Additional power device of underwater robot and underwater robot

Abstract

The invention discloses an additional power device of an underwater robot and the underwater robot, and relates to the technical field of underwater robots. The underwater robot comprises a main body, the main body comprises a main cabin and a control part, and the additional power device comprises a power mechanism and a release mechanism. The power mechanism comprises a first cabin body, a communication unit, a propelling unit and a battery pack. The communication unit is in communication connection with the control part; the propelling unit is arranged outside the first cabin body and is in communication connection with the control part; the battery pack supplies power to the propulsion unit and the communication unit; the release mechanism comprises a fixed unit, a detachable unit and a release module. The first side of the fixing unit is fixedly connected with the outer wall of the first cabin body; the first end of the detachable unit is detachably connected with the second side of the fixed unit, and the second end of the detachable unit is detachably connected with the outer wall of the main cabin body; the releasing module is connected with the control part and fixedly connected with the fixing unit. The additional power device can provide long-time endurance power for the underwater robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater robots, in particular to an additional power device of an underwater robot and the underwater robot. BACKGROUND

[0002] Unmanned Undersea Vehicle (UUV) has good stealth performance, modular load and high intelligent degree, and has been widely applied in the fields of ocean engineering, underwater target search, underwater attack and defense and marine environment detection.

[0003] The present application discloses that the existing UUV is restricted by energy performance, and in the process of pursuing long-time performance, the UUV needs to sacrifice certain speed and load performance. In the process of pursuing multi-task, the long-time performance will also decrease, so for the UUV product that has been customized, it is difficult to balance the time, speed, load and multi-task performance.

[0004] The content of the part of the background is only the known technology of the discloser, and does not necessarily represent the prior art of the field. SUMMARY

[0005] The present application aims to provide an additional power device of an underwater robot and the underwater robot, so as to solve the problem that the UUV product that has been customized has difficulty in balancing the time, speed, load and multi-task performance.

[0006] According to an aspect of the present application, the present application provides an additional power device of an underwater robot, the underwater robot comprising a main body, the main body comprising a main cabin body and a control part, the additional power device comprising a power mechanism and a release mechanism. The power mechanism comprises a first cabin body, a communication unit, a propelling unit and a battery pack. The communication unit is in communication connection with the control part; the propelling unit is arranged outside the first cabin body, and the propelling unit is in communication connection with the control part; the battery pack supplies power to the propelling unit and the communication unit; the release mechanism comprises a fixing unit, a detachable unit and a release module. The first side of the fixing unit is fixedly connected with the outer wall of the first cabin body; the first end of the detachable unit is detachably connected with the second side of the fixing unit, and the second end of the detachable unit is detachably connected with the outer wall of the main cabin body; the release module is connected with the control part, and the release module is fixedly connected with the fixing unit; in the case that the battery capacity of the battery pack is lower than a preset threshold value, the control part generates and sends a separation instruction, the release module receives the separation instruction, the release module rotates to drive the fixing unit to rotate, the detachable unit and the fixing unit are separated, and the detachable unit and the main cabin body are separated.

[0007] According to some embodiments of the present application, the fixed unit comprises a fixed bracket, a locking sleeve, a lead screw and a sliding block. The fixed bracket is U-shaped, and a first side of the fixed bracket is fixedly connected to an outer wall of the first cabin body. The locking sleeve is fixedly connected to a first end of the fixed bracket, and a first end of the locking sleeve is provided with a circular groove. A second end of the locking sleeve is detachably connected to the detachable unit. A first end of the lead screw is fixedly connected to the release module through a first side wall of the fixed bracket, and a second end of the lead screw is rotatably connected to a second side wall of the fixed bracket. The sliding block is rotatably connected to the first end of the lead screw, and under the rotation of the lead screw, the sliding block slides along the lead screw. The sliding block is provided with a locking pin matched with the circular groove.

[0008] According to some embodiments of the present application, the detachable unit comprises a clamp and an elastic member. A first end of the clamp is provided with a through hole matched with the locking pin, the first end of the clamp is inserted into the second end of the locking sleeve, and a second end of the clamp is fitted to an outer wall of the main cabin body. The elastic member is for the insertion of the second end of the locking sleeve. When the first end of the clamp is inserted into the second end of the locking sleeve through the elastic member, the elastic member is in a compressed state. Under the rotation of the release module to drive the rotation of the lead screw, the sliding block slides along the lead screw, the locking pin is separated from the circular groove, and the elastic member is stretched to separate the first end of the clamp from the locking sleeve.

[0009] According to some embodiments of the present application, the fixed unit comprises a fixed bracket, two locking sleeves, a lead screw and two sliding blocks. The fixed bracket is U-shaped, and a first side of the fixed bracket is fixedly connected to an outer wall of the first cabin body. One locking sleeve is fixedly connected to a first end of the fixed bracket, and the other locking sleeve is fixedly connected to a second end of the fixed bracket. A first end of each locking sleeve is provided with a circular groove, and a second end of each locking sleeve is detachably connected to the detachable unit. A first end of the lead screw is fixedly connected to the release module through a first side wall of the fixed bracket, and a second end of the lead screw is rotatably connected to a second side wall of the fixed bracket. The two sliding blocks correspond to the two locking sleeves one by one. One sliding block is rotatably connected to the first end of the lead screw, and the other sliding block is rotatably connected to the second end of the lead screw. Under the rotation of the lead screw, the two sliding blocks slide along the lead screw. Each sliding block is provided with a locking pin matched with the circular groove.

[0010] According to some embodiments of the present application, the detachable unit comprises two clamps and two elastic members. The two clamps correspond to the two locking sleeves one by one, the first end of each clamp is provided with a through hole matched with the locking pin, the first end of each clamp is inserted into the second end of the locking sleeve, and the second end of each clamp is attached to the outer wall of the main cabin body. The two elastic members correspond to the two locking sleeves one by one, the elastic member is inserted into the second end of the locking sleeve, and in the case that the first end of the clamp is inserted into the second end of the locking sleeve through the elastic member, the elastic member is in a compressed state. In the case that the release module rotates to drive the screw rod to rotate, the two sliders slide towards each other along the screw rod, the locking pin is separated from the circular groove, and the elastic member is stretched to separate the first end of the clamp from the locking sleeve.

[0011] According to some embodiments of the present application, the release mechanism further comprises a fairing. The fairing contains the fixed unit, the detachable unit and the release module.

[0012] According to some embodiments of the present application, the power mechanism further comprises a control unit. The control unit is arranged inside the first cabin body and connected with the control part; the release mechanism comprises a fixed unit, a detachable unit and a release module. The first side of the fixed unit is fixedly connected with the outer wall of the first cabin body; the first end of the detachable unit is detachably connected with the second side of the fixed unit, and the second end is detachably connected with the outer wall of the main cabin body; the release module is connected with the control part, and the release module is rotatably connected with the fixed unit; in the case that the battery capacity of the battery pack is lower than the preset threshold value, the control part generates and sends a separation instruction, the control unit receives the separation instruction to generate and send a rotation instruction, the release module receives the rotation instruction, the release module rotates to drive the fixed unit to rotate, the detachable unit is separated from the fixed unit, and the detachable unit is separated from the main cabin body.

[0013] According to some embodiments of the present application, the power mechanism further comprises a rudder unit. The rudder unit comprises a rudder and a rudder shaft. The rudder is arranged on the outside of the first cabin body; the rudder shaft is connected with the rudder, and the rudder shaft is also connected with the control part.

[0014] According to some embodiments of the present application, the additional power device and another additional power device are connected by a clamp, and are symmetrically arranged on both sides of the main cabin body, and in the case that the clamp is in a released state, the additional power device and the other additional power device are separated from the main cabin body.

[0015] According to an aspect of the present application, the present application provides an underwater robot, comprising a robot main body, the underwater robot main body comprising a main cabin body and a control part, the control part being arranged inside the main cabin body; the underwater robot further comprises two additional power devices as described above, and the two additional power devices are arranged on the horizontal two sides of the main cabin body, respectively.

[0016] The technical scheme of the present application can provide power for the underwater robot through the power mechanism. Since the additional power device does not need to be provided with a load sensor or the like, the volume of the battery pack of the power mechanism can be larger compared with the underwater robot cabin of the same volume, so that the underwater robot can be provided with longer power endurance.

[0017] The technical scheme of the present application can make the power mechanism and the main cabin body separate through the release mechanism. In the case that the battery capacity of the battery pack of the power mechanism is lower than the preset threshold, the release mechanism and the power mechanism are both separated from the main cabin body, which can reduce the consumption of the power of the underwater robot itself, so that the endurance time of the underwater robot can be improved.

[0018] The additional power device provided by the present application can be applied to the underwater robot which has been maturely shaped and needs no modification of the mechanism of the underwater robot itself, so that the long endurance can be provided while the detection ability of the underwater robot itself is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] Figure 1 Fig. 1 shows a structural schematic diagram of an additional power device according to an embodiment of the present application; Figure 2 Fig. 2 shows another structural schematic diagram of an additional power device according to an embodiment of the present application; Figure 3 Fig. 3 shows a structural schematic diagram of a power mechanism according to an embodiment of the present application; Figure 4 Fig. 4 shows a structural schematic diagram of a release mechanism according to an embodiment of the present application; Figure 5 Fig. 5 shows another structural schematic diagram of an additional power device according to an embodiment of the present application; Figure 6 Fig. 6 shows a process schematic diagram of the release mechanism separating from the main cabin body according to an embodiment of the present application; Figure 7 Fig. 7 shows another process schematic diagram of the release mechanism separating from the main cabin body according to an embodiment of the present application; Figure 8 Fig. 8 shows a schematic diagram of the clamp separating from the main cabin body according to an embodiment of the present application.

[0021] BRIEF DESCRIPTION OF DRAWINGS 110, main body; 111, main cabin body.

[0022] 200, additional power device.

[0023] 210, power mechanism; 220, release mechanism.

[0024] 211, first cabin body; 212, communication unit; 213, propulsion unit; 214, battery pack; 215, control unit; 216, rudder unit.

[0025] 2161, rudder motor; 2162, rudder shaft.

[0026] 221, fixed unit; 222, detachable unit; 223, release module; 224, fairing.

[0027] 2211, fixed support; 2212, locking sleeve; 2213, screw rod; 2214, sliding block; 2215, locking pin.

[0028] 2221, clamp; 2222, elastic member. DETAILED DESCRIPTION

[0029] Example embodiments now will be described more fully hereinafter with reference to the accompanying drawings. Example embodiments, however, can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the several views.

[0030] The described features, structures, or characteristics can be combined in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the

[0031] Moreover, the terms "first," "second," "third," etc. are used herein to describe various elements, but the elements should not be limited by these terms. The terms "first," "second," "third," and so forth are generally used only to distinguish one element from another, and do not necessarily indicate an order or sequence unless clearly indicated by the context.

[0032] The terms "first," "second," "third," etc. in the specification and claims, as well as above-described appended drawings, are used to distinguish different objects and are not used to describe a particular sequential order, unless clearly indicated by the context.

[0033] The technical solutions of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0034] According to an aspect of the present application, the present application provides an additional power device 200 of an underwater robot. Referring to Figure 1 , the underwater robot comprises a main body 110, and the main body 110 comprises a main cabin 111 and a control part (not shown in the figure). The control part can be arranged inside the main cabin 111. For example, the underwater robot can be a UUV or the like.

[0035] Referring to Figure 1 and Figure 2 , the additional power device 200 comprises a power mechanism 210 and a release mechanism 220.

[0036] Referring to Figure 3 , the power mechanism 210 comprises a first cabin 211, a communication unit 212, a propelling unit 213 and a battery pack 214.

[0037] According to an example embodiment, the first cabin 211 can be a pressure-resistant sealed cabin, and the first cabin 211 can adopt a streamlined body of revolution, so as to reduce the resistance under water.

[0038] According to an example embodiment, the communication unit 212 is arranged inside the first cabin 211. For example, the communication unit 212 can be arranged inside the cabin head of the first cabin 211. The communication unit 212 is in communication connection with the control part. For example, the communication unit 212 can be a short-range wireless communication unit 212, including radio communication, magnetic coupling communication, optical communication, acoustic communication and the like, considering that the application scenario is short-distance signal, and the radio communication is more cost-effective.

[0039] The propelling unit 213 is arranged outside the first cabin 211, and the propelling unit 213 can be arranged outside the cabin tail of the first cabin 211. The propelling unit 213 is in communication connection with the control part. For example, the propelling unit 213 can be a propeller, and the propeller is in communication connection with the control part through the communication unit 212. The control part can send propelling instructions, so as to control the power parameters of the propeller, such as the rotating speed and the like.

[0040] According to an example embodiment, the battery pack 214 is disposed inside the first cabin 211, and the battery pack 214 supplies power to the propulsion unit 213 and the communication unit 212. Since the additional power device 200 can not need to be provided with a load sensor or the like, the volume of the battery pack 214 in the first cabin 211 can be larger compared to an underwater robot cabin of the same volume, thereby providing longer endurance power.

[0041] Referring to Figure 4 , the release mechanism 220 includes a fixed unit 221, a detachable unit 222, and a release module 223. The battery pack 214 also supplies power to the release module 223.

[0042] According to an example embodiment, the first side of the fixed unit 221 is fixedly connected to the outer wall of the first cabin 211. For example, the first side of the fixed unit 221 can be fixedly connected to the outer wall of the first cabin 211 by welding or the like.

[0043] According to an example embodiment, the first end of the detachable unit 222 is detachably connected to the second side of the fixed unit 221, and the second end of the detachable unit 222 is detachably connected to the outer wall of the main cabin 111. For example, the first end of the detachable unit 222 can be detachably connected to the second side of the fixed unit 221 by an elastic structure, and the second end of the detachable unit 222 can be detachably connected to the outer wall of the main cabin 111 by a clamp structure.

[0044] According to an example embodiment, the release module 223 is connected to the control portion, and the release module 223 is fixedly connected to the fixed unit 221. For example, the release module 223 can be a motor, and the release module 223 can drive the fixed unit 221 to rotate when the release module 223 rotates.

[0045] According to an example embodiment, when the battery capacity of the battery pack 214 is lower than a preset threshold value, the control portion generates and sends a detachment instruction, the release module 223 receives the detachment instruction, the release module 223 rotates to drive the fixed unit 221 to rotate, the detachable unit 222 is detached from the fixed unit 221, and the detachable unit 222 is detached from the main cabin 111.

[0046] The preset threshold value can be the minimum value of the battery capacity, and the control portion can monitor the capacity of the battery pack 214 through the communication unit 212. The detachment instruction can be an instruction for the additional power device 200 to detach from the main cabin 111.

[0047] In a case where the control unit monitors that the battery capacity of the battery pack 214 is lower than a preset threshold value, the control unit can generate a disengagement instruction and send the disengagement instruction through the communication unit 212. After the release module 223 receives the disengagement instruction, the release module 223 rotates according to the disengagement instruction. The rotation of the release module 223 can drive the fixed unit 221 to rotate, and the detachable unit 222 is disengaged from the fixed unit 221, so that the power mechanism 210 is disengaged from the main cabin body 111.

[0048] In a case where the power mechanism 210 provides power (i.e., the battery pack 214 supplies power to the propulsion unit 213 and the communication unit 212), the control unit can only control the propulsion unit 213 to control the sailing speed and the like. Thus, the main cabin body 111 itself can not need to supply power to its own propeller, and the main cabin body 111 itself can only supply power to the control unit, the sensor, and the rudder, thereby reducing the consumption of the battery capacity of the main cabin body 111 itself.

[0049] In a case where the power mechanism 210 is disengaged from the main cabin body 111, the control unit controls the battery and the propeller of the main cabin body 111 itself to continue to provide power to the underwater robot. As the underwater robot sails underwater, the detachable unit 222 is disengaged from the main cabin body 111.

[0050] Through the above embodiment, the technical scheme of the present application can provide power to the underwater robot through the power mechanism. Since the additional power device does not need to be provided with a load sensor, the volume of the battery pack of the power mechanism can be larger compared with the underwater robot cabin body of the same volume, so that the underwater robot can be provided with longer endurance power.

[0051] Through the above embodiment, the technical scheme of the present application can disengage the power mechanism from the main cabin body through the release mechanism. In a case where the battery capacity of the battery pack of the power mechanism is lower than a preset threshold value, the release mechanism and the power mechanism are both disengaged from the main cabin body, which can reduce the consumption of the power of the underwater robot itself, thereby prolonging the endurance time of the underwater robot.

[0052] The additional power device provided by the present application can be applied to a mature and standardized underwater robot, without the need to modify the mechanism of the underwater robot itself, so that the long endurance can be provided while the detection ability of the underwater robot itself is ensured.

[0053] Optionally, referring to Figure 4 The fixed unit 221 includes a fixed support 2211, a locking sleeve 2212, a lead screw 2213, and a sliding block 2214.

[0054] According to an example embodiment, the fixed support 2211 is in a U shape, and a first side of the fixed support 2211 is fixedly connected with an outer wall of the first cabin body 211. For example, the first side of the fixed support 2211 can be fixedly connected with the outer wall of the first cabin body 211 by welding or the like.

[0055] The locking sleeve 2212 is fixedly connected with a first end of the fixed support 2211, and a first end of the locking sleeve 2212 is provided with a circular groove. A second end of the locking sleeve 2212 is detachably connected with the detachable unit 222. For example, the first end of the locking sleeve 2212 can be connected with one side wall of the fixed support 2211. The circular groove can be located at a middle position of the first end of the locking sleeve 2212 and pass through the first end of the locking sleeve 2212.

[0056] A first end of the lead screw 2213 is fixedly connected with the release module 223 through a first side wall of the fixed support 2211, and a second end of the lead screw 2213 is rotatably connected with a second side wall of the fixed support 2211. An outer periphery of the lead screw 2213 is provided with a thread. In the case of rotation of the release module 223, the release module 223 drives the lead screw to rotate.

[0057] The sliding block 2214 is rotatably connected with the first end of the lead screw 2213. In the case of rotation of the lead screw 2213, the sliding block 2214 slides along the lead screw 2213. For example, the sliding block 2214 can include a shell support and a nut. The nut is fixedly arranged in the interior of the shell support, and the nut and the shell support are both inserted by the lead screw 2213. An inner wall of the nut is provided with a thread matched with the thread of the outer wall of the lead screw. In the case of rotation of the lead screw 2213, under the action of the thread, the nut slides along the lead screw 2213, and the nut drives the shell support to slide along the lead screw 2213.

[0058] The sliding block 2214 is provided with a locking pin 2215 matched with the circular groove. For example, the locking pin 2215 can be fixedly connected with the shell support. The locking pin 2215 can be inserted into the circular groove and can fix the locking sleeve 2212 and the detachable unit 222. In the case of sliding of the nut along the lead screw 2213, the locking pin 2215 is driven to slide along with the shell support, and the locking pin 2215 is separated from the circular groove, so that the detachable unit 222 can be separated from the locking sleeve 2212.

[0059] Through the above-mentioned embodiments, the technical scheme of the present application can fix the detachable unit 222 and the locking sleeve 2212 through the locking pin 2215, drive the locking pin 2215 to separate from the circular groove through rotation of the lead screw, and thus separate the detachable unit 222 from the locking sleeve 2212.

[0060] Optionally, referring to Figure 4The detachable unit 222 comprises a clamp 2221 and an elastic member 2222.

[0061] The first end of the clamp 2221 is provided with a through hole matched with the locking pin 2215, the first end of the clamp 2221 is inserted into the second end of the locking sleeve 2212, and the second end of the clamp 2221 is attached to the outer wall of the main cabin body 111.

[0062] The elastic member 2222 is inserted into the second end of the locking sleeve 2212, and in the case that the first end of the clamp 2221 is inserted into the second end of the locking sleeve 2212 through the elastic member 2222, the elastic member 2222 is in a compressed state.

[0063] For example, the outer diameter of the first end of the clamp 2221 can be matched with the inner diameter of the second end of the locking sleeve 2212. The inner diameter of the elastic member 2222 can be matched with the outer diameter of the second end of the locking sleeve 2212. The outer periphery of the second end of the locking sleeve 2212 can also be provided with a limiting protrusion. The elastic member 2222 can be a spring.

[0064] The second end of the clamp 2221 is attached to the outer wall of the main cabin body 111 to fix the second end of the clamp 2221 to the outer wall of the main cabin body 111. The length of the attachment of the second end of the clamp 2221 to the outer wall of the main cabin body 111 can be determined according to the length of the main cabin body 111. For example, the length of the second end of the clamp 2221 can be half of the length of the main cabin body 111, so that the main cabin body 111 and the first cabin body 211 can be kept parallel.

[0065] In the case that the first end of the clamp 2221 is inserted into the second end of the locking sleeve 2212 through the elastic member 2222, the locking pin 2215 passes through the through hole of the first end of the clamp 2221 and the circular groove of the first end of the locking sleeve 2212 to fix the clamp 2221 and the locking sleeve 2212. The elastic member 2222 is in a compressed state, one end of the elastic member 2222 is stopped by the limiting protrusion, and the other end of the elastic member 2222 is stopped by the second end of the clamp 2221. The second end of the clamp 2221 can be attached to the outer wall of the main cabin body 111, so that the main cabin body 111 and the first cabin body 211 can be kept parallel.

[0066] In the case that the release module 223 rotates to drive the lead screw 2213 to rotate, the sliding block 2214 slides along the lead screw 2213, the locking pin 2215 is disengaged from the circular groove, and the elastic member 2222 is stretched to disengage the first end of the clamp 2221 from the locking sleeve 2212.

[0067] For example, in the case that the releasing module 223 rotates to drive the screw rod 2213 to rotate, the nut drives the shell support to slide along the screw rod 2213, the locking pin 2215 is driven to slide along with the shell support, the locking pin 2215 is disengaged from the circular groove, and the locking pin 2215 is disengaged from the through hole of the first end of the clasp 2221. The elastic member 2222 is stretched due to the elastic force of the elastic member 2222, so that the first end of the clasp 2221 is disengaged from the locking sleeve 2212.

[0068] In the case that the first end of the clasp 2221 is disengaged from the locking sleeve 2212, the power mechanism 210 is disengaged from the main cabin body 111.

[0069] In the case that the power mechanism 210 is disengaged from the main cabin body 111, the battery inside the main cabin body 111 continues to provide power for the underwater robot under the control of the control unit. As the underwater robot travels underwater, the second end of the clasp 2221 is disengaged from the main cabin body 111.

[0070] Through the above embodiment, the technical scheme of the present application can disengage the first end of the clasp from the locking sleeve in the case that the releasing module rotates, so that the power mechanism is disengaged from the main cabin body.

[0071] Optionally, referring to Figure 4 , the fixing unit 221 includes a fixing support 2211, two locking sleeves 2212, a screw rod, and two sliding blocks 2214.

[0072] According to an example embodiment, the fixing support 2211 is U-shaped, and the first side of the fixing support 2211 is fixedly connected to the outer wall of the first cabin body 211. For example, the first side of the fixing support 2211 can be fixedly connected to the outer wall of the first cabin body 211 by welding or the like.

[0073] According to an example embodiment, one locking sleeve 2212 is fixedly connected to the first end of the fixing support 2211, and the other locking sleeve 2212 is fixedly connected to the second end of the fixing support 2211. The first end of each locking sleeve 2212 is provided with a circular groove, and the second end of each locking sleeve 2212 is detachably connected to the detachable unit 222. For example, the first end of one locking sleeve 2212 can be connected to the first side wall of the fixing support 2211. The first end of the other locking sleeve 2212 can be connected to the second side wall of the fixing support 2211. The circular groove can be located at the middle position of the first end of the locking sleeve 2212 and pass through the first end of the locking sleeve 2212.

[0074] The first end of the screw rod 2213 is fixedly connected with the releasing module 223 through the first side wall of the fixing support 2211, and the second end of the screw rod 2213 is rotatably connected with the second side wall of the fixing support 2211. The outer periphery of the screw rod 2213 is provided with threads. In the case of rotation of the releasing module 223, the releasing module 223 drives the screw rod to rotate.

[0075] The two sliders 2214 correspond to the two locking sleeves 2212 one by one. One slider 2214 is rotatably connected with the first end of the screw rod 2213, and the other slider 2214 is rotatably connected with the second end of the screw rod 2213. In the case of rotation of the screw rod 2213, the two sliders 2214 slide along the screw rod 2213.

[0076] For example, each slider 2214 can include a shell support and a nut. The nut is fixedly arranged in the interior of the shell support, and the nut and the shell support are inserted by the screw rod 2213. The inner wall of the nut is provided with threads matched with the threads of the outer wall of the screw rod. In the case of rotation of the screw rod 2213, under the action of the threads, the nut slides along the screw rod 2213, and the nut drives the shell support to slide along the screw rod 2213. The two nuts can be respectively provided with positive threads and reverse threads. In the case of rotation of the screw rod 2213, the two nuts slide towards each other along the screw rod 2213, and the two nuts drive the two shell supports to slide towards each other along the screw rod 2213.

[0077] Each slider 2214 is provided with a locking pin 2215 matched with the circular groove. For example, the locking pin 2215 can be fixedly connected with the shell support. The locking pin 2215 can be inserted into the circular groove to fix the locking sleeve 2212 and the detachable unit 222. In the case of sliding of the two shell supports towards each other along the screw rod 2213 driven by the two nuts, the two locking pins 2215 are driven to slide towards each other along with the shell supports, and the two locking pins 2215 are both disengaged from the respective matched circular grooves, so as to make the detachable unit 222 disengage from the locking sleeve 2212.

[0078] Through the above embodiment, the technical scheme of the present application can jointly fix the detachable unit 222 and the locking sleeve 2212 through the two locking pins 2215, and the fastening effect is more firm.

[0079] Optionally, referring to Figure 4 The detachable unit 222 includes two clamps 2221 and two elastic members 2222.

[0080] The two clamps 2221 correspond to the two locking sleeves 2212 one by one. The first end of each clamp 2221 is provided with a through hole matched with the locking pin 2215. The first end of each clamp 2221 is inserted into the second end of the locking sleeve 2212, and the second end of each clamp 2221 is in abutment with the outer wall of the main cabin body 111.

[0081] Two elastic members 2222 correspond to two locking sleeves 2212 one by one, and the elastic member 2222 is inserted into the second end of the locking sleeve 2212. When the first end of the clamp 2221 is inserted into the second end of the locking sleeve 2212 through the elastic member 2222, the elastic member 2222 is in a compressed state.

[0082] For example, the outer diameter of the first end of the clamp 2221 can be matched with the inner diameter of the second end of the locking sleeve 2212. The inner diameter of the elastic member 2222 can be matched with the outer diameter of the second end of the locking sleeve 2212. The outer periphery of the second end of the locking sleeve 2212 can be further provided with a limiting protrusion. The elastic member 2222 can be a spring.

[0083] The second end of the clamp 2221 is attached to the outer wall of the main cabin body 111 to fix the second end of the clamp 2221 to the outer wall of the main cabin body 111. The length of the attachment of the second end of the clamp 2221 to the outer wall of the main cabin body 111 can be determined according to the length of the main cabin body 111. For example, the length of the second end of the clamp 2221 can be one-eighth of the length of the main cabin body 111. The positions of the two clamps 2221 can be respectively set at the front half and the rear half of the main cabin body 111. The setting of the two clamps 2221 can make the main cabin body 111 and the first cabin body 211 keep parallel.

[0084] When the first end of the clamp 2221 is inserted into the second end of the locking sleeve 2212 through the elastic member 2222, the locking pin 2215 passes through the through hole of the first end of the clamp 2221 and the circular groove of the first end of the locking sleeve 2212 to fix the clamp 2221 and the locking sleeve 2212. The elastic member 2222 is in a compressed state, one end of the elastic member 2222 is stopped by the limiting protrusion, and the other end of the elastic member 2222 is stopped by the second end of the clamp 2221. The second end of the clamp 2221 can be attached to the outer wall of the main cabin body 111, so that the main cabin body 111 and the first cabin body 211 can be fixed to keep parallel.

[0085] When the release module 223 rotates to drive the lead screw 2213 to rotate, the two sliding blocks 2214 slide along the lead screw 2213 in opposite directions, the locking pin 2215 is disengaged from the circular groove, and the elastic member 2222 is stretched to make the first end of the clamp 2221 disengage from the locking sleeve 2212.

[0086] For example, in the case that the releasing module 223 rotates to drive the screw rod 221 to rotate, the two nuts drive the two shell supports to slide along the screw rod 221 in the opposite direction, the two locking pins 2215 are driven to slide in the opposite direction with the shell supports, the two locking pins 2215 are both disengaged from the respective circular grooves, and the two locking pins 2215 are both disengaged from the through holes of the first ends of the two clamps 2221. The elastic members 2222 are stretched due to the elastic force of the elastic members 2222, so that the first ends of the two clamps 2221 are both disengaged from the respective locking sleeves 2212.

[0087] In the case that the first ends of the two clamps 2221 are both disengaged from the respective locking sleeves 2212, the power mechanism 210 is disengaged from the main cabin body 111.

[0088] In the case that the power mechanism 210 is disengaged from the main cabin body 111, the battery inside the main cabin body 111 continues to provide power for the underwater robot under the control of the control unit. As the underwater robot travels underwater, the second ends of the two clamps 2221 are both disengaged from the main cabin body 111.

[0089] Through the above embodiment, the technical scheme of the present application can disengage the first ends of the clamps from the locking sleeves in the case that the releasing module rotates, so that the power mechanism is disengaged from the main cabin body.

[0090] Optionally, referring to Figure 2 , the releasing mechanism 220 further comprises a fairing 224. The fairing 224 accommodates the fixed unit 221, the detachable unit 222, and the releasing module 223. In this way, the resistance during the travel of the underwater robot can be reduced, and the pressure on the fixed unit 221, the detachable unit 222, and the releasing module 223 can be reduced.

[0091] Optionally, referring to Figure 3 , the power mechanism 210 further comprises a control unit 215. The control unit 215 is arranged inside the first cabin body 211, and the control unit 215 is in communication connection with the control unit. The control unit 215 and the control unit can be in communication connection through the communication unit 212.

[0092] Referring to Figure 4 , the releasing mechanism 220 comprises the fixed unit 221, the detachable unit 222, and the releasing module 223.

[0093] According to an example embodiment, the first side of the fixed unit 221 is fixedly connected with the outer wall of the first cabin body 211. For example, the first side of the fixed unit 221 can be fixedly connected with the outer wall of the first cabin body 211 by welding or the like.

[0094] According to an example embodiment, the first end of the detachable unit 222 is detachably connected with the second side of the fixed unit 221, and the second end of the detachable unit 222 is detachably connected with the outer wall of the main cabin body 111. For example, the first end of the detachable unit 222 can be detachably connected with the second side of the fixed unit 221 through an elastic structure, and the second end of the detachable unit 222 can be detachably connected with the outer wall of the main cabin body 111 through a clamp 2221 structure.

[0095] According to an example embodiment, the release module 223 is connected with the control part, and the release module 223 is fixedly connected with the fixed unit 221. For example, the release module 223 can be an electric motor, and when the release module 223 rotates, the fixed unit 221 can be driven to rotate.

[0096] When the battery capacity of the battery pack 214 is lower than the preset threshold value, the control part generates and sends a disengagement instruction, the control unit 215 receives the disengagement instruction to generate and send a rotation instruction, the release module 223 receives the rotation instruction, the release module 223 rotates to drive the fixed unit 221 to rotate, the detachable unit 222 is disengaged from the fixed unit 221, and the detachable unit 222 is disengaged from the main cabin body 111.

[0097] The preset threshold value can be the minimum value of the battery capacity, and the control unit 215 can monitor the capacity of the battery pack 214 through the communication unit 212. The disengagement instruction can be an instruction for the additional power device 200 to disengage from the main cabin body 111. The rotation instruction can be an instruction for the release module 223 to rotate.

[0098] When the control part receives the information that the battery capacity of the battery pack 214 is lower than the preset threshold value from the control unit 215, the control part can generate a disengagement instruction and send the disengagement instruction through the communication unit 212. The control unit 215 receives the disengagement instruction and generates a rotation instruction according to the disengagement instruction.

[0099] After the release module 223 receives the rotation instruction, the release module 223 rotates according to the rotation instruction. The rotation of the release module 223 can drive the fixed unit 221 to rotate, and the detachable unit 222 is disengaged from the fixed unit 221, so that the power mechanism 210 is disengaged from the main cabin body 111.

[0100] When the power mechanism 210 is disengaged from the main cabin body 111, the batteries inside the main cabin body 111 continue to provide power for the underwater robot under the control of the control part. As the underwater robot travels underwater, the detachable unit 222 is disengaged from the main cabin body 111. The specific structure of the fixed unit 221, the detachable unit 222, and the release module 223 has been described above, and will not be described here.

[0101] Through the above embodiment, the technical scheme of the application can monitor the battery capacity of the battery pack through the setting of the control unit and control the rotation of the release module, so that the response speed can be improved.

[0102] Optionally, referring to Figure 3 , the power mechanism 210 further comprises a rudder unit 216. The rudder unit 216 comprises a rudder 2161 and a rudder shaft 2162. The rudder 2161 is arranged on the outside of the first cabin body 211. The rudder shaft 2162 is connected with the rudder 2161, and the rudder shaft 2162 is also connected with the control part. The control part can control the angle of the rudder shaft 2162, so as to control the sailing direction of the underwater robot. The battery pack 214 supplies power to the rudder unit 216.

[0103] In the case of being powered by the power mechanism 210, the control part can only control the rudder unit 216 and the propulsion unit 213 to control the sailing direction and speed, etc. Thus, the main cabin body 111 itself battery does not need to provide power to its own propeller and rudder, and the main cabin body 111 itself battery can only supply power to the control part and the sensor, further reducing the consumption of the battery capacity of the main cabin body 111 itself battery.

[0104] Optionally, referring to Figure 1 , Figure 2 and Figure 5 , the additional power device 200 is connected with another additional power device 200 through the clamp 2221, the additional power device 200 and the other additional power device 200 are symmetrically arranged on both sides of the main cabin body 111, and in the case that the clamp 2221 is released, the additional power device 200 and the other additional power device 200 are separated from the main cabin body 111.

[0105] For example, the clamp 2221 can comprise detachably arranged upper and lower clamps. Both ends of the clamp 2221 can be the first end of the clamp 2221 described above. The middle section of the clamp 2221 can form a circular structure that fits the main cabin body 111.

[0106] The two ends of the clamp 2221 can be detachably connected with one locking sleeve 2212 of each of the two additional power devices 200. The additional power device 200 and the other additional power device 200 are symmetrically arranged on both sides of the main cabin body 111. Such arrangement is conducive to maintaining balance during the travel of the underwater robot. In the case that the clamp 2221 is released, the additional power device 200 and the other additional power device 200 can be simultaneously separated from the main cabin body 111.

[0107] According to an aspect of the application, the application provides an underwater robot, which comprises a main body 110, the main body 110 comprising a main cabin body 111 and a control part, the control part being arranged inside the main cabin body 111.

[0108] The underwater robot further comprises two additional power devices 200 as described above, which are arranged on the horizontal two sides of the main cabin body 111 respectively.

[0109] The installation steps of the two additional power devices 200 can be as follows.

[0110] (1) Fix the two fixed supports 2211 and the two first cabin bodies 211 respectively.

[0111] (2) The upper and lower clamps of the two sets of clamps 2221 are connected with the main cabin body 111 in a matching manner. The two ends of each clamp 2221 pass through the corresponding elastic members 2222 and are inserted into the second ends of the corresponding locking sleeves 2212.

[0112] (3) The circular grooves at the first ends of the locking sleeves 2212 and the through holes at the first ends of the corresponding clamps 2221 are fixed by the locking pins 2215. At this time, the elastic members 2222 are in a compressed state.

[0113] (4) The two first cabin bodies 211 are arranged on the horizontal two sides of the main cabin body 111 respectively.

[0114] (5) Install the fairing 224.

[0115] The working process of the two additional power devices 200 being separated from the main cabin body 111 is as follows.

[0116] (1) When the control part receives the condition that the battery capacity of the battery pack 214 from the control unit 215 is lower than the preset threshold value, the control part can generate a separation instruction and send the separation instruction through the communication unit 212 of each power mechanism 210. The control unit 215 of each power mechanism 210 receives the separation instruction and generates a rotating instruction according to the separation instruction.

[0117] (2) The battery pack 214 of each power mechanism 210 supplies power to the release module 223 of each power mechanism 210. After receiving the rotating instruction, the two release modules 223 rotate according to the rotating instruction.

[0118] (3) The two release modules 223 rotate to drive the corresponding lead screws 2213 to rotate. The two nuts of the same release mechanism 220 drive the two housing supports to slide along the lead screw 2213 in opposite directions, and the two locking pins 2215 are driven to slide in opposite directions with the housing supports. The two locking pins 2215 are separated from the corresponding circular grooves, and the two locking pins 2215 are separated from the through holes at the first ends of the corresponding clamps 2221, as shown in Figure 6

[0119] ​(4) In the same release mechanism 220, the two elastic members 2222 are stretched due to their own elasticity, so that the first ends of the two clamps 2221 are separated from the respective locking sleeves 2212. In the case that the first ends of the two clamps 2221 are separated from the respective locking sleeves 2212, the first cabin body 211 of the power mechanism 210 is separated from the main cabin body 111, as shown in FIG. 8. The two power mechanisms 210 can be simultaneously separated from the main cabin body 111. Figure 7

[0120] (5) After the two power mechanisms 210 are separated from the main cabin body 111, the batteries inside the main cabin body 111 continue to provide power for the underwater robot under the control of the control unit. As the underwater robot travels underwater, the middle sections of the two clamps 2221 are separated from the main cabin body 111, as shown in FIG. 9. Figure 8

[0121] Finally, it should be noted that the above only describes the preferred embodiments of the present application and is not intended to limit the present application. Although the foregoing embodiments of the present application are described in detail, those skilled in the art can still modify the technical solutions of the foregoing embodiments or make equivalent replacements of some technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.​​

Claims

1. An auxiliary power unit for an underwater robot, the underwater robot comprising a main body, the main body including a main cabin and a control unit, characterized in that, The additional power unit includes: The power mechanism includes: First compartment; A communication unit, which is communicatively connected to the control unit; A propulsion unit is disposed outside the first cabin, and the propulsion unit is communicatively connected to the control unit; A battery pack that supplies power to the propulsion unit and the communication unit; Release agencies, including: The fixing unit is fixedly connected on its first side to the outer wall of the first cabin. A detachable unit, wherein a first end of the detachable unit is detachably connected to a second side of the fixed unit, and a second end of the detachable unit is detachably connected to the outer wall of the main body; A release module is connected to the control unit, and the release module is fixedly connected to the fixing unit; When the battery capacity of the battery pack is lower than a preset threshold, the control unit generates and sends a detachment command. The release module receives the detachment command, rotates to drive the fixed unit to rotate, and the detachable unit detaches from the fixed unit and from the main body.

2. The auxiliary power unit according to claim 1, characterized in that, The fixing unit includes: The fixed bracket is U-shaped, and its first side is fixedly connected to the outer wall of the first cabin. A locking sleeve is fixedly connected to the first end of the fixed bracket. The first end of the locking sleeve is provided with a circular groove, and the second end of the locking sleeve is detachably connected to the detachable unit. A lead screw, the first end of which is fixedly connected to the release module through the first side wall of the fixed bracket, and the second end of which is rotatably connected to the second side wall of the fixed bracket; A slider is rotatably connected to the first end of the lead screw. When the lead screw rotates, the slider slides along the lead screw. The slider is provided with a locking pin that cooperates with the circular groove.

3. The auxiliary power unit according to claim 2, characterized in that, The detachable unit includes: The clamp has a through hole at its first end that mates with the locking pin, the first end of the clamp is inserted into the second end of the locking sleeve, and the second end of the clamp is in contact with the outer wall of the main body. An elastic element is inserted into the second end of the locking sleeve. When the first end of the clamp passes through the elastic element and is inserted into the second end of the locking sleeve, the elastic element is in a compressed state. When the release module rotates to drive the lead screw to rotate, the slider slides along the lead screw, the locking pin disengages from the circular groove, and the elastic element extends so that the first end of the clamp disengages from the locking sleeve.

4. The auxiliary power unit according to claim 1, characterized in that, The fixing unit includes: The fixed bracket is U-shaped, and its first side is fixedly connected to the outer wall of the first cabin. Two locking sleeves, wherein one locking sleeve is fixedly connected to the first end of the fixed bracket and the other locking sleeve is fixedly connected to the second end of the fixed bracket, the first end of each locking sleeve is provided with a circular groove, and the second end of each locking sleeve is detachably connected to the detachable unit; A lead screw, the first end of which is fixedly connected to the release module through the first side wall of the fixed bracket, and the second end of which is rotatably connected to the second side wall of the fixed bracket; Two sliders correspond one-to-one with the two locking sleeves. One slider is rotatably connected to the first end of the lead screw, and the other slider is rotatably connected to the second end of the lead screw. When the lead screw rotates, the two sliders slide along the lead screw. Each slider is provided with a locking pin that cooperates with the circular groove.

5. The auxiliary power unit according to claim 4, characterized in that, The detachable unit includes: Two clamps correspond one-to-one with the two locking sleeves. The first end of each clamp is provided with a through hole that mates with the locking pin. The first end of each clamp is inserted into the second end of the locking sleeve, and the second end of each clamp is in contact with the outer wall of the main body. Two elastic elements correspond one-to-one with the two locking sleeves. The elastic elements are inserted into the second end of the locking sleeves. When the first end of the clamp passes through the elastic element and is inserted into the second end of the locking sleeve, the elastic element is in a compressed state. When the release module rotates to drive the lead screw to rotate, the two sliders slide towards each other along the lead screw, the locking pin disengages from the circular groove, and the elastic element extends so that the first end of the clamp disengages from the locking sleeve.

6. The auxiliary power unit according to claim 2, characterized in that, The release mechanism further includes: The flow guide covers the fixed unit, the detachable unit, and the release module.

7. The auxiliary power unit according to claim 1, characterized in that, The power mechanism also includes: A control unit is located inside the first compartment and is connected to the control unit; The release mechanism includes: The fixing unit is fixedly connected on its first side to the outer wall of the first cabin. The detachable unit has a first end detachably connected to the second side of the fixed unit, and a second end detachably connected to the outer wall of the main body; A release module is connected to the control unit, and the release module is rotatably connected to the fixing unit; When the battery capacity of the battery pack is lower than a preset threshold, the control unit generates and sends a disengagement command. The control unit receives the disengagement command to generate and send a rotation command. The release module receives the rotation command and rotates to drive the fixed unit to rotate. The detachable unit disengages from the fixed unit and from the main body.

8. The auxiliary power unit according to claim 1, characterized in that, The power mechanism also includes: The rudder unit includes: The servo motor is located on the outside of the first compartment. The rudder shaft is connected to the servo motor, and the rudder shaft is also connected to the control unit.

9. The auxiliary power unit according to claim 3, characterized in that, The auxiliary power unit is connected to another auxiliary power unit by a clamp and is symmetrically arranged on both sides of the main body. When the clamp is in the released state, the auxiliary power unit and the other auxiliary power unit are detached from the main body.

10. An underwater robot, characterized in that, The underwater robot includes a main body, which comprises a main cabin and a control unit, wherein the control unit is located inside the main cabin. The underwater robot also includes two auxiliary power units as described in any one of claims 1-9, with the two auxiliary power units respectively disposed on the horizontal sides of the main body.

Images