Additional power unit for underwater robots and underwater robots

Abstract

This invention relates to the field of underwater robot technology, specifically an auxiliary power unit for an underwater robot and the underwater robot itself. The underwater robot comprises a main body, which includes a main cabin and a control unit. The auxiliary power unit includes a power mechanism and a release mechanism. The power mechanism includes a first cabin, a communication unit, a propulsion unit, and a battery pack. The communication unit is communicatively connected to the control unit; the propulsion unit is located outside the first cabin and is communicatively connected to the control unit; the battery pack supplies power to the propulsion unit and the communication unit; the release mechanism includes a fixed unit, a detachable unit, and a release module. The first side of the fixed unit is fixedly connected to the outer wall of the first cabin; the first end of the detachable unit is detachably connected to the second side of the fixed unit, and the second end of the detachable unit is detachably connected to the outer wall of the main cabin; the release module is connected to the control unit and fixedly connected to the fixed unit. This auxiliary power unit can provide the underwater robot with extended endurance.

Description

Technical Field

[0001] This application relates to the field of underwater robot technology, and more specifically, to an auxiliary power unit for an underwater robot and an underwater robot. Background Technology

[0002] Unmanned Undersea Vehicles (UUVs) are characterized by their good stealth capabilities, modular payloads, and high level of intelligence, and have been widely used in fields such as marine engineering, underwater target search, underwater attack and defense, and marine environmental detection.

[0003] The inventors of this application have discovered that existing UUVs are constrained by energy performance. In pursuing long endurance, UUVs need to sacrifice some speed and payload performance. However, when pursuing multi-mission capabilities, long endurance performance will decrease. Therefore, for customized UUV products, it is difficult to achieve a balance between endurance, speed, payload, and multi-mission performance.

[0004] The content of the background section is merely technology known to the public and does not necessarily represent existing technology in the field. Summary of the Invention

[0005] This application aims to provide an additional power unit for an underwater robot and an underwater robot in order to solve the problem that it is difficult to balance the time, speed, load and multi-tasking performance of the aforementioned customized UUV products.

[0006] According to one aspect of this application, an auxiliary power unit for an underwater robot is provided. The underwater robot includes a main body, which includes a main cabin and a control unit. The auxiliary power unit includes a power mechanism and a release mechanism. The power mechanism includes a first cabin, a communication unit, a propulsion unit, and a battery pack. The communication unit is communicatively connected to the control unit; the propulsion unit is disposed outside the first cabin and is communicatively connected to the control unit; the battery pack supplies power to the propulsion unit and the communication unit; the release mechanism includes a fixing unit, a detachable unit, and a release module. A first side of the fixing unit is fixedly connected to the outer wall of the first cabin; a first end of the detachable unit is detachably connected to a second side of the fixing unit, and a second end of the detachable unit is detachably connected to the outer wall of the main cabin; the release module is connected to the control unit and 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, and the release module rotates to drive the fixing unit to rotate, causing the detachable unit to detach from the fixing unit and the main cabin.

[0007] According to some embodiments of this application, the fixing unit includes a fixing bracket, a locking sleeve, a lead screw, and a slider. The fixing bracket is U-shaped, and its first side is fixedly connected to the outer wall of the first compartment. The locking sleeve is fixedly connected to the first end of the fixing bracket, and the first end of the locking sleeve is provided with a circular groove. The second end of the locking sleeve is detachably connected to the detachable unit. The first end of the lead screw is fixedly connected to the release module through the first side wall of the fixing bracket, and the second end of the lead screw is rotatably connected to the second side wall of the fixing bracket. The 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.

[0008] According to some embodiments of this application, the detachable unit includes a clamp and an elastic element. The first end of the clamp has a through hole that mates with a 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. The elastic element allows the second end of the locking sleeve to be inserted. 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, causing the first end of the clamp to disengage from the locking sleeve.

[0009] According to some embodiments of this application, the fixing unit includes a fixing bracket, two locking sleeves, a lead screw, and two sliders. The fixing bracket is U-shaped, with its first side fixedly connected to the outer wall of the first compartment; one locking sleeve is fixedly connected to the first end of the fixing bracket, and the other locking sleeve is fixedly connected to the second end of the fixing 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; the first end of the lead screw is fixedly connected to the release module through the first side wall of the fixing bracket, and the second end of the lead screw is rotatably connected to the second side wall of the fixing bracket; the two sliders correspond one-to-one with the two locking sleeves, wherein 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, and each slider is provided with a locking pin that cooperates with the circular groove.

[0010] According to some embodiments of this application, the detachable unit includes two clamps and two elastic elements. The two clamps correspond one-to-one with two locking sleeves. Each clamp has a through hole at its first end that mates with a 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. The two elastic elements also correspond one-to-one with the two locking sleeves. The second end of the locking sleeve is inserted into the elastic element. 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, causing the first end of the clamp to disengage from the locking sleeve.

[0011] According to some embodiments of this application, the release mechanism further includes a flow deflector. The flow deflector houses the fixing unit, the removable unit, and the release module.

[0012] According to some embodiments of this application, the power mechanism further includes a control unit. The control unit is disposed inside the first compartment and connected to the control unit; the release mechanism includes a fixing unit, a detachable unit, and a release module. A first side of the fixing unit is fixedly connected to the outer wall of the first compartment; a first end of the detachable unit is detachably connected to a second side of the fixing unit, and a second end is detachably connected to the outer wall of the main compartment; the release module is connected to the control unit and 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 the release module rotates to drive the fixing unit to rotate, the detachable unit disengages from the fixing unit, and the detachable unit disengages from the main compartment.

[0013] According to some embodiments of this application, the power mechanism further includes a rudder unit. The rudder unit includes a rudder motor and a rudder shaft. The rudder motor is located on the outside of the first hull; the rudder shaft is connected to the rudder motor and is also connected to the control unit.

[0014] According to some embodiments of this application, an 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 released, the auxiliary power unit and the other auxiliary power unit are detached from the main body.

[0015] According to one aspect of this application, an underwater robot is provided, including a robot body, the underwater robot body including a main cabin and a control unit, the control unit being disposed inside the main cabin; the underwater robot also includes two auxiliary power units as described above, the two auxiliary power units being disposed on the horizontal sides of the main cabin respectively.

[0016] The technical solution of this application can provide power to the underwater robot through a power mechanism. Since the auxiliary power device does not need to be equipped with sensors such as load cells, the battery pack of the power mechanism can be larger than that of an underwater robot cabin of the same volume, thereby providing the underwater robot with a longer endurance.

[0017] The technical solution of this application allows the power mechanism to detach from the main body via a release mechanism. When the battery capacity of the power mechanism's battery pack falls below a preset threshold, both the release mechanism and the power mechanism detach from the main body, reducing the underwater robot's own power consumption and thus increasing its endurance.

[0018] The additional power unit provided in this application can be applied to mature and well-established underwater robots without requiring modifications to the underwater robot's own mechanism. It can provide long-term endurance while ensuring the underwater robot's own detection capabilities. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A schematic diagram of the structure of an additional power unit according to an embodiment of this application is shown;

[0021] Figure 2 Another structural schematic diagram of an additional power unit according to an embodiment of this application is shown;

[0022] Figure 3 A schematic diagram of the structure of a power mechanism according to an embodiment of this application is shown;

[0023] Figure 4 A schematic diagram of the structure of a release mechanism according to an embodiment of this application is shown;

[0024] Figure 5 Another structural schematic diagram of an additional power unit according to an embodiment of this application is shown;

[0025] Figure 6 This diagram illustrates a process by which a release mechanism detaches from the main cabin according to an embodiment of this application.

[0026] Figure 7 This diagram illustrates another process by which the release mechanism detaches from the main cabin according to an embodiment of this application.

[0027] Figure 8A schematic diagram showing the clamp detaching from the main body according to an embodiment of this application is shown.

[0028] Explanation of reference numerals in the attached figures:

[0029] 110. Main body; 111. Main cabin.

[0030] 200. Additional power unit.

[0031] 210. Power mechanism; 220. Release mechanism.

[0032] 211. First hull; 212. Communication unit; 213. Propulsion unit; 214. Battery pack; 215. Control unit; 216. Rudder unit.

[0033] 2161. Servo motor; 2162. Rudder shaft.

[0034] 221. Fixed unit; 222. Detachable unit; 223. Release module; 224. Flow deflector.

[0035] 2211. Fixed bracket; 2212. Locking sleeve; 2213. Lead screw; 2214. Slider; 2215. Locking pin.

[0036] 2221. Clamp; 2222. Elastic component. Detailed Implementation

[0037] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0038] The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of these specific details, or other methods, components, materials, devices, etc. In these cases, well-known structures, methods, devices, implementations, materials, or operations will not be shown or described in detail.

[0039] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0040] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order.

[0041] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0042] According to one aspect of this application, an auxiliary power unit 200 for an underwater robot is provided. See also Figure 1 The underwater robot includes a main body 110, which includes a main cabin 111 and a control unit (not shown in the figure). The control unit may be located inside the main cabin 111. For example, the underwater robot may be a UUV.

[0043] See Figure 1 and Figure 2 The auxiliary power unit 200 includes a power mechanism 210 and a release mechanism 220.

[0044] See Figure 3 The power unit 210 includes a first cabin 211, a communication unit 212, a propulsion unit 213, and a battery pack 214.

[0045] According to the example embodiment, the first compartment 211 can be a pressure-resistant sealed compartment, and the first compartment 211 can adopt a streamlined rotating body, thereby reducing underwater resistance.

[0046] According to the example embodiment, the communication unit 212 is disposed inside the first compartment 211. For example, the communication unit 212 may be disposed inside the bow of the first compartment 211. The communication unit 212 is communicatively connected to the control unit. For example, the communication unit 212 may be a short-range wireless communication unit 212, including radio communication, magnetic coupling communication, optical communication, acoustic communication, etc. Considering the application scenario of short-range communication, radio communication, which has a higher cost performance, is preferred.

[0047] The propulsion unit 213 is disposed outside the first hull 211, and may be disposed outside the stern of the first hull 211. The propulsion unit 213 is communicatively connected to the control unit. For example, the propulsion unit 213 may be a thruster, which is communicatively connected to the control unit via a communication unit 212. The control unit may send propulsion commands, thereby controlling the thruster's power parameters, such as rotational speed.

[0048] According to the 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 auxiliary power unit 200 does not need to be equipped with sensors such as load cells, the battery pack 214 inside the first cabin 211 can be larger than that of an underwater robot cabin of the same volume, thereby providing a longer endurance.

[0049] See 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.

[0050] According to the example embodiment, the first side of the fixing unit 221 is fixedly connected to the outer wall of the first compartment 211. For example, the first side of the fixing unit 221 can be fixedly connected to the outer wall of the first compartment 211 by welding or other means.

[0051] According to the 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 body 111. For example, the first end of the detachable unit 222 can be detachably connected to 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 to the outer wall of the main body 111 through a clamp structure.

[0052] According to the example embodiment, the release module 223 is connected to the control unit and is fixedly connected to the fixing unit 221. For example, the release module 223 can be a motor, and when the release module 223 rotates, it can drive the fixing unit 221 to rotate.

[0053] According to the example embodiment, when the battery capacity of the battery pack 214 is lower than a preset threshold, the control unit generates and sends a detachment command. The release module 223 receives the detachment command and rotates to drive the fixed unit 221 to rotate. The detachable unit 222 detaches from the fixed unit 221 and detaches from the main body 111.

[0054] The preset threshold can be the minimum value of the battery capacity, and the control unit can monitor the capacity of the battery pack 214 through the communication unit 212. The detachment command can be the command for the auxiliary power unit 200 to detach from the main cabin 111.

[0055] If the control unit detects that the battery capacity of the battery pack 214 is lower than a preset threshold, the control unit can generate a disengagement command and send the command through the communication unit 212. After receiving the disengagement command, the release module 223 rotates accordingly. The rotation of the release module 223 causes the fixed unit 221 to rotate, and the detachable unit 222 disengages from the fixed unit 221, thereby causing the power mechanism 210 to detach from the main body 111.

[0056] When power is supplied by the power unit 210 (i.e., the battery pack 214 supplies power to the propulsion unit 213 and the communication unit 212), the control unit can control only the propulsion unit 213 to control the navigation speed, etc. This allows the main hull 111's own battery to not need to supply power to its own propulsion; instead, the main hull 111's own battery can supply power only to the control unit, sensors, and rudder, reducing the consumption of the main hull 111's own battery capacity.

[0057] When the power unit 210 detaches from the main body 111, the control unit controls the main body 111's own battery and thrusters to continue providing power to the underwater robot. As the underwater robot navigates underwater, the detachable unit 222 detaches from the main body 111.

[0058] Through the above embodiments, the technical solution of this application can provide power to the underwater robot through the power mechanism. Since the auxiliary power device does not need to be equipped with sensors such as load cells, the battery pack of the power mechanism can be larger than that of the underwater robot cabin of the same volume, thereby providing the underwater robot with a longer endurance power.

[0059] Through the above embodiments, the technical solution of this application can detach the power mechanism from the main body through a release mechanism. When the battery capacity of the power mechanism's battery pack is lower than a preset threshold, both the release mechanism and the power mechanism detach from the main body, which can reduce the underwater robot's own power consumption and thus increase the underwater robot's endurance.

[0060] The additional power unit provided in this application can be applied to mature and well-established underwater robots without requiring modifications to the underwater robot's own mechanism. It can provide long-term endurance while ensuring the underwater robot's own detection capabilities.

[0061] Optionally, see Figure 4 The fixing unit 221 includes a fixing bracket 2211, a locking sleeve 2212, a lead screw 2213, and a slider 2214.

[0062] According to the example embodiment, the fixing bracket 2211 is U-shaped, and the first side of the fixing bracket 2211 is fixedly connected to the outer wall of the first compartment 211. For example, the first side of the fixing bracket 2211 can be fixedly connected to the outer wall of the first compartment 211 by welding or other means.

[0063] The locking sleeve 2212 is fixedly connected to the first end of the fixed bracket 2211. The first end of the locking sleeve 2212 is provided with a circular groove, and the second end of the locking sleeve 2212 is detachably connected to the detachable unit 222. For example, the first end of the locking sleeve 2212 can be connected to a side wall of the fixed bracket 2211. The circular groove can be located in the middle of the first end of the locking sleeve 2212, penetrating through the first end of the locking sleeve 2212.

[0064] The first end of the lead screw 2213 is fixedly connected to the release module 223 via the first sidewall of the fixed bracket 2211, and the second end of the lead screw 2213 is rotatably connected to the second sidewall of the fixed bracket 2211. The outer circumference of the lead screw 2213 is threaded. When the release module 223 rotates, it drives the lead screw to rotate.

[0065] The slider 2214 is rotatably connected to the first end of the lead screw 2213. When the lead screw 2213 rotates, the slider 2214 slides along the lead screw 2213. For example, the slider 2214 may include a housing support and a nut. The nut is fixedly disposed inside the housing support, and both the nut and the housing support are inserted into the lead screw 2213. The inner wall of the nut has a thread that mates with the thread on the outer wall of the lead screw. When the lead screw 2213 rotates, the nut slides along the lead screw 2213 under the action of the thread, and the nut drives the housing support to slide along the lead screw 2213.

[0066] The slider 2214 is provided with a locking pin 2215 that mates with a circular groove. For example, the locking pin 2215 can be fixedly connected to the housing bracket. The locking pin 2215 can be inserted into the circular groove to secure the locking sleeve 2212 and the detachable unit 222. When the nut drives the housing bracket to slide along the lead screw 2213, the locking pin 2215 is driven to slide along with the housing bracket, disengaging from the circular groove, thereby allowing the detachable unit 222 to disengage from the locking sleeve 2212.

[0067] Through the above embodiments, the technical solution of this application can fix the detachable unit 222 and the locking sleeve 2212 by locking pin 2215. By rotating the screw, the slider 2214 slides and drives the locking pin 2215 to disengage from the circular groove, thereby making the detachable unit 222 separate from the locking sleeve 2212.

[0068] Optionally, see Figure 4The detachable unit 222 includes a clamp 2221 and an elastic element 2222.

[0069] The first end of the clamp 2221 is provided with a through hole that cooperates 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 body 111.

[0070] The elastic element 2222 is inserted into the second end of the locking sleeve 2212. When the first end of the clamp 2221 passes through the elastic element 2222 and is inserted into the second end of the locking sleeve 2212, the elastic element 2222 is in a compressed state.

[0071] For example, the outer diameter of the first end of the clamp 2221 can be adapted to the inner diameter of the second end of the locking sleeve 2212. The inner diameter of the elastic element 2222 can be adapted to the outer diameter of the second end of the locking sleeve 2212. A limiting protrusion can also be provided on the outer periphery of the second end of the locking sleeve 2212. The elastic element 2222 can be a spring.

[0072] The second end of clamp 2221 is fitted against the outer wall of the main cabin 111 to secure the second end of clamp 2221 to the outer wall of the main cabin 111. The fitting length between the second end of clamp 2221 and the outer wall of the main cabin 111 can be determined according to the length of the main cabin 111. For example, the length of the second end of clamp 2221 can be half the length of the main cabin 111, thereby keeping the main cabin 111 and the first cabin 211 parallel.

[0073] With the first end of clamp 2221 passing through elastic member 2222 and inserted into the second end of locking sleeve 2212, locking pin 2215 secures clamp 2221 and locking sleeve 2212 through the through hole at the first end of clamp 2221 and the circular groove at the first end of locking sleeve 2212. Elastic member 2222 is in a compressed state; one end of elastic member 2222 is stopped by a limiting protrusion, and the other end of elastic member 2222 is stopped by the second end of clamp 2221. The second end of clamp 2221 can fit against the outer wall of main body 111, thereby ensuring that main body 111 and first body 211 remain parallel.

[0074] When the release module 223 rotates to drive the lead screw 2213 to rotate, the slider 2214 slides along the lead screw 2213, the locking pin 2215 disengages from the circular groove, and the elastic element 2222 extends so that the first end of the clamp 2221 disengages from the locking sleeve 2212.

[0075] For example, when the release module 223 rotates to drive the lead screw 2213 to rotate, the nut drives the housing bracket to slide along the lead screw 2213, and the locking pin 2215 is driven to slide along with the housing bracket. The locking pin 2215 disengages from the circular groove and also disengages from the through hole at the first end of the clamp 2221. The elastic element 2222 extends due to its own elasticity, thereby allowing the first end of the clamp 2221 to disengage from the locking sleeve 2212.

[0076] With the first end of clamp 2221 disengaged from locking sleeve 2212, the power mechanism 210 is disengaged from the main cabin 111.

[0077] When the power unit 210 detaches from the main body 111, the control unit controls the battery inside the main body 111 to continue providing power to the underwater robot. As the underwater robot navigates underwater, the second end of the clamp 2221 detaches from the main body 111.

[0078] Through the above embodiments, the technical solution of this application can cause the first end of the clamp to disengage from the locking sleeve when the release module rotates, thereby causing the power mechanism to disengage from the main body.

[0079] Optionally, see Figure 4 The fixing unit 221 includes a fixing bracket 2211, two locking sleeves 2212, a lead screw and two sliders 2214.

[0080] According to the example embodiment, the fixing bracket 2211 is U-shaped, and the first side of the fixing bracket 2211 is fixedly connected to the outer wall of the first compartment 211. For example, the first side of the fixing bracket 2211 can be fixedly connected to the outer wall of the first compartment 211 by welding or other means.

[0081] According to an example embodiment, one locking sleeve 2212 is fixedly connected to the first end of the fixed bracket 2211, and the other locking sleeve 2212 is fixedly connected to the second end of the fixed bracket 2211. Each locking sleeve 2212 has a circular groove at its first end, 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 sidewall of the fixed bracket 2211. The first end of the other locking sleeve 2212 can be connected to the second sidewall of the fixed bracket 2211. The circular groove can be located at the middle of the first end of the locking sleeve 2212, penetrating through the first end of the locking sleeve 2212.

[0082] The first end of the lead screw 2213 is fixedly connected to the release module 223 via the first sidewall of the fixed bracket 2211, and the second end of the lead screw 2213 is rotatably connected to the second sidewall of the fixed bracket 2211. The outer circumference of the lead screw 2213 is threaded. When the release module 223 rotates, it drives the lead screw to rotate.

[0083] Two sliders 2214 correspond one-to-one with two locking sleeves 2212. One slider 2214 is rotatably connected to the first end of the lead screw 2213, and the other slider 2214 is rotatably connected to the second end of the lead screw 2213. When the lead screw 2213 rotates, the two sliders 2214 slide along the lead screw 2213.

[0084] For example, each slider 2214 may include a housing support and a nut. The nut is fixedly disposed inside the housing support, and both the nut and the housing support are inserted by a lead screw 2213. The inner wall of the nut is provided with a thread that mates with the thread on the outer wall of the lead screw. When the lead screw 2213 rotates, the nut slides along the lead screw 2213 under the action of the thread, and the nut drives the housing support to slide along the lead screw 2213. The two nuts can be configured with a positive thread and a negative thread, respectively. When the lead screw 2213 rotates, the two nuts slide towards each other along the lead screw 2213, and the two nuts drive the two housing supports to slide towards each other along the lead screw 2213.

[0085] Each slider 2214 is provided with a locking pin 2215 that mates with a circular groove. For example, the locking pin 2215 can be fixedly connected to the housing bracket. The locking pin 2215 can be inserted into the circular groove to fix the locking sleeve 2212 and the detachable unit 222. When the two nuts drive the two housing brackets to slide towards each other along the lead screw 2213, the two locking pins 2215 are driven to slide towards each other with the housing brackets, and both locking pins 2215 disengage from their respective mating circular grooves, thereby allowing the detachable unit 222 to disengage from the locking sleeve 2212.

[0086] Through the above embodiments, the technical solution of this application can use two locking pins 2215 to jointly fix the detachable unit 222 and the locking sleeve 2212, resulting in a more secure fastening effect.

[0087] Optionally, see Figure 4 The detachable unit 222 includes two clamps 2221 and two elastic elements 2222.

[0088] Two clamps 2221 correspond one-to-one with two locking sleeves 2212. The first end of each clamp 2221 is provided with a through hole that cooperates with the locking pin 2215. The first end of each clamp 2221 is inserted into the second end of the locking sleeve 2212. The second end of each clamp 2221 is in contact with the outer wall of the main body 111.

[0089] Two elastic elements 2222 correspond one-to-one with two locking sleeves 2212. The second end of the locking sleeve 2212 is inserted into the elastic element 2222. When the first end of the clamp 2221 passes through the elastic element 2222 and is inserted into the second end of the locking sleeve 2212, the elastic element 2222 is in a compressed state.

[0090] For example, the outer diameter of the first end of the clamp 2221 can be adapted to the inner diameter of the second end of the locking sleeve 2212. The inner diameter of the elastic element 2222 can be adapted to the outer diameter of the second end of the locking sleeve 2212. A limiting protrusion can also be provided on the outer periphery of the second end of the locking sleeve 2212. The elastic element 2222 can be a spring.

[0091] The second end of clamp 2221 is fitted against the outer wall of the main body 111 to secure it. The length of the fit between the second end of clamp 2221 and the outer wall of the main body 111 can be determined based on the length of the main body 111. For example, the length of the second end of clamp 2221 can be one-eighth of the length of the main body 111. The two clamps 2221 can be positioned at the front and rear halves of the main body 111, respectively. The placement of the two clamps 2221 ensures that the main body 111 and the first body 211 remain parallel.

[0092] With the first end of clamp 2221 passing through elastic member 2222 and inserted into the second end of locking sleeve 2212, locking pin 2215 secures clamp 2221 and locking sleeve 2212 through the through hole at the first end of clamp 2221 and the circular groove at the first end of locking sleeve 2212. Elastic member 2222 is in a compressed state; one end of elastic member 2222 is stopped by a limiting protrusion, and the other end of elastic member 2222 is stopped by the second end of clamp 2221. The second end of clamp 2221 can fit against the outer wall of main body 111, thereby ensuring that main body 111 and first body 211 remain parallel.

[0093] When the release module 223 rotates to drive the lead screw 2213 to rotate, the two sliders 2214 slide towards each other along the lead screw 2213, the locking pin 2215 disengages from the circular groove, and the elastic element 2222 extends so that the first end of the clamp 2221 disengages from the locking sleeve 2212.

[0094] For example, when the release module 223 rotates to drive the lead screw 2213 to rotate, the two nuts drive the two housing supports to slide towards each other along the lead screw 2213. The two locking pins 2215 are driven to slide towards each other along with the housing supports. Both locking pins 2215 disengage from their respective mating circular grooves and disengage from the through holes at the first ends of their respective mating clamps 2221. The elastic element 2222 extends due to its own elasticity, thereby allowing the first ends of the two clamps 2221 to disengage from their respective mating locking sleeves 2212.

[0095] With the first ends of both clamps 2221 disengaged from their respective locking sleeves 2212, the power mechanism 210 is disengaged from the main cabin 111.

[0096] When the power unit 210 detaches from the main body 111, the control unit controls the battery inside the main body 111 to continue providing power to the underwater robot. As the underwater robot navigates underwater, the second ends of both clamps 2221 detach from the main body 111.

[0097] Through the above embodiments, the technical solution of this application can cause the first end of the clamp to disengage from the locking sleeve when the release module rotates, thereby causing the power mechanism to disengage from the main body.

[0098] Optionally, see Figure 2 The release mechanism 220 also includes a flow deflector 224. The flow deflector 224 houses the fixed unit 221, the detachable unit 222, and the release module 223. This arrangement reduces drag during the underwater robot's navigation and reduces the pressure on the fixed unit 221, the detachable unit 222, and the release module 223.

[0099] Optionally, see Figure 3 The power unit 210 also includes a control unit 215. The control unit 215 is located inside the first compartment 211 and is communicatively connected to the control unit. The control unit 215 and the control unit can communicate with each other via a communication unit 212.

[0100] See Figure 4 The release mechanism 220 includes a fixed unit 221, a detachable unit 222, and a release module 223.

[0101] According to the example embodiment, the first side of the fixing unit 221 is fixedly connected to the outer wall of the first compartment 211. For example, the first side of the fixing unit 221 can be fixedly connected to the outer wall of the first compartment 211 by welding or other means.

[0102] According to the 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 body 111. For example, the first end of the detachable unit 222 can be detachably connected to 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 to the outer wall of the main body 111 through a clamp 2221 structure.

[0103] According to the example embodiment, the release module 223 is connected to the control unit and is fixedly connected to the fixing unit 221. For example, the release module 223 can be a motor, and when the release module 223 rotates, it can drive the fixing unit 221 to rotate.

[0104] When the battery capacity of the battery pack 214 is lower than a preset threshold, the control unit generates and sends a disengagement command. The control unit 215 receives the disengagement command to generate and send a rotation command. The release module 223 receives the rotation command and rotates to drive the fixed unit 221 to rotate. The detachable unit 222 disengages from the fixed unit 221 and from the main body 111.

[0105] The preset threshold can be the minimum battery capacity, and the control unit 215 can monitor the capacity of the battery pack 214 through the communication unit 212. The disengagement command can be the command for the auxiliary power unit 200 to detach from the main body 111. The rotation command can be the command for the release module 223 to rotate.

[0106] If the control unit receives a notification from the control unit 215 that the battery capacity of the battery pack 214 is below a preset threshold, the control unit can generate a disengagement command and send it via the communication unit 212. The control unit 215 receives the disengagement command and generates a rotation command based on it.

[0107] After receiving the rotation command, the release module 223 rotates accordingly. The rotation of the release module 223 can drive the fixed unit 221 to rotate, and the detachable unit 222 will disengage from the fixed unit 221, thereby causing the power mechanism 210 to disengage from the main body 111.

[0108] When the power unit 210 is detached from the main body 111, the control unit controls the battery inside the main body 111 to continue providing power to the underwater robot. As the underwater robot navigates underwater, the detachable unit 222 detaches from the main body 111. The specific structures of the fixed unit 221, the detachable unit 222, and the release module 223 have been described above and will not be repeated here.

[0109] Through the above embodiments, the technical solution of this application can improve the response speed by monitoring the battery capacity of the battery pack and controlling the rotation of the release module through the setting of the control unit.

[0110] Optionally, see Figure 3 The power unit 210 also includes a rudder unit 216. The rudder unit 216 includes a servo motor 2161 and a rudder shaft 2162. The servo motor 2161 is located on the outside of the first hull 211. The rudder shaft 2162 is connected to the servo motor 2161 and is also connected to a control unit. The control unit can control the angle of the rudder shaft 2162, thereby controlling the underwater robot's navigation direction. The battery pack 214 supplies power to the rudder unit 216.

[0111] When powered by the power unit 210, the control unit can control the navigation direction and speed by controlling only the rudder unit 216 and the propulsion unit 213. This eliminates the need for the main hull 111's own battery to power its own propulsion and rudder; instead, the main hull 111's own battery can power only the control unit and sensors, further reducing the consumption of the main hull 111's own battery capacity.

[0112] Optionally, see Figure 1 , Figure 2 and Figure 5 The auxiliary power unit 200 is connected to another auxiliary power unit 200 by a clamp 2221. The auxiliary power unit 200 and the other auxiliary power unit 200 are symmetrically arranged on both sides of the main body 111. When the clamp 2221 is released, the auxiliary power unit 200 and the other auxiliary power unit 200 are detached from the main body 111.

[0113] For example, clamp 2221 may include a detachably configured upper clamp and a lower clamp. Both ends of clamp 2221 can be the first end of clamp 2221 as described above. The middle section of clamp 2221 can form a circular structure that fits into the main body 111.

[0114] The two ends of the clamp 2221 can be detachably connected to a locking sleeve 2212 of each of the two auxiliary power units 200. The auxiliary power units 200 and the other auxiliary power unit 200 are symmetrically arranged on both sides of the main body 111. This arrangement helps the underwater robot maintain balance during operation. When the clamp 2221 is released, the auxiliary power units 200 and the other auxiliary power unit 200 can simultaneously detach from the main body 111.

[0115] According to one aspect of this application, an underwater robot is provided, the underwater robot including a main body 110, the main body 110 including a main cabin 111 and a control unit, the control unit being disposed inside the main cabin 111.

[0116] The underwater robot also includes two auxiliary power units 200 as described above, which are respectively located on the horizontal sides of the main body 111.

[0117] The installation steps for the two auxiliary power units 200 are as follows.

[0118] (1) Fix the two fixed brackets 2211 to the two first cabins 211 respectively.

[0119] (2) Connect the upper and lower clamps of the two sets of clamps 2221 to the main body 111. After passing through their respective elastic elements 2222 at both ends, each clamp 2221 is inserted into the second end of its respective locking sleeve 2212.

[0120] (3) The circular groove at the first end of each locking sleeve 2212 and the through hole at the first end of the corresponding clamp 2221 are fixed by locking pins 2215. At this time, the elastic elements 2222 are all in a compressed state.

[0121] (4) The two first compartments 211 are respectively located on the horizontal sides of the main compartment 111.

[0122] (5) Install the air deflector 224.

[0123] The workflow for the two auxiliary power units 200 to detach from the main cabin 111 is as follows.

[0124] (1) When the control unit receives a message from the control unit 215 indicating that the battery capacity of the battery pack 214 is lower than a preset threshold, the control unit can generate a disengagement command and send the disengagement command through the communication unit 212 of each of the two power mechanisms 210. The control unit 215 of each of the two power mechanisms 210 receives the disengagement command and generates a rotation command based on the disengagement command.

[0125] (2) The battery packs 214 of each of the two power mechanisms 210 supply power to the release modules 223 of each of the two power mechanisms 210. After receiving the rotation command, the two release modules 223 rotate according to the rotation command.

[0126] (3) The two release modules 223 rotate to drive their respective lead screws 2213 to rotate. The two nuts of the same release mechanism 220 drive the two housing supports to slide towards each other along the lead screws 2213, and the two locking pins 2215 are driven to slide towards each other along with the housing supports. Both locking pins 2215 disengage from their respective mating circular grooves, and both locking pins 2215 disengage from the through holes at the first end of their respective mating clamps 2221, such as... Figure 6 As shown.

[0127] (4) In the same release mechanism 220, the two elastic elements 2222 extend due to their own elasticity, thereby allowing the first ends of the two clamps 2221 to disengage from their respective locking sleeves 2212. With the first ends of the two clamps 2221 disengaged from their respective locking sleeves 2212, the first compartment 211 of the power mechanism 210 disengages from the main compartment 111, as shown below. Figure 7 As shown. The two power units 210 can detach from the main cabin 111 simultaneously.

[0128] (5) After the two power mechanisms 210 detach from the main body 111, the control unit controls the battery inside the main body 111 to continue providing power to the underwater robot. As the underwater robot navigates underwater, the middle sections of the two clamps 2221 detach from the main body 111, such as... Figure 8 As shown.

[0129] Finally, it should be noted that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions of the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this 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, and the release module rotates to drive the fixed unit to rotate. The detachable unit detaches from the fixed unit and the detachable unit detaches from the main body. 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. 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.

2. The auxiliary power unit according to claim 1, characterized in that, The fixing unit includes: 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 two sliders correspond one-to-one with the two locking sleeves, wherein 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.

3. The auxiliary power unit according to claim 2, characterized in that, The detachable unit includes: Each of the two clamps corresponds one-to-one with the two locking sleeves; Each of the two elastic elements corresponds one-to-one with the two locking sleeves; When the release module rotates to drive the lead screw to rotate, the two sliders slide towards each other along the lead screw.

4. The auxiliary power unit according to claim 1, characterized in that, The release mechanism further includes: The flow guide covers the fixed unit, the detachable unit, and the release module.

5. 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 connected to the control unit. The control unit receives the disengagement command to generate and send a rotation command, and the release module receives the rotation command.

6. 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.

7. The auxiliary power unit according to claim 1, characterized in that, The auxiliary power unit is connected to another auxiliary power unit via the 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.

8. 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 1-7, with the two auxiliary power units respectively disposed on the horizontal sides of the main body.

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