Underwater robot walking structure

Abstract

The utility model belongs to the technical field of underwater robots, and discloses an underwater robot walking structure which comprises a machine body and a support, the machine body is installed on the support, spiral propellers are arranged on the two sides of the support, each spiral propeller comprises a roller, a rotating shaft and a fixing shaft, one end of each fixing shaft is connected with the corresponding roller, and one end of each rotating shaft is fixedly connected with the corresponding roller. The other end of the rotating shaft is rotationally connected with the fixed shaft, and the rotating shaft drives the roller to move relative to the fixed shaft; through the relative rotation of the roller and the fixed shaft, the roller can more flexibly adapt to complex environments under different terrains, and the abrasion of the bearing and the rotating shaft is reduced; the roller is indirectly driven by the rotating shaft, the fixed shaft is static to provide support, and the roller flexibly rotates around the fixed shaft, so that more uniform grounding area distribution is realized in different terrains, the risk of sinking into soil is reduced, and the working efficiency is further improved.

Description

Technical Field

[0001] This utility model relates to the field of underwater robot technology, and in particular to an underwater robot walking structure. Background Technology

[0002] Underwater robots are intelligent equipment used in extreme underwater operations and are widely used in marine exploration, environmental monitoring, search and rescue operations, etc. However, the complexity of the underwater environment, such as silt cover, soft terrain and high pressure environment, puts high demands on the walking and operation performance of underwater robots. At present, many underwater robots adopt traditional propulsion methods, such as propeller or track structure. Although they can provide a certain propulsion capability, they are still insufficient in terms of adaptability to complex terrain and propulsion efficiency.

[0003] Patent CN220947403U discloses an underwater robot with a composite propulsion mode. It directly drives the drum to rotate through a motor and sets helical blades on the surface of the drum to enable the robot to propel itself in environments such as swamps, beaches, and underwater. However, in this solution, the drum relies entirely on the rigid drive of the motor. The dynamic load of the drum is mainly concentrated on the motor output shaft and the support bearing. This design leads to increased wear between components, affecting the service life of the equipment. On the other hand, this design has certain limitations in adapting to complex terrain, which can easily lead to uneven force distribution, the drum getting stuck in mud and sand, and reduced efficiency.

[0004] Therefore, an underwater robot walking structure is proposed to solve the above problems. Utility Model Content

[0005] The main purpose of this utility model is to provide an underwater robot walking structure, which aims to solve the problem that the design of existing underwater robot walking structures cannot fully adapt to complex terrain, causing the equipment to get stuck in the mud during operation and reducing work efficiency.

[0006] To achieve the above-mentioned utility model objectives, this utility model proposes an underwater robot walking structure, including a body and a support. The body is mounted on the support, and the support has helical propellers on both sides. Each helical propeller includes a roller, a rotating shaft, and a fixed shaft. One end of the fixed shaft is connected to the roller, one end of the rotating shaft is fixedly connected to the roller, and the other end of the rotating shaft is rotatably connected to the fixed shaft.

[0007] The rotating shaft drives the roller to move relative to the fixed shaft.

[0008] Furthermore, the outer surface of the roller is provided with helical blades, and the two helical blades rotate in opposite directions.

[0009] Furthermore, sealing rings are provided at both ends of the roller.

[0010] Furthermore, the roller is elliptical in shape.

[0011] Furthermore, the fuselage has a hollow structure design.

[0012] Furthermore, the support is trapezoidal in shape.

[0013] Beneficial effects:

[0014] This utility model discloses an underwater robot walking structure, comprising a body and a support frame. The body is mounted on the support frame, and the support frame has helical propellers on both sides. Each helical propeller includes a roller, a rotating shaft, and a fixed shaft. One end of the fixed shaft is connected to the roller, one end of the rotating shaft is fixedly connected to the roller, and the other end of the rotating shaft is rotatably connected to the fixed shaft. The rotating shaft drives the roller to move relative to the fixed shaft. Through the relative rotation of the roller and the fixed shaft, it can more flexibly adapt to complex environments in different terrains, reducing the wear of bearings and the rotating shaft. The roller is indirectly driven by the rotating shaft, while the fixed shaft provides support while remaining stationary. The roller rotates flexibly around the fixed shaft, thereby achieving a more uniform ground contact area distribution in different terrains, reducing the risk of getting stuck in mud, and thus improving work efficiency. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of an underwater robot walking structure according to an embodiment of the present invention;

[0016] Figure 2 This is a cross-sectional view of the propeller of an underwater robot walking structure according to an embodiment of this utility model;

[0017] in:

[0018] 100. Fuselage; 110. Cover plate; 120. Baffle plate;

[0019] 200. Drum; 210. Fixed cover; 220. Spiral blade;

[0020] 300. Rotation axis;

[0021] 400. Fixed shaft;

[0022] 500, sealing ring;

[0023] 600, bracket;

[0024] 700, support shaft;

[0025] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0026] It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0027] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly and specifically defined.

[0028] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0029] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0030] Reference Figure 1 and Figure 2This utility model discloses an underwater robot walking structure, which includes a body 100 and a support 600. The body 100 is mounted on the support 600. The support 600 has helical propellers on both sides. Each helical propeller includes a roller 200, a rotating shaft 300, and a fixed shaft 400. One end of the fixed shaft 400 is connected to the roller 200, one end of the rotating shaft 300 is fixedly connected to the roller 200, and the other end of the rotating shaft 300 is rotatably connected to the fixed shaft 400.

[0031] The rotating shaft 300 drives the roller 200 to move relative to the fixed shaft 400;

[0032] The outer surface of the roller 200 is provided with helical blades 220, and the two helical blades 220 rotate in opposite directions;

[0033] The bracket 600 is trapezoidal in shape.

[0034] The underwater robot's walking structure in this embodiment includes a body 100 comprising a frame, a cover plate 110, and a baffle 120. The cover plate 110 and the baffle 120 seal the frame, creating a closed space within it. The propeller includes a roller 200, a drive motor, a rotating shaft 300, a fixed shaft 400, and a support shaft 700. The roller 200 includes a fixed cover 210 and helical blades 220. The fixed cover 210 is connected to one end of the fixed shaft 400, and the other end of the fixed shaft 400 is connected to the rotating shaft 300. An oil seal cover is connected to the rotating shaft 300 via a bearing cover. The roller 200 is connected to the support 600 via the support shaft 700. In this embodiment, when the drive motor starts working, the rotating shaft 300 drives the roller 200 to move relative to the fixed shaft 400. In this embodiment, the fixed shaft 400 is stationary, and the roller 200 rotates around the fixed shaft 400. This design allows the equipment to maintain uniform force when facing walking surfaces of different hardness, reducing the risk of the equipment getting stuck in the mud. In addition, this design also reduces the mechanical load on the bearings and rotating shaft 300 when the roller 200 rotates, extending the service life of the equipment.

[0035] Correspondingly, the rotation of the roller 200 drives the helical blades 220 to efficiently generate thrust, enabling stable forward movement in complex environments such as underwater. The reverse design of the helical blades 220 balances the thrust of the roller 200, preventing the robot from deviating. When the drive motor drives the roller 200 to rotate, the helical blades 220 interact with mud, sand, seabed, etc. Through the reverse rotation design, the left and right rollers 200 generate complementary thrust during rotation, which not only propels the robot forward but also maintains the stability of straight-line walking. The rotation of the roller 200 combined with the helical blade design provides a larger ground contact area, reduces the pressure per unit area, and makes it more resistant to sinking in soft terrain. This design is particularly suitable for underwater robots operating in complex environments, such as seabed exploration, swamp environments, or underwater dredging.

[0036] Based on the above embodiments, sealing rings 500 are provided at both ends of the roller 200.

[0037] Specifically, the connection between the rotating shaft 300 and the drum 200, and the connection between the drum 200 and the fixed shaft 400, are both equipped with sealing rings 500. The design of the sealing rings 500 fully considers the needs of the complex underwater environment, prevents water from seeping into the internal structure from the interface, protects the internal components from seawater corrosion, and improves the reliability and service life of the equipment. This design is especially suitable for underwater robots that need to operate for a long time, such as high-intensity working conditions such as marine exploration, dredging and rescue.

[0038] The roller 200 is elliptical in shape;

[0039] The fuselage 100 has a hollow structure design.

[0040] In this embodiment, the roller 200 is elliptical in shape. This elliptical design prevents it from sinking into mud when encountering soft ground during offshore operations. The elliptical shape also provides a larger contact area on soft surfaces such as mud, sand, and swamps, reducing pressure per unit area and lowering the risk of the roller 200 getting stuck. Furthermore, the varying width of the elliptical geometry ensures a more even distribution of force on the ground during rolling, thus improving adaptability to uneven terrain. Both the roller 200 and the fuselage 100 are hollow internally. The design reduces the pressure exerted on the ground by significantly lowering the overall weight of the underwater robot through the hollow 100-inch fuselage. This reduces pressure on the ground or seabed, helping the robot maintain normal movement in soft terrain and minimizing the risk of sinking. The hollow structure also increases buoyancy, making it easier to control the robot's attitude during underwater operations, especially during snorkeling and descent, enabling more precise maneuvers. Combined with the elliptical design of the 200-inch rollers, the hollow structure better distributes ground pressure, improving the robot's performance on soft or deformable surfaces.

[0041] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural or procedural transformations made based on the content of the present utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present utility model.

Claims

1. A walking structure for an underwater robot, characterized in that, The device includes a body (100) and a support (600). The body (100) is mounted on the support (600). The support (600) has screw propellers on both sides. Each screw propeller includes a drum (200), a rotating shaft (300), and a fixed shaft (400). One end of the fixed shaft (400) is connected to the drum (200), one end of the rotating shaft (300) is fixedly connected to the drum (200), and the other end of the rotating shaft (300) is rotatably connected to the fixed shaft (400). The rotating shaft (300) drives the roller (200) to move relative to the fixed shaft (400).

2. The underwater robot walking structure according to claim 1, characterized in that, The outer side of the roller (200) is provided with helical blades (220), and the two helical blades (220) rotate in opposite directions.

3. The underwater robot walking structure according to claim 1, characterized in that, Both ends of the roller (200) are provided with sealing rings (500).

4. The underwater robot walking structure according to claim 3, characterized in that, The roller (200) is elliptical in shape.

5. The underwater robot walking structure according to claim 1, characterized in that, The fuselage (100) has a hollow structure design.

6. The underwater robot walking structure according to claim 1, characterized in that, The bracket (600) is trapezoidal in shape.

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