracket; 13. Second motor; 14. Third motor; 15. Propeller; 16. Robotic arm; 17. Mounting port. DETAILED DESCRIPTION

[0023] The present invention discloses a vector flapping-wing hybrid propulsion type intelligent underwater robot. An embodiment of the present invention is described in detail below with reference to the accompanying drawings.

[0024] Combine Figure 1 、 Figure 2 as well as Figure 3 As shown, a vector flapping-wing hybrid propulsion intelligent underwater robot includes a shell, a vector drive mechanism, a flapping-wing drive mechanism and a controller. The shell includes an upper shell 1 and a lower shell 2. The upper shell 1 and the lower shell 2 are detachably connected to form a sealed cavity, and the controller is fixed in the cavity. An opening connected to the cavity is provided on the top of the upper shell 1, and a sealing cover 3 is provided at the opening to facilitate the staff to inspect and replace the controller and other components through the opening, thereby reducing the difficulty of maintenance. There are several barrels on both sides of the upper shell 1, and there are several arc-shaped notches on the left and right sides of the upper shell 1 adjacent to the edge of the barrel. There are several barrels on both sides of the lower shell 2, and there are several arc-shaped notches on the left and right sides of the lower shell 2 adjacent to the edge of the barrel. After the upper shell 1 and the lower shell 2 are connected, the barrels of the upper shell 1 and the barrels of the lower shell 2 are connected to form a plurality of accommodating chambers 4. The arc-shaped notches of the upper shell 1 and the arc-shaped notches of the lower shell 2 are connected to form movable openings that communicate with the accommodating chambers 4. The movable openings are used to allow the connecting rod 10 to swing. Elastic sealing cloth is installed at the edge of the movable openings and between the connecting rod 10 to prevent seawater from entering the accommodating chambers 4 through the movable openings. Partitions 5 are provided between adjacent accommodating chambers 4.

[0025] The flapping-wing drive mechanism is disposed on the left and right sides of the housing. It comprises two rotating shafts 8, two flapping wings 6, two flapping-wing motors 7, and several connecting rods 10. The flapping wings 6 are made of a flexible material and are located on either side of the housing, symmetrically with respect to the left and right sides of the housing. The rotating shafts 8 are located on either side of the housing, and the flapping-wing motors 7 are fixed to either side of the housing and are in driving connection with the front end of the rotating shafts 8. The rotating shafts 8 extend through the partition 5 of the accommodating chamber 4 and can rotate relative to the partition 5 under the action of the flapping-wing motors 7. Each connecting rod 10 passes through the rotating shaft 8 and the movable opening to be fixedly connected to the flapping wing 6 located on the same side. A counterweight 9 is fixed to the inner end of the connecting rod 10, which is suspended in the accommodating chamber 4. The counterweight 9 is used to reduce inertia, alleviate wear on the flapping-wing motor 7, and improve the smoothness of the reciprocating swing of the flapping wings 6. The flapping-wing motor 7 drives the connecting rods 10 to swing back and forth within the movable opening via the rotating shaft 8, thereby driving the flapping wings 6 to swing up and down.

[0026] Combine Figure 4 and Figure 5As shown, the connecting rod 10 divides the flapping wing 6 into several connecting segments. The widths of the several connecting segments located on both sides of the shell gradually shorten from front to back. This structural design of the gradually changing width of the connecting segments can conform to the fluid body mechanics characteristics of the water medium. The longer connecting segments on the front side of the flapping wing 6 can effectively expand the contact area with the water during paddling, generate strong initial thrust through a larger swing amplitude, and provide the main power source for the overall movement. The gradually shortening connecting segments on the rear side of the flapping wing 6 can effectively reduce the turbulent disturbance of the water flow at the tail, reduce the water resistance during movement, and make the water flow more smoothly peel off the wing surface of the flapping wing 6, avoiding energy loss due to vortex formation. At the same time, this structural design conforms to the principles of bionics. Similar to the shape of a fish's tail fin that gradually narrows from the base to the tip, it allows the flapping wing 6 to achieve more flexible angle changes during the up and down swing process, adapting to complex water environments with different water depths and flow rates, and achieving an optimal balance between propulsion efficiency and energy consumption.

[0027] The vector drive mechanism includes a first motor 11, a second motor 13, a third motor 14, a fixing frame 12, a protective shell and a propeller 15. The first motor 11 is fixedly connected to the rear of the shell. The fixing frame 12 is U-shaped, including a base plate and side plates fixed on the left and right sides of the base plate. The fixing frame 12 is located on the outside of the rear of the shell. The transmission shaft of the first motor 11 passes through the rear of the shell to be connected to the middle position of the base plate for driving the fixing frame 12 to rotate. The second motor 13 is fixedly connected to the side plate of the fixing frame 12 and is connected to the protective shell located in the fixing frame 12 through the transmission shaft. The second motor 13 drives the protective shell to rotate through the transmission shaft. The third motor 14 is adapted to be fixed in the protective shell. The transmission shaft of the third motor 14 passes through the protective shell and is connected to the propeller 15 through the shaft sleeve. The third motor 14 drives the propeller 15 to rotate.

[0028] The housing is equipped with several sensors to monitor position, force, and environmental parameters, ensuring the underwater robot can operate stably under complex conditions such as high pressure and low temperature. A robotic arm 16 is mounted at the bottom of the lower housing 2, and the controller is connected to the robotic arm 16 and the sensors. A mounting port 17 is provided at the front of the housing for securing the camera.

[0029] During underwater operation, the controller controls the two flapping motors 7 to drive the flapping wings 6 into periodic reciprocating swings. These swings generate lift and thrust during downward flapping, and reduce drag through flexible deformation during upward retraction. The controller controls the flapping motors 7 to control the swing angle, frequency, and amplitude of the flapping wings 6. The controller also utilizes the structural design of the flapping wings 6 with a gradually varying width at the connecting section, efficiently converting reciprocating motion into continuous propulsion. During straight-line navigation, the two flapping wings 6 swing symmetrically to provide stable thrust for the entire system. During turns, the two flapping motors 7 change the thrust direction by deflecting the plane of the flapping wings 6 or adjusting the phase difference, enabling zero-radius turns, vertical lift, or hovering. The controller independently controls the speed and output direction of the first and second motors 11 and 13, enabling independent control of their respective thrust vectors. This allows the third motor 14, located on the protective shell, to flexibly move with multiple degrees of freedom in three-dimensional space, thereby adjusting the direction of the thrust generated by the propeller 15. The present invention utilizes a vector drive mechanism and flapping wing drive mechanism to coordinate and coordinate, enabling the underwater robot to flexibly switch between different motion modes, including straight-ahead movement, steering, and hovering, achieving rapid maneuverability. The controller utilizes onboard cameras, sonar, and other sensors to achieve environmental perception, while an onboard communication module facilitates data transmission. The robotic arm 16 typically utilizes a multi-joint design and is driven by a servo motor or hydraulics. The controller controls the operation of the robotic arm 16.

[0030] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the scope of protection of the present invention.

Claims

1. A vector flapping-wing hybrid propulsion intelligent underwater robot, characterized by: The invention comprises a housing, a vector drive mechanism, a flapping-wing drive mechanism and a controller, wherein the vector drive mechanism is arranged at the rear of the housing, the flapping-wing drive mechanism is arranged on both sides of the housing, and the controller is arranged in the housing and is connected to the vector drive mechanism and the flapping-wing drive mechanism respectively; The flapping-wing driving mechanism comprises a rotating shaft (8), a flapping wing (6), a flapping-wing motor (7) and a plurality of connecting rods (10). The flapping wing (6) is made of a flexible material and is respectively located on the two outer sides of the shell; both sides of the shell are provided with a plurality of accommodating cavities (4), and a partition (5) is provided between adjacent accommodating cavities (4); the rotating shaft (8) passes through the partition (5), and the end portion is connected to the flapping-wing motor (7); each of the connecting rods (10) passes through the rotating shaft (8) and the shell to be fixedly connected to the flapping wing (6) located on the same side, and a counterweight (9) is fixed to the inner end of each of the connecting rods (10); the flapping-wing motor (7) drives the flapping wing (6) to swing back and forth through the rotating shaft (8) and the connecting rod (10); the connecting rod (10) divides the flapping wing (6) into a plurality of connecting sections, and the width of each of the connecting sections gradually shortens along the same direction.

2. The vector flapping-wing hybrid propulsion intelligent underwater robot according to claim 1, characterized in that: The housing comprises an upper housing (1) and a lower housing (2); the upper housing (1) and the lower housing (2) are detachably connected to form a cavity; the controller is fixed in the cavity.

3. The vector flapping-wing hybrid propulsion intelligent underwater robot according to claim 2, characterized in that: The upper shell (1) is provided with an opening communicating with the cavity, and a sealing cover (3) is arranged at the opening.

4. The vector flapping-wing hybrid propulsion intelligent underwater robot according to claim 2, characterized in that: The left and right sides of the upper shell (1) and the left and right sides of the lower shell (2) each have a plurality of barrel bodies, and the accommodating cavity (4) is formed by correspondingly connecting the barrel bodies of the upper shell (1) and the barrel bodies of the lower shell (2).

5. A vector flapping-wing hybrid propulsion intelligent underwater robot according to claim 4, characterized in that: The upper shell (1) has a plurality of arc-shaped notches at the edge positions adjacent to the barrel body on both sides, and the lower shell (2) has a plurality of arc-shaped notches at the edge positions adjacent to the barrel body on both sides. The arc-shaped notches of the upper shell (1) and the arc-shaped notches of the lower shell (2) are connected to form a movable opening that communicates with the accommodating cavity (4), and the movable opening is used for allowing the connecting rod (10) to move.

6. The vector flapping-wing hybrid propulsion intelligent underwater robot according to claim 1, characterized in that: The width of each connecting section gradually shortens from front to back.

7. The vector flapping-wing hybrid propulsion intelligent underwater robot according to claim 1, characterized in that: The vector drive mechanism comprises a first motor (11), a second motor (13), a third motor (14), a fixing frame (12), a protective shell and a propeller (15), wherein the first motor (11) is fixedly connected to the rear of the shell and is transmission-connected to the fixing frame (12) via a transmission shaft; the second motor (13) is fixedly connected to one side of the fixing frame (12) and is transmission-connected to the protective shell via a transmission shaft; the third motor (14) is fixed in the protective shell and is transmission-connected to the propeller (15) via a transmission shaft and a shaft sleeve.

8. The vector flapping-wing hybrid propulsion intelligent underwater robot according to claim 7, characterized in that: The fixing frame (12) is U-shaped, and the first motor (11) is fixed to one side of the fixing frame (12) to drive the protective shell to rotate within the fixing frame (12).

9. The vector flapping-wing hybrid propulsion intelligent underwater robot according to claim 1, characterized in that: The housing is equipped with a plurality of sensors, a mechanical arm (16) is installed at the bottom of the lower housing (2), and the controller is respectively connected to the mechanical arm (16) and the sensors.

10. The vector flapping-wing hybrid propulsion intelligent underwater robot according to claim 1, characterized in that: A mounting opening (17) is provided on the front side of the housing, and the mounting opening (17) is used to fix a camera.

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