Robot

Abstract

The utility model discloses a robot. The robot comprises a supporting part, a communication part, a power connection part and a body. Supporting frames are arranged at the upper ends of the supporting parts. The communication unit includes a floating device and a communication device. The floating device is supported by the supporting frame and floats on the water body under the condition that the floating device makes contact with the water body. The communication device is arranged in the floating device. The power connecting part comprises a driving device, a cable winding and unwinding device and a connecting cable. The driving device is fixed to the supporting part. The cable take-up and pay-off device is driven by a driving device to pay off or take up a cable. The connecting cable is wound around the cable take-up and pay-off device, and one end is connected to the floating device. The body comprises a base plate, a first positioning device and a walking device. The lower end of the supporting part is fixed to the upper surface of the substrate. The first positioning device is fixed on the upper surface of the substrate and is used for monitoring and transmitting a first positioning signal; the walking devices are arranged on the two opposite sides of the base plate. The robot transmits communication signals through the communication device, an umbilical cable is prevented from being used for transmitting the communication signals, and the detection range of the robot is enlarged.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a robot. Background Art

[0002] Unmanned underwater vehicles can be divided into floating underwater robots, tracked underwater robots, wheeled underwater robots and walking underwater robots according to their movement mode.

[0003] Currently, most tracked underwater robots require an umbilical cable as a communication transmission channel. However, the applicant has found that the detection range of the tracked underwater robot is limited by the length of the umbilical cable. Utility Model Content

[0004] The present application aims to provide a robot that can avoid using an umbilical cable to transmit communication signals, so as to improve the detection range of the robot.

[0005] According to one aspect of the present application, a robot is provided. The robot includes a support portion, a communication portion power connection portion, and a main body. A support frame is provided at the upper end of the support portion. The communication portion includes a floating device and a communication device. The floating device is supported by the support frame and floats on the water body when in contact with the water body. The communication device is provided inside the floating device. The power connection portion includes a driving device, a cable-retracting device, and a connecting cable. The driving device is fixed to the support portion. The cable-retracting device is driven by the driving device to release or retract the cable. The connecting cable is wound around the cable-retracting device, and one end is connected to the floating device. The main body includes a base plate, a first positioning device, and a walking device. The lower end of the support portion is fixed to the upper surface of the base plate. The first positioning device is fixed to the upper surface of the base plate to monitor and transmit a first positioning signal. The walking device is provided on opposite sides of the base plate.

[0006] According to some embodiments of the present application, the body further includes a second positioning device, which is disposed on an upper surface of the first positioning device and monitors and transmits a second positioning signal.

[0007] According to some embodiments of the present application, the walking device includes a first walking unit and a second walking unit. The first walking unit is arranged on one side of the base plate, and the second walking unit is arranged symmetrically with the first walking unit on the other side of the base plate. The first walking unit includes a first crawler track travel mechanism and a first battery compartment. The first crawler track travel mechanism includes a first crawler track and at least two first transmission wheels engaged with the first crawler track. A cavity is formed between the at least two first transmission wheels. The first battery compartment is fixedly connected to the base plate, arranged in the cavity formed between the first transmission wheels, and does not contact the first crawler track and the first transmission wheels. The second walking unit includes a second crawler track travel mechanism and a second battery compartment. The second crawler track travel mechanism includes a second crawler track and at least two second transmission wheels engaged with the second crawler track. A cavity is formed between the at least two second transmission wheels. The second battery compartment is fixedly connected to the base plate, arranged in the cavity formed between the second transmission wheels, and does not contact the second crawler track and the second transmission wheels.

[0008] According to some embodiments of the present application, the sum of the width of the first track and the width of the second track is not less than half of the overall width of the robot.

[0009] According to some embodiments of the present application, the power connection portion further includes a tension sensor, which is fixedly disposed between the cable retracting and releasing device and the driving device to monitor the tension of the connecting cable.

[0010] According to some embodiments of the present application, the robot further includes a detection portion, which is fixedly connected to the support portion or fixed to the upper surface of the second positioning device.

[0011] According to some embodiments of the present application, the detection unit includes a camera device, and / or an illumination device, and / or a detection device. The camera device is fixed to one side of the upper surface of the second positioning device; the illumination device is fixed to the other side of the upper surface of the second positioning device; and the detection device is fixedly connected to the support unit.

[0012] According to some embodiments of the present application, the substrate is a base frame.

[0013] According to some embodiments of the present application, the robot described above may be an underwater robot or an amphibious robot.

[0014] Beneficial effects

[0015] Through the above technical solution, the present application establishes a communication connection with an external device via a communication device, and the communication device can float on the water body via a floating device, thereby enabling real-time communication between the communication device and the external device. The robot of the present application can avoid the use of an umbilical cable to transmit communication signals, thereby increasing the robot's detection range. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 A schematic structural diagram of a robot according to an embodiment of the present application is shown;

[0018] Figure 2 Another schematic structural diagram of a robot according to an embodiment of the present application is shown;

[0019] Figure 3 A schematic diagram showing the structure of a floating device floating on water according to an embodiment of the present application is shown;

[0020] Figure 4 A schematic structural diagram showing the connection between a substrate and a first walking unit and a second walking unit according to an embodiment of the present application is shown;

[0021] Figure 5 A schematic structural diagram of a power connection portion according to an embodiment of the present application is shown.

[0022] Reference numerals:

[0023] Robot 100.

[0024] Support part 1; communication part 2; power connection part 3; main body 4; detection part 5.

[0025] Support frame 11.

[0026] Floating device 21.

[0027] Driving device 31; cable retracting and releasing device 32; connecting cable 33; tension sensor 34.

[0028] Base plate 41; first positioning device 42; walking device 43; second positioning device 44.

[0029] Camera device 51; lighting device 52; detection device 53.

[0030] A first walking unit 431 and a second walking unit 432 .

[0031] First crawler travel mechanism 4311; first battery compartment 4312.

[0032] First crawler track 43111; first transmission wheel 43112; first load-bearing wheel 43113. DETAILED DESCRIPTION

[0033] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Like reference numerals in the drawings represent like or similar parts, and thus repetitive description thereof will be omitted.

[0034] The described features, structures or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of these specific details, or other methods, components, materials, devices, etc. may be employed. In these cases, well-known structures, methods, devices, implementations, materials or operations will not be shown or described in detail.

[0035] Furthermore, the terms "include," "comprise," and "have," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements, but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0036] The terms "first", "second" and the like in the specification, claims and drawings of this application are used to distinguish different objects rather than to describe a specific order.

[0037] The following is a clear and complete description of the technical solution of this application in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making any creative efforts are within the scope of protection of this application.

[0038] According to one aspect of the present application, the present application provides a robot 100. Figure 1 The robot 100 includes a supporting part 1, a communication part 2, a power connection part 3 and a body 4.

[0039] According to an example embodiment, see Figure 1 The upper end of the support portion 1 is provided with a support frame 11. The support frame 11 may be a concave structure. The concave structure is used to carry the communication portion 2.

[0040] See also Figure 1 , the communication unit 2 includes a floating device 21 and a communication device.

[0041] The floating device 21 is supported by the support frame 11. The floating device 21 may be spherical, and the interior of the floating device 21 may be a hollow structure. Figure 2-Figure 3 , the floating device 21 can float on the water when it contacts the water.

[0042] The communication device may be provided in the floating device 21. For example, the communication device may be provided in an inner cavity of the floating device 21. The communication device transmits a communication signal to an external device (eg, an external remote controller).

[0043] For example, the communication device may be an antenna. The signal transmitted between the antenna and the external device may be a radio frequency signal. The antenna may communicate with the external device via a satellite.

[0044] For example, the antenna may transmit radio frequency signals in a frequency range of 1615.68 MHz ± 4.08 MHz, and may receive radio frequency signals in a frequency range of 2491.75 MHz ± 8.16 MHz.

[0045] join Figure 1 The power connection part 3 includes a driving device 31, a cable retracting and releasing device 32 and a connecting cable 33.

[0046] See also Figure 1 , the driving device 31 is fixed to the supporting part 1.

[0047] For example, the driving device 31 may be a motor and may be fixed to the middle portion of the support portion 1 by screws.

[0048] The cable-retracting and -unretracting device 32 can execute cable-retracting or cable-retracting under the driving of the driving device 31. The cable-retracting and -unretracting device 32 can be a cylinder.

[0049] For example, see Figure 1 One end of the motor can be fixedly connected to the central axis position of the cable retracting and unretracting device 32. The motor can drive the cable retracting and unretracting device 32 to rotate horizontally.

[0050] The connecting cable 33 is wound around the cable-retracting device 32, and one end of the connecting cable 33 is connected to the floating device 21. When the floating device 21 contacts the water, the driving device 31 can drive the cable-retracting device 32 to rotate horizontally, and the connecting cable 33 rotates with the cable-retracting device 32, realizing the cable-retracting and cable-retracting of the connecting cable 33, thereby allowing the floating device 21 to float on the water.

[0051] See also Figure 1 and Figure 4 The main body 4 includes a base plate 41, a first positioning device 42 and a walking device 43.

[0052] The lower end of the support portion 1 is fixed to the upper surface of the substrate 41. The first positioning device 42 is fixed to the upper surface of the substrate 41 to monitor and transmit a first positioning signal.

[0053] For example, the first positioning device 42 may be a Doppler Velocity Log (DVL). The first positioning signal is a positioning signal generated by the first positioning device 42. After generating the first positioning signal, the first positioning device 42 may transmit the first positioning signal to an external device in real time, or the first positioning device 42 may transmit the first positioning signal to the external device at a predetermined frequency.

[0054] See also Figure 1 and Figure 4 The walking devices 43 are disposed on opposite sides of the base plate 41. The walking devices 43 can move forward, backward, and turn, thereby enabling the robot 100 to move forward, backward, and turn.

[0055] Through the above-mentioned embodiments, the present application establishes a communication connection with an external device via a communication device, and the communication device can float on a body of water via a floating device, thereby enabling real-time communication between the communication device and the external device. The robot of the present application can avoid using an umbilical cable to transmit communication signals, and transmits communication signals based on the communication device, which is not limited by the length of the umbilical cable, thereby increasing the detection range of the robot.

[0056] The robot provided in this application has a simple structure and a simple installation and disassembly process, which facilitates subsequent maintenance work by staff.

[0057] Alternatively, see Figure 1 The body 4 may further include a second positioning device 44. The second positioning device 44 may be disposed on the upper surface of the first positioning device 42. The second positioning device 44 monitors and transmits a second positioning signal.

[0058] For example, the second positioning device 44 may be an inertial navigation system. The second positioning signal is a positioning signal generated by the second positioning device 44. After generating the second positioning signal, the second positioning device 44 may transmit the second positioning signal to the external device in real time, or the second positioning device 44 may transmit the second positioning signal to the external device at a certain frequency.

[0059] The second positioning device 44 and the first positioning device 42 can be two independent positioning devices. The two positioning devices generate two independent positioning signals, which can make the positioning of the robot 100 more accurate. Furthermore, if one positioning device fails, the other positioning device can serve as a backup, thereby improving the stability of the positioning performance of the robot 100.

[0060] Existing tracked underwater robots also transmit electrical energy through an umbilical cable. The applicant has discovered that transmitting electrical energy through an umbilical cable will also limit the detection range of the tracked robot.

[0061] Alternatively, see Figure 1 The walking device 43 includes a first walking unit 431 and a second walking unit 432. The first walking unit 431 is arranged on one side of the base plate 41, and the second walking unit 432 is arranged symmetrically with the first walking unit 431 on the other side of the base plate 41.

[0062] See also Figure 2-Figure 3 The first walking unit 431 includes a first crawler traveling structure 4311 and a first battery compartment 4312 .

[0063] The first crawler track travel mechanism 4311 includes a first crawler track 43111 and at least two first transmission wheels 43112 engaged with the first crawler track 43111. A cavity is formed between the at least two first transmission wheels 43112.

[0064] For example, see Figure 2-Figure 3 The first crawler track mechanism 4311 may include two first transmission wheels 43112. The central axes of the two first transmission wheels 43112 may be fixedly connected to the base plate 41. The first crawler track 43111 is disposed around the outer periphery of the two first transmission wheels 43112.

[0065] The surface of the first track 43111 can be provided with protrusions to increase the friction between the first track 43111 and the ground surface. The outer circumferences of the two first transmission wheels 43112 can also be provided with protrusions to allow the two first transmission wheels 43112 to mesh with the first track 43111. When the first transmission wheels 43112 rotate, they drive the first track 43111 to move accordingly. A cavity is formed between the two first transmission wheels 43112.

[0066] The first battery compartment 4312 is fixedly connected to the base plate 41. The first battery compartment 4312 is disposed in the cavity between the two first transmission wheels 43112. The first battery compartment 4312 does not contact the first track 43111 and the first transmission wheels 43112. The first battery compartment 4312 can supply power to the electric devices of the robot 100 (e.g., the drive device 31, the first positioning device 52, and the second positioning device 44).

[0067] In the present application, by setting the first battery compartment 4312 in the cavity between the two first transmission wheels 43111 , the center of gravity of the robot 100 can be lowered, so that the walking of the robot 100 is more stable.

[0068] The first crawler track travel mechanism 4311 further includes a first load-bearing wheel 43113 engaged with the first crawler track 43111. Figure 2-Figure 3The first crawler track mechanism 4311 includes two first load-bearing wheels 43113, which can be respectively disposed on either side of the first battery compartment 4312 and fixedly connected to the base plate 41. When the first crawler track 43111 is moving, the two first load-bearing wheels 43113 can prevent the first crawler track 43111 from sinking inward.

[0069] The second traveling unit 432 has the same structure as the first traveling unit 431. The second traveling unit 432 includes a second crawler traveling mechanism and a second battery compartment.

[0070] The second crawler track travel mechanism includes a second crawler track and at least two second transmission wheels meshed with the second crawler track. A cavity is formed between the at least two second transmission wheels.

[0071] For example, the second crawler track mechanism may include two second transmission wheels. The central axes of the two second transmission wheels may be fixedly connected to the base plate. The second crawler track is disposed around the outer circumference of the two second transmission wheels. The surfaces of the second crawler track may be provided with protrusions to increase friction between the second crawler track and the ground surface. The outer circumferences of the two second transmission wheels may be provided with protrusions to enable the two second transmission wheels to engage with the second crawler track. When the second transmission wheels rotate, the second crawler track moves accordingly. A cavity is formed between the two second transmission wheels.

[0072] The second battery compartment is fixedly connected to the base plate. It is located in the cavity between the two second transmission wheels. The second battery compartment does not contact the second track or the second transmission wheels. The second battery compartment can power the robot's electrical devices. The placement of the second battery compartment in the cavity between the two second transmission wheels lowers the robot's center of gravity, making its movement more stable.

[0073] The second crawler track mechanism also includes second load-bearing wheels that engage with the second crawler track. The second crawler track mechanism includes two second load-bearing wheels, which can be respectively disposed on either side of the second battery compartment and fixedly connected to the base plate 41. When the second crawler track is in motion, the two second load-bearing wheels prevent the second crawler track from sinking inward.

[0074] Through the above embodiment, the present application provides two battery compartments, thereby increasing the battery capacity and improving the balance of the robot 100. The present application uses two battery compartments to power the electric devices of the robot 100, is not limited by the length of the umbilical cable, and can increase the detection range of the robot.

[0075] The applicant of the present application has also found that when deploying a crawler-type underwater robot underwater, a crane or hoist is required to lower the crawler-type underwater robot into the water, which greatly restricts the on-site operation conditions.

[0076] Optionally, the sum of the widths of the first track 43111 and the second track is no less than half the overall width of the robot 100. This configuration increases the contact area between the two tracks and the ground surface, reducing the ground contact pressure. This allows the robot 100 to crawl on soft sandy beaches, avoiding the problem of the first track 43111 and the second track sinking. When deploying the robot 100 under water, the robot 100 can crawl from the shallow end to the underwater state on its own. This reduces the deployment requirements for the robot 100 and reduces the manpower and material costs of deploying the robot 100.

[0077] Alternatively, see Figure 5 The power connection 3 also includes a tension sensor 34. This tension sensor 34 is fixedly mounted between the cable-retracting and -release device 32 and the drive device 31. It monitors the tension in the connecting cable 33. This arrangement allows the drive device 31 (motor) to automatically drive the cable-retracting and -release device 32 to release or retract the cable based on the monitored tension. This prevents slack in the connecting cable 33 and reduces the length of the connecting cable 33 floating in the water.

[0078] Alternatively, see Figure 1 The robot 100 further includes a detection unit 5. The detection unit 5 is fixedly connected to the support unit 1, or the detection unit 5 is fixed to the upper surface of the second positioning device 44. The detection unit 5 can perform underwater detection operations for the robot. For example, the detection unit 4 can detect the underwater environment.

[0079] Optionally, the detection unit 5 may include a camera device 51 , and the detection unit 5 may further include a lighting device 52 and a detection device 53 .

[0080] The detection device 53 may be fixed at the middle position of the support portion 1 . The detection device 53 may be a sonar that can identify obstacles and assist the robot 100 in performing autonomous obstacle avoidance operations.

[0081] The camera device 51 can be fixed to one side of the upper surface of the second positioning device 44. The camera device 51 can take photos or videos during the detection operation of the robot 100. The camera device 51 can be a camera.

[0082] The lighting device 52 can be fixed to the other side of the upper surface of the second positioning device 44. The lighting device 52 can illuminate during the detection operation of the robot 100. The lighting device 52 can be a lighting lamp.

[0083] Alternatively, see Figure 4 The substrate 41 may be a base frame, which is a frame structure and can reduce the weight of the robot 100.

[0084] Optionally, the robot 100 described above may be an underwater robot or an amphibious robot.

[0085] Finally, it should be noted that the above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Although the present application is described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions of the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A robot, characterized in that: The robot comprises: A support portion, with a support frame provided at the upper end; Communications Department, including: a floating device, supported by the support frame and floating on the water body when in contact with the water body; a communication device, disposed inside the floating device; Power connection part, including: a driving device, fixed to the supporting portion; a cable-reeling and -releasing device, driven by the driving device to release or reel in the cable; a connecting cable, wound around the cable-retracting device, and having one end connected to the floating device; Ontology, including: a substrate, the lower end of the support portion being fixed to the upper surface of the substrate; a first positioning device, fixed to the upper surface of the substrate, for monitoring and transmitting a first positioning signal; The running devices are arranged on two opposite sides of the base plate.

2. The robot according to claim 1, characterized in that The body also includes: The second positioning device is arranged on the upper surface of the first positioning device and monitors and transmits a second positioning signal.

3. The robot according to claim 1, characterized in that The walking device includes a first walking unit and a second walking unit, the first walking unit is arranged on one side of the base plate, and the second walking unit is symmetrically arranged on the other side of the base plate with respect to the first walking unit; The first walking unit includes: A first crawler travel mechanism includes a first crawler and at least two first transmission wheels meshed with the first crawler, wherein a cavity is formed between the at least two first transmission wheels; a first battery compartment fixedly connected to the base plate, disposed in a cavity formed between the first transmission wheels, and not in contact with the first crawler belt and the first transmission wheel; The second walking unit includes: A second crawler walking mechanism includes a second crawler and at least two second transmission wheels meshed with the second crawler, wherein a cavity is formed between the at least two second transmission wheels; The second battery compartment is fixedly connected to the base plate, is disposed in a cavity formed between the second transmission wheels, and is not in contact with the second crawler track and the second transmission wheel.

4. The robot according to claim 3, characterized in that The sum of the width of the first track and the width of the second track is not less than half of the overall width of the robot.

5. The robot according to claim 1, characterized in that The power connection portion further includes: A tension sensor is fixedly arranged between the cable retracting and releasing device and the driving device to monitor the tension of the connecting cable.

6. The robot according to claim 2, characterized in that The robot further comprises: The detection part is fixedly connected to the support part, or fixed to the upper surface of the second positioning device.

7. The robot according to claim 6, characterized in that The detection unit includes: a camera device, fixed to one side of the upper surface of the second positioning device; and / or an illuminating device, fixed to the other side of the upper surface of the second positioning device; and / or The detection device is fixedly connected to the support portion.

8. The robot according to claim 1, wherein: The substrate is a base frame.

9. The robot according to any one of claims 1 to 8, characterized in that: The robot is an underwater robot or an amphibious robot.

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