Posture adjusting mechanism of submarine robot

Abstract

The utility model relates to a posture adjusting mechanism of a submarine robot. The posture adjusting mechanism comprises a main frame, a walking assembly and a connecting rod device. The walking assemblies are connected to the two sides of the main frame through the connecting rod devices. The connecting rod device comprises a first connecting rod assembly and a second connecting rod assembly which are connected with each other, one end of the first connecting rod assembly is connected with the main frame, the other end of the first connecting rod assembly is hinged to the walking assembly, and the first connecting rod assembly can drive the walking assembly to reciprocate in the direction of a transverse shaft; the walking assembly can drive the main frame to ascend and descend when moving. One end of the second connecting rod assembly is hinged to the first connecting rod assembly, the other end of the second connecting rod assembly is connected with the walking assembly, and the second connecting rod assembly can drive the walking assembly to obliquely rotate relative to the main frame. The posture adjusting mechanism provided by the utility model can freely adjust the state of the walking assembly of the robot so as to better adapt to different terrains of the seabed.

Description

Technical Field

[0001] This utility model relates to the field of underwater robot walking technology, specifically to an attitude adjustment mechanism for an underwater robot. Background Technology

[0002] The cable-laying work of underwater cable-laying robots is mainly based on the "lay first, then bury" technique. When the robot moves along the seabed, it first uses high-pressure water jets to clear away the mud and sand in front of it, forming deep trenches. As the water jets continue, the trenches extend forward. Then, a cable-pressing device presses the cable into the formed trenches, ensuring stable cable laying. Finally, a backfilling device backfills the cable trenches, covering the cable and completing the laying process. The entire trenching and cable-laying operation relies on the robot's autonomous movement. Therefore, tracked underwater robots, due to their ability to adapt to complex seabed terrain, have a wide range of applications in underwater operations.

[0003] For example, Chinese patent CN113882455A discloses an underwater trenching machine's walking device, specifically disclosing "a frame and a pair of sub-walking devices symmetrically arranged around the frame's central axis, the sub-walking devices being connected to the frame; each sub-walking device includes a track beam, a drive unit, tracks, and a protective device." This tracked walking device enables the trenching machine to move and drive itself, allowing for cable laying and trenching operations without the need for towing by a mother ship. While existing technologies have solved the problem of autonomous movement for trenching machines, they cannot adaptively adjust the track's posture. Because the seabed environment is highly complex, with varying terrain, unlike the flat terrain on land, encountering higher or lower terrain may require repositioning the machine, which is cumbersome and hinders trenching and cable laying in some areas.

[0004] Therefore, it is necessary to improve upon existing technologies and provide an adjustable mechanism that can adapt to various terrains. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a simple structure for the attitude adjustment mechanism of an underwater robot that can adapt to different seabed terrains.

[0006] To solve the above-mentioned technical problems, the technical solution used in this utility model is: an attitude adjustment mechanism for an underwater robot, including a main frame, a walking component, and a linkage device; the walking component is connected to both sides of the main frame through the linkage device; the linkage device includes a first linkage assembly and a second linkage assembly connected to each other, one end of the first linkage assembly is connected to the main frame, and the other end is hinged to the walking component, the first linkage assembly can drive the walking component to reciprocate along the horizontal axis, and the walking component can drive the main frame to perform lifting and lowering movements when it moves; one end of the second linkage assembly is hinged to the first linkage assembly, and the other end is connected to the walking component, the second linkage assembly can drive the walking component to tilt and rotate relative to the main frame.

[0007] Preferably, the first linkage assembly includes a first driver, a main rod, a connecting rod, a secondary rod, and a moving rod, wherein the main rod, connecting rod, secondary rod, and moving rod are hinged together in sequence; the two ends of the first driver are respectively connected to the main frame and the main rod, and the moving rod is also connected to the walking assembly; the first driver can drive the moving rod to move along the transverse axis direction through the main rod.

[0008] Preferably, the main rod, connecting rod, auxiliary rod and moving rod are connected by four hinge points in sequence, and the lines connecting the four hinge points form a parallelogram structure in the same plane.

[0009] Preferably, the second linkage assembly includes a second driver and a pull rod, and the first linkage assembly includes a moving rod. One end of the pull rod and the moving rod are respectively hinged to the second driver, the other end of the pull rod is fixed to the walking assembly, and the other end of the moving rod is hinged to the walking assembly. The second driver can simultaneously drive the pull rod and the moving rod to move. When the pull rod and the moving rod move, the walking assembly can tilt and rotate relative to the main frame.

[0010] Preferably, the walking assembly includes a track beam, track plates, a chain belt, and a power assembly. The track plates are fixed to the chain belt, and the power assembly is fixed to the track beam and can drive the chain belt to rotate relative to the track beam. The track beam is hinged to the linkage device.

[0011] Preferably, the power assembly includes a sprocket and a power motor. The sprockets are respectively located at both ends of the track beam and respectively mesh with the chain belt. The power motor is fixed on the track beam and connected to at least one of the sprockets. The power motor can drive the chain belt to rotate through the sprockets.

[0012] Preferably, the walking assembly further includes guide wheels, and there are multiple guide wheels, which are spaced apart along the length direction of the track beam and abut against the chain belt.

[0013] Preferably, the mechanism also includes a sensor and a controller, the sensor being electrically connected to the controller, and the attitude adjustment mechanism further includes a first driver and a second driver, the sensor being used to detect pressure information from the first driver and the second driver.

[0014] The beneficial effects of this utility model are mainly reflected in the following aspects: the robot's overall lifting effect is achieved by controlling the translation of the walking component through the first linkage assembly; the robot's overall posture can be freely adjusted by controlling the tilting and rotation of the walking component relative to the main frame through the second linkage assembly, thereby enabling it to better adapt to different seabed terrains. Attached Figure Description

[0015] The above and other objects, features, and advantages of this invention will become clearer through a more detailed description of the preferred embodiments shown in the accompanying drawings. The same reference numerals indicate the same parts throughout the drawings, and the drawings are not intentionally drawn to scale with actual dimensions; the focus is on illustrating the gist of this invention.

[0016] Figure 1 This is a schematic diagram of the connection structure between the main frame, the connecting rod device, and the walking assembly in this utility model;

[0017] Figure 2 This is a schematic diagram of the translational state of the walking component in this utility model;

[0018] Figure 3 This is a schematic diagram of the structure of the first connecting rod assembly in this utility model;

[0019] Figure 4 This is a schematic diagram showing the translational and rotational states of the walking component in this utility model;

[0020] Figure 5 This is a schematic diagram of the overall structure of the underwater robot in this utility model;

[0021] In the diagram: Main frame 1, walking assembly 2, track beam 20, track plate 21, chain belt 22, sprocket 23, guide wheel 24, linkage device 3, first linkage assembly 30, main rod 301, connecting rod 302, auxiliary rod 303, moving rod 304, first driver 305, second linkage assembly 31, pull rod 310, second driver 311. Detailed Implementation

[0022] To facilitate understanding of this utility model, a more comprehensive description of this utility model will be given below with reference to the accompanying drawings.

[0023] It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to and integrated with the other component, or there may be an intervening component present. The terms "mounted," "one end," "the other end," and similar expressions used in this document are for illustrative purposes only.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0025] refer to Figure 1-5 This utility model provides an attitude adjustment mechanism for an underwater robot, including a main frame 1, a walking component 2, and a linkage device 3. The main frame 1 serves as the core support of the entire robot and is mainly used for connecting and installing various devices. The walking component 2 is mainly used to provide the robot with a walking function, and the linkage device 3 is mainly used to adjust the attitude of the walking component 2. The walking component 2 is connected to both sides of the main frame 1 via the linkage device 3 (specifically, the walking component 2 is hinged to both sides of the main frame 1). The linkage device 3 includes a first linkage assembly 30 and a second linkage assembly 31 connected to each other. One end of the first linkage assembly 30 is connected to the main frame 1, and the other end is hinged to the walking component 2. The first linkage assembly 30 can drive the walking component 2 to reciprocate along the horizontal axis direction. In this embodiment, the direction perpendicular to the robot's forward direction is the horizontal axis direction, which is... Figure 1 The robot moves in the left and right directions. When the walking component 2 moves, it can drive the main frame 1 to move up and down. Specifically, when the walking components 2 on both sides of the main frame 1 move along the horizontal axis, they can drive the main frame 1 to descend, thereby lowering the overall height of the robot. When they move back, they can drive the main frame 1 to rise, thereby raising the overall height of the robot. This allows it to better adapt to uneven seabed terrain. One end of the second link assembly 31 is hinged to the first link assembly 30, and the other end is connected to the walking component 2. The second link assembly 31 can drive the walking component 2 to tilt and rotate relative to the main frame 1. That is, the tilt angle of the walking component 2 relative to the seabed surface can be adjusted through the second link assembly 31, thereby further adapting to different seabed terrains.

[0026] The attitude adjustment mechanism for the underwater robot provided by this utility model, compared with the prior art, has the technical effect of freely adjusting the state of the robot's walking component 2, thereby better adapting to different seabed terrains.

[0027] refer to Figure 1-4In a preferred embodiment, the first linkage assembly 30 includes a first driver 305, a main rod 301, a connecting rod 302, a secondary rod 303, and a moving rod 304. The main rod 301, connecting rod 302, secondary rod 303, and moving rod 304 are hinged sequentially. In this embodiment, the first driver 305 is a hydraulic cylinder. Both ends of the first driver 305 are connected to the main frame 1 and the main rod 301, respectively. The moving rod 304 is also connected to the walking assembly 2. The first driver 305 can drive the moving rod 304 to move along the transverse axis through the main rod 301. Specifically, the main rod 301, connecting rod 302, secondary rod 303, and moving rod 304 are hinged to each other and together form a parallel four-bar linkage structure. When the first driver 305 (hydraulic cylinder) performs a telescopic movement, it drives the main rod 301 to move, thereby generating a linkage effect and driving the moving rod 304 to translate along the transverse axis.

[0028] refer to Figure 2 The process by which the first linkage assembly 30 lowers the overall height of the robot is as follows: When the first driver 305 retracts (i.e., the piston rod of the hydraulic cylinder retracts), it generates a pulling force on the main rod 301. Simultaneously, the lower end of the main rod 301 (the end hinged to the moving rod 304) also generates an upward pulling force on the moving rod 304. At this time, the upper end of the main rod 301 moves backward (i.e., moves towards the secondary rod 303). Based on the characteristics of a parallel four-bar linkage, when the main rod 301 moves, the secondary rod 303 also moves relatively. At this time, the lower end of the secondary rod 303 (the end hinged to the moving rod 304) generates a pushing force on the moving rod 304. Figure 2 As shown, the auxiliary rod 303 changes from its original relatively vertical state to an inclined state, thereby pushing the moving rod 304 outward and realizing the translational movement of the moving rod 304. The moving rod 304 is hinged to the walking component 2. When the moving rod 304 moves, it also causes the walking component 2 to translate outward (the so-called outward translation means moving away from the main frame 1). When the walking components 2 on both sides of the main frame 1 translate outward respectively, the overall height of the main frame 1 decreases, thereby reducing the overall height of the robot.

[0029] Based on the same principle, when the first actuator 305 extends (i.e., the piston rod of the hydraulic cylinder extends), it generates a thrust on the main rod 301. Based on the characteristics of the parallel four-bar linkage, the main rod 301 moves while generating a linkage effect on the other rods. Finally, the moving rod 304 drives the walking component 2 to move back (i.e., move towards the main frame 1), thereby changing the robot from a descending state to an ascending state.

[0030] refer to Figure 3In a further preferred embodiment, the main rod 301, connecting rod 302, auxiliary rod 303, and moving rod 304 are hinged at four points, and the lines connecting the four hinge points form a parallelogram structure in the same plane. That is... Figure 3 The four hinge points A, B, C, and D in the structure are connected by a parallelogram-shaped linkage. This structure is simple in terms of structure, and it can also effectively realize the translation of the walking component 2, thereby driving the overall height of the robot to rise and fall, and better adapt to different seabed terrains.

[0031] refer to Figure 1-4 In a preferred embodiment, the second linkage assembly 31 includes a second driver 311 and a pull rod 310, and the first linkage assembly 30 includes a moving rod 304. One end of the pull rod 310 and the moving rod 304 are respectively hinged to the second driver 311, and the other end of the pull rod 310 is fixed to the traveling assembly 2. In this embodiment, one end of the pull rod 310 is hinged to the output end of the second driver 311 (i.e., hinged to the piston rod of the hydraulic cylinder), and the other end of the pull rod 310 is welded to the traveling assembly 2. The other end of the moving rod 304 is hinged to the traveling assembly 2. The second driver 311 can simultaneously drive the pull rod 310 and the moving rod 304 to move. When the pull rod 310 and the moving rod 304 move, the traveling assembly 2 can tilt and rotate relative to the main frame 1. In this embodiment, the second driver 311, like the first driver 305, can be a hydraulic cylinder.

[0032] The working process of the second linkage assembly 31 is as follows: When the second actuator 311 extends (i.e., the piston rod of the hydraulic cylinder extends), it generates a thrust on the moving rod 304. At the same time, the second actuator 311 also drives one end of the first linkage to move downward (i.e., the end of the first linkage that is hinged to the second actuator 311 rotates downward, meaning downward towards the seabed surface). At this time, the other end of the first linkage (the end that is welded and fixed to the traveling assembly 2) moves upward. Simultaneously, the moving rod 304 rotates around the hinge point that is hinged to the traveling assembly 2. Under the combined action of the first linkage and the moving rod 304, the traveling assembly 2 rotates at a certain angle, thereby forming a state of inclination relative to the main frame 1 (e.g., Figure 4 The state shown is that the walking component 2 is translating and tilting / rotating. To visually demonstrate this state, only the posture of the walking component 2 on one side of the main frame 1 has been adjusted; the other side is in its normal state. Figure 4As shown: the right side of the walking assembly 2 is in its normal state, and the left side is in its adjusted state, thus adapting to some undulating terrains on the seabed. When the second actuator 311 retracts (i.e., the piston rod of the hydraulic cylinder retracts), it generates a pulling force on the moving rod 304 and the first connecting rod. At this time, the movement state of the first connecting rod is reversed, and the moving rod 304 also rotates in the opposite direction around the hinge point that is hinged with the walking assembly 2. Similarly, under the combined action of the moving rod 304 and the first connecting rod, the walking assembly 2 returns to its initial state, that is, the bottom surface of the walking assembly 2 is in contact with the seabed surface.

[0033] refer to Figure 4 The first link assembly 30 and the second link assembly 31 can be used in conjunction with each other. That is, the first link assembly 30 can drive the walking component 2 to translate, so that the overall height of the robot is lowered. Then, the second link assembly 31 can drive the walking component 2 to rotate at a certain angle, tilting it relative to the main frame 1. The two work together to better adapt to various types of terrain conditions on the seabed.

[0034] refer to Figure 5 In a preferred embodiment, the walking assembly 2 includes a track beam 20, track plates 21, a chain belt 22, and a power assembly. The track plates 21 are fixed to the chain belt 22, and the power assembly is fixed to the track beam 20 and can drive the chain belt 22 to rotate relative to the track beam 20. The track beam 20 is hinged to the linkage device 3. Specifically, the moving rod 304 of the first linkage assembly 30 is hinged to the track beam 20; the first link of the second linkage assembly 31 is welded and fixed to the track beam 20. In this embodiment, a linkage device 3 can be provided on the front and rear ends of each track beam 20 on the same side. The actions of the two linkage devices 3 are consistent, thereby achieving a better driving effect and higher stability.

[0035] refer to Figure 5 In a further preferred embodiment, the power assembly includes sprockets 23 and a power motor (not shown). Sprockets 23 are respectively located at both ends of the track beam 20 and mesh with the chain belt 22. The power motor is fixed to the track beam 20 and connected to at least one sprocket 23. The power motor can drive the chain belt 22 to rotate via the sprockets 23. The output end of the power motor is connected to one of the sprockets 23. The rotation of the motor simultaneously drives the sprocket 23. Under the meshing action of the sprockets 23 and the chain belt 22, the chain belt 22 is synchronously driven to rotate, and the other sprocket 23 is also driven to rotate, thereby achieving a better transmission effect.

[0036] refer to Figure 5In a preferred embodiment, the walking assembly 2 further includes guide wheels 24. Multiple guide wheels 24 are spaced apart along the length of the track beam 20 and located on the upper and lower sides of the track beam 20, abutting against the chain belt 22. The guide wheels 24 guide the chain belt 22 and also provide better support for the chain belt 22 in the middle position (i.e., the portion between the two sprockets 23), ensuring effective power transmission.

[0037] In a preferred embodiment, the system also includes a sensor (not shown) and a controller (not shown), which are electrically connected. The attitude adjustment mechanism further includes a first actuator 305 and a second actuator 311. The sensor is used to detect the pressure information of the first actuator 305 and the second actuator 311. In this embodiment, the sensor is a pressure sensor. Pressure sensors are respectively provided on the first actuator 305 and the second actuator 311, which can detect the pressure information (load information) of the first actuator 305 and the second actuator 311, and feed the detection results back to the controller to determine whether the robot's attitude needs to be adjusted. Specifically, when the seabed terrain is flat, the pressure of the cylinders (first actuator 305 and second actuator 311) on both sides of the robot is basically the same. However, when there is a difference in elevation, the pressure of the cylinder on the higher side is naturally higher than that on the lower side. At this time, the sensor sends the detection result to the controller, which sends a command to the cylinder to retract the piston rod, thereby reducing the height of the walking component 2 and achieving the effect of balancing the load on both sides of the robot. The reverse is also true, which will not be elaborated here. In addition, acoustic and visual detection equipment can be used to determine whether the robot's posture needs to be adjusted. Specifically, the main frame 1 is equipped with a camera and sonar. The sonar is mainly used to acquire terrain images from a distance and feed them back to the controller to determine the robot's navigation path. It can also make a preliminary judgment on whether the robot's posture needs to be adjusted. The camera is mainly used to identify obstacles or terrain such as high slopes and low depressions near the robot and feed them back to the controller, so as to facilitate timely adjustment of the robot's posture.

[0038] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. An attitude adjustment mechanism for an underwater robot, characterized in that, The system includes a main frame, a walking assembly, and a linkage device. The walking assembly is connected to both sides of the main frame via the linkage device. The linkage device includes a first linkage assembly and a second linkage assembly connected to each other. One end of the first linkage assembly is connected to the main frame, and the other end is hinged to the walking assembly. The first linkage assembly can drive the walking assembly to reciprocate along the horizontal axis, and the walking assembly can drive the main frame to perform lifting and lowering movements when it moves. One end of the second linkage assembly is hinged to the first linkage assembly, and the other end is connected to the walking assembly. The second linkage assembly can drive the walking assembly to tilt and rotate relative to the main frame.

2. The attitude adjustment mechanism of the underwater robot as described in claim 1, characterized in that, The first linkage assembly includes a first driver, a main rod, a connecting rod, a secondary rod, and a moving rod, which are hinged sequentially. The two ends of the first driver are connected to the main frame and the main rod, respectively, and the moving rod is also connected to the walking assembly. The first driver can drive the moving rod to move along the horizontal axis through the main rod.

3. The attitude adjustment mechanism of the underwater robot as described in claim 2, characterized in that, The main rod, connecting rod, auxiliary rod, and moving rod are connected by four hinge points in sequence, and the lines connecting the four hinge points form a parallelogram structure in the same plane.

4. The attitude adjustment mechanism of the underwater robot as described in claim 1, characterized in that, The second linkage assembly includes a second driver and a pull rod. The first linkage assembly includes a moving rod. One end of the pull rod and the moving rod are respectively hinged to the second driver. The other end of the pull rod is fixed to the walking assembly, and the other end of the moving rod is hinged to the walking assembly. The second driver can simultaneously drive the pull rod and the moving rod to move. When the pull rod and the moving rod move, the walking assembly can tilt and rotate relative to the main frame.

5. The attitude adjustment mechanism of the underwater robot as described in claim 1, characterized in that, The traveling assembly includes a track beam, track plates, a chain belt, and a power assembly. The track plates are fixed to the chain belt, and the power assembly is fixed to the track beam and can drive the chain belt to rotate relative to the track beam. The track beam is hinged to the linkage device.

6. The attitude adjustment mechanism of the underwater robot as described in claim 5, characterized in that, The power assembly includes a sprocket and a power motor. The sprockets are respectively located at both ends of the track beam and respectively mesh with the chain belt. The power motor is fixed on the track beam and connected to at least one of the sprockets. The power motor can drive the chain belt to rotate through the sprockets.

7. The attitude adjustment mechanism of the underwater robot as described in claim 5, characterized in that, The walking assembly also includes guide wheels, and there are multiple guide wheels. The multiple guide wheels are spaced apart along the length direction of the track beam and abut against the chain belt.

8. The attitude adjustment mechanism of the underwater robot as described in claim 1, characterized in that, The device also includes a sensor and a controller, the sensor being electrically connected to the controller. The attitude adjustment mechanism further includes a first driver and a second driver, and the sensor is used to detect pressure information from the first driver and the second driver.

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