High-mobility underwater robot

Abstract

The invention discloses a high-maneuverability underwater robot, and relates to the technical field of underwater robots, the high-maneuverability underwater robot comprises a fixed shell, a control device is mounted in the fixed shell, and a first driving device and a second driving device are mounted at the two ends of the fixed shell respectively; and the first driving device and the second driving device are electrically connected with the control device. The underwater robot provided by the invention is provided with two driving devices, is high in propelling efficiency and wide in application range, and can be conveniently applied to various underwater operation scenes.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater robot technical field, especially to a high maneuverability underwater robot. BACKGROUND

[0002] The underwater robot is also called unmanned remote control submersible, which is an extreme operation robot working underwater. The underwater environment is harsh and dangerous, and the diving performance of human is limited, so the underwater robot has become an important tool for developing the ocean. However, the maneuverability of the existing underwater robot is not high.

[0003] Therefore, how to provide a high maneuverability underwater robot becomes a difficult problem to be solved by the person skilled in the art. SUMMARY

[0004] The purpose of the present application is to provide a high maneuverability underwater robot, which solves the problem of low maneuverability of the existing underwater robot.

[0005] To solve the above technical problems, the present application adopts the following technical scheme:

[0006] The present application relates to a high maneuverability underwater robot, which comprises a fixed shell, a control device is installed in the interior of the fixed shell, a first driving device and a second driving device are installed at both ends of the fixed shell respectively; the first driving device and the second driving device are electrically connected with the control device.

[0007] Preferably, the control device comprises a closed cavity, the closed cavity is fixed in the internal chamber of the fixed shell through a rope, a control circuit board and a power supply are installed in the interior of the closed cavity, the first driving device and the second driving device are electrically connected with the control circuit board; the power supply supplies power to the control circuit board, the first driving device and the second driving device respectively.

[0008] Preferably, the first driving device comprises a first telescopic pipe, the first telescopic pipe is installed at the front end of the fixed shell, and the internal chamber of the first telescopic pipe is communicated with the internal chamber of the fixed shell; a first electromagnetic valve is installed at the front end of the first telescopic pipe, a plurality of double-way shape memory alloy wires are uniformly distributed on the inner wall of the first telescopic pipe in the axial direction, the double-way shape memory alloy wires on the first telescopic pipe are electrically connected with the control circuit board, and the power supply supplies power to the first electromagnetic valve and the double-way shape memory alloy wires on the first telescopic pipe respectively.

[0009] The temperature of the double-way shape memory alloy wire on the first telescopic pipe changes after being electrified, and the change of the temperature of the double-way shape memory alloy wire drives the change of its shape and the telescopic movement of the first telescopic pipe at the same time.

[0010] Preferably, the second driving device comprises a second telescopic pipe, the second telescopic pipe is installed at the rear end of the fixed shell, and the inner cavity of the second telescopic pipe and the inner cavity of the fixed shell are communicated; a second electromagnetic valve is installed at the rear end of the second telescopic pipe, a plurality of double-path shape memory alloy wires are uniformly distributed on the inner wall of the second telescopic pipe in the axial direction, the double-path shape memory alloy wires on the second telescopic pipe are electrically connected with the control circuit board, and the power supply is used for supplying power to the second electromagnetic valve and the double-path shape memory alloy wires on the second telescopic pipe.

[0011] The double-path shape memory alloy wires on the second telescopic pipe change their own temperature after being electrified, and the change of the temperature of the double-path shape memory alloy wires drives the change of the shape of the double-path shape memory alloy wires and the telescopic movement of the second telescopic pipe.

[0012] Preferably, the first telescopic pipe and the second telescopic pipe are both composed of origami, and the origami comprises waterbomb origami, diamond origami and other origami structures capable of forming a tubular structure.

[0013] Preferably, the first electromagnetic valve and the second electromagnetic valve are both electrically connected with the control circuit board.

[0014] Preferably, four posture adjusting devices are uniformly distributed on the outer wall of the fixed shell in the axial direction, the posture adjusting device comprises a fin-shaped plate movably installed on the outer wall of the fixed shell and a motor installed on the inner wall of the fixed shell, the motor and the fin-shaped plate are in transmission connection, the motor is electrically connected with the control circuit board, and the power supply is used for supplying power to the motor.

[0015] Preferably, a gyroscope and a pressure gauge are further installed in the closed cavity, the gyroscope and the pressure gauge are both electrically connected with the control circuit board, and the power supply is used for supplying power to the gyroscope and the pressure gauge.

[0016] Preferably, a sensing device is further installed on the outer wall of the fixed shell, and the sensing device is electrically connected with the control circuit board.

[0017] Preferably, the sensing device comprises a camera and a sonar.

[0018] Compared with the prior art, the present application has the following beneficial technical effects:

[0019] The present application discloses a high-maneuverability underwater robot, which comprises a fixed shell, a control device is installed in the fixed shell, a first driving device and a second driving device are installed at the two ends of the fixed shell respectively, and the first driving device and the second driving device are both electrically connected with the control device.

[0020] 1) this underwater robot has two driving devices, high propulsion efficiency, wide range of use, convenient for application in various underwater operation scenes.

[0021] 2) four posture adjusting devices are arranged on the outer wall of the fixed shell, good flexibility and strong maneuverability.

[0022] 3) the first driving device and the second driving device are both composed of a telescopic pipe composed of folded paper and a double-path shape memory alloy, which has low cost, light weight, good silent performance during driving, strong concealment, and can further improve the propulsion efficiency and maneuverability of the underwater robot due to the light weight of the driving device. BRIEF DESCRIPTION OF DRAWINGS

[0023] The application will be further described below in conjunction with the drawings.

[0024] Fig. 1 It is a schematic diagram of the high-maneuverability underwater robot structure of the application.

[0025] Fig. 2 It is a schematic diagram of the posture adjusting device structure of the application.

[0026] Reference signs: 1, fixed shell; 2, control device; 3, first driving device; 4, second driving device; 5, posture adjusting device;

[0027] 201, closed cavity; 202, rope; 203, control circuit board; 204, power supply; 205, gyroscope; 206, pressure gauge;

[0028] 301, first telescopic pipe; 302, first electromagnetic valve; 401, second telescopic pipe; 402, second electromagnetic valve; 501, fin-shaped sheet; 502, rotating shaft; 503, first bevel gear; 504, second bevel gear. DETAILED DESCRIPTION

[0029] In order to make the technical problems, technical solutions and beneficial effects of the application more clear and explicit, the application will be further described in detail below in conjunction with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the application and do not limit the application.

[0030] As shown in the drawings, Figs. 1-2 A high-maneuverability underwater robot, comprising a fixed shell 1, the inside of the fixed shell 1 is provided with a control device 2, and the two ends of the fixed shell 1 are respectively provided with a first driving device 3 and a second driving device 4; the first driving device 3 and the second driving device 4 are electrically connected with the control device 2.

[0031] Specifically, the control device 2 comprises a closed cavity 201 fixed in the inner chamber of the fixed shell 1 by a rope 202, an inside of the closed cavity 201 is installed with a control circuit board 203 and a power supply 204, the first driving device 3 and the second driving device 4 are electrically connected with the control circuit board 203; the power supply 204 respectively supplies power for the control circuit board 203, the first driving device 3 and the second driving device 4.

[0032] The power supply 203 adopts a battery or an external cable dragging mode for power supply.

[0033] Specifically, the first driving device 3 comprises a first telescopic pipe 301 installed at the front end of the fixed shell 1, and an inner chamber of the first telescopic pipe 301 is communicated with the inner chamber of the fixed shell 1; a first electromagnetic valve 302 is installed at the front end of the first telescopic pipe 301, a plurality of double-path shape memory alloy wires are axially and uniformly distributed on the inner wall of the first telescopic pipe 301, the double-path shape memory alloy wires on the first telescopic pipe 301 are electrically connected with the control circuit board 203, and the power supply 204 respectively supplies power for the first electromagnetic valve 302 and the double-path shape memory alloy wires on the first telescopic pipe 301.

[0034] The double-path shape memory alloy wires on the first telescopic pipe 301 change their own temperature after being electrified, and the change of the own temperature of the double-path shape memory alloy wires drives the change of the own shape of the double-path shape memory alloy wires and the telescopic movement of the first telescopic pipe 301.

[0035] Specifically, the second driving device 4 comprises a second telescopic pipe 401 installed at the rear end of the fixed shell 1, and an inner chamber of the second telescopic pipe 401 is communicated with the inner chamber of the fixed shell 1; a second electromagnetic valve 402 is installed at the rear end of the second telescopic pipe 401, a plurality of double-path shape memory alloy wires are axially and uniformly distributed on the inner wall of the second telescopic pipe 401, the double-path shape memory alloy wires on the second telescopic pipe 401 are electrically connected with the control circuit board 203, and the power supply 204 respectively supplies power for the second electromagnetic valve 402 and the double-path shape memory alloy wires on the second telescopic pipe 401.

[0036] The double-path shape memory alloy wires on the second telescopic pipe 401 change their own temperature after being electrified, and the change of the own temperature of the double-path shape memory alloy wires drives the change of the own shape of the double-path shape memory alloy wires and the telescopic movement of the second telescopic pipe 401.

[0037] Specifically, the first telescopic pipe 301 and the second telescopic pipe 401 are both made of a paper folding structure, which includes a waterbomb paper folding structure, a diamond paper folding structure and other paper folding structures capable of forming a tubular structure.

[0038] The first electromagnetic valve 302 and the second electromagnetic valve 402 are both electrically connected with the control circuit board 203.

[0039] Specifically, the outer wall of the fixed shell 1 is axially and uniformly provided with four posture adjusting devices 5, each of which includes a fin-shaped plate 501 movably mounted on the outer wall of the fixed shell 1 and a motor mounted on the inner wall of the fixed shell 1, the motor and the fin-shaped plate 501 being in transmission connection, the motor being electrically connected with the control circuit board 203, and the power supply 204 being configured to supply power to the motor.

[0040] Specifically, the closed cavity 201 is further provided with a gyroscope 205 and a pressure gauge 206, both of which are electrically connected with the control circuit board 203, and the power supply 204 is configured to supply power to the gyroscope 205 and the pressure gauge 206 respectively.

[0041] Specifically, the outer wall of the fixed shell 1 is further provided with a sensing device, which is electrically connected with the control circuit board 203.

[0042] Specifically, the sensing device includes a camera and a sonar.

[0043] Specifically, the fin-shaped plate 501 and the rotating shaft 502 are connected together, the rotating shaft 502 is rotatably connected to the fixed shell 1, and the other end of the rotating shaft 502 is provided with a first bevel gear 503; a second bevel gear 504 is mounted on the output shaft of the motor, the axis of the rotating shaft 502 is perpendicular to the axis of the output shaft of the motor, and the first bevel gear 503 and the second bevel gear 504 are in meshing connection.

[0044] When the motor is controlled to work by the control circuit board 203, the second bevel gear 504 is driven to rotate by the output shaft, the first bevel gear 503 is driven to rotate by the second bevel gear 504, the rotating shaft 502 is driven to rotate by the first bevel gear 503, and the fin-shaped plate 501 is driven to rotate by the rotating shaft 502.

[0045] The application discloses a high-maneuverability underwater robot, which comprises a fixed shell 1, a control device 2 is arranged in the fixed shell 1, a first driving device 3 and a second driving device 4 are arranged at two ends of the fixed shell 1 respectively, and the first driving device 3 and the second driving device 4 are electrically connected with the control device 2.

[0046] Four posture adjusting devices 5 are arranged on the outer wall of the fixed shell 1, the underwater robot has good flexibility and strong maneuverability.

[0047] The first driving device 3 and the second driving device 4 are both composed of a telescopic pipe formed by folding paper and double-path shape memory alloy, the underwater robot has low cost, light weight, good mute performance in the driving process and strong concealment, and the light weight of the driving device can further improve the propulsion efficiency and maneuverability of the underwater robot.

[0048] The use process of the application is as follows:

[0049] External perception: a control circuit board 203 perceives the external space of the robot and the posture of the robot itself through a perception device electrically connected with the control circuit board 203, and the perception device comprises a gyroscope 205, a pressure gauge 206, a camera and a sonar.

[0050] Power driving: the control circuit board 203 drives the first driving device 3 and the second driving device 4 to work according to the perceived external space and the posture of the robot itself, so as to provide kinetic energy for the movement of the robot.

[0051] First driving device 3 operation: the control circuit board 203 controls a power supply 204 to provide periodic electric energy for double-path shape memory alloy wires on a first telescopic pipe 301, so that the temperature of the double-path shape memory alloy wires changes periodically, and then the shape of the double-path shape memory alloy wires changes periodically, the periodic change of the shape of the double-path shape memory alloy wires on the first telescopic pipe 301 drives the first telescopic pipe 301 to periodically expand and contract, when the first telescopic pipe 301 expands and causes the volume of the internal cavity of the first telescopic pipe 301 to increase, the control circuit board 203 synchronously controls a first electromagnetic valve 302 to open, the first electromagnetic valve 302 absorbs water to drive the robot to move forward, when the first telescopic pipe 301 contracts and causes the volume of the internal cavity of the first telescopic pipe 301 to decrease, the control circuit board 203 synchronously controls the first electromagnetic valve 302 to close, the water in the internal cavity of the first telescopic pipe 301 flows into the internal cavity of a second telescopic pipe 401 through the internal cavity of the fixed shell 1 and is sprayed out from a second electromagnetic valve 402;

[0052] The second driving device 4 works: the control circuit board 203 controls the second telescopic pipe 401 and the first telescopic pipe 301 to work synchronously, and when the second telescopic pipe 401 extends to cause the volume of the internal chamber to increase, the control circuit board 203 controls the second electromagnetic valve 402 to close synchronously, and when the second telescopic pipe 401 retracts to cause the volume of the internal chamber to decrease, the control circuit board 203 controls the second electromagnetic valve 402 to open synchronously.

[0053] The above-mentioned working mode of the first driving device 3 and the second driving device 4 makes the robot move in the direction of the first driving device 3 underwater, but the first electromagnetic valve 302 and the second electromagnetic valve 402 both have the functions of water spraying and water suction, so when the robot needs to move in the direction of the second driving device 4 underwater, the control circuit board 203 only needs to control the first electromagnetic valve 302 to open when it is closed, and to close when it is opened, and the second electromagnetic valve 402 also needs to be operated reversely synchronously.

[0054] Posture adjustment: the control circuit board 203 controls the motor to work, the motor works and changes the angle of the fin-shaped sheet 501 through the transmission device, thereby changing the posture of the robot.

[0055] It should be noted that, in this document, the terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0056] The above-described embodiments are only used to describe the preferred modes of the present application, and do not limit the scope of the present application, and various modifications and improvements to the technical solutions of the present application made by those skilled in the art without departing from the design spirit of the present application shall fall within the protection scope of the present application.

Claims

1. A highly maneuverable underwater robot, characterized by: The utility model provides a kind of driving device, including fixed shell (1), control device (2) is mounted inside the fixed shell (1), first driving device (3) and second driving device (4) are respectively mounted at both ends of the fixed shell (1);The first driving device (3) and the second driving device (4) are electrically connected with the control device (2).

2. The high-mobility underwater robot of claim 1, wherein: The control device (2) includes closed cavity (201), the closed cavity (201) is fixed in the internal chamber of the fixed shell (1) by rope (202), control circuit board (203) and power supply (204) are mounted inside the closed cavity (201), the first driving device (3) and the second driving device (4) are electrically connected with the control circuit board (203);The power supply (204) is respectively powered for the control circuit board (203), the first driving device (3), the second driving device (4).

3. The highly maneuverable underwater robot of claim 2, wherein: The first driving device (3) includes first telescopic pipe (301), the first telescopic pipe (301) is installed at the front end of the fixed shell (1), and the internal chamber of the first telescopic pipe (301) is communicated with the internal chamber of the fixed shell (1);First electromagnetic valve (302) is installed at the front end of the first telescopic pipe (301), a plurality of double-path shape memory alloy wires are uniformly distributed on the inner wall of the first telescopic pipe (301) in axial direction, the double-path shape memory alloy wire on the first telescopic pipe (301) is electrically connected with the control circuit board (203), and the power supply (204) is respectively powered for the first electromagnetic valve (302) and the double-path shape memory alloy wire on the first telescopic pipe (301). The double-path shape memory alloy wire on the first telescopic pipe (301) changes its temperature after being powered, and the change of its temperature drives the change of its shape and the telescopic movement of the first telescopic pipe (301).

4. The highly maneuverable underwater robot of claim 3, wherein: The second driving device (4) includes second telescopic pipe (401), the second telescopic pipe (401) is installed at the rear end of the fixed shell (1), and the internal chamber of the second telescopic pipe (401) is communicated with the internal chamber of the fixed shell (1);Second electromagnetic valve (402) is installed at the rear end of the second telescopic pipe (401), a plurality of double-path shape memory alloy wires are uniformly distributed on the inner wall of the second telescopic pipe (401) in axial direction, the double-path shape memory alloy wire on the second telescopic pipe (401) is electrically connected with the control circuit board (203), and the power supply (204) is respectively powered for the second electromagnetic valve (402) and the double-path shape memory alloy wire on the second telescopic pipe (401). The double-path shape memory alloy wire on the second telescopic pipe (401) changes its temperature after being powered, and the change of its temperature drives the change of its shape and the telescopic movement of the second telescopic pipe (401).

5. The highly maneuverable underwater robot of claim 4, wherein: The first telescopic pipe (301) and the second telescopic pipe (401) are both made of a paper folding structure, which includes a waterbomb paper folding structure, a diamond paper folding structure and other paper folding structures capable of forming a tubular structure.

6. The highly maneuverable underwater robot of claim 4, wherein: The first electromagnetic valve (302) and the second electromagnetic valve (402) are both electrically connected with the control circuit board (203).

7. The high-mobility underwater robot of claim 2, wherein: Four posture adjusting devices (5) are axially and evenly distributed on the outer wall of the fixed shell (1), each of the posture adjusting devices (5) includes a fin-shaped plate (501) movably mounted on the outer wall of the fixed shell (1), and a motor mounted on the inner wall of the fixed shell (1), the motor and the fin-shaped plate (501) are drivingly connected through a reduction bevel gear set, the motor is electrically connected with the control circuit board (203), and the power supply (204) supplies power to the motor.

8. The high-mobility underwater robot of claim 2, wherein: A gyroscope (205) and a pressure gauge (206) are further installed in the closed cavity (201), the gyroscope (205) and the pressure gauge (206) are both electrically connected with the control circuit board (203), and the power supply (204) respectively supplies power to the gyroscope (205) and the pressure gauge (206).

9. The highly maneuverable underwater robot of claim 7, wherein: A sensing device is further installed on the outer wall of the fixed shell (1), and the sensing device is electrically connected with the control circuit board (203).

10. The highly maneuverable underwater robot of claim 9, wherein: The sensing device includes a camera and a sonar.

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