Combined underwater robot
By designing a modular underwater robot and utilizing the connecting components of the floating robot and the wall-walking robot to achieve stable attachment, the problems of insufficient suspension stability and adhesion were solved, enabling efficient operation in poor sea conditions.
Patent Information
- Application Number
- CN202423082116.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-13
- Publication Date
- 2025-09-30
- Estimated Expiration
- 2034-12-13
AI Technical Summary
Common floating and wall-walking underwater robots have problems with poor suspension stability, weak control capabilities, and insufficient adhesion in marine environments, making it difficult for them to effectively operate close to the surface of fixed objects in environments with poor sea conditions.
A combined underwater robot is designed, including a floating robot and a wall-walking robot. Quick connection and disassembly are achieved through connecting components. The floating robot can transport the wall-walking robot to the operation point and use thrust to press it against the wall to achieve stable attachment.
In an environment with poor sea conditions, the combined underwater robot can stably attach to the wall and operate efficiently, improving its operating capabilities on the surface of fixed objects.
Smart Images
Figure CN223396351U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of underwater robots, and in particular to a combined underwater robot. Background Art
[0002] Common floating robots provide good flexibility for underwater operations, but their suspension stability is poor, especially when affected by changes in ocean currents. Their self-control capabilities are poor, making it difficult to maintain precise position control. Common underwater wall-walking robots have problems such as difficulty in deployment and weak adhesion to walls. For example, wall-walking robots with wheel drive have a large turning radius and limited maneuverability; while track-driven robots have poor lateral movement capabilities and are prone to damaging walls when rotating in place. Therefore, in environments with poor sea conditions, for tasks that require close proximity to fixed surfaces, such as inspection and maintenance of marine structures or the outer walls of ships, relying solely on floating robots or wall-walking robots often cannot achieve effective contact and stable operations. Utility Model Content
[0003] In order to solve the above technical problems, the present application provides a combined underwater robot, including a floating robot, a wall-walking robot and a connecting assembly; the floating robot includes a first frame; the wall-walking robot includes a second frame; the connecting assembly includes a first connecting member and a second connecting member; the first connecting member is arranged on the first frame; the second connecting member is arranged on the second frame; the first connecting member is provided with a first card slot and a first card block; the second connecting member is provided with a second card slot and a second card block; the sizes of the first card slot and the second card block are adapted to each other; the sizes of the first card block and the second card slot are adapted to each other, so that the first connecting member and the second connecting member can be quickly connected and disassembled by card connection.
[0004] In some embodiments of the present application, the first frame includes a top wall, side walls, and a bottom wall; the top wall, side walls, and bottom wall enclose an installation space.
[0005] In some embodiments of the present application, the floating robot also includes an underwater thruster, a power battery compartment and a control device compartment; the underwater thrusters are in multiple groups, and the multiple groups of underwater thrusters are respectively arranged on the top wall and the side wall; the power battery compartment and the control device compartment are arranged in the installation space.
[0006] In some embodiments of the present application, the floating robot further includes a lighting component and an observation component; the lighting component and the observation component are arranged in the installation space.
[0007] In some embodiments of the present application, the second frame includes a top surface and a bottom surface; the wall-walking robot also includes a driving unit and a driving wheel, and the driving unit is arranged on the bottom surface of the second frame; the driving wheel is transmission-connected to the driving unit.
[0008] In some embodiments of the present application, the driving unit is a motor.
[0009] In some embodiments of the present application, the driving wheel is a Mecanum wheel.
[0010] In some embodiments of the present application, the arrangement directions of the multiple groups of underwater thrusters are not exactly the same, so that the floating robot can move in six degrees of freedom.
[0011] Compared with the prior art, the utility model has the following advantages and beneficial effects: the combined underwater robot of the present application includes a floating robot, a wall-walking robot and a connecting assembly, the connecting assembly includes a first connecting member and a second connecting member, the first connecting member is arranged on the first frame of the floating robot, and the second connecting member is arranged on the second frame of the wall-walking robot, and the first connecting member and the second connecting member are quickly connected and disassembled by snapping, so that the floating robot and the wall-walking robot can work together. When the combined robot enters the water, the floating robot can transport the wall-walking robot to the operation point. At the same time, the thrust generated by the floating robot can press the wall-walking robot onto the operation wall. Even in an environment with poor sea conditions, the combined underwater robot can still be stably attached to the wall and perform operations efficiently.
[0012] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] The accompanying drawings, which constitute part of this document, are intended to provide a further understanding of this document. The exemplary embodiments and descriptions herein are intended to explain this document and do not constitute an improper limitation on this document. In the accompanying drawings:
[0014] Figure 1 This is a schematic structural diagram of a combined underwater robot provided by an exemplary embodiment of the present application;
[0015] Figure 2 is a schematic structural diagram of a floating robot provided by an exemplary embodiment of the present application;
[0016] Figure 3 is a schematic structural diagram of a wall-walking robot provided by an exemplary embodiment of the present application;
[0017] Figure 4 It is a structural diagram of a connection component provided by an exemplary embodiment of the present application.
[0018] In the picture:
[0019] 1. Floating robot; 2. Connecting components; 3. Wall-walking robot;
[0020] 11. First frame; 12. Underwater thruster; 13. Power battery compartment; 14. Control device compartment; 15. Observation assembly; 16. Lighting assembly; 21. First connecting piece; 211. First clamping block; 22. Second connecting piece; 221. Second clamping block; 31. Second frame; 32. Drive wheel; 33. Drive unit; 34. Watertight joint. DETAILED DESCRIPTION
[0021] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other in any way.
[0022] Common floating robots provide good flexibility for underwater operations, but their suspension stability is poor, especially when affected by changes in ocean currents. Their self-control capabilities are poor, making it difficult to maintain precise position control. Common underwater wall-walking robots have problems such as difficulty in deployment and weak adhesion to walls. For example, wall-walking robots with wheel drive have a large turning radius and limited maneuverability; while track-driven robots have poor lateral movement capabilities and are prone to damaging walls when rotating in place. Therefore, in environments with poor sea conditions, for tasks that require close proximity to fixed surfaces, such as inspection and maintenance of marine structures or the outer walls of ships, relying solely on floating robots or wall-walking robots often cannot achieve effective contact and stable operations.
[0023] Based on this, an exemplary embodiment of the present application provides a combined underwater robot, which includes a floating robot, a wall-walking robot and a connecting assembly. The connecting assembly includes a first connecting member and a second connecting member. The first connecting member is arranged on the first frame of the floating robot, and the second connecting member is arranged on the second frame of the wall-walking robot. The first connecting member and the second connecting member are quickly connected and disassembled by snapping. In this way, the floating robot and the wall-walking robot can work together. When the combined robot enters the water, the floating robot can transport the wall-walking robot to the operation point. At the same time, the thrust generated by the floating robot can press the wall-walking robot onto the operation wall. Even in an environment with poor sea conditions, the combined underwater robot can still be stably attached to the wall and perform operations efficiently.
[0024] An exemplary embodiment of the present application provides a combined underwater robot, such as Figure 1 As shown, the combined underwater robot includes a floating robot 1, a wall-walking robot 3, and a connecting component 2. The floating robot 1 and the wall-walking robot 3 are separated and connected through the connecting component 2, so that the combined underwater robot can work alone through the floating robot 1; at the same time, the floating robot 1 and the wall-walking robot 3 can work together. Figure 2 As shown, the floating robot 1 includes a first frame 11; the first frame 11 includes a top wall, side walls and a bottom wall; the top wall, side walls and bottom wall enclose an installation space. The floating robot 1 also includes an underwater propeller 12, a power battery compartment 13, a control device compartment 14, a lighting component 16, and an observation component 15; the underwater propeller 12 is in multiple groups, and the multiple groups of underwater propellers 12 are respectively arranged on the top wall and the side walls; preferably, the arrangement directions of the multiple groups of underwater propellers 12 are not exactly the same, so that the floating robot 1 can move in six degrees of freedom. The power battery compartment 13 and the control device compartment 14 are arranged in the installation space, the lighting component 16 is preferably a lighting lamp, and the observation component 15 is preferably a camera, and the lighting component 16 and the observation component 15 are also arranged in the installation space.
[0025] like Figure 3 As shown, the wall-walking robot 3 includes a second frame 31; the second frame 31 includes a top surface and a bottom surface; the wall-walking robot 3 also includes a drive unit 33, drive wheels 32, and a watertight joint 34. The watertight joint 34 is connected to the control device compartment 14 to control the wall-walking robot 3. The drive unit 33 is disposed on the bottom surface of the second frame 31; the drive wheels 32 are in transmission connection with the drive unit 33. Preferably, the drive unit 33 is a motor, and the drive wheels 32 are Mecanum wheels. The Mecanum wheels can help the wall-walking robot 3 better adjust its posture and position, thereby improving flexibility, operating efficiency, and accuracy.
[0026] like Figure 4As shown, the connection assembly 2 includes a first connection member 21 and a second connection member 22; the first connection member 21 is arranged on the first frame 11; the second connection member 22 is arranged on the second frame 31; the first connection member 21 is provided with a first slot and a first block 211; the second connection member 22 is provided with a second slot and a second block 221; the sizes of the first slot and the second block 221 are adapted to each other; the sizes of the first block 211 and the second slot are adapted to each other, so that the first connection member 21 and the second connection member 22 can be quickly connected and disassembled by snapping. In this way, the floating robot 1 and the wall-walking robot 3 can work together. When the combined robot enters the water, the floating robot 1 can transport the wall-walking robot 3 to the operation point. At the same time, the thrust generated by the floating robot 1 can press the wall-walking robot 3 onto the operation wall. Even in a poor sea condition, the combined underwater robot can still stably adhere to the wall and perform operations efficiently.
[0027] Depending on the working conditions, the floating robot 1 and the wall-walking robot 3 can be selected to work together, or the rotating floating robot 1 can work alone. When the first connecting member 21 and the second connecting member 22 are separated, the floating robot 1 can work alone; when the first connecting member 21 and the second connecting member 22 are engaged, the floating robot 1 and the wall-walking robot 3 can work together.
[0028] In this application, the terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that an article or device comprising a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such article or device. In the absence of further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the article or device comprising the element.
[0029] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.
[0030] Obviously, those skilled in the art may make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if such changes and modifications of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such changes and modifications.
Claims
1. A combined underwater robot, characterized in that: It includes a floating robot, a wall-walking robot and a connecting component; the floating robot includes a first frame; the wall-walking robot includes a second frame; the connecting component includes a first connecting member and a second connecting member; the first connecting member is arranged on the first frame; the second connecting member is arranged on the second frame; the first connecting member is provided with a first card slot and a first card block; the second connecting member is provided with a second card slot and a second card block; the sizes of the first card slot and the second card block are adapted to each other; the sizes of the first card block and the second card slot are adapted to each other, so that the first connecting member and the second connecting member can be quickly connected and disassembled by card connection.
2. The combined underwater robot according to claim 1, characterized in that: The first frame includes a top wall, side walls and a bottom wall; the top wall, side walls and bottom wall enclose an installation space.
3. The combined underwater robot according to claim 2, characterized in that: The floating robot also includes an underwater propeller, a power battery compartment and a control device compartment; the underwater propellers are in multiple groups, and the multiple groups of underwater propellers are respectively arranged on the top wall and the side wall; the power battery compartment and the control device compartment are arranged in the installation space.
4. The combined underwater robot according to claim 2, characterized in that: The floating robot further includes a lighting component and an observation component; the lighting component and the observation component are arranged in the installation space.
5. The combined underwater robot according to claim 1, characterized in that: The second frame includes a top surface and a bottom surface; the wall-walking robot also includes a driving unit and a driving wheel, the driving unit is arranged on the bottom surface of the second frame; the driving wheel is in transmission connection with the driving unit.
6. The combined underwater robot according to claim 5, characterized in that: The driving unit is a motor.
7. The combined underwater robot according to claim 5, characterized in that: The driving wheel is a Mecanum wheel.
8. The combined underwater robot according to claim 3, characterized in that: The arrangement directions of the multiple groups of underwater thrusters are not exactly the same, so that the floating robot can move in six degrees of freedom.