Spherical underwater robot

Abstract

The utility model relates to the technical field of underwater robots, and discloses a spherical underwater robot which comprises an outer shell, the outer wall of the outer shell is fixedly connected with fish scale-like flow deflectors, the inner part of the outer shell is fixedly connected with a camera, the inner part of the outer shell is fixedly connected with a battery pack, and the inner part of the battery pack is fixedly connected with a camera. Side covers are fixedly connected to the two sides of the outer wall of the outer shell, drivers are rotatably connected to the interiors of the side covers, a pushing seat is slidably connected to the interior of the outer shell, and a pushing assembly is arranged on one side of the outer wall of the pushing seat. According to the utility model, the problems that the robot is difficult to realize rapid, continuous and flexible adjustment, the action lags, and the robot is not flexible enough when the visual angle needs to be rapidly adjusted or the obstacle is avoided are solved, and the purposes of rapidly rotating and displacing, adapting to a complex underwater environment, rapidly aligning a target by a camera, improving the detection precision, reducing the cost and the like are achieved. The device is suitable for operation in narrow or complex areas.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater robots, in particular to a spherical underwater robot. Background Art

[0002] Underwater filming is an important technology for recording underwater environments, ecosystems, topography, or human activities using video equipment. It is widely used in fields such as ocean exploration, ecological protection, film and television production, and engineering inspection. However, underwater environments often present challenges such as low light, high pressure, and complex water currents, requiring stable and flexible equipment to obtain clear images. Spherical underwater robots, with their streamlined design and omnidirectional motion capabilities, can operate flexibly in confined areas or deep-sea environments. At the same time, they are equipped with high-resolution cameras, sonar, and other sensors to achieve precise panoramic photography and dynamic tracking. Their spherical shell not only provides high-pressure resistance but also reduces water flow resistance, ensuring shooting stability and image quality, making them an ideal choice for underwater filming missions.

[0003] Traditional spherical underwater robots (AUVs) perform tasks via remote control or pre-programmed methods and are widely used in underwater patrols, surveys, and inspections. Their outer shells are typically made of high-strength, corrosion-resistant materials, their streamlined spherical design reduces underwater resistance, and they are equipped with multi-directional thrusters for omnidirectional mobility. Operators can monitor data from their cameras and sensors in real time using underwater communication equipment, while using sonar and navigation systems for path planning and obstacle avoidance. After the mission is completed, the robot transmits data wirelessly or through physical recovery for further analysis and research. This traditional spherical robot, with its high maneuverability and strong environmental adaptability, has become a valuable tool for underwater operations.

[0004] Traditional spherical underwater robots usually rely on external multi-directional thrusters to achieve motion control. However, due to the limited number of thrusters and restricted output power, their motion accuracy and response speed are low, making it difficult to achieve fast, continuous and flexible adjustments, resulting in delayed movements and lack of flexibility when rapid adjustments to viewing angles or obstacle avoidance are required. Utility Model Content

[0005] In order to make up for the above shortcomings, the utility model provides a spherical underwater robot, which aims to improve the problem that traditional spherical underwater robots are difficult to achieve rapid and continuous flexible adjustments, resulting in delayed movements and lack of flexibility when rapid adjustment of viewing angles or obstacle avoidance is required.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: a spherical underwater robot, comprising an outer shell, an outer wall of the outer shell being fixedly connected to a fish-scale-like deflector, an interior of the outer shell being fixedly connected to a camera, an interior of the outer shell being fixedly connected to a battery pack, side covers being fixedly connected to both sides of the outer wall of the outer shell, an internal rotational connection of the side covers to a driver, an internal sliding connection of the outer shell to a push seat, a propulsion assembly being provided on one side of the outer wall of the push seat, the propulsion assembly being used to propel one side of the push seat to move, a moving assembly being provided on the other side of the outer wall of the push seat, the moving assembly being used to initiate movement of the outer shell;

[0007] The propulsion assembly includes a pull rod, one end of which is rotatably connected to the other side of the outer wall of the pushing seat, and the other end of the pull rod is rotatably connected to a linkage plate. A motor is fixedly connected to the inside of the outer shell, and the output end of the motor is fixedly connected to the linkage plate.

[0008] Furthermore, the moving component includes a driver, one side of the outer wall of the driver is rotatably connected to one side of the outer wall of the pushing seat, the output end of the driver is fixedly connected to a propeller, the upper and lower sides of the interior of the driver are rotatably connected to spherical shafts, and the upper and lower sides of the interior of the side cover are provided with auxiliary propulsion mechanisms.

[0009] Furthermore, a sealing cover is slidably connected to the bottom of the outer shell, a counterweight is provided between the sealing cover and the outer shell, both sides of the outer wall of the sealing cover are fixedly connected to limit plates, the inner part of the outer shell is rotatably connected to a rotating rod, and a clamping assembly is provided on the outer wall of the rotating rod, and the clamping assembly is used to fix or release the limit plate.

[0010] Furthermore, the clamping assembly includes a clamping block, the interior of the clamping block is fixedly connected to the outer wall of the rotating rod, a torsion spring is sleeved on one side of the outer wall of the rotating rod, one end of the torsion spring is fixedly connected to the interior of the outer shell, and the outer wall of the clamping block is slidably connected to the interior of the limit plate.

[0011] Furthermore, the outer wall of the spherical shaft is rotatably connected to the inside of the side cover, and the spherical shaft is used to assist the driver in rotating.

[0012] Furthermore, the outer wall of the limiting plate is slidably connected to the interior of the outer shell, and the limiting plate is used to position the sealing cover.

[0013] Furthermore, the outer shell and the side cover are connected by bolts, and a sealing ring is provided between the outer shell and the side cover for sealing.

[0014] Furthermore, a sealing plate is slidably connected to the interior of the limiting plate, and the sealing plate is used to seal the interior of the limiting plate.

[0015] The utility model has the following beneficial effects:

[0016] 1. In the present invention, the driver and the auxiliary propulsion mechanism are first started to drive the propeller to rotate, thereby driving the robot to move. At this time, the motor is started to drive the linkage plate to rotate, and the pull rod, the push seat and the spherical shaft are coordinated to adjust the angle of the propeller to achieve flexible adjustment. Finally, the camera is used to shoot, which solves the problem that the robot is difficult to achieve fast and continuous flexible adjustment, resulting in delayed movement and lack of flexibility when the viewing angle needs to be quickly adjusted or obstacles need to be avoided. It can rotate and displace quickly and adapt to complex underwater environments. The camera can quickly aim at the target, improve detection accuracy, and is suitable for operations in narrow or complex areas.

[0017] 2. In the present invention, the sealing plate is first taken out, and then the clamping block is driven to rotate to cooperate with the rotating rod and the torsion spring to fix and release the limit plate, so that the sealing cover can be disassembled and assembled, and then the counterweight block can be placed as needed. By disassembling and assembling the counterweight block, the buoyancy can be adjusted as needed, so that the robot can adapt to different pressure environments such as shallow water and deep sea. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of a spherical underwater robot proposed in the utility model;

[0019] Figure 2 This is a structural diagram of one side of a side cover of a spherical underwater robot proposed in the present invention;

[0020] Figure 3 This is a structural diagram of one side of a linkage plate of a spherical underwater robot proposed in the present invention;

[0021] Figure 4 This is a schematic diagram of the bottom structure of the outer shell of a spherical underwater robot proposed in the present invention;

[0022] Figure 5 This is a structural schematic diagram of one side of a sealing cover of a spherical underwater robot proposed in the present invention.

[0023] Legend:

[0024] 1. Outer shell; 2. Fish-scale guide vane; 3. Camera; 4. Side cover; 5. Spherical shaft; 6. Drive; 7. Propeller; 8. Auxiliary propulsion mechanism; 9. Battery pack; 10. Motor; 11. Linkage plate; 12. Pull rod; 13. Push seat; 14. Sealing cover; 15. Counterweight; 16. Sealing plate; 17. Rotating rod; 18. Torsion spring; 19. Block; 20. Limit plate. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] Reference Figure 1 - Figure 3 , the utility model provides an embodiment: a spherical underwater robot, including an outer shell 1, the outer wall of the outer shell 1 is fixedly connected to a fish-scale-like guide plate 2, which effectively reduces the water flow resistance through the fish-scale-like guide plate 2, the inner part of the outer shell 1 is fixedly connected to a camera 3, and the camera 3 can realize underwater shooting. The inner part of the outer shell 1 is fixedly connected to a battery pack 9, and the battery pack 9 is used to power the camera 3, the driver 6, and the auxiliary propulsion mechanism 8. Both sides of the outer wall of the outer shell 1 are fixedly connected to side covers 4, and the inner part of the side cover 4 is rotatably connected to the driver 6. The inner part of the outer shell 1 is slidably connected to a push seat 13, and the driver 6 can be driven to rotate and adjust by the push seat 13, so as to facilitate steering. A propulsion component is provided on one side of the outer wall of the push seat 13, and the propulsion component is used to push one side of the push seat 13 to move. A moving component is provided on the other side of the outer wall of the push seat 13, and the moving component is used to start the movement of the outer shell 1;

[0027] The propulsion assembly includes a pull rod 12, one end of the pull rod 12 is rotatably connected to the other side of the outer wall of the pushing seat 13, and the other end of the pull rod 12 is rotatably connected to the linkage plate 11. The interior of the outer shell 1 is fixedly connected to a motor 10, and the output end of the motor 10 is fixedly connected to the linkage plate 11. Starting the motor 10 drives the linkage plate 11 to rotate, thereby pulling one end of the pull rods 12 on both sides to move through the linkage plate 11, and then driving the outer wall side of the pushing seat 13 to move through the other end of the pull rod 12. The moving assembly includes a driver 6, one side of the outer wall of the driver 6 is rotatably connected to one side of the outer wall of the pushing seat 13, the output end of the driver 6 is fixedly connected to the propeller 7, and the upper and lower sides of the interior of the driver 6 are rotatably connected to the spherical shaft 5, and the upper and lower sides of the interior of the side cover 4 are provided with auxiliary propulsion mechanisms 8, which assist the rotation of the driver 6 through the spherical shaft 5, and then drive the propeller 7 to rotate through the driver 6, thereby driving the robot to move, and at the same time, the auxiliary propulsion mechanisms 8 on both sides can drive the robot to move up and down;

[0028] Reference Figure 1 、 Figure 4 and Figure 5, the bottom of the outer shell 1 is slidably connected with a sealing cover 14, and a counterweight 15 is provided between the sealing cover 14 and the outer shell 1. Counterweights 15 of different weights can be placed as needed to adapt to different water pressures. The outer wall of the sealing cover 14 is fixedly connected to the limit plate 20 on both sides, and the inner rotation of the outer shell 1 is connected with a rotating rod 17, which is convenient for positioning the sealing cover 14 through the limit plate 20, and the rotating rod 17 is convenient for driving the clamping block 19 to rotate. The outer wall of the rotating rod 17 is provided with a clamping assembly, which is used to fix or release the limit plate 20, and the clamping assembly includes a clamping block 19. The inside of the clamping block 19 is fixedly connected to the outer wall of the rotating rod 17, and a torsion spring 18 is sleeved on one side of the outer wall of the rotating rod 17. One end of the torsion spring 18 is fixedly connected to the inside of the outer shell 1, and the outer wall of the clamping block 19 is slidably connected to The interior of the limit plate 20 and the outer wall of the spherical shaft 5 are rotatably connected to the interior of the side cover 4. The spherical shaft 5 is used to assist the rotation of the driver 6. The driving block 19 can fix or release the limit plate 20, thereby realizing the disassembly and assembly of the sealing cover 14. During this process, the torsion spring 18 can drive the block 19 back to its original position, which is convenient for next use. Finally, the limit plate 20 is sealed by the sealing plate 16 to prevent the torsion spring 18 from being affected and damaged. The outer wall of the limit plate 20 is slidably connected to the interior of the outer shell 1. The limit plate 20 is used to position the sealing cover 14. The outer shell 1 and the side cover 4 are connected by bolts. A sealing ring is provided between the outer shell 1 and the side cover 4 for sealing. The interior of the limit plate 20 is slidably connected to the sealing plate 16. The sealing plate 16 is used to seal the interior of the limit plate 20.

[0029] Working principle: When the spherical underwater robot is needed, the propeller 7 is first driven by the driver 6 to rotate and drive the outer shell 1 to move. In addition, the outer shell 1 can be driven up and down by the auxiliary propulsion mechanism 8. Then the motor 10 is started to drive the linkage plate 11 to rotate, thereby driving one end of the pull rods 12 on both sides to move through the linkage plate 11, and then the other end of the pull rod 12 pulls one side of the push seat 13 to move, and then the movement of the push seat 13 drives one side of the driver 6 to move, so that the driver 6 can be rotated and adjusted with the spherical shaft 5 as a circle, thereby facilitating steering. In addition, the fish scale-like guide plate 2 can be used to reduce water flow resistance, and the camera 3 can be used to shoot underwater.

[0030] In addition, before using the outer shell 1, the sealing plate 16 can be moved out of the interior of the limit plate 20, and then the block 19 can be driven to drive the rotating rod 17 to rotate inside the outer shell 1, thereby driving the torsion spring 18 to twist. When the block 19 rotates to a certain angle, the limit plate 20 can be removed, and then the counterweight 15 can be placed between the sealing cover 14 and the outer shell 1 as needed. After the placement is completed, the limit plate 20 is put back to its original position. At this time, the rebound of the torsion spring 18 drives the block 19 to rotate, thereby limiting the limit plate 20, and then fixing the sealing cover 14 and the counterweight 15, and finally putting the sealing plate 16 back to achieve sealing.

[0031] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A spherical underwater robot, comprising an outer shell (1), characterized in that: The outer wall of the outer shell (1) is fixedly connected to a fish-scale guide plate (2), the interior of the outer shell (1) is fixedly connected to a camera (3), the interior of the outer shell (1) is fixedly connected to a battery pack (9), both sides of the outer wall of the outer shell (1) are fixedly connected to side covers (4), the interior of the side covers (4) is rotatably connected to a driver (6), the interior of the outer shell (1) is slidably connected to a push seat (13), one side of the outer wall of the push seat (13) is provided with a propulsion component, the propulsion component is used to push one side of the push seat (13) to move, and the other side of the outer wall of the push seat (13) is provided with a moving component, the moving component is used to start the outer shell (1) to move; The propulsion assembly includes a pull rod (12), one end of the pull rod (12) is rotatably connected to the other side of the outer wall of the pushing seat (13), the other end of the pull rod (12) is rotatably connected to the linkage plate (11), the interior of the outer shell (1) is fixedly connected to a motor (10), and the output end of the motor (10) is fixedly connected to the linkage plate (11).

2. A spherical underwater robot according to claim 1, characterized in that: The moving assembly includes a driver (6), one side of the outer wall of the driver (6) is rotatably connected to one side of the outer wall of the pushing seat (13), an output end of the driver (6) is fixedly connected to a propeller (7), the upper and lower sides of the interior of the driver (6) are both rotatably connected to a spherical shaft (5), and the upper and lower sides of the interior of the side cover (4) are both provided with an auxiliary propulsion mechanism (8).

3. The spherical underwater robot according to claim 1, characterized in that: The bottom of the outer shell (1) is slidably connected to a sealing cover (14), a counterweight (15) is provided between the sealing cover (14) and the outer shell (1), both sides of the outer wall of the sealing cover (14) are fixedly connected to the limit plate (20), the interior of the outer shell (1) is rotatably connected to a rotating rod (17), the outer wall of the rotating rod (17) is provided with a clamping assembly, and the clamping assembly is used to fix or release the limit plate (20).

4. The spherical underwater robot according to claim 3, characterized in that: The clamping assembly comprises a clamping block (19), the interior of the clamping block (19) is fixedly connected to the outer wall of the rotating rod (17), a torsion spring (18) is sleeved on one side of the outer wall of the rotating rod (17), one end of the torsion spring (18) is fixedly connected to the interior of the outer shell (1), and the outer wall of the clamping block (19) is slidably connected to the interior of the limiting plate (20).

5. The spherical underwater robot according to claim 2, characterized in that: The outer wall of the spherical rotating shaft (5) is rotatably connected to the inside of the side cover (4), and the spherical rotating shaft (5) is used to assist the driver (6) in rotating.

6. The spherical underwater robot according to claim 3, characterized in that: The outer wall of the limiting plate (20) is slidably connected to the interior of the outer shell (1), and the limiting plate (20) is used to position the sealing cover (14).

7. The spherical underwater robot according to claim 1, characterized in that: The outer shell (1) and the side cover (4) are connected via bolts, and a sealing ring is provided between the outer shell (1) and the side cover (4) for sealing.

8. The spherical underwater robot according to claim 4, characterized in that: The interior of the limiting plate (20) is slidably connected to a sealing plate (16), and the sealing plate (16) is used to seal the interior of the limiting plate (20).

Images