Multi-legged underwater robot

Abstract

The utility model belongs to the technical field of underwater equipment, and discloses a multi-legged underwater robot which comprises a machine frame, propellers and a walking assembly, the propellers and the walking assembly are installed on the machine frame, the propellers are connected with the walking assembly, the number of the propellers is at least two, and the orientations of the two propellers are opposite; the propellers are used for driving the walking assembly to change the advancing track. Through the design, when the equipment is used for underwater operation, the equipment rotates, one group of propellers provide main thrust to ensure basic operation of the equipment, and the other group of propellers provide oblique thrust to provide additional force on the basis of the main thrust, so that the equipment has enough forward power, the steering flexibility of the equipment is enhanced, and the service life of the equipment is prolonged. And the condition that the equipment sinks into silt is reduced, especially in a complex or soft underwater terrain, so that normal operation of underwater operation is ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to underwater equipment technical field, especially to a multi-legged underwater robot. BACKGROUND

[0002] Underwater operation robot is a kind of important equipment widely used in the field such as ocean engineering, seabed resource development and underwater rescue, with the growing demand of human on the development of marine resources, underwater operation robot is more and more valued in deep sea environment, at present, underwater robot technology has achieved certain development, including crawler, propelling type and various walking and propelling modes, especially in deep sea environment, underwater robot becomes the key tool for realizing complex seabed task due to its unmanned, efficient and accurate characteristics.

[0003] However, the existing underwater operation robot still faces many technical challenges in complex seabed terrain environment, among them, the problem that equipment is trapped in mud due to insufficient power is particularly prominent, in the environment of silt accumulation or soft seabed, the traditional crawler walking structure often appears the condition that equipment is trapped in mud, especially when the robot turns or adjusts posture, this condition not only causes the robot to be unable to continue to move forward, causes the equipment operation efficiency to be low, even interrupts underwater operation.

[0004] Therefore, a multi-legged underwater robot is proposed to solve the above problems. UTILITY MODEL CONTENTS

[0005] The main purpose of the utility model is to provide a multi-legged underwater robot, which aims to solve the problem that the existing underwater robot is trapped in mud in the environment of silt accumulation or soft seabed when turning or adjusting posture.

[0006] In order to realize the above utility model purpose, the utility model provides a multi-legged underwater robot, which comprises a rack, a propeller, a walking assembly and a driving assembly installed on the rack, the propeller is connected with the walking assembly, the driving assembly is used to provide power to the propeller, the propeller comprises a front end propeller and a rear end propeller, the front end propeller is arranged at the front end of the rack in the advancing direction, and the rear end propeller is arranged at the rear end of the rack in the advancing direction.

[0007] Among them, the orientation of the front end propeller is designed away from the central axis of the rack, and the orientation of the rear end propeller is designed to the central axis of the rack.

[0008] Further, the number of the front end propeller and the rear end propeller is 2.

[0009] Among them, when the front end propeller and the rear end propeller arranged on the same side are operated, they are used to push the underwater robot to change the advancing direction.

[0010] Further, the front end propeller comprises a first unit and a second unit, the rear end propeller comprises a third unit and a fourth unit, and the underwater robot moves in a straight line when the first unit and the second unit / third unit and the fourth unit are operated.

[0011] Further, the walking assembly comprises track wheels and track driving elements installed on the frame, the track wheels are arranged on both sides of the frame, and the track driving elements are used to drive the track wheels to rotate.

[0012] Further, the walking assembly further comprises a skid plate and a lifting unit, and the driving assembly comprises a lifting driving unit used to provide power to the lifting unit, and a moving end of the lifting unit is connected with the skid plate and used to drive the skid plate to make reciprocating motion in the vertical direction.

[0013] Further, the skid plate comprises a walking part and a guide part, and the guide part is formed with an included angle with the walking part.

[0014] Further, the included angle is 45 degrees.

[0015] Further, a fixing part is arranged between the guide part and the walking part, and the fixing part is triangular.

[0016] Advantages:

[0017] The multi-legged underwater robot comprises a frame, a propeller and a walking assembly installed on the frame, the propeller is connected with the walking assembly, the propeller is provided with at least two groups, and the two groups of propellers are opposite to each other; wherein the propeller is used to drive the walking assembly to change a running track; through such a design, when the equipment is used for underwater operation, the equipment rotates, one group of propellers provides a main thrust force, ensures basic operation of the equipment, another group of propellers provides an oblique thrust force, provides additional force on the basis of the main thrust force, so as to ensure that the equipment has sufficient advancing power, enhances flexibility of turning of the equipment, reduces that the equipment is trapped in mud, and especially in complex or soft underwater terrain, so as to ensure normal operation of underwater operation. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is the first view of the overall structure of the multi-legged underwater robot of an embodiment of the utility model;

[0019] Figure 2 is the second view of the overall structure of the multi-legged underwater robot of an embodiment of the utility model;

[0020] Figure 3 is the third view of the overall structure of the multi-legged underwater robot of an embodiment of the utility model;

[0021] Figure 4 is a structure schematic view of a hidden track wheel of a multi-legged underwater robot according to an embodiment of the present application;

[0022] Figure 5 is a top view of a multi-legged underwater robot according to an embodiment of the present application;

[0023] wherein:

[0024] 100, a frame;

[0025] 200, a hydraulic oil cylinder;

[0026] 300, a front end paddle; 310, a first unit; 320, a second unit;

[0027] 400, a rear end paddle; 410, a third unit; 420, a fourth unit;

[0028] 500, a track wheel;

[0029] 600, a skid plate; 610, a walking part; 620, a guiding part;

[0030] 700, a lifting unit;

[0031] 800, a fixing part;

[0032] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0033] It should be understood that the specific embodiments described herein merely exemplify the present application and are not intended to limit the present application.

[0034] In the description of the present application, it should be understood that the orientation or position relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features limited by "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0035] In the description of the utility model, it is to explain, unless otherwise definite and limited, the term "installation", "link", "connection" should be broad sense understanding, for example, can be fixed connection, also can be detachable connection, or integrally connected, can be mechanical connection, can be direct connection, also can be indirectly connected through the intermediate medium, can be two element internal communication or two element interaction relationship. For ordinary skilled in the art, the above-mentioned terms can be understood according to the specific meaning in the utility model.

[0036] In the utility model, unless otherwise definite and limited, the first feature is "on" or "under" the second feature can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0037] Referring to Figures 1 to 5 The utility model discloses a multi-legged underwater robot, including frame 100 and the propeller, walking assembly and drive assembly of installation on frame 100, the propeller with walking assembly connects, drive assembly is used for providing power to propeller, the propeller includes front end paddle 300 and rear end paddle 400, front end paddle 300 is located frame 100 forward direction's front end, rear end paddle 400 is located frame 100 forward direction's rear end;

[0038] Wherein, the orientation of the front end paddle 300 is designed away from the center axis of the frame 100, and the orientation of the rear end paddle 400 is designed to the center axis of the frame 100.

[0039] The number of the front end paddle 300 and the rear end paddle 400 is 2.

[0040] Wherein, when the front end paddle 300 and the rear end paddle 400 on the same side are operated, they are used to push the underwater robot to change the direction of travel.

[0041] The front end paddle 300 includes a first unit 310 and a second unit 320, and the rear end paddle 400 includes a third unit 410 and a fourth unit 420. When the first unit 310 and the second unit 320 / the third unit 410 and the fourth unit 420 are operated, the underwater robot walks along a straight line.

[0042] The multi-legged underwater robot of the embodiment comprises a frame 100, a propeller, a driving assembly and a walking assembly, the walking assembly is connected with the propeller, the driving assembly is a hydraulic cylinder 200, the hydraulic cylinder 200 provides power for a hydraulic motor, the hydraulic motor is connected to the propeller through a transmission shaft, in this scheme, the function of the hydraulic cylinder 200 is to provide a power source, and the hydraulic motor converts linear motion into rotational motion of the propeller, the walking assembly assists walking and steering under the action of the propeller, the propeller comprises a front-end propeller 300 and a rear-end propeller 400, the front-end propeller 300 is designed to be outwardly away from the center axis of the frame 100, and the rear-end propeller 400 is arranged towards the center axis of the frame 100, the arrangement is because soft silt cannot provide enough supporting force, especially when steering, more thrust is needed to maintain buoyancy and balance, the design of the front-end propeller 300 and the rear-end propeller 400 provides additional thrust when steering or accelerating, so that the robot can generate multidirectional thrust in silt, and the ability of the equipment to overcome silt resistance is improved.

[0043] Therefore, through the design of the embodiment, when the equipment is working underwater, the equipment rotates, the front-end propeller 300 provides main thrust to ensure the basic operation of the equipment, and the rear-end propeller 400 provides oblique thrust to provide additional force on the basis of the main thrust, so as to ensure that the equipment has enough forward power, the flexibility of the equipment steering is enhanced, the situation that the equipment is trapped in silt is reduced, especially in complex or soft underwater terrain, so as to ensure the normal operation of underwater work. Figure 5 The direction indicated in the figure is the forward direction of the underwater robot of the embodiment.

[0044] Specifically, the hydraulic oil cylinder 200 is provided with two groups, which are respectively arranged on the two sides of the rack 100, and one group is three, the purpose of such design is to provide sufficient driving force; the front end propeller 300 includes a first unit 310 and a second unit 320, which are arranged at the front end of the device in the direction of movement, and are designed to be outward in the direction away from the rack 100, the rear end propeller 400 includes a third unit 410 and a fourth unit 420, which are arranged at the rear of the device, and are designed to be inward in the direction of the rack 100, that is, the inner buckle, the first unit 310 and the third unit 410 are arranged on the same side, and the second unit 320 and the fourth unit 420 are arranged on the same side, in the actual working state, when the four unit parts of the propeller run at the same time, the device moves forward or backward along a straight line; when the first unit 310 and the third unit 410 run at the same time, the second unit 320 and the fourth unit 420 do not run, the device turns to the right, when the second unit 320 and the fourth unit 420 run at the same time, the first unit 310 and the third unit 410 do not run, the device turns to the left; in this embodiment, the four propellers run at the same time when the device is walking in a straight line, such thrust design not only can improve the moving ability of the robot in water, but also can ensure that the robot is not easy to sink into the mud when walking in a straight line; at the same time, the robot can realize accurate right turn or left turn in water, such design not only provides accurate steering control, but also ensures sufficient thrust in the steering process, avoiding the device sinking into the soil due to lack of thrust when turning; in addition, in the design, the direction of the propeller and the thrust can ensure that the robot can still provide sufficient forward force when turning, which effectively reduces the risk of the device sinking into soft mud due to insufficient thrust or unstable center of gravity during turning.

[0045] The walking assembly includes a track wheel 500 and a track drive installed on the rack 100, the track wheel 500 is arranged on the two sides of the rack 100, and the track drive is used to drive the track wheel 500 to rotate.

[0046] In an embodiment, the underwater robot drives the track wheel 500 through the track drive to drive the device to work underwater when working underwater, and in this embodiment, the track wheel 500 is in a priority walking mode, because the track wheel 500 can adapt to various seabed terrains, including muddy, sandy, rocky and other different ground conditions, the contact area of the track with the ground is larger, which can better disperse the weight of the machine, reduce the pressure on the ground, and reduce the risk of sinking into soft mud or sandy ground.

[0047] The walking assembly further includes a skid plate 600 and a lifting unit 700, the driving assembly includes a lifting drive unit, the lifting drive unit is used to provide power to the lifting unit 700, and the moving end of the lifting unit 700 is connected with the skid plate 600, and is used to drive the skid plate 600 to make reciprocating motion along the vertical direction.

[0048] In another embodiment, the walking assembly further comprises a sled plate 600 walking mode and a lifting unit 700, the lifting driving unit is a set of hydraulic cylinders 200 of the driving assembly, the hydraulic cylinders 200 provide power to the lifting unit 700, so that the lifting unit 700 reciprocates in the vertical direction, the lifting unit 700 comprises a mounting plate, the lifting unit 700 is installed at the lower end of the rack 100 through the mounting plate, and the moving end of the lifting unit 700 is connected with the sled plate 600, in the embodiment, when the underwater robot performs underwater operation, the advancing force is insufficient, the lifting driving unit drives the sled plate 600 to extend until the crawler wheel 500 is suspended, at this time, the walking assembly driving the equipment to run is the sled plate 600, the sled plate 600 runs under the driving of the propeller, and through the design, the risk of the equipment sinking into the mud is reduced, and the normal operation of underwater operation is maintained.

[0049] The sled plate 600 comprises a walking part 610 and a guide part 620, and the guide part 620 and the walking part 610 form an included angle;

[0050] The included angle is 45 degrees;

[0051] The guide part 620 and the walking part 610 are provided with a fixing part 800, and the fixing part 800 is triangular.

[0052] The design purpose of the guide part 620 is to adapt to different angle seabed terrains, through the 45-degree included angle design between the walking part 610 and the guide part 620, the sled plate 600 can better fit the irregular seabed surface, and the difficulty of operation on a slope or inclined terrain is reduced, meanwhile, the fixing part 800 is triangular in structure, the overall rigidity of the sled plate 600 is increased, the stable connection of the guide part 620 and the walking part 610 is ensured, and deformation or failure caused by complex terrain is avoided.

[0053] The above only describes preferred embodiments of the utility model, and does not limit the patent range of the utility model, and any equivalent structure or equivalent process conversion using the contents of the utility model specification and drawings, or direct or indirect application in other related technical fields, are all included in the patent protection range of the utility model.

Claims

1. A multi-legged underwater robot, characterized by, The underwater robot comprises a frame (100), a propeller, a walking assembly and a driving assembly, the propeller is connected with the walking assembly, the driving assembly is used for providing power for the propeller, the propeller comprises a front-end propeller (300) and a rear-end propeller (400), the front-end propeller (300) is arranged at the front end of the frame (100) in the advancing direction, and the rear-end propeller (400) is arranged at the rear end of the frame (100) in the advancing direction. The front-end propeller (300) is designed to be away from the central axis of the frame (100), and the rear-end propeller (400) is designed to be towards the central axis of the frame (100).

2. The multiped underwater robot of claim 1, wherein, The number of the front-end propeller (300) and the rear-end propeller (400) is both two. When the front-end propeller (300) and the rear-end propeller (400) arranged on the same side are operated, the underwater robot is pushed to change the advancing direction.

3. The multiped underwater robot of claim 1, wherein, The front-end propeller (300) comprises a first unit (310) and a second unit (320), the rear-end propeller (400) comprises a third unit (410) and a fourth unit (420), when the first unit (310) and the second unit (320) and the third unit (410) and the fourth unit (420) are operated, the underwater robot walks along a straight line.

4. The multiped underwater robot of claim 1, wherein, The walking assembly comprises a track wheel (500) and a track driving element arranged on the frame (100), the track wheel (500) is arranged on both sides of the frame (100), and the track driving element is used for driving the track wheel (500) to rotate.

5. The multiped underwater robot of claim 4, wherein, The walking assembly further comprises a skid plate (600) and a lifting unit (700), the driving assembly comprises a lifting driving unit, the lifting driving unit is used for providing power for the lifting unit (700), and the moving end of the lifting unit (700) is connected with the skid plate (600) and used for driving the skid plate (600) to make reciprocating motion along the vertical direction.

6. The multiped underwater robot of claim 5, wherein, The skid plate (600) comprises a walking part (610) and a guide part (620), and the guide part (620) and the walking part (610) form an included angle.

7. The multiped underwater robot of claim 6, wherein, The included angle is 45 degrees.

8. The multiped underwater robot of claim 7, wherein, A fixing part (800) is arranged between the guide part (620) and the walking part (610), and the fixing part (800) is triangular.

Images