Three-drive type active spherical hinge underwater snakelike robot

Abstract

The utility model discloses a three-drive type active spherical hinge underwater snakelike robot, and relates to the field of underwater snakelike robots. A plurality of three-degree-of-freedom ball joint modules, wherein the number of the three-degree-of-freedom ball joint modules is multiple; the number of the fan blade propelling modules is multiple, and the snake head control detection module is connected with the fan blade propelling module on the leftmost side through the three-degree-of-freedom ball joint module; the two ends of the buoyancy adjusting module are connected with the fan blade propelling module through the three-degree-of-freedom ball joint module; the three-degree-of-freedom ball joint module has high positioning accuracy, can meet the requirement for any angle and any posture change of the underwater snakelike robot, enables the snakelike body to have excellent maneuverability, can achieve diversified movement and operation, is suitable for complex working environments and tasks, has high reliability and stability, and is suitable for popularization and application. And long-time stable operation can be realized.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater snake-like robots, in particular to a three-drive active ball-jointed underwater snake-like robot. Background Art

[0002] The ocean is known as a rich and yet underexploited natural treasure trove, full of potential. The richness and diversity of marine natural resources are breathtaking. As the world's most populous maritime power, my country has enormous potential for marine development. We have built a marine economic system composed of multiple industries, and have made great progress in fields such as fisheries, marine energy development, and seabed mineral exploration. However, the underwater environment has always been a challenge to human technology due to its complexity and unpredictability.

[0003] Therefore, to go to the deep sea, equipment must be prepared first. Deep-sea underwater development must rely on a series of high-end deep-sea engineering equipment, among which underwater snake-like robots are an important underwater detection equipment. Among all the research on underwater bionic robots, a bionic snake-like robot that relies on periodic body swinging is particularly eye-catching. This snake-like robot is composed of multiple modules in series, each of which can rotate relative to each other, and one of them can be horizontally deflected relative to another, so that it can swim freely in the water. As a multi-degree-of-freedom highly redundant mobile robot, the snake-like robot currently has orthogonal joints. For example, the existing patent (Announcement No.: CN 220594562 U) has an omnidirectional joint structure and an amphibious snake-like robot, in which the snake body is composed of multiple orthogonal joints with the same structure in series, which makes the snake body inefficient when moving. Although the invention solves the problem of multi-angle bending, it still has the problems of slow response and weak linkage due to its highly redundant bending joints, especially when one of the sub-joints is damaged, the entire joint module will not work. At the same time, most of the existing snake propellers are fixed propellers. The propulsion-driven multi-chamber articulated underwater snake-like robot published in the existing patent (Announcement No.: CN 117465638 A) relies on the coordinated work of four fixed spiral blades outside the snake body to meet the underwater movement of the bionic snake-like robot during underwater propulsion, solving the problem of low movement efficiency of the underwater bionic snake-like robot. However, due to too many sub-blade propellers, the entire machine movement efficiency is low and a large amount of energy is wasted. A snake-like robot with a gripper module published in the existing patent (Announcement No.: CN116460873 A) has a gripper module on its head, which can clamp and move small underwater objects. However, its gripper is fixedly installed, and when clamping an object, there are requirements for the posture of the snake body. The snake body needs to move and adjust to cooperate with the gripper to align the object for clamping. Utility Model Content

[0004] The utility model provides a three-drive active ball-jointed underwater snake-like robot to solve the problem in the prior art that the gripper is fixedly installed, and when clamping an object, there are requirements for the posture of the snake body, and the snake body needs to be moved and adjusted to cooperate with the gripper to align with the object for clamping.

[0005] The technical problem solved by the utility model is achieved by the following technical solutions:

[0006] A three-drive active ball-jointed underwater snake-like robot, comprising:

[0007] Snakehead control detection module;

[0008] A three-degree-of-freedom ball joint module, wherein a plurality of three-degree-of-freedom ball joint modules are provided;

[0009] A blade propulsion module, wherein a plurality of blade propulsion modules are provided, and the snake head control detection module is connected to the leftmost blade propulsion module via a three-degree-of-freedom ball joint module;

[0010] A buoyancy adjustment module, both ends of which are connected to the fan blade propulsion module through a three-degree-of-freedom ball joint module;

[0011] A tail gripper module, wherein the tail gripper module is connected to the rightmost blade propulsion module via a three-degree-of-freedom ball joint module;

[0012] The snake tail gripper module comprises:

[0013] A sub-gripping finger module, the sub-gripping finger module comprising:

[0014] Clamping fingers, wherein four clamping fingers are provided;

[0015] An L-shaped connecting rod, the L-shaped connecting rod being hinged to the inner lower end of the clamping finger;

[0016] A connecting rod, the connecting rod being hinged to the outer lower portion of the clamping finger;

[0017] A gripper base, the gripper base being hinged to the L-shaped connecting rod and the bottom of the connecting rod;

[0018] A crank, the top of which is hinged to the L-shaped connecting rod;

[0019] The threaded hole push block is slidably installed inside the gripper base and is hinged with the crank, so that the threaded hole push block pushes the four clamping fingers to open and close during the lifting process.

[0020] Optionally, the outer side of the snake head control detection module is made of a spherical transparent cover material and is fixed to the three-degree-of-freedom ball joint module by screws.

[0021] Optionally, also include:

[0022] Rubber sealing gaskets are installed at both ends of the three-degree-of-freedom ball joint module.

[0023] Optionally, also include:

[0024] A bellows is sleeved on the outside of the three-degree-of-freedom ball joint module.

[0025] Optionally, the three-degree-of-freedom ball joint module includes:

[0026] Steering gear fixing platform;

[0027] A joint base, the joint base is fixed on the steering gear fixing platform;

[0028] A large gear positioning shaft, the large gear positioning shaft is rotatably mounted inside the joint base;

[0029] A joint driven large gear, which is fixed on the large gear positioning shaft and is located outside the joint base;

[0030] A joint driving pinion gear, which is rotatably mounted on the joint base and meshes with the joint driven large gear;

[0031] A swing connecting rod, wherein the swing connecting rod is fixed to the joint driven large gear by screws;

[0032] Joint top seat.

[0033] Optionally, the three-degree-of-freedom ball joint module further includes:

[0034] An intermediate rotating ball, wherein the intermediate rotating ball is fixed on the joint top seat;

[0035] An output connecting rod, the output connecting rod is rotatably mounted on the outer side of the middle rotating ball through a joint bearing seat;

[0036] A transition connecting rod, both ends of which are rotatably connected to the swing connecting rod and the output connecting rod through a joint bearing seat.

[0037] Optionally, the fan blade propulsion module includes:

[0038] case;

[0039] A steering gear compartment, wherein the steering gear compartment is fixed on the inner wall of the housing;

[0040] A fan blade servo, which is installed inside the servo compartment;

[0041] A steering gear driving bevel gear, wherein the steering gear driving bevel gear is fixed on the fan blade steering gear;

[0042] A fan blade driven bevel gear, wherein the fan blade driven bevel gear is meshed with the steering gear driving bevel gear;

[0043] A fan blade support platform, wherein the fan blade support platform is fixed to the outside of the shell;

[0044] A fan blade rotating shaft, wherein the fan blade rotating shaft is fixed to the fan blade driven bevel gear and passes through the fan blade supporting platform;

[0045] A blade curved surface protective cover, wherein the blade curved surface protective cover is fixed on the blade rotating shaft;

[0046] A fan blade protection net top cover, wherein the fan blade protection net top cover is detachably fixed on the fan blade curved surface protection cover;

[0047] A waterproof motor, wherein the waterproof motor is fixed inside the fan blade curved surface protective cover;

[0048] The fan blades are fixed to the output end of the waterproof motor.

[0049] Optionally, the snake tail gripper module further includes:

[0050] A gripper opening and closing freedom unit, the gripper opening and closing freedom unit comprising:

[0051] A buoyancy material, wherein the buoyancy material is fixed to the fan blade propulsion module by bolts;

[0052] A steering gear, the steering gear is detachably fixed inside the buoyancy material;

[0053] A gripper opening and closing gear transmission shaft, wherein the gripper opening and closing gear transmission shaft is connected to the steering gear through a coupling;

[0054] The intermediate gear shaft threaded rod passes through the threaded hole push block and is meshed with the gripper opening and closing gear transmission shaft.

[0055] Optionally, the snake tail gripper module further includes:

[0056] A gripper rotating unit, the gripper rotating unit comprising:

[0057] An intermediate support platform, the intermediate support platform is installed inside the buoyancy material;

[0058] A bearing, wherein the bearing is installed inside the intermediate support platform;

[0059] A sleeve shaft rotating disk, wherein the sleeve shaft rotating disk is sleeved on the outer side of the threaded rod of the intermediate gear shaft;

[0060] A shaft end retaining ring, wherein the shaft end retaining ring is fixed on the outer side of the sleeve shaft rotating disk;

[0061] The gripper rotating gear shaft is connected to the steering gear transmission

[0062] The intermediate sleeve gear drives the sleeve shaft rotating disk to rotate under the driving of the gripper rotating gear shaft.

[0063] The beneficial effects of the utility model are:

[0064] The snake body joint is designed, and the designed three-degree-of-freedom ball joint module has a simple structure. Since the movement can be precisely controlled in three directions, the three-degree-of-freedom ball joint module has high positioning accuracy, which can meet the requirements of any angle and any posture changes of the underwater snake-like robot, so that the snake body has excellent maneuverability and can realize diversified movements and operations. It is suitable for complex working environments and tasks, and has high reliability and stability, and can operate stably for a long time. At the same time, compared with other types of joints, the structure of the designed three-degree-of-freedom ball joint module is relatively simple, the manufacturing cost is low, and maintenance and repair are relatively easy.

[0065] By placing the fan blade propulsion module externally, a lot of space can be saved inside the module. At the same time, a large-capacity lithium battery can be installed inside the module to enhance the endurance of the underwater snake-like robot. Unlike the traditional snake-body fan blade propulsion device fixed outside the snake body, multiple azimuth fan blade propulsion sub-devices need to work together to achieve different azimuth movements. The fan blade propulsion module installed outside the underwater snake-like robot in this design can rotate 360° in the plane where it is located. Only two fan blade propulsion modules are needed to cooperate to achieve multi-directional propulsion movement, making it have more powerful maneuverability.

[0066] The use of fan blade curved surface protection cover and fan blade protection net top cover can effectively prevent external debris and foreign matter from affecting the machine when the fan blades are working, further improving the reliability and stability of the machine's power end.

[0067] Different from other underwater bionic snake-like robots, this robot is equipped with a snake-tail gripper module at the tail to meet the requirements of underwater multi-directional and multi-posture movement and comprehensive monitoring. It can grasp and move small objects underwater, further increasing the functionality of the underwater snake-like robot, which is of great strategic significance for the development of underwater resources and underwater environment monitoring research. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the implementation scheme of the utility model or the technical scheme in the prior art, the drawings required for use in the implementation scheme or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation schemes of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0069] Figure 1 This is a schematic diagram of the main structure of the utility model;

[0070] Figure 2This is a schematic diagram of the structure of the rubber sealing gasket of the utility model;

[0071] Figure 3 This is a schematic diagram of the structure of the three-degree-of-freedom ball joint module of the utility model;

[0072] Figure 4 This is a schematic diagram of the structure of the large gear positioning shaft of the utility model;

[0073] Figure 5 This is a schematic diagram of the structure of the intermediate rotating ball of the utility model;

[0074] Figure 6 This is a schematic diagram of the structure of the fan blade propulsion module of the utility model;

[0075] Figure 7 This is a schematic diagram of the structure of the sub-grip finger module of the utility model;

[0076] Figure 8 This is a schematic diagram of the unit structure of the opening and closing freedom of the gripper of the utility model;

[0077] Fig. 9 This is a schematic diagram of the structure of the gripper rotation unit of the utility model;

[0078] Fig.10 This is a schematic diagram of the open state of the sub-grip finger module of the utility model.

[0079] In the figure: 100, snake head control detection module;

[0080] 200, fan blade propulsion module; 210, housing; 220, steering gear compartment; 230, blade steering gear; 240, steering gear driving bevel gear; 250, fan blade driven bevel gear; 260, fan blade support platform; 270, fan blade rotating shaft; 280, fan blade curved surface protection cover; 290, fan blade protection net top cover; 211, waterproof motor; 212, fan blade;

[0081] 300, buoyancy adjustment module;

[0082] 400, snake tail gripper module; 410, sub-gripper finger module; 411, gripper finger; 412, L-shaped connecting rod; 413, connecting rod; 414, gripper base; 415, crank; 416, threaded hole push block; 420, gripper opening and closing freedom unit; 421, buoyancy material; 422, steering gear; 423, gripper opening and closing gear transmission shaft; 424, intermediate gear shaft threaded rod; 430, gripper rotation unit; 431, intermediate support platform; 432, bearing; 433, sleeve shaft rotating disk; 434, shaft end retaining ring; 435, gripper rotating gear shaft; 436, intermediate sleeve gear;

[0083] 500, three-degree-of-freedom ball joint module; 510, steering gear fixing platform; 520, joint base; 530, large gear positioning shaft; 540, joint driven large gear; 550, joint active small gear; 560, swing connecting rod; 570, joint top seat; 580, intermediate rotating ball; 590, output connecting rod; 511, transition connecting rod;

[0084] 600, rubber sealing gasket;

[0085] 700, bellows; DETAILED DESCRIPTION

[0086] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below with reference to specific illustrations.

[0087] Reference Figure 1-10 A three-drive active ball-jointed underwater snake-like robot is shown, comprising:

[0088] Snake head control detection module 100;

[0089] A three-degree-of-freedom ball joint module 500, wherein a plurality of three-degree-of-freedom ball joint modules 500 are provided;

[0090] The blade propulsion module 200 is provided with a plurality of blade propulsion modules 200, and the snake head control detection module 100 is connected to the leftmost blade propulsion module 200 through a three-degree-of-freedom ball joint module 500;

[0091] The buoyancy adjustment module 300, both ends of which are connected to the fan blade propulsion module 200 through a three-degree-of-freedom ball joint module 500;

[0092] The tail gripper module 400 is connected to the rightmost blade propulsion module 200 via a three-degree-of-freedom ball joint module 500;

[0093] The snake tail gripper module 400 includes:

[0094] The sub-gripping finger module 410 includes:

[0095] Clamping fingers 411, four clamping fingers 411 are provided;

[0096] An L-shaped connecting rod 412, the L-shaped connecting rod 412 being hinged to the inner lower end of the clamping finger 411;

[0097] A connecting rod 413, the connecting rod 413 is hinged to the outer lower part of the clamping finger 411;

[0098] A gripper base 414 , the gripper base 414 is hinged at the bottom of the L-shaped connecting rod 412 and the connecting rod 413 ;

[0099] A crank 415, the top of which is hinged to the L-shaped connecting rod 412;

[0100] The threaded hole push block 416 is slidably installed inside the gripper base 414 and is hinged with the crank 415, so that the threaded hole push block 416 pushes the four clamping fingers 411 to open and close during the lifting process.

[0101] Among them, the snake body joint is designed, and the designed three-degree-of-freedom ball joint module 500 has a simple structure. Since the movement can be precisely controlled in three directions, the three-degree-of-freedom ball joint module 500 has high positioning accuracy, which can meet the changes of any angle and any posture of the underwater snake-like robot, so that the snake body has excellent maneuverability and can realize diversified movements and operations, and is suitable for complex working environments and tasks, and has high reliability and stability, and can operate stably for a long time. At the same time, compared with other types of joints, the structure of the designed three-degree-of-freedom ball joint module 500 is relatively simple, the manufacturing cost is low, and maintenance and repair are relatively easy;

[0102] Among them, by placing the fan blade propulsion module 200 externally, a lot of space can be saved inside the module, and a large-capacity lithium battery can be installed inside it to enhance the endurance of the underwater snake-like robot. Unlike the traditional snake-body fan blade propeller fixed outside the snake body, multiple azimuth fan blade propulsion sub-devices are required to work together to achieve different azimuth movements. The fan blade propulsion module 200 installed externally on the underwater snake-like robot of this design can rotate 360° in the plane where it is located. Only two fan blade propulsion modules 200 are required to cooperate to achieve multi-directional propulsion movement, making it have more powerful maneuverability.

[0103] Among them, unlike other underwater bionic snake-like robots, while meeting the requirements of underwater multi-directional and multi-posture movement and comprehensive monitoring, the snake tail gripper module 400 is installed at the tail, which can realize the gripping and movement of small objects underwater, further increasing the functionality of the underwater snake-like robot, and has great strategic significance for the development of underwater resources and underwater environment monitoring research.

[0104] Among them, the L-shaped connecting rod 412, the connecting rod 413, the gripper base 414, the clamping finger 411, and the crank 415 are all connected by positioning pins and positioning pin holes through clearance fit to ensure that the connecting rods are connected in a revolute pair and there is no interference in movement;

[0105] The small items are clamped by the setting of the clamping fingers 411 , and the opening or closing of the clamping fingers 411 is driven by the rotation of the L-shaped connecting rod 412 and the connecting rod 413 .

[0106] In some embodiments of the present invention, referring to Figure 1As shown, the outer side of the snake head control detection module 100 is made of a spherical transparent cover material and is fixed to the three-degree-of-freedom ball joint module 500 by screws.

[0107] The snakehead control and detection module 100 has a central control area and a camera monitoring area inside, and the spherical transparent cover material allows the camera to detect the underwater situation in 360° all-round manner.

[0108] In some embodiments of the present invention, referring to Figure 2 As shown, it also includes:

[0109] Rubber sealing gaskets 600 are installed at both ends of the three-degree-of-freedom ball joint module 500 .

[0110] Among them, the provision of the rubber sealing gasket 600 can ensure the sealing of the connection of the three-degree-of-freedom ball joint module 500 and prevent seawater from penetrating.

[0111] In some embodiments of the present invention, referring to Figure 2 As shown, it also includes:

[0112] The bellows 700 is sleeved on the outside of the three-degree-of-freedom ball joint module 500 .

[0113] The provision of the bellows 700 can ensure the sealing of the three-degree-of-freedom ball joint module 500 and increase the service life of the three-degree-of-freedom ball joint module 500.

[0114] In some embodiments of the present invention, referring to Figure 3 , Figure 4 , Figure 5 As shown, the three-degree-of-freedom ball joint module 500 includes:

[0115] Steering gear fixing platform 510;

[0116] The joint base 520 is fixed on the steering gear fixing platform 510;

[0117] A large gear positioning shaft 530, which is rotatably mounted inside the joint base 520;

[0118] The joint driven large gear 540 is fixed on the large gear positioning shaft 530 and is located outside the joint base 520;

[0119] A joint driving pinion 550, which is rotatably mounted on the joint base 520 and meshes with the joint driven large gear 540;

[0120] A swing link 560, which is fixed to the joint driven large gear 540 by screws;

[0121] Joint top seat 570.

[0122] The joint driven large gear 540 and the joint driving small gear 550 are coaxial, and two joint bearings of the same model are installed inside. At the same time, the joint driven large gear 540 and the joint driving small gear 550 are driven to rotate by the motor;

[0123] Among them, the coordinated arrangement of the joint top seat 570, the joint base 520 and the steering gear fixing platform 510 can ensure the normal installation and use of the three-degree-of-freedom ball joint module 500.

[0124] In some embodiments of the present invention, referring to Figure 3 , Figure 4 , Figure 6 As shown, the three-degree-of-freedom ball joint module 500 also includes:

[0125] The middle rotating ball 580 is fixed on the joint top seat 570;

[0126] An output connecting rod 590, the output connecting rod 590 is rotatably mounted on the outer side of the middle rotating ball 580 through a joint bearing seat;

[0127] The transition connecting rod 511 has two ends rotatably connected to the swing connecting rod 560 and the output connecting rod 590 through a joint bearing seat.

[0128] The swing link 560, the output link 590 and the transition link 511 are arranged in coordination to drive the intermediate rotating ball 580 to rotate, so that the intermediate rotating ball 580 drives the three-degree-of-freedom ball joint module 500 to bend by rotating, thereby changing the moving direction of the underwater snake-like robot.

[0129] The middle rotating ball 580 and the joint top seat 570 are arranged in cooperation with each other to rotate under the push of the swing link 560 and the output link 590, thereby driving the underwater snake-like robot to bend.

[0130] In some embodiments of the present invention, referring to Figure 6 As shown, the fan blade propulsion module 200 includes:

[0131] Housing 210;

[0132] A steering gear compartment 220, which is fixed on the inner wall of the housing 210;

[0133] The fan blade steering gear 230 is installed inside the steering gear compartment 220;

[0134] A steering gear driving bevel gear 240, wherein the steering gear driving bevel gear 240 is fixed on the blade steering gear 230;

[0135] The fan blade driven bevel gear 250 is meshed with the steering gear driving bevel gear 240;

[0136] The fan blade support platform 260 is fixed to the outer side of the housing 210;

[0137] The fan blade rotating shaft 270 is fixed on the fan blade driven bevel gear 250 and passes through the fan blade supporting platform 260;

[0138] A blade curved surface protection cover 280, wherein the blade curved surface protection cover 280 is fixed on the blade rotating shaft 270;

[0139] The fan blade protection net top cover 290 is detachably fixed on the fan blade curved surface protection cover 280;

[0140] A waterproof motor 211, which is fixed inside the fan blade curved surface protective cover 280;

[0141] The fan blade 212 is fixed to the output end of the waterproof motor 211 .

[0142] Among them, the use of the fan blade curved surface protection cover 280 and the fan blade protection mesh top cover 290 can effectively prevent the external debris and foreign matter from affecting the machine when the fan blade 212 is working, further improving the reliability and stability of the machine's power end. The mesh design ensures strength while effectively reducing water resistance when moving forward.

[0143] The arrangement of the steering gear compartment 220 ensures that the blade steering gear 230 is properly installed and fixed, and also ensures that the blade steering gear 230 is properly used;

[0144] The housing 210 is provided to ensure the safety of the steering gear compartment 220 and is connected to the three-degree-of-freedom ball joint module 500 to drive the three-degree-of-freedom ball joint module 500 to move;

[0145] The blade servo 230 can drive the curved protective cover 280 of the blade 212 to rotate by the cooperation of the servo active bevel gear 240 and the blade driven bevel gear 250, so as to adjust the propulsion direction of the blade 212 at different angles;

[0146] The waterproof motor 211 drives the fan blades 212 to rotate, thereby generating propulsion.

[0147] In some embodiments of the present invention, referring to Figure 8 , Fig. 9 As shown, the tail gripper module 400 also includes:

[0148] The gripper opening and closing freedom unit 420 includes:

[0149] The buoyancy material 421 is fixed to the fan blade propulsion module 200 by bolts;

[0150] A steering gear 422, which is detachably fixed inside the buoyancy material 421;

[0151] A gripper opening and closing gear transmission shaft 423, the gripper opening and closing gear transmission shaft 423 is connected to the steering gear 422 through a coupling;

[0152] The intermediate gear shaft threaded rod 424 passes through the threaded hole push block 416 and meshes with the gripper opening and closing gear transmission shaft 423.

[0153] Among them, the setting of the servo 422 drives the gripper opening and closing gear transmission shaft 423 to rotate, so that the gripper opening and closing gear transmission shaft 423 drives the intermediate gear shaft threaded rod 424 to rotate, and drives the threaded hole push block 416 to slide during rotation, so that the threaded hole push block 416 drives the clamping finger 411 to open or close through the L-shaped connecting rod 412 and the connecting rod 413, and drives the threaded hole push block 416 to be hinged or contacted with the L-shaped connecting rod 412 and the connecting rod 413 to push.

[0154] In some embodiments of the present invention, referring to Figure 8 , Fig. 9 , Fig.10 As shown, the tail gripper module 400 also includes:

[0155] The gripper rotating unit 430 includes:

[0156] An intermediate support platform 431, wherein the intermediate support platform 431 is installed inside the buoyancy material 421;

[0157] A bearing 432, the bearing 432 is installed inside the middle support platform 431;

[0158] The sleeve shaft rotating disk 433 is sleeved on the outer side of the intermediate gear shaft threaded rod 424;

[0159] A shaft end retaining ring 434, the shaft end retaining ring 434 is fixed on the outer side of the sleeve shaft rotating disk 433;

[0160] The gripper rotating gear shaft 435 is connected to the steering gear 422 by transmission.

[0161] The intermediate sleeve gear 436 drives the sleeve shaft rotating disk 433 to rotate under the drive of the gripper rotating gear shaft 435 .

[0162] Working method of the utility model:

[0163] The steering gear compartment 220 is started, so that the steering gear compartment 220 drives the steering gear driving bevel gear 240 to rotate, and the steering gear driving bevel gear 240 drives the blade curved surface protection cover 280 to rotate through the blade driven bevel gear 250, adjusts the thrust direction of the blade 212, and starts the waterproof motor 211, so that the waterproof motor 211 drives the blade 212 to rotate and generate thrust;

[0164] The starting motor drives the large gear positioning shaft 530 and the joint driven large gear 540 to rotate, so that the joint driven large gear 540 drives the swing link 560 to rotate, so that the swing link 560 drives the output link 590 and the transition link 511 to rotate, and drives the intermediate rotating ball 580 to rotate;

[0165] Start the servo 422, so that the servo 422 drives the intermediate gear shaft threaded rod 424 to rotate, so that the intermediate gear shaft threaded rod 424 drives the threaded hole push block 416 to slide, so that the threaded hole push block 416 drives the crank 415 to rotate, and when the crank 415 rotates, it drives the L-shaped connecting rod 412 to rotate, so that the L-shaped connecting rod 412 drives the clamping fingers 411 to open.

[0166] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A three-drive active ball-jointed underwater snake-like robot, characterized in that: include: Snake head control detection module (100); A three-degree-of-freedom ball joint module (500), wherein a plurality of the three-degree-of-freedom ball joint modules (500) are provided; A blade propulsion module (200), wherein a plurality of blade propulsion modules (200) are provided, and the snake head control detection module (100) is connected to the leftmost blade propulsion module (200) via a three-degree-of-freedom ball joint module (500); A buoyancy adjustment module (300), wherein both ends of the buoyancy adjustment module (300) are connected to the fan blade propulsion module (200) via a three-degree-of-freedom ball joint module (500); A tail gripper module (400), wherein the tail gripper module (400) is connected to the rightmost blade propulsion module (200) via a three-degree-of-freedom ball joint module (500); The tail gripper module (400) comprises: A sub-gripping finger module (410), the sub-gripping finger module (410) comprising: Clamping fingers (411), wherein four clamping fingers (411) are provided; An L-shaped connecting rod (412), the L-shaped connecting rod (412) being hinged to the inner lower end of the clamping finger (411); A connecting rod (413), wherein the connecting rod (413) is hinged to the lower outer portion of the clamping finger (411); A gripper base (414), wherein the gripper base (414) is hinged to the bottom of the L-shaped connecting rod (412) and the connecting rod (413); A crank (415), the top of which is hinged to the L-shaped connecting rod (412); The threaded hole push block (416) is slidably installed inside the gripper base (414) and is hinged with the crank (415) so that the threaded hole push block (416) pushes the four clamping fingers (411) to open and close during the lifting process.

2. A three-drive active ball-jointed underwater snake-like robot according to claim 1, characterized in that: The outer side of the snake head control detection module (100) is made of a spherical transparent cover material and is fixed to the three-degree-of-freedom ball joint module (500) by means of screws.

3. The three-drive active ball-jointed underwater snake-like robot according to claim 1, characterized in that: Also includes: A rubber sealing gasket (600) is installed at both ends of a three-degree-of-freedom ball joint module (500).

4. The three-drive active ball-jointed underwater snake-like robot according to claim 1, characterized in that: Also includes: A bellows (700) is sleeved on the outside of a three-degree-of-freedom ball joint module (500).

5. The three-drive active ball-jointed underwater snake-like robot according to claim 1, characterized in that: The three-degree-of-freedom ball joint module (500) comprises: A steering gear fixing platform (510); A joint base (520), wherein the joint base (520) is fixed on the steering gear fixing platform (510); A large gear positioning shaft (530), wherein the large gear positioning shaft (530) is rotatably mounted inside the joint base (520); A joint driven large gear (540), wherein the joint driven large gear (540) is fixed on the large gear positioning shaft (530) and is located outside the joint base (520); A joint driving pinion (550), wherein the joint driving pinion (550) is rotatably mounted on the joint base (520) and meshes with the joint driven large gear (540); A swing link (560), wherein the swing link (560) is fixed to the joint driven large gear (540) by means of screws; Joint top seat (570).

6. The three-drive active ball-jointed underwater snake-like robot according to claim 1, characterized in that: The three-degree-of-freedom ball joint module (500) further comprises: An intermediate rotating ball (580), wherein the intermediate rotating ball (580) is fixed on the joint top seat (570); An output connecting rod (590), wherein the output connecting rod (590) is rotatably mounted on the outer side of the middle rotating ball (580) via a joint bearing seat; A transition connecting rod (511), both ends of which are rotatably connected to the swing connecting rod (560) and the output connecting rod (590) via a joint bearing seat.

7. The three-drive active ball-jointed underwater snake-like robot according to claim 1, characterized in that: The fan blade propulsion module (200) comprises: A housing (210); A steering gear compartment (220), wherein the steering gear compartment (220) is fixed on the inner wall of the housing (210); A fan blade steering gear (230), wherein the fan blade steering gear (230) is installed inside the steering gear compartment (220); A steering gear driving bevel gear (240), wherein the steering gear driving bevel gear (240) is fixed on the blade steering gear (230); A fan blade driven bevel gear (250), wherein the fan blade driven bevel gear (250) is meshed with a steering gear driving bevel gear (240); A fan blade support platform (260), wherein the fan blade support platform (260) is fixed on the outside of the housing (210); A fan blade rotating shaft (270), wherein the fan blade rotating shaft (270) is fixed on the fan blade driven bevel gear (250) and passes through the fan blade supporting platform (260); A blade curved surface protective cover (280), wherein the blade curved surface protective cover (280) is fixed on the blade rotating shaft (270); A fan blade protection net top cover (290), wherein the fan blade protection net top cover (290) is detachably fixed on the fan blade curved surface protection cover (280); A waterproof motor (211), wherein the waterproof motor (211) is fixed inside the fan blade curved surface protective cover (280); The fan blade (212) is fixed to the output end of the waterproof motor (211).

8. The three-drive active ball-jointed underwater snake-like robot according to claim 1, characterized in that: The tail gripper module (400) further comprises: A gripper opening and closing freedom unit (420), the gripper opening and closing freedom unit (420) comprising: A buoyancy material (421), wherein the buoyancy material (421) is fixed to the blade propulsion module (200) by means of bolts; A steering engine (422), wherein the steering engine (422) is detachably fixed inside the buoyancy material (421); A gripper opening and closing gear transmission shaft (423), wherein the gripper opening and closing gear transmission shaft (423) is connected to the steering gear (422) via a coupling; The intermediate gear shaft threaded rod (424) passes through the threaded hole push block (416) and meshes with the gripper opening and closing gear transmission shaft (423).

9. The three-drive active ball-jointed underwater snake-like robot according to claim 1, characterized in that: The tail gripper module (400) further comprises: A gripper rotating unit (430), the gripper rotating unit (430) comprising: An intermediate support platform (431), wherein the intermediate support platform (431) is installed inside the buoyancy material (421); A bearing (432), wherein the bearing (432) is installed inside the intermediate support platform (431); A sleeve shaft rotating disk (433), wherein the sleeve shaft rotating disk (433) is sleeved on the outer side of the intermediate gear shaft threaded rod (424); A shaft end retaining ring (434), wherein the shaft end retaining ring (434) is fixed to the outside of the sleeve shaft rotating disk (433); A gripper rotating gear shaft (435) is connected in transmission with a steering gear (422) The intermediate sleeve gear (436) drives the sleeve shaft rotating disk (433) to rotate under the drive of the gripper rotating gear shaft (435).

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