Amphibious salvage robot

Abstract

The invention discloses an amphibious salvage robot, and belongs to the technical field of underwater operation equipment. The amphibious salvage robot comprises a robot body, a land driving and underwater posture adjusting system and a salvage and underwater propelling system. The paddle wheel is driven by the fin deformation mechanism to be switched between a vertical (land driving wheel) mode and a horizontal (underwater attitude regulator) mode, and autonomous land and water transition is achieved. According to the fishing system, a propeller is used for working, a suction flow field is formed at an opened cabin door through a specially-arranged confluence channel, a target object is sucked into a fishing cabin, and efficient fishing is completed. The density of the fuselage is configured to achieve nearly neutral buoyancy, and retractable universal wheels are arranged. The problems that existing equipment is subjected to amphibious operation cutting, underwater posture adjustment is difficult, and the salvage efficiency is low are solved, and integrated continuous operation from autonomous landing, underwater cruise, precise salvage to flexible return is achieved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of amphibious robots, and particularly relates to a amphibious salvage robot. BACKGROUND

[0002] With the increasing demand for tasks in the fields of water resource development, underwater rescue, environmental monitoring and treatment, etc., the robot technology capable of completing specified operations (such as salvage, sampling and detection) underwater has attracted widespread attention. Traditionally, underwater operations mainly rely on manual diving or large special-purpose equipment, and there are significant limitations in operation range, flexibility and safety. Therefore, various underwater robots and amphibious platforms have been developed in the industry, but there are still obvious defects in the existing technology in realizing the integrated continuous task capability of "autonomous landing-high efficient operation under water-flexible recovery", which is specifically manifested as follows.

[0003] First, the function is single, and the continuous operation of seamless connection between water and land cannot be realized. Most of the existing devices are designed for single environment: although the underwater robots (such as remotely operated vehicles ROV and autonomous underwater vehicles AUV) can complete underwater exploration and simple operation, they lack the ability of autonomous movement on land, and their deployment and recovery are severely dependent on ships or manual transportation, which has poor applicability in complex shoreline environments such as near shore, shoal and reef area. On the contrary, the robots with strong land movement ability (such as wheeled, tracked or foot type robots) are usually weak in waterproofing and underwater propulsion, and it is difficult for them to perform effective operations under water. This functional fragmentation leads to the fact that in the scene where continuous tasks need to be performed across the water-land boundary (such as entering water from the shore by oneself, and returning to the shore after completing underwater salvage), multiple devices must be combined and complex logistical support must be relied on, which is low in efficiency and insufficient in flexibility.

[0004] Second, the underwater posture adjustment is low in energy efficiency and poor in stability, and it is difficult to adapt to the fine operation demand in complex water flow environment. In order to ensure the stable hovering, accurate maneuvering and resistance to water flow disturbance of the underwater robot, posture adjustment is crucial. There are mainly two paths in the existing technical solutions: one is to adjust the center of gravity by moving the internal mass block, so as to change the posture. This way is slow in response speed, limited in adjustment precision, and poor in stability in dynamic water flow. The other is to use multiple independent propellers (such as propellers) to realize posture control. Although this way can realize flexible control, multiple power units need to be configured, the system is complex, the energy consumption is high, and the exposed propellers are easy to entangle with foreign matters. In addition, although some solutions combine the propulsion and posture adjustment functions in the leg end mechanism, they rely on a complex multi-joint linkage system, which is redundant in structure, complex in control algorithm, and not conducive to stably maintaining the posture of the platform in narrow or turbid water areas, and the energy consumption is also relatively high.

[0005] Third, the lack of efficient, reliable and suitable for miniaturization amphibious underwater salvage means. The existing underwater salvage or sampling is mostly by mechanical arm grabbing, net dragging or pump suction. Mechanical arm grabbing requires accurate visual positioning and force control, which requires high control system, and the success rate decreases in turbid water or irregular objects; net dragging usually needs to be towed by a ship, which is not suitable for autonomous robots; traditional pump suction sampler often needs an independent water pump and filtration system, which increases the additional weight, volume and power consumption, and is difficult to integrate into the amphibious platform which is extremely sensitive to weight and space. More importantly, the existing salvage scheme rarely considers efficient cooperation with the robot's own propulsion system, and fails to cleverly convert the robot's propulsion power into suction force for salvage operations, resulting in separate functional modules and low energy efficiency.

[0006] In summary, there is a lack of a compact robot platform in the prior art that can autonomously complete water-land transition, have low-power high-stability attitude holding capability underwater, and perform efficient and integrated underwater salvage operations. Therefore, an innovative technical solution is needed to deeply integrate water-land mobility, attitude adjustment and special operation functions to overcome the above-mentioned defects and meet the growing demand for amphibious complex operations. SUMMARY

[0007] Therefore, the purpose of the present application is to provide an amphibious salvage robot, which integrates land driving and underwater attitude adjustment systems, and a salvage and propulsion system based on fluid suction principle, to realize autonomous water-land transition, low-energy stable hovering and attitude control of the robot, and complete efficient and integrated underwater salvage operations.

[0008] To achieve the above-mentioned purpose, the present application provides the following technical solutions: An amphibious salvage robot, comprising: a body; a land driving and underwater attitude adjustment system symmetrically arranged on both sides of the middle end of the body; a salvage and underwater propulsion system; The salvage and underwater propulsion system comprises a salvage cabin arranged inside the body, a hatch arranged at the front end of the body and communicating with the salvage cabin and capable of being opened and closed, two water inlets symmetrically arranged at the tail end of the body, two propeller thrusters independently arranged on the inner side of each water inlet, and a confluence channel connected to the front of each propeller thruster; each confluence channel has a first passage leading to the corresponding water inlet and a second passage leading to the salvage cabin, and a valve for controlling the on-off of the second passage is arranged on the second passage; The land driving and underwater posture adjusting system comprises fins symmetrically arranged on the left and right sides of the fuselage, paddle wheels respectively arranged at the ends of the fins, driving motors for driving the paddle wheels, and fin deformation mechanisms connecting the fins and the fuselage; the paddle wheels are switched between the land mode and the underwater mode by the fin deformation mechanisms.

[0009] Further, the hatch doors are arranged on the upper and lower sides of the fuselage and are hinged to the fuselage respectively; the opening and closing of the two hatch doors are respectively driven by corresponding hatch door opening and closing mechanisms. The hatch door opening and closing mechanism comprises a hatch door opening and closing mechanism driving motor fixed to the fuselage, a hatch door opening and closing mechanism screw rod arranged on the hatch door opening and closing mechanism driving motor, a first connecting rod arranged on the hatch door opening and closing mechanism screw rod, and at least one second connecting rod in parallel; the output shaft of the hatch door opening and closing mechanism driving motor is in transmission connection with the hatch door opening and closing mechanism screw rod, the hatch door opening and closing mechanism screw rod is in threaded connection with the first connecting rod, the first connecting rod is hinged to the second connecting rod, the second connecting rod is hinged to the hatch door.

[0010] Further, the opening and closing of the valve are driven by a valve opening and closing mechanism; the valve opening and closing mechanism comprises valve opening and closing mechanism driving motors fixed to the two sides of the salvage cabin, valve opening and closing mechanism screw rods arranged on the valve opening and closing mechanism driving motors, seventh connecting rods arranged on the valve opening and closing mechanism screw rods, and valve opening and closing mechanism guide grooves arranged on the upper and lower sides of the communication ports between the second passages and the salvage cabin; the output shaft of the valve opening and closing mechanism driving motor is in transmission connection with the valve opening and closing mechanism screw rod, the valve opening and closing mechanism screw rod is in threaded connection with the seventh connecting rod, the seventh connecting rod is hinged to the valve, and the upper and lower ends of the valve are in slot cooperation with the valve opening and closing mechanism guide grooves.

[0011] Further, the fin deformation mechanism comprises fin deformation mechanism driving motors fixed to the fuselage, fin deformation mechanism screw rods arranged on the fin deformation mechanism driving motors, third connecting rods arranged on the fin deformation mechanism screw rods, fin deformation mechanism guide rails arranged on the fuselage, fourth connecting rods arranged on the fin deformation mechanism guide rails, and fifth connecting rods symmetrically arranged in parallel on the two sides of the fins; the output shaft of the fin deformation mechanism driving motor is in transmission connection with the fin deformation mechanism screw rod, the fin deformation mechanism screw rod is in threaded connection with the third connecting rod, the third connecting rod and the fourth connecting rod are parallel to each other, one end of the third connecting rod and the fourth connecting rod parallel to each other is hinged to the fin, the other end is in moving pair with the fin deformation mechanism guide rail, one end of the fifth connecting rod is hinged to the fin, and the other end is hinged to the fuselage.

[0012] Further, the paddle wheel comprises a paddle wheel tire, a paddle wheel hub and a plurality of paddles fixed to the paddle wheel hub; in the land mode, the paddle wheel rotation plane is perpendicular to the ground, serving as the land driving wheel of the robot; in the underwater mode, the paddle wheel rotation plane is horizontal to the body, serving as a posture adjuster for adjusting the underwater roll and pitch posture of the robot.

[0013] Further, a retractable under-actuated universal wheel mechanism is arranged at the tail end of the body; the retractable under-actuated universal wheel mechanism is lowered in the land mode to assist walking and is retracted in the underwater mode.

[0014] Further, the retractable under-actuated universal wheel mechanism comprises a universal wheel retracting and releasing mechanism driving motor fixed to the body, a sixth connecting rod arranged correspondingly on the universal wheel retracting and releasing mechanism driving motor, a universal wheel wheel frame arranged correspondingly on the sixth connecting rod, and a universal wheel hub and a universal wheel tire arranged on the universal wheel wheel frame; the output shaft of the universal wheel retracting and releasing mechanism driving motor is in transmission connection with the sixth connecting rod, the sixth connecting rod and the universal wheel wheel frame form a rotation pair, and the universal wheel wheel frame and the rotation shaft of the universal wheel hub form a rotation pair.

[0015] Further, the density of the body and the internal components is comprehensively configured, so that the robot obtains near-neutral buoyancy after the salvage cabin is filled with water.

[0016] Further, a control system and a power system are further included; the control system comprises a control module, and the power system comprises a power supply module; the driving motors in the land driving and underwater posture adjusting system, the propeller in the salvage and underwater propulsion system, and the actuators of the cabin door and the valve are in electrical connection with the control module and are controlled thereby; the control module, the driving motors, the propellers and the actuators are all powered by the power supply module.

[0017] Further, a filter screen is arranged on the second passage, for preventing salvage objects from entering the propeller.

[0018] The amphibious salvage robot has the following beneficial effects: The amphibious salvage robot has the following beneficial effects:

[0019] Firstly, the true amphibious seamless connection and continuous autonomous operation capability is realized. Different from the scheme of simply combining land and underwater functional modules, the application actively switches the "paddle wheel" between vertical (land driving wheel) and horizontal (underwater attitude adjuster) configurations through a "fin deformation mechanism" drive, so that the same set of power output mechanism perfectly adapts to two medium environments. This enables the robot to autonomously complete the whole process of landing, launching, cruising and returning without external assistance, completely eliminating the dependence on ships or manual handling, and greatly expanding its operation applicability in complex transition zones such as near shore and shoal.

[0020] Secondly, a new mode of efficient, energy-saving and reliable underwater salvage operation is created. The traditional mechanical grabbing or independent pumping method has the disadvantages of complex control, low success rate or system redundancy. The application deeply integrates "salvage cabin", "double-path converging channel" and "screw propeller", and opens the valve to form a directional "suction flow field" at the cabin door when the screw propeller is working, so as to suck the target object into the cabin. This design ingeniously reuses the main propulsion power of the robot for cruising as the salvage suction force, without the need for additional heavy special pumping devices, realizing the minimization of weight and power consumption of the salvage function, and greatly improving the salvage efficiency and success rate.

[0021] Thirdly, a flexible and low-power underwater attitude stabilization and adjustment means is provided. In underwater mode, the horizontally arranged "paddle wheel" is converted into a thrust vector adjuster, which can actively offset the water flow disturbance by controlling the rotational speed and thrust direction of the left and right paddle wheels, realizing the roll and pitch attitude control of the robot. Compared with the moving weight scheme, this active adjustment method has faster response and higher precision; compared with the multiple independent propeller scheme, it reuses the existing drive mechanism, so the system is more compact and has lower energy consumption. Combined with the near-neutral buoyancy design of the body, the energy consumption burden required to maintain a stable attitude is further reduced.

[0022] In summary, the amphibious salvage robot of the application is not a simple superposition of sub-system functions, but realizes the organic unification of water and land mobility, operation efficiency and attitude stability through core designs such as "paddle wheel dual-mode switching" and "propulsion-salvage flow field coupling". Its technical effect lies in the leap from a single functional device to an integrated intelligent operation platform, which significantly improves the autonomy, adaptability and economy of performing salvage tasks in complex water and land environments. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to make the purpose, technical scheme and beneficial effects of the application clearer, the application provides the following drawings for illustration: Figure 1 is a front isometric view of the amphibious salvage robot of the application in land mode; Figure 2Right view of the amphibious salvage robot in the terrestrial mode of the present embodiment; Figure 3 Sectional view of the amphibious salvage robot in the terrestrial mode of the present embodiment with the right view reference plane as the section plane; Figure 4 Front isometric view of the amphibious salvage robot in the underwater cruising mode of the present embodiment; Figure 5 Right view of the amphibious salvage robot in the underwater cruising mode of the present embodiment; Figure 6 Sectional view of the amphibious salvage robot in the underwater cruising mode of the present embodiment with the plane formed by the central axis of the screw rod of the fin deformation mechanism as the section plane Figure 7 Sectional view of the amphibious salvage robot in the underwater salvage mode of the present embodiment with the right view reference plane as the section plane; Figure 8 Sectional view of the amphibious salvage robot in the underwater salvage mode of the present embodiment with the plane parallel to the upper view reference plane and passing through the central axis of the screw rod of the valve opening and closing mechanism as the section plane; Figure 9 Sectional view of the amphibious salvage robot in the underwater salvage mode of the present embodiment with the upper view reference plane as the section plane; Figure 10 Working state diagram of the amphibious salvage robot in the underwater salvage mode of the present embodiment.

[0024] Explanation of reference signs: 1 - body; 2 - vertical stabilizer; 3 - control module; 4 - power module; 5 - sealing cover plate; 6 - hatch; 7 - hatch opening and closing mechanism driving motor; 8 - hatch opening and closing mechanism screw rod; 9 - first connecting rod; 10 - second connecting rod; 11 - fin; 12 - fin deformation mechanism driving motor; 13 - fin deformation mechanism screw rod; 14 - fin deformation mechanism guide rail; 15 - third connecting rod; 16 - fourth connecting rod; 17 - fifth connecting rod; 18 - paddle wheel hub; 19 - paddle wheel tire; 20 - paddle wheel driving motor; 21 - universal wheel retracting and extending mechanism driving motor; 22 - universal wheel hub; 23 - universal wheel tire; 24 - universal wheel frame; 25 - sixth connecting rod; 26 - salvage cabin; 27 - converging passage; 28 - first passage; 29 - second passage; 30 - filter screen; 31 - valve; 32 - valve opening and closing mechanism driving motor; 33 - valve opening and closing mechanism screw rod; 34 - seventh connecting rod; 35 - valve opening and closing mechanism guide slot; 36 - propeller; 37 - propeller driving motor; 38 - water inlet; 39 - salvaged object. DETAILED DESCRIPTION

[0025] The present application will be further described in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present application and implement it. However, the embodiments are not intended to limit the present application.

[0026] The present application provides an amphibious salvage robot. Specifically, as shown in the drawings, the amphibious salvage robot of the present embodiment mainly comprises a body 1, a vertical stabilizer 2, a land driving and underwater attitude adjusting system, a salvage and underwater propulsion system, a control system and a power system. Figures 1-10

[0027] The body 1 is a main support structure, and its shape is streamlined to reduce underwater motion resistance. To achieve low-energy consumption underwater suspension and attitude keeping, the materials and structures of the body 1, the internal salvage cabin 26 and all related components are precisely calculated and comprehensively configured, so that the overall average density of the robot is between 0.95 g / cm3 and 1.05 g / cm3 when the salvage cabin 26 is full of water, thereby obtaining a near-neutral buoyancy state. By configuring the body density to be near-neutral buoyancy (0.95-1.05 g / cm3), the continuous thrust energy consumption required to counteract the weight or positive buoyancy is greatly reduced, so that the limited battery energy can be more concentrated on the main operation tasks such as propulsion, salvage and attitude adjustment. 3

[0028] The land driving and underwater attitude adjusting system is symmetrically arranged on both sides of the middle end of the body 1. The core of the land driving and underwater attitude adjusting system includes a fin part 11, a paddle wheel, a paddle wheel drive motor 20 and a fin part deformation mechanism. The fin part 11 is symmetrically arranged on the left and right sides of the body 1 and is connected to the side wall of the body 1 through the fin part deformation mechanism. The paddle wheel is installed at the end of the fin part 11, and its specific structure includes a paddle wheel hub 18, a plurality of paddle blades fixed on the hub and a paddle wheel tire 19 sleeved on the outside. The paddle wheel drive motor 20 is installed inside the fin part 11 for driving the paddle wheel to rotate.

[0029] The fin part deformation mechanism is provided one-to-one with the fin part 11 for realizing the attitude switching of the paddle wheel between the land mode and the underwater mode. The specific structure of the fin part deformation mechanism is as shown in Figure 4 、 Figure 6 ​​As shown, the fin deformation mechanism includes a fin deformation mechanism driving motor 12 fixed to the body 1, a fin deformation mechanism screw rod 13 driven to rotate by the driving motor 12, a third connecting rod 15 threadedly connected with the fin deformation mechanism screw rod 13, fin deformation mechanism guide rails 14 symmetrically fixed to the body 1, a fourth connecting rod 16 arranged on the fin deformation mechanism guide rails 14, and a fifth connecting rod 17 symmetrically arranged on both sides of the fin 11. The third connecting rod 15 and the fourth connecting rod 16 are parallel to each other, one end of each of the third connecting rod 15 and the fourth connecting rod 16 is hingedly connected with the fin 11, and the other end is movably connected with the fin deformation mechanism guide rail 14; one end of the fifth connecting rod 17 is hingedly connected with the fin 11, and the other end is hingedly connected with the body 1. When the fin deformation mechanism driving motor 12 works, the fin deformation mechanism screw rod 13 is driven to rotate, the third connecting rod 15 is driven to move along the fin deformation mechanism screw rod 13, and then the fin 11 and the paddle wheel at the end of the fin 11 are driven to move relative to the body 1 through the composite constraint of the third connecting rod 15, the fourth connecting rod 16, the fifth connecting rod 17, and the fin deformation mechanism guide rail 14. In the land mode, the fin deformation mechanism adjusts the rotating plane of the paddle wheel to be perpendicular to the ground, at this time, the paddle wheel serves as the main driving wheel of the robot for traveling on land. In the underwater mode, the fin deformation mechanism adjusts the rotating plane of the paddle wheel to be horizontal to the longitudinal axis of the body 1, at this time, the paddle wheel serves as the underwater attitude adjuster. By independently controlling the steering and rotating speed of the paddle wheel driving motors 20 on the left and right sides, the paddle wheels on the left and right sides can generate thrusts with different directions or sizes, so as to actively adjust the roll (clockwise / counter-clockwise) and pitch attitude of the robot. In the embodiment, the fin deformation mechanism guide rails 14 are arranged in parallel to each other, one of the fin deformation mechanism guide rails 14 forms a moving pair with one end of the third connecting rod 15, and the other of the fin deformation mechanism guide rails 14 forms a moving pair with one end of the fourth connecting rod 16.

[0030] In the embodiment, the fin deformation mechanism includes the composite structure of the fin deformation mechanism guide rails 14 and the third connecting rod 15, the fourth connecting rod 16, and the fifth connecting rod 17, which ensures that the movement trajectory of the fin and the paddle wheel during the turning process is accurate and rigid enough to withstand the impact during land travel and the fluid load during underwater operation, thereby ensuring the reliability of the mode switching action and the direction stability of the thrust output when serving as the attitude adjuster. The paddle wheel has a composite structure of a tire (land) and a blade (underwater), so that it can efficiently perform the preset functions in the two modes.

[0031] Specifically, the embodiment realizes the clockwise or counterclockwise rolling and pitching actions of the robot by controlling the rotating directions of the left and right propellers and the directions of the generated thrusts. Specifically, when the directions of the generated thrusts of the left and right propellers are opposite, the clockwise or counterclockwise rolling action of the robot body can be realized; when the directions of the generated thrusts of the left and right propellers are the same, the pitching action of the robot body can be realized. The embodiment realizes the in-place turning or arbitrary radius yawing of the robot in water by independently controlling the sizes and directions of the generated thrusts of the two propellers. Specifically, when the directions of the generated thrusts of the two propellers are consistent and the sizes of the generated thrusts are consistent, the forward or backward action of the robot body can be realized; when the directions of the generated thrusts of the two propellers are consistent and the sizes of the generated thrusts are different, the yawing action of the robot body with different radii and different directions can be realized; when the directions of the generated thrusts of the two propellers are different and the sizes of the generated thrusts are consistent, the rotating action of the robot body around the central axis can be approximately realized.

[0032] To further improve the land mobile stability, a set of retractable underdrive universal wheel mechanism is arranged at the lower part of the tail end of the body 1. As shown in Figure 1 、 Figure 2 , the mechanism comprises: a universal wheel retracting and releasing mechanism driving motor 21 fixed to the body; a sixth connecting rod 25 driven by the universal wheel retracting and releasing mechanism driving motor 21; a universal wheel wheel frame 24 forming a rotating pair with the tail end of the sixth connecting rod 25; and a universal wheel hub 22 installed on the universal wheel wheel frame 24 and a universal wheel tire 23 sleeved on the universal wheel hub 22. A rotating pair is formed between the universal wheel wheel frame 24 and the rotating shaft of the universal wheel hub 22. In the land mode, the universal wheel retracting and releasing mechanism driving motor 21 is driven to act, the universal wheel wheel frame 24 is lowered, and the universal wheel and the propellers on both sides of the body 1 jointly constitute a stable three-point support layout to assist in turning and obstacle crossing. In the underwater mode, the universal wheel retracting and releasing mechanism driving motor 21 is reversely driven to act, the universal wheel wheel frame 24 is retracted and closely attached to the body 1 to minimize the sailing resistance. The retractable underdrive universal wheel of the embodiment and the propeller jointly constitute the driving system of the amphibious salvage robot in the land mode, which is similar to the rear three-point landing gear layout of a fixed-wing aircraft. Specifically, in the embodiment, the retractable underdrive universal wheel mechanism can minimize the appendage resistance in the retracted state (underwater); in the lowered state (on land), it forms a stable "rear three-point" support layout with the main drive wheel, which significantly improves the anti-overturning ability and turning flexibility when moving on complex shore terrain.

[0033] The salvage and underwater propulsion system is the core of the present application to realize efficient underwater operation. As shown in Figure 3 、 Figures 7 to 10As shown, the salvage and underwater propulsion system includes a salvage compartment 26 located inside the fuselage 1, a hatch 6 located at the front of the fuselage and connected to the salvage compartment 26, two water inlets 38 symmetrically arranged at the rear of the fuselage 1, two propeller thrusters (composed of propellers 36 and propeller drive motors 37) respectively located inside each water inlet 38, and two converging channels 27 connected in front of the propeller thrusters.

[0034] In this embodiment, there are two hatches 6, which are respectively hinged to the upper and lower sides of the fuselage 1; the opening and closing of the two hatches 6 are controlled by a set of highly reliable hatch opening and closing mechanisms. Figure 3 As shown, the hatch opening and closing mechanism control includes: a hatch opening and closing mechanism drive motor 7 fixed on the fuselage 1; a hatch opening and closing mechanism lead screw 8 driven by the hatch opening and closing mechanism drive motor 7; a first connecting rod 9 threadedly engaged with the hatch opening and closing mechanism lead screw 8; and at least one second connecting rod 10 connected in parallel. One end of the second connecting rod 10 is hinged to the first connecting rod 9, and the other end is hinged to the hatch 6. The hatch opening and closing mechanism drive motor 7 drives the first connecting rod 9 to linear motion through the hatch opening and closing mechanism lead screw 8, and then converts the linear motion into the rotational opening and closing motion of the hatch 6 through the second connecting rod 10. The structure is simple and the transmission is precise.

[0035] Each of the aforementioned confluence channels 27 is designed with two pathways: the first pathway 28 leads directly to the corresponding tail inlet 38; the second pathway 29 leads to the rear of the salvage compartment 26. A valve 31 is installed on the second pathway 29 to control its opening and closing. This valve 31 is driven by a precision valve opening and closing mechanism. Figure 8 As shown, the valve opening and closing mechanism drive includes: a valve opening and closing mechanism drive motor 32 fixed inside the salvage compartment 26; a valve opening and closing mechanism lead screw 33 driven by the valve opening and closing mechanism drive motor 32; a seventh connecting rod 34 threadedly engaged with the valve opening and closing mechanism lead screw 33; and valve opening and closing mechanism guide grooves 35 respectively disposed on the upper and lower sides of the communication port between the second passage 29 and the salvage compartment 26. The seventh connecting rod 34 is hinged to the valve 31, and the cylindrical protrusions at the upper and lower ends of the valve 31 are embedded in the guide grooves 35 to form a groove fit. When the valve opening and closing mechanism drive motor 32 is working, it drives the valve opening and closing mechanism lead screw 33 to rotate, which drives the seventh connecting rod 34 to move. The seventh connecting rod 34 pulls the valve 31, causing it to move along the predetermined trajectory of the valve opening and closing mechanism guide groove 35, thereby realizing the linear sliding opening and closing of the valve 31. This design ensures smooth movement of the valve 31, reliable sealing, and saves internal space. In addition, a filter screen 30 is fixedly installed at the connection between the second passage 29 and the salvage compartment 26. Its function is to effectively filter out any debris that may be sucked in, preventing damage to the propeller 36 behind it.

[0036] The control system and power system are integrated inside the fuselage. The control system includes a control module 3 (such as a microprocessor) as the control core, and the power system includes a power module 4 (such as a lithium battery) that supplies power to the entire aircraft. The drive motors in the land drive and underwater attitude adjustment system (including the fin deformation mechanism drive motor 12, the propeller wheel drive motor 20, and the universal wheel retraction mechanism drive motor 21), the propeller drive motor 37 in the salvage and underwater propulsion system, the hatch opening and closing mechanism drive motor 7, and the valve opening and closing mechanism drive motor 32 are all electrically connected to the control module 3 via cables and receive commands from it to coordinate their actions.

[0037] In this embodiment, the hatch and valve opening and closing mechanism adopts a "screw-connecting rod" combination drive. This mechanical transmission method has the advantages of good self-locking, large output force, and precise position control. In particular, the "groove fit between the cylinder and the guide groove" in the valve mechanism can effectively resist the interference of water flow impact on the valve position, ensuring the reliable opening of the flow field channel during salvage and the tight closure after the operation, preventing water leakage from affecting buoyancy balance. This is the foundation for achieving efficient and repeatable salvage operations.

[0038] In this embodiment, the fin deformation mechanism includes a fin deformation mechanism guide rail 14 and a composite structure of a third link 15, a fourth link 16, and a fifth link 17. This design ensures that the fin, together with the propeller wheel, has a precise and rigid motion trajectory during the flipping process, and can withstand the impact of land travel and the fluid load during underwater operations, thereby ensuring the reliability of the mode switching action and the directional stability of the thrust output when acting as an attitude adjuster. Claim 5 further clarifies that the propeller wheel has a composite structure that combines tires (land) and blades (underwater), enabling it to efficiently perform its preset functions in both modes.

[0039] The working process of the amphibious salvage robot in this embodiment will be described in detail below: Land cruising before launch: During this phase, the third link 15 and the fourth link 16 in the land drive and underwater attitude adjustment system are located at the farthest point from the fin deformation mechanism drive motor 12 on the lead screw 13. Based on the geometric relationship between the components in the fin deformation mechanism, the rotor rotation plane should be perpendicular to the ground. Simultaneously, the omnidirectional wheel retraction mechanism drive motor 21 in the retractable under-drive omnidirectional wheel mechanism lowers the omnidirectional wheels, and the robot is in land mode. Through visual measurement, calculation, and analysis, the amphibious salvage robot finds the optimal terrain for launch and reaches the land-water interface.

[0040] Floating after launch: Due to its configuration, the robot's overall average density underwater, after the salvage compartment is filled with water, should be close to the density of water. Since the salvage compartment is entirely filled with air, the overall density of the amphibious salvage robot after launch should be less than the density of water, thus the robot is floating. Control module 3 issues a command to control the fin deformation mechanism drive motor 12 to drive the fin deformation mechanism lead screw 13, so that the third link 15 and the fourth link 16 are located on the fin deformation mechanism lead screw 13 at the closest point to the fin deformation mechanism drive motor 12. Based on the geometric relationship between the components in the fin deformation mechanism, the propeller rotation plane should be horizontal with the fuselage. Simultaneously, control module 3 controls the universal wheel retraction mechanism drive motor 21 to put the universal wheels in the retracted state.

[0041] Submersion: To ensure the robot is fully submerged, control module 3 sends a command to drive motor 7 of the hatch opening / closing mechanism, which in turn drives screw 8 of the hatch opening / closing mechanism. This positions the first connecting rod 9 at the far end of screw 8 from drive motor 7. Based on the geometric relationships between the components of the hatch opening / closing mechanism, the upper and lower hatches 6 should be open. Similarly, once the salvage compartment is full of water, control module 3 sends a command to drive motor 7 of the hatch opening / closing mechanism to close the upper and lower hatches 6, allowing the robot to submerge.

[0042] Underwater navigation: Through various sensors, the amphibious salvage robot measures, tracks, and calculates to search for target objects. Control module 3 controls the actuators to adjust the robot's movement posture in the water, bringing it closer to the salvage object. The control principles for the robot's underwater movement posture will not be elaborated further.

[0043] Underwater Salvage: Control module 3 issues a command to drive motor 7 of the hatch opening and closing mechanism, causing the upper and lower hatches 6 to fully open. Simultaneously, control module 3 controls drive motor 32 of the valve opening and closing mechanism to drive the valve opening and closing mechanism lead screw 33, positioning the seventh connecting rod 34 at the furthest point from drive motor 32 on the lead screw 33. Based on the geometric relationships between the components in the valve opening and closing mechanism, the valves 31 on both sides should be open, at which point the salvage compartment 26 is connected to the second passage 29. Subsequently, control module 3 controls propeller drive motor 37 to drive propeller 36. Water in the salvage compartment flows through the second passage 29 to the propeller thruster, creating an suction flow field at hatch 6, drawing the salvaged object into the salvage compartment 26. Control module 3 then controls drive motor 7 of the hatch opening and closing mechanism and drive motor 32 of the valve opening and closing mechanism to close hatch 6 and valve 31, completing the salvage operation.

[0044] Operation completed and floats up: Control module 3 sends a command to control the propeller drive motor 20, which drives the propellers on both sides to generate upward lift, causing the robot to float up to near the water surface.

[0045] Landing: Control module 3 issues commands to control the propeller thrusters, causing the robot to cruise to near the shallows. Then, control module 3 controls the fin deformation mechanism to drive motor 12, making the propeller wheel rotation plane perpendicular to the horizontal plane. Simultaneously, control module 3 controls the omnidirectional wheel retraction mechanism to drive motor 21, lowering the omnidirectional wheels and switching to land mode. Finally, under the combined action of the propeller thrusters' backward thrust and the propeller wheel's driving force, the robot successfully lands.

[0046] The above-described embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention. The scope of protection of the present invention is defined by the claims.

Claims

1. An amphibious salvage robot, characterized by: It comprises: a fuselage (1); a land driving and underwater attitude adjusting system, symmetrically arranged at both sides of the end of the fuselage (1); a salvage and underwater propulsion system; the salvage and underwater propulsion system comprises a salvage cabin (26) arranged inside the fuselage (1), a hatch (6) arranged at the front end of the fuselage (1) and communicating with the salvage cabin (26) and capable of opening and closing, two water inlets (38) symmetrically arranged at the tail end of the fuselage (1), two propeller thrusters respectively and independently arranged on the inner side of each water inlet (38), and a confluence channel (27) respectively connected to the front of each propeller thruster; each confluence channel (27) has a first passage (28) leading to the corresponding water inlet (38) and a second passage (29) leading to the salvage cabin (26), and a valve (31) for controlling the on-off is arranged on the second passage (29); the land driving and underwater attitude adjusting system comprises fin parts (11) symmetrically arranged on the left and right sides of the fuselage (1), paddle wheels respectively and correspondingly arranged at the ends of each fin part (11), drive motors (20) for driving each paddle wheel, and fin deformation mechanisms connecting the fin parts (11) and the fuselage (1); the paddle wheels are switched in attitude between the land mode and the underwater mode through the fin deformation mechanisms.

2. The amphibious recovery robot of claim 1, wherein: The hatch (6) is provided with two and is hingedly connected to the upper and lower sides of the fuselage (1); the opening and closing of the two hatches (6) is respectively driven by the corresponding hatch opening and closing mechanism; the hatch opening and closing mechanism comprises a hatch opening and closing mechanism drive motor (7) fixed to the fuselage (1), a hatch opening and closing mechanism lead screw (8) correspondingly arranged on the hatch opening and closing mechanism drive motor (7), a first connecting rod (9) correspondingly arranged on the hatch opening and closing mechanism lead screw (8), and at least one parallel second connecting rod (10); the output shaft of the hatch opening and closing mechanism drive motor (7) is in transmission connection with the hatch opening and closing mechanism lead screw (8), the hatch opening and closing mechanism lead screw (8) is in threaded connection with the first connecting rod (9), the first connecting rod (9) is hingedly connected with the second connecting rod (10), the first connecting rod (9) is hingedly connected with the second connecting rod (10), and the second connecting rod (10) is hingedly connected with the hatch (6).

3. The amphibious recovery robot of claim 1, wherein: The opening and closing of the valve (31) is driven by a valve opening and closing mechanism; the valve opening and closing mechanism includes a valve opening and closing mechanism drive motor (32) fixed on both sides of the fishing chamber (26), a valve opening and closing mechanism screw rod (33) correspondingly arranged on the valve opening and closing mechanism drive motor (32), a seventh connecting rod (34) correspondingly arranged on the valve opening and closing mechanism screw rod (33), and a valve opening and closing mechanism guide groove (35) arranged on the upper and lower sides of the communication port between the second passage (29) and the fishing chamber (26); the output shaft of the valve opening and closing mechanism drive motor (32) is in transmission connection with the valve opening and closing mechanism screw rod (33), the valve opening and closing mechanism screw rod (33) is in threaded connection with the seventh connecting rod (34), the seventh connecting rod (34) is hinged with the valve (31), and the cylindrical upper and lower ends of the valve (31) are in notch cooperation with the valve opening and closing mechanism guide groove (35).

4. The amphibious recovery robot of claim 1, wherein: The fin deformation mechanism includes a fin deformation mechanism drive motor (12) fixed on the fuselage (1), a fin deformation mechanism screw rod (13) correspondingly arranged on the fin deformation mechanism drive motor (12), a third connecting rod (15) correspondingly arranged on the fin deformation mechanism screw rod (13), a fin deformation mechanism guide rail (14) arranged on the fuselage (1), a fourth connecting rod (16) correspondingly arranged on the fin deformation mechanism guide rail (14), and a fifth connecting rod (17) symmetrically and in parallel arranged on both sides of the fin (11); the output shaft of the fin deformation mechanism drive motor (12) is in transmission connection with the fin deformation mechanism screw rod (13), the fin deformation mechanism screw rod (13) is in threaded connection with the third connecting rod (15), the third connecting rod (15) and the fourth connecting rod (16) are parallel to each other, one end of the third connecting rod (15) and the fourth connecting rod (16) parallel to each other is hinged with the fin (11), the other end is in moving pair with the fin deformation mechanism guide rail (14), and one end of the fifth connecting rod (17) is hinged with the fin (11), and the other end is hinged with the fuselage (1).

5. The amphibious recovery robot of claim 1, wherein: The paddle wheel includes a paddle wheel tire (19), a paddle wheel hub (18), and a plurality of paddle blades fixed on the paddle wheel hub (18); in the land mode, the paddle wheel rotation plane is perpendicular to the ground, serving as the land driving wheel of the robot; In the underwater mode, the paddle wheel rotation plane is horizontal to the fuselage (1), serving as an attitude adjuster for adjusting the underwater roll and pitch attitude of the robot.

6. The amphibious recovery robot of claim 1, wherein: It also includes a retractable underdrive universal wheel mechanism arranged at the tail end of the fuselage (1); the retractable underdrive universal wheel mechanism is lowered in the land mode to assist walking, and is retracted in the underwater mode.

7. An amphibious recovery robot according to claim 6, characterised in that: The retractable underdrive universal wheel mechanism comprises a universal wheel retracting mechanism driving motor (21) fixed to the fuselage (1), a sixth connecting rod (25) arranged on the universal wheel retracting mechanism driving motor (21), a universal wheel frame (24) arranged on the sixth connecting rod (25), and a universal wheel hub (22) and a universal wheel tire (23) arranged on the universal wheel frame (24); the output shaft of the universal wheel retracting mechanism driving motor (21) is in transmission connection with the sixth connecting rod (25), the sixth connecting rod (25) and the universal wheel frame (24) form a rotating pair, and the universal wheel frame (24) and the rotating shaft of the universal wheel hub (22) form a rotating pair.

8. The amphibious recovery robot of claim 1, wherein: The density of the fuselage (1) and the internal components is comprehensively configured, so that the robot obtains near neutral buoyancy after being underwater and the salvage cabin (26) is filled with water.

9. The amphibious recovery robot of claim 1, wherein: The control system comprises a control module (3), and the power system comprises a power module (4); the driving motors in the land driving and underwater posture adjusting system, the propeller thrusters in the salvage and underwater propelling system, and the actuators of the cabin door (6) and the valve (31) are electrically connected with the control module (3) and controlled by the control module (3); the control module (3), the driving motors, the propeller thrusters, and the actuators are all powered by the power module (4).

10. The amphibious recovery robot of claim 1, wherein: A filter screen (30) is arranged on the second passage (29) to prevent salvage objects from entering the propeller thruster.

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