Full-vector layout modular underwater robot

Abstract

The utility model discloses a full vector layout modular underwater robot, which relates to the technical field of underwater robots, and comprises a frame, a propeller is mounted on the frame, the propeller comprises a first shell, a rotating ring and a second shell, the rotating ring is rotatably arranged between the first shell and the second shell, and the rotating ring is rotatably arranged between the first shell and the second shell. A U-shaped frame is fixedly connected to the outer wall of the first shell, the second shell is fixedly connected to the U-shaped frame, a rotating shaft is rotationally connected to the first shell, and a connecting rod is fixedly connected between the rotating shaft and the rotating ring. According to the full-vector layout modular underwater robot, by arranging a rotating ring, a first scraping piece and other structures, the rotating ring drives the first scraping piece to rotate through a supporting block, impurities such as aquatic plants outside the first shell are cleaned, the situation that a water inlet groove is blocked by the impurities such as the aquatic plants is avoided, and the use efficiency of a propeller is guaranteed; meanwhile, the rotating ring and the rotating shaft rotate synchronously, the rotating cleaning effect of the first scraper can be guaranteed, the occupied space is reduced, and the influence of impurities such as aquatic plants is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater robots, in particular to a full-vector layout modular underwater robot. Background Art

[0002] Underwater robots can detect underwater environments, and can complete detection in areas where people cannot reach. They are relatively convenient to use, and the movement of underwater robots underwater is usually completed by thrusters.

[0003] Existing propellers usually have a simple structure. A cylindrical protective shell is installed on the outside of the turbine blades to protect the turbine blades. However, some algae and aquatic plants can easily enter the cylindrical protective shell, thereby entangled with the turbine blades and affecting their subsequent use.

[0004] For example, the patent entitled: An underwater robot propulsion device with a protective structure (patent application number: 202320813302.5) discloses an underwater robot propulsion device with a protective structure. When the protective shell moves underwater, the water flow can come into contact with the rotating turbine, thereby causing the rotating turbine to rotate. The rotating turbine can drive the first connecting rod to rotate, and can clean impurities such as aquatic plants outside the protective shell to avoid clogging the water inlet trough by impurities such as aquatic plants. However, the rotating turbine has a certain volume and is located outside the protective shell. It is easy to be entangled with aquatic plants, etc., which affects the use effect of the first connecting rod, and the use efficiency needs to be improved.

[0005] Therefore, it is necessary to propose a full vector layout modular underwater robot to solve the above problems. Utility Model Content

[0006] The purpose of the present utility model is to provide a modular underwater robot with a full vector layout to solve the problem that the rotating turbine has a certain volume and is located outside the protective shell, which makes it easy to get entangled with aquatic plants, affecting the use effect of the first connecting rod and the use efficiency needs to be improved.

[0007] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a fully vector layout modular underwater robot, comprising a frame, on which a propeller is installed, the propeller comprising a first shell, a swivel and a second shell, the swivel being rotatably arranged between the first shell and the second shell, a U-shaped frame being fixedly connected to the outer wall of the first shell, and the second shell being fixedly connected to the U-shaped frame, a rotating shaft being rotatably connected to the first shell, a connecting rod being fixedly connected between the rotating shaft and the swivel, a water inlet groove being provided on the first shell, a support block being fixedly connected to the outer wall of the swivel, a first scraper cooperating with the first shell being fixedly connected to the support block, and a paddle being fixedly connected to one end of the rotating shaft located inside the second shell.

[0008] Preferably, a motor is fixedly connected to the outer wall of the first shell, and the rotating shaft is fixedly connected to the driving shaft of the motor.

[0009] Preferably, a filter plate is fixedly connected to one end of the second shell away from the rotating ring.

[0010] Preferably, a plurality of water inlet grooves are provided, and the plurality of water inlet grooves are evenly distributed around the first shell.

[0011] Preferably, a stepped groove is provided on the outer ring of the first shell, and the stepped groove is located at the end of the first shell away from the swivel, the inside of the stepped groove is rotatably connected to a rotating block, the end of the rotating block located outside the stepped groove is fixedly connected to a square, and the square is fixedly connected to a second scraper, and two second scrapers are provided, and a gap is formed between the two second scrapers for the first scraper to pass through.

[0012] Preferably, a torsion spring is provided inside the stepped groove, and the torsion spring is sleeved on the outside of the rotating block. One end of the torsion spring is fixedly connected to the rotating block, and the other end of the torsion spring is fixedly connected to the inner wall of the stepped groove.

[0013] Preferably, a round rod is fixedly connected between the two second scrapers, and the round rod is away from the block.

[0014] Preferably, the number of the propellers is eight, and the eight propellers are evenly distributed on both sides of the frame.

[0015] Technical effects and advantages of this utility model:

[0016] 1. The utility model is provided with a rotating ring, a first scraper and other structures. The rotating ring drives the first scraper to rotate through the support block, thereby cleaning impurities such as water plants outside the first shell, avoiding blockage of the water inlet trough by impurities such as water plants, and ensuring the use efficiency of the propeller; at the same time, the rotating ring rotates synchronously with the rotating shaft, which can ensure the rotation and cleaning effect of the first scraper, reduce the occupied space, and avoid being affected by impurities such as water plants;

[0017] 2. By setting up structures such as blocks and second scrapers, the round rod cooperates with the two second scrapers to push and scrape the first scraper to avoid impurities remaining and ensure the subsequent cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of the fully vector-based modular underwater robot of this utility model.

[0019] Figure 2 This is a schematic diagram of the propeller structure of the utility model.

[0020] Figure 3 This is a schematic structural diagram of the first shell, swivel and second shell of the utility model.

[0021] Figure 4 For this utility model Figure 3 A magnified schematic diagram of the structure in the middle.

[0022] Figure 5 For this utility model Figure 3 A magnified schematic diagram of the structure at point B in the middle.

[0023] In the figure: 1. frame; 2. propeller; 3. first shell; 4. swivel; 5. second shell; 6. water inlet trough; 7. rotating shaft; 8. connecting rod; 9. motor; 10. paddle; 11. round rod; 12. support block; 13. first scraper; 14. block; 15. second scraper; 16. stepped trough; 17. rotating block; 18. torsion spring; 19. filter plate; 20. U-shaped frame. DETAILED DESCRIPTION

[0024] The utility model provides Figures 1 to 5 The full vector layout modular underwater robot shown includes a frame 1 , on which thrusters 2 are mounted. The number of thrusters 2 is eight, and the eight thrusters 2 are evenly distributed on both sides of the frame 1 .

[0025] Based on the principle of center of gravity balance and symmetrical layout, eight thrusters 2 are arranged in a full vector layout. By adjusting the size and direction of the thrust of the eight thrusters 2, the eight thrusts are decomposed and synthesized into three-dimensional forces, so that the underwater robot has omnidirectional movement capabilities.

[0026] The propeller 2 includes a first housing 3, a swivel 4, and a second housing 5. The swivel 4 is rotatably disposed between the first housing 3 and the second housing 5. A U-shaped frame 20 is fixedly connected to the outer wall of the first housing 3, and the second housing 5 is fixedly connected to the U-shaped frame 20. The U-shaped frame 20 is provided so that the first housing 3 and the second housing 5 form an integral unit, and the swivel 4 can rotate between the first housing 3 and the second housing 5.

[0027] The first housing 3 is provided with a water inlet groove 6, and a plurality of water inlet grooves 6 are provided, and the plurality of water inlet grooves 6 are evenly distributed around the first housing 3. The end of the second housing 5 away from the swivel 4 is fixedly connected to a filter plate 19, which is provided with a plurality of filter holes.

[0028] A motor 9 is fixedly connected to the outer wall of the first housing 3 , a rotating shaft 7 is fixedly connected to the driving shaft of the motor 9 , and a blade 10 is fixedly connected to one end of the rotating shaft 7 located inside the second housing 5 .

[0029] Specifically, the motor 9 drives the rotating shaft 7 to rotate, and the rotating shaft 7 drives the blades 10 to rotate, so that water can enter the interior of the first shell 3 through the water inlet groove 6 and then be discharged through the filter plate 19 to complete the propulsion effect of the propeller 2.

[0030] The first housing 3 is rotatably connected to a rotating shaft 7, and a connecting rod 8 is fixedly connected between the rotating shaft 7 and the rotating ring 4. A support block 12 is fixedly connected to the outer wall of the rotating ring 4, and a first scraper 13 that cooperates with the first housing 3 is fixedly connected to the support block 12.

[0031] When the rotating shaft 7 rotates, the connecting rod 8 drives the rotating ring 4 to rotate synchronously. The rotating ring 4 drives the first scraper 13 to rotate through the support block 12 to clean the impurities such as water plants outside the first shell 3, avoiding the blockage of the water inlet trough 6 by impurities such as water plants, thereby ensuring the efficiency of the propeller 2.

[0032] At the same time, the rotating ring 4 rotates synchronously with the rotating shaft 7, which can ensure the rotation cleaning effect of the first scraper 13, reduce the occupied space, and avoid being affected by impurities such as water plants.

[0033] A stepped groove 16 is formed on the outer ring of the first housing 3 and is located at the end of the first housing 3 away from the swivel 4. A rotating block 17 is rotatably connected to the interior of the stepped groove 16. The end of the rotating block 17 located outside the stepped groove 16 is fixedly connected to a block 14. A second scraper 15 is fixedly connected to the block 14. Two second scrapers 15 are provided, forming a gap between the two second scrapers 15 for the first scraper 13 to pass through. A round rod 11 is fixedly connected between the two second scrapers 15, and the round rod 11 is away from the block 14.

[0034] A torsion spring 18 is provided inside the stepped groove 16 , and the torsion spring 18 is sleeved on the outside of the rotating block 17 . One end of the torsion spring 18 is fixedly connected to the rotating block 17 , and the other end of the torsion spring 18 is fixedly connected to the inner wall of the stepped groove 16 .

[0035] When the first scraper 13 rotates to the second scraper 15, the second scraper 15 can cut off the remaining water plants and the like on the first scraper 13; then the first scraper 13 contacts the round rod 11, and as the first scraper 13 continues to rotate, under the limiting action of the round rod 11, the second scraper 15 is driven to rotate with the rotating block 17 as the axis, and in this process, the round rod 11 cooperates with the two second scrapers 15 to push and scrape the first scraper 13 to avoid impurities from remaining and ensure the subsequent cleaning effect; when the first scraper 13 is staggered with the round rod 11, under the reset elastic force of the torsion spring 18, the second scraper 15 and other structures are reset to facilitate subsequent use.

Claims

1. A fully vectorial modular underwater robot comprising a frame (1) and characterized by: The frame (1) is provided with a propeller (2), the propeller (2) comprising a first shell (3), a swivel (4) and a second shell (5), the swivel (4) being rotatably arranged between the first shell (3) and the second shell (5), the outer wall of the first shell (3) being fixedly connected to a U-shaped frame (20), and the second shell (5) being fixedly connected to the U-shaped frame (20), the first shell (3) being rotatably connected to a rotating shaft (7), a connecting rod (8) being fixedly connected between the rotating shaft (7) and the swivel (4), the first shell (3) being provided with a water inlet groove (6), the outer wall of the swivel (4) being fixedly connected to a support block (12), the support block (12) being fixedly connected to a first scraper (13) cooperating with the first shell (3), and one end of the rotating shaft (7) located inside the second shell (5) being fixedly connected to a blade (10).

2. The full vector layout modular underwater robot according to claim 1, characterized in that: A motor (9) is fixedly connected to the outer wall of the first shell (3), and the rotating shaft (7) is fixedly connected to the driving shaft of the motor (9).

3. The full vector layout modular underwater robot according to claim 1, characterized in that: One end of the second shell (5) away from the rotating ring (4) is fixedly connected to a filter plate (19).

4. The full vector layout modular underwater robot according to claim 1, characterized in that: A plurality of water inlet grooves (6) are provided, and the plurality of water inlet grooves (6) are evenly distributed around the first shell (3).

5. The full vector layout modular underwater robot according to claim 1, characterized in that: A stepped groove (16) is provided on the outer ring of the first shell (3), and the stepped groove (16) is located at one end of the first shell (3) away from the rotating ring (4); a rotating block (17) is rotatably connected inside the stepped groove (16); an end of the rotating block (17) located outside the stepped groove (16) is fixedly connected to a block (14); a second scraper (15) is fixedly connected to the block (14); two second scrapers (15) are provided, and a gap is formed between the two second scrapers (15) for the first scraper (13) to pass through.

6. The full vector layout modular underwater robot according to claim 5, characterized in that: A torsion spring (18) is provided inside the stepped groove (16), and the torsion spring (18) is sleeved on the outside of the rotating block (17). One end of the torsion spring (18) is fixedly connected to the rotating block (17), and the other end of the torsion spring (18) is fixedly connected to the inner wall of the stepped groove (16).

7. The full vector layout modular underwater robot according to claim 6, characterized in that: A round rod (11) is fixedly connected between the two second scrapers (15), and the round rod (11) is away from the block (14).

8. The full vector layout modular underwater robot according to claim 1, characterized in that: The number of the propellers (2) is eight, and the eight propellers (2) are evenly distributed on both sides of the frame (1).

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