Operation type cross-medium navigation robot

Abstract

The invention discloses an operation type cross-medium sailing robot which comprises a flight system, an underwater propelling system and a rope-driven mechanical arm, the flight system comprises a machine body, and rotor wing assemblies and foot stools are installed at the four corners of the machine body; the underwater propelling system comprises a first underwater propeller, a second underwater propeller and a third underwater propeller which are installed on the fuselage, the propelling directions of the first underwater propeller, the second underwater propeller and the third underwater propeller are perpendicular to one another in pairs, and the axis of one of the propellers is parallel to the lifting direction of the fuselage; the rope-driven mechanical arm comprises a driving device and a mechanical arm assembly connected with the driving device, and the driving device is installed at the bottom of the machine body and used for driving the mechanical arm assembly. Through cooperative work of the flight system and the underwater propulsion system, seamless switching between the air environment and the underwater environment is achieved, and the application scene and the operation capability of the unmanned aerial vehicle are remarkably expanded.

Description

Technical Field

[0001] This invention relates to the field of cross-medium robotics, and more particularly to an operational cross-medium navigation robot. Background Technology

[0002] In recent years, rotorcraft and autonomous underwater robots have flourished, enabling them to perform certain tasks in the air and underwater. However, these capabilities are limited to contact-based operations within a single medium. Faced with increasingly complex integrated air and underwater tasks, these robot systems are often constrained by their single operating mode, making it difficult to meet task requirements and limiting their application value. Therefore, a new technological solution is urgently needed to address these issues and enable robots to perform cross-medium contact operations in both air and water. Summary of the Invention

[0003] Purpose of the invention: To address the above-mentioned shortcomings, this invention provides a work-type cross-medium navigation robot that integrates a flight system, an underwater propulsion system, and a cable-driven underwater robotic arm to achieve aerial flight, underwater navigation, and multi-degree-of-freedom precision operations.

[0004] Technical solution: To solve the above problems, the present invention employs an operational cross-medium navigation robot, comprising:

[0005] The flight system includes a fuselage, with rotor assemblies and landing gear mounted at the four corners of the fuselage;

[0006] The underwater propulsion system includes a first underwater thruster, a second underwater thruster, and a third underwater thruster mounted on the fuselage. The propulsion directions of the first underwater thruster, the second underwater thruster, and the third underwater thruster are perpendicular to each other, and the axis of one of the thrusters is parallel to the lifting direction of the fuselage.

[0007] A rope-driven robotic arm includes a drive unit and a robotic arm assembly connected to the drive unit. The drive unit is mounted on the bottom of the machine body and is used to drive the robotic arm assembly.

[0008] Furthermore, the rotor assembly includes a rotor motor and a rotor, with connecting frames installed at the four corners of the fuselage, the rotor motor mounted on the top of the connecting frames, and the rotor connected to the rotor motor; the landing gear is installed at the bottom of the connecting frames.

[0009] Furthermore, the first underwater thruster is installed on the top of the fuselage, and a fixed frame is provided at the bottom of the fuselage. A front thruster seat and a middle thruster seat are fixedly installed on both sides of the fixed frame, and a rear thruster seat is fixedly installed behind the fixed frame. The second underwater thruster is installed on the front thruster seat and the rear thruster seat, and the third underwater thruster is installed on the middle thruster seat.

[0010] Furthermore, a waterproof chamber is fixedly installed in the middle of the mounting frame, and a control unit is installed inside the waterproof chamber. The control unit is used to control the rotor assembly and the drive device.

[0011] Furthermore, the axis of the second underwater thruster is parallel to the direction of the fuselage's lifting and lowering.

[0012] Furthermore, a base is connected to the bottom of the fixed frame, the base including an upper plate and a lower plate, the upper plate and the lower plate being connected by a support rod; the drive device is installed between the upper plate and the lower plate, and the robotic arm assembly is installed at the bottom of the lower plate.

[0013] Furthermore, the drive device includes a large arm drive motor, a forearm drive motor, and an end-wrist drive motor mounted on the lower plate. A large arm drive winch is fixedly mounted on the output shaft of the large arm drive motor, a forearm drive winch is fixedly mounted on the output shaft of the forearm drive motor, and an end-wrist drive winch is fixedly mounted on the output shaft of the end-wrist drive motor. The large arm drive winch, forearm drive winch, and end-wrist drive winch are all connected to the robotic arm assembly for transmission.

[0014] Furthermore, the robotic arm assembly includes a large arm unit, a small arm unit, and an end wrist unit. A fixed side plate is provided at the bottom of the lower plate. The large arm unit includes a symmetrically arranged large arm main rod. The large arm main rod is rotatably connected to the fixed side plate through a large arm rotation shaft. A large arm rotation winch is installed on the large arm rotation shaft. The large arm drive winch and the large arm rotation winch are connected by a large arm rotation rope.

[0015] The forearm unit includes a symmetrically arranged forearm main rod, which is rotatably connected to the main arm through a forearm rotation shaft. A forearm rotation winch is installed on the forearm rotation shaft, and the forearm drive winch and the forearm rotation winch are connected by a forearm rotation rope.

[0016] The end-wrist unit includes a U-shaped frame and a wrist mounted at the bottom of the U-shaped frame. The U-shaped frame is rotatably connected to the forearm main rod via an end-wrist rotation shaft. An end-wrist rotation winch is mounted on the end-wrist rotation shaft. The end-wrist drive winch and the end-wrist rotation winch are connected by an end-wrist rotation rope.

[0017] Furthermore, a first transmission wheel and a second transmission wheel are installed on the upper arm rotation shaft, and a third transmission wheel is installed on the lower arm rotation shaft; the lower arm drive winch, the first transmission wheel, and the lower arm rotation winch are connected by a lower arm rotation rope; the end wrist drive winch, the second transmission wheel, the third transmission wheel, and the end wrist rotation winch are connected by an end wrist rotation rope.

[0018] Furthermore, the main boom and main forearm are equipped with multiple tensioning wheels to control the tension and direction of the boom rotation rope, forearm rotation rope, and end wrist rotation rope.

[0019] Beneficial effects: Compared with the prior art, the significant advantage of this invention is that it achieves seamless switching between air and underwater environments through the coordinated work of the flight system and the underwater propulsion system, which significantly expands the application scenarios and operational capabilities of UAVs; the underwater propulsion system is equipped with multi-directional thrusters, which enables the robot to move freely in all directions underwater; the rope-driven robotic arm adopts a multi-segment, multi-degree-of-freedom design, which improves the flexibility of the robotic arm and enables it to perform precise operations such as grasping and carrying in complex environments. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the operational cross-medium navigation robot of the present invention;

[0021] Figure 2 This is a schematic diagram of the underwater propulsion system of the present invention;

[0022] Figure 3 This is a schematic diagram of the rope-driven robotic arm structure of the present invention. Detailed Implementation

[0023] like Figures 1 to 3 As shown in the figure, an operational cross-medium navigation robot in this embodiment includes a flight system, an underwater propulsion system, and a cable-driven robotic arm.

[0024] The flight system includes a fuselage 1, with connecting frames mounted at its four corners. Rotor motors 2 and rotors 3 are mounted on top of the connecting frames. The output shafts of rotor motors 2 are connected to rotors 3 to drive their rotation. Landing frames 4 are mounted at the bottom of the connecting frames to provide support during robot takeoff and landing. The rotors propel the fuselage 1 to move and hover in the air.

[0025] The underwater propulsion system includes a first underwater thruster 8, a second underwater thruster 9, and a third underwater thruster 10. Specifically, the first underwater thruster 8 is mounted on the top of the fuselage 1, and a mounting frame 5 is located at the bottom of the fuselage 1. A waterproof compartment 6 is located in the middle of the mounting frame 5. A front thruster seat 71 and a middle thruster seat 72 are fixedly mounted on both sides of the mounting frame 5, and a rear thruster seat 73 is fixedly mounted at the rear of the mounting frame 5. The second underwater thruster 9 is mounted on the front thruster seat 71 and the rear thruster seat 73, and the third underwater thruster 10 is mounted on the middle thruster seat 72. A total of one first underwater thruster 8, three second underwater thrusters 9, and two third underwater thrusters 10 are provided. The second underwater thruster 9 is arranged vertically, and its propulsion direction is parallel to the lifting direction of the fuselage. It is used to control the depth of the robot's movement and its pitch and roll attitude in the water. The third underwater thruster 10 propels parallel to the axis of the waterproof compartment 6, while the first underwater thruster 8 propels perpendicular to the axis of the waterproof compartment 6. These thrusters control the robot's horizontal movement and yaw attitude in the water. The propellers of the thrusters are equipped with hollow drum-shaped shells to prevent foreign objects from becoming entangled and to optimize water flow distribution, ensuring the thrusters' ability to operate and propulse effectively in complex environments. By using underwater thrusters in three directions, the robot can move flexibly in all directions underwater, facilitating underwater operations.

[0026] The waterproof compartment 6 has a built-in control unit for controlling the rotor assembly and drive unit, and can also house batteries and various sensors. One side of the waterproof compartment 6 features a transparent hemispherical acrylic cover design, which facilitates real-time observation of the underwater environment.

[0027] The rope-driven robotic arm includes a drive unit and a robotic arm assembly connected to the drive unit. A base is connected to the bottom of the mounting frame 5. The base includes an upper plate 7 and a lower plate 14, which are connected by a support rod. The drive unit is installed between the upper plate 7 and the lower plate 14, and the robotic arm assembly is installed at the bottom of the lower plate 14.

[0028] The drive unit includes a boom drive motor 11, a forearm drive motor 12, and an end wrist drive motor 13 mounted on the lower plate 14. A boom drive winch 111 is fixedly mounted on the output shaft of the boom drive motor 11, a forearm drive winch 121 is fixedly mounted on the output shaft of the forearm drive motor 12, and an end wrist drive winch 131 is fixedly mounted on the output shaft of the end wrist drive motor 13.

[0029] The robotic arm assembly includes a main arm unit, a forearm unit, and an end effector wrist unit. A fixed side plate 15 is located at the bottom of the lower plate 14. The main arm unit includes symmetrically arranged main arm rods 16, which are rotatably connected to the fixed side plate 15 via a main arm rotation shaft 161. A main arm rotation winch 162, a first transmission wheel 191, and a second transmission wheel 192 are mounted on the main arm rotation shaft 161. A main arm drive winch 111 and a main arm rotation winch 162 are connected via a main arm rotation rope 112. The main arm drive motor 11 drives the main arm drive winch 111 to rotate, which in turn drives the main arm rotation winch 162 to rotate via the main arm rotation rope 112, thus enabling the main arm rod 16 to rotate relative to the fixed side plate 15.

[0030] The forearm unit includes symmetrically arranged forearm main rods 17, which are rotatably connected to the main boom 16 via a forearm rotation shaft 171. A forearm rotation winch 172 and a third transmission wheel 193 are mounted on the forearm rotation shaft 171. The forearm drive winch 121, the first transmission wheel 191, and the forearm rotation winch 172 are connected by a forearm rotation rope 122. The forearm drive motor 12 drives the forearm drive winch 121 to rotate, which in turn drives the first transmission wheel 191 and the forearm rotation winch 172 to rotate sequentially via the forearm rotation rope 122, thus enabling the forearm main rod 17 to rotate relative to the main boom 16.

[0031] The end effector unit includes a U-shaped frame 20 and a wrist 18 mounted at the bottom of the U-shaped frame. The U-shaped frame is rotatably connected to the forearm main rod 17 via an end effector rotation shaft 181. An end effector rotation winch 182 is mounted on the end effector rotation shaft 181. The end effector drive winch 131, the second transmission wheel 192, the third transmission wheel 193, and the end effector rotation winch 182 are connected by an end effector rotation rope 132. The end effector drive motor 13 drives the end effector drive winch 131 to rotate, and the end effector rotation rope 132 sequentially drives the second transmission wheel 192, the third transmission wheel 193, and the end effector rotation winch 182 to rotate, thereby enabling the wrist 18 to rotate relative to the forearm main rod 17.

[0032] The wrist 18 can be flexibly equipped with different working devices, such as robotic arms, robotic grippers, and welding instruments, depending on the task. Multiple tension wheels 21 are also provided on the main boom 16 and the main forearm 17 to prevent the drive ropes from tangling and to better control the tension and direction of the main boom rotation rope 112, the forearm rotation rope 122, and the end wrist rotation rope 132. The robotic arm adopts a multi-segment design, allowing for flexible transformation and improving operational freedom.

[0033] The robot of this invention has the capability to operate in both water and air. In the air, the rotor assembly enables movement and hovering of the robot body. In the water, the underwater propulsion system controls the robot's movement in all directions. Upon entering the water, the rotor assembly first controls the robot's descent, causing its lower part to sink. Then, the second underwater thruster 9 is activated to drive the robot further down, and finally, the rotors are shut off, allowing the entire robot to enter the water. Upon exiting the water, the second underwater thruster 9 first moves the robot upwards. Once the rotor section surfaces, the rotors are activated to lift the robot body out of the water. During operation, the drive device controls the robotic arm to deform and perform the task.

Claims

1. A work-type cross-media navigation robot, characterized in that, include: The flight system includes a fuselage (1) with rotor assemblies and landing gear (4) mounted at its four corners; The underwater propulsion system includes a first underwater thruster (8), a second underwater thruster (9) and a third underwater thruster (10) installed on the fuselage (1). The propulsion directions of the first underwater thruster (8), the second underwater thruster (9) and the third underwater thruster (10) are perpendicular to each other, and the axis of one of the thrusters is parallel to the lifting direction of the fuselage. The cable-driven robotic arm includes a drive unit and a robotic arm assembly connected to the drive unit. The drive unit is installed at the bottom of the body (1) and is used to drive the robotic arm assembly.

2. The operational cross-medium navigation robot as described in claim 1, characterized in that, The rotor assembly includes a rotor motor (2) and a rotor (3). Connecting frames are installed at the four corners of the fuselage (1). The rotor motor (2) is installed on the top of the connecting frame, and the rotor (3) is connected to the rotor motor (2). The footrest (4) is installed at the bottom of the connecting frame.

3. The operational cross-medium navigation robot as described in claim 1, characterized in that, The first underwater thruster (8) is installed on the top of the fuselage (1), and a fixed frame (5) is provided at the bottom of the fuselage (1). The front thruster seat (71) and the middle thruster seat (72) are fixedly installed on both sides of the fixed frame (5), and the rear thruster seat (73) is fixedly installed at the rear of the fixed frame (5). The second underwater thruster (9) is installed on the front thruster seat (71) and the rear thruster seat (73), and the third underwater thruster (10) is installed on the middle thruster seat (72).

4. The operational cross-medium navigation robot as described in claim 3, characterized in that, A waterproof chamber (6) is fixedly installed in the middle of the mounting frame (5). The waterproof chamber (6) is equipped with a control unit, which is used to control the rotor assembly and the drive device.

5. The operational cross-medium navigation robot as described in claim 3, characterized in that, The axis of the second underwater thruster (9) is parallel to the direction of the fuselage's lifting and lowering.

6. The operational cross-medium navigation robot as described in claim 1, characterized in that, The bottom of the fixed frame (5) is connected to a base, which includes an upper plate (7) and a lower plate (14). The upper plate (7) and the lower plate (14) are connected by a support rod. The drive device is installed between the upper plate (7) and the lower plate (14), and the robotic arm assembly is installed at the bottom of the lower plate (14).

7. The operational cross-medium navigation robot as described in claim 6, characterized in that, The drive device includes a large arm drive motor (11), a forearm drive motor (12), and an end wrist drive motor (13) mounted on the lower plate (14). A large arm drive winch (111) is fixedly mounted on the output shaft of the large arm drive motor (11), a forearm drive winch (121) is fixedly mounted on the output shaft of the forearm drive motor (12), and an end wrist drive winch (131) is fixedly mounted on the output shaft of the end wrist drive motor (13). The large arm drive winch (111), the forearm drive winch (121), and the end wrist drive winch (131) are all connected to the robotic arm assembly for transmission.

8. The operational cross-medium navigation robot as described in claim 7, characterized in that, The robotic arm assembly includes a large arm unit, a small arm unit, and an end wrist unit. The bottom of the lower plate (14) is provided with a fixed side plate (15). The large arm unit includes a symmetrically arranged large arm main rod (16). The large arm main rod (16) is rotatably connected to the fixed side plate (15) through the large arm rotating shaft (161). A large arm rotating winch (162) is installed on the large arm rotating shaft (161). The large arm driving winch (111) and the large arm rotating winch (162) are connected by transmission through the large arm rotating rope (112). The forearm unit includes symmetrically arranged forearm main rods (17), which are rotatably connected to the main arm rods (16) via a forearm rotation shaft (171). A forearm rotation winch (172) is installed on the forearm rotation shaft (171), and the forearm drive winch (121) and the forearm rotation winch (172) are connected by a forearm rotation rope (122). The end wrist unit includes a U-shaped frame (20) and a wrist (18) installed at the bottom of the U-shaped frame. The U-shaped frame is rotatably connected to the forearm main rod (17) via an end wrist rotation shaft (181). An end wrist rotation winch (182) is installed on the end wrist rotation shaft (181). The end wrist drive winch (131) and the end wrist rotation winch (182) are connected by a drive rope (132).

9. The operational cross-medium navigation robot as described in claim 8, characterized in that, The upper arm rotating shaft (161) is also equipped with a first transmission wheel (191) and a second transmission wheel (192), and the lower arm rotating shaft (171) is also equipped with a third transmission wheel (193); the lower arm drive winch (121), the first transmission wheel (191), and the lower arm rotating winch (172) are connected by a lower arm rotating rope (122); the end wrist drive winch (131), the second transmission wheel (192), the third transmission wheel (193), and the end wrist rotating winch (182) are connected by a end wrist rotating rope (132).

10. The operational cross-medium navigation robot as described in claim 8, characterized in that, The main boom (16) and main forearm (17) are also equipped with multiple tensioning wheels (21) to control the tension and direction of the boom rotation rope (112), forearm rotation rope (122), and end wrist rotation rope (132).

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