Underwater robot

Abstract

The utility model relates to an underwater robot which comprises a frame, a vertical propeller and a horizontal propeller, the vertical propeller is arranged on the frame and used for driving the frame to move towards the height direction of the frame, and the horizontal propeller is arranged on the frame. The horizontal propeller is used for driving the frame to move in the horizontal plane direction corresponding to the frame base. The horizontal propellers comprise first propellers, the first propellers are arranged on the two sides of the frame, and the propelling directions of the first propellers face the symmetry axis of the first propellers. Due to the fact that the propelling direction of the first propeller faces the symmetry axis of the first propeller, the frame is difficult to drive to deviate even if acting force in the side direction exists. In the rotating process of the frame, the rotating center is basically on the central axis, and the resultant force direction of the first propellers is basically parallel to the central axis. By means of the underwater robot, the purpose that the underwater robot is more stable in the swimming process can be achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of robot, especially underwater robot. BACKGROUND

[0002] Underwater robot is a service robot, has 60 years of development course. They can work in high risk, polluted and zero visibility water environment, is equipped with sonar system, camera, light and mechanical arm etc. device, can complete real-time video transmission, sonar image drawing, grab heavy object etc. various professional operation. Underwater robot has been widely applied in the field of ocean exploration, fishery culture, underwater detection maintenance, search and rescue, consumer entertainment, military, education etc. The underwater robot in the prior art has horizontal propeller and vertical propeller, so as to realize the purpose that underwater robot swims in water. However, the power of these underwater robots often cannot be balanced during swimming, resulting in high-frequency adjustment of the posture of the underwater robot. SUMMARY

[0003] The utility model provides a kind of underwater robot, for realizing the purpose that underwater robot is more stable during swimming.

[0004] The utility model provides a kind of underwater robot, including frame, vertical propeller and horizontal propeller, the vertical propeller is set on the frame and is used to drive the frame moves towards the frame height direction, and the horizontal propeller is used to drive the frame moves along the horizontal plane direction corresponding to the frame base;The horizontal propeller includes first propeller, the first propeller is located at the both sides of the frame, and the propelling direction of the first propeller is towards the symmetry axis of the first propeller.

[0005] According to an embodiment of the utility model, the horizontal propeller further includes second propeller, the second propeller is located at the both sides of the frame, and the propelling direction of the second propeller is away from the frame inclination.

[0006] According to an embodiment of the utility model, the first propeller is close to the back side of the frame and is arranged.

[0007] According to an embodiment of the utility model, the second propeller is close to the front side of the frame and is arranged.

[0008] According to an embodiment of the utility model, the angle between the propelling direction of the first propeller and the advancing direction of the frame is 45 °.

[0009] According to an embodiment of the utility model, the angle between the propelling direction of the second propeller and the advancing direction of the frame is 135 °.

[0010] According to one embodiment of the present application, the number of the first propellers is four, and the four first propellers are symmetrically distributed on two sides of the frame.

[0011] According to one embodiment of the present application, the number of the second propellers is two, and the two second propellers are symmetrically distributed on two sides of the frame.

[0012] According to one embodiment of the present application, the number of the vertical propellers is four, and each of the four vertical propellers is arranged on an edge of the frame.

[0013] According to one embodiment of the present application, the propelling direction of the vertical propeller is inclined to the center point of the plurality of vertical propellers.

[0014] The embodiment of the present application has the following beneficial effects:

[0015] The underwater robot of the embodiment can carry a power system, a detection device, an operation device, etc. The vertical propeller is used to drive the frame to move in the height direction, and the horizontal propeller is used to drive the frame to move on the horizontal plane corresponding to the base (i.e. the horizontal plane perpendicular to the height direction). The horizontal propeller includes the first propeller, which is arranged on two sides of the frame and has a propelling direction inclined to the symmetry axis of the first propeller. Therefore, the propelling force directions of the first propellers are opposite to each other in the lateral direction and mainly act in the forward direction. Since the propelling direction of the first propeller is inclined to the symmetry axis of the first propeller, it is difficult to drive the frame to deviate even if there is a lateral force. In the rotating process of the frame, the rotating center is substantially on the central axis, and the propelling force direction of the first propeller is substantially parallel to the central axis. According to the lever principle, the frame cannot be rotated even if there is a slight lateral force. The underwater robot of the embodiment can achieve the purpose of making the underwater robot more stable during swimming. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0017] In the drawings:

[0018] Fig. 1 is a schematic diagram of the overall structure of the underwater robot in one embodiment of the present application;

[0019] Fig. 2 is a schematic diagram of the overall structure of the underwater robot in one embodiment of the present application;

[0020] Fig. 3 is a structure diagram of the underwater robot in an embodiment of the utility model.

[0021] Reference signs:

[0022] Frame-10;Vertical propeller-20;Horizontal propeller-30;First propeller-310;Second propeller-320. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the utility model more clear, the technical scheme in the utility model will be described clearly and completely in combination with the drawings in the utility model, obviously, the described embodiment is a part of the embodiment of the utility model, rather than all the embodiments. Based on the embodiment in the utility model, all other embodiments obtained by the person skilled in the art without making creative labor belong to the protection scope of the utility model.

[0024] The utility model embodiment provides a kind of underwater robot, please refer to Figs. 1-3 , including frame 10, vertical propeller 20 and horizontal propeller 30, vertical propeller 20 is set on frame 10 and is used to drive frame 10 to move towards frame 10 height direction, horizontal propeller 30 is used to drive frame 10 to move along the horizontal plane direction corresponding to the base of frame 10;Horizontal propeller 30 includes first propeller 310, first propeller 310 is located at the both sides of frame 10, and the propulsion direction of first propeller 310 is towards the symmetry axis of first propeller 310.

[0025] Use the underwater robot of the embodiment, frame 10 can carry power system, detection device, operating device etc.And vertical propeller 20 is used to drive frame 10 to move in height direction, horizontal propeller 30 is used to drive frame 10 to travel on the horizontal plane corresponding to the base (i.e. the horizontal plane perpendicular to height).Horizontal propeller 30 includes first propeller 310, and first propeller 310 is set at the both sides of frame 10 and the propulsion direction of first propeller 310 is towards the symmetry axis of first propeller 310.Therefore, the propeller resultant force direction of first propeller 310 is mutually offset in side direction, and mainly acts in advancing direction.Because the propulsion direction of first propeller 310 is towards the symmetry axis of first propeller 310, even if there is side direction force, it is also difficult to drive frame 10 to deviate.In the process of rotating frame 10, rotation center is substantially on the central axis, and the resultant force direction of first propeller 310 is substantially parallel to the central axis.According to lever principle, even if there is a little side direction force, it is also impossible to push frame 10 to rotate.Embodiment underwater robot in the utility model can realize the purpose that underwater robot is more stable in swimming process.

[0026] The frame 10 is generally square-shaped and is generally made of stainless steel.

[0027] It should be noted that the thruster is arranged at the middle position of the rear side of the underwater robot. This is mainly because the frame 10 is used to carry many supporting systems, so the center of gravity is not necessarily on the central axis of the frame 10, and this makes it easy to overturn the frame 10. Moreover, the underwater robot is often not streamlined, so the resistance in the process of advancing is also uneven, and arranging the horizontal thruster 30 at the central position of the rear side of the frame 10 cannot solve the instability problem of the underwater robot in the process of movement.

[0028] In an embodiment, according to an embodiment of the present application, the horizontal thruster 30 further comprises a second thruster 320, the second thruster 320 is arranged on both sides of the frame 10 and the propelling direction of the second thruster 320 is inclined away from the frame 10.

[0029] The second thruster 320 is arranged on both sides of the frame 10 and the propelling direction of the second thruster 320 is inclined away from the frame 10. On the one hand, the second thruster 320 is arranged on both sides of the frame 10 to increase the overall propelling force of the underwater robot. On the other hand, the second thruster 320 can be controlled to make the frame 10 turn or correct the yaw of the underwater robot.

[0030] In the horizontal thruster 30, the first thruster 310 is a fish tail imitation and is mainly used to provide the propelling force of the underwater robot. The second thruster 320 is a fish fin imitation and is mainly used to realize the turning action of the underwater robot. The cooperation of the second thruster 320 and the first thruster 310 makes the underwater robot in the embodiment move more flexibly and swim more stably.

[0031] In an embodiment, according to an embodiment of the present application, the first thruster 310 is arranged close to the rear side of the frame 10.

[0032] The first thruster 310 is mainly arranged close to the rear side of the frame 10, so that the propelling force is basically maintained at the rear of the frame 10, which is more in line with fluid mechanics.

[0033] Specifically, the first thruster 310 is arranged at the edge corresponding to the rear of the frame 10. The frame 10 is generally hollow to facilitate the mounting of a mechanical hand or other operation unit. Arranging the first thruster 310 at the edge corresponding to the rear of the frame 10 can facilitate the operation of the mechanical hand or other operation unit.

[0034] In an embodiment, according to an embodiment of the present application, the second thruster 320 is arranged close to the front side of the frame 10.

[0035] In the embodiment, the second thruster 320 is arranged close to the edge of the front side of the frame 10, which can facilitate the turning of the frame 10.

[0036] Generally, the first propeller 310 and the second propeller 320 are arranged at the edges of the corresponding frame 10. In some cases, the underwater robot needs to reverse. Therefore, the horizontal propeller 30 arranged at the edge of the corresponding frame 10 does not conflict whether it is forward or reverse, thereby achieving the purpose of reversing.

[0037] In an embodiment, according to one embodiment of the utility model, the angle between the propelling direction of the first propeller 310 and the advancing direction of the frame 10 is 45°.

[0038] After repeated calculation and experiment, the angle between the propelling direction of the first propeller 310 and the advancing direction of the frame 10 is 45°, which is the best. At this time, the stability of the frame 10 during swimming can be maintained, and the power conversion efficiency of the first propeller 310 can be maintained at a high value.

[0039] In an embodiment, the angle between the propelling direction of the second propeller 320 and the advancing direction of the frame 10 is 135°.

[0040] Similarly, the angle between the propelling direction of the second propeller 320 and the advancing direction of the frame 10 is 135°, which is the best data value obtained after repeated calculation and experiment.

[0041] In an embodiment, the number of the first propeller 310 is four, and is symmetrically distributed on both sides of the frame 10.

[0042] In this embodiment, in order to strengthen the advancing power of the underwater robot, the number of the first propeller 310 is set to four, two on each side of the frame 10.

[0043] In actual cases, the number of the first propeller 310 can also be set to six, eight, etc. according to needs.

[0044] In an embodiment, the number of the second propeller 320 is two, and is symmetrically distributed on both sides of the frame 10.

[0045] The second propeller 320 is equivalent to a fish fin, and the number thereof only needs to be set to two, and excessive setting can cause the underwater robot to lose balance.

[0046] In an embodiment, the number of the vertical propeller 20 is four, and is arranged on the edges of the frame respectively.

[0047] The main purpose of the vertical propeller 20 is to make the underwater robot float. Generally, the underwater robot is submerged by relying on its own weight. The vertical propeller 20 is arranged around the frame 10, which can ensure that the frame 10 maintains balance during floating and diving, and avoids the occurrence of overturning.

[0048] In an embodiment, the propulsion direction of the vertical thrusters 20 tends to the center point of the plurality of vertical thrusters 20.

[0049] In the embodiment, during the process of the underwater robot surfacing or diving, each vertical thruster 20 has both upward pushing force and side direction force to the frame 10. The side direction force can overcome the uneven resistance received by the frame 10.

[0050] In an embodiment, the frame 10 further comprises a buoyancy tank having a sealed receiving cavity.

[0051] The buoyancy tank can provide some buoyancy to the underwater cable-laying robot, so that the underwater robot can move on the seabed more labor-saving. The buoyancy tank is generally modular, and can be reasonably configured according to the total weight of the underwater robot.

[0052] In an embodiment, the frame 10 further comprises a camera module (not shown in the figure).

[0053] The function of the camera module is mainly to provide underwater image information, so as to facilitate the purpose of remotely controlling the underwater cable-laying robot.

[0054] In an embodiment, a mechanical arm is further included, which is arranged outside the frame 10.

[0055] The mechanical arm is generally used to cut off the damaged cable or reconnect and repair the broken cable.

[0056] In the description of the embodiments of the present application, it should be explained that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0057] In the description of the embodiments of the present application, it should be explained that, unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrally connected, it can be mechanically connected, or electrically connected, it can be directly connected, or indirectly connected through an intermediate medium. For ordinary skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0058] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature is "above", "over" and "on" the second feature can be that the first feature is directly above or 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 is "under", "below" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0059] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0060] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An underwater robot, characterized in that, The frame, vertical propeller and horizontal propeller, the vertical propeller is arranged on the frame and used to drive the frame to move towards the frame height direction, the horizontal propeller is used to drive the frame to move along the corresponding horizontal plane direction of the frame base; the horizontal propeller comprises a first propeller, the first propeller is arranged on both sides of the frame, and the propelling direction of the first propeller is towards the symmetry axis of the first propeller.

2. The underwater robot of claim 1, wherein, The horizontal propeller further comprises a second propeller, the second propeller is arranged on both sides of the frame, and the propelling direction of the second propeller is away from the frame tilt.

3. The underwater robot of claim 1, wherein, The first propeller is arranged close to the rear side of the frame.

4. The underwater robot of claim 2, wherein, The second propeller is arranged close to the front side of the frame.

5. The underwater robot of claim 1, wherein, The angle between the propelling direction of the first propeller and the advancing direction of the frame is 45°.

6. The underwater robot of claim 2, wherein, The angle between the propelling direction of the second propeller and the advancing direction of the frame is 135°.

7. The underwater robot of claim 1, wherein, The number of the first propeller is four, and the first propeller is symmetrically distributed on both sides of the frame.

8. The underwater robot of claim 2, wherein, The number of the second propeller is two, and the second propeller is symmetrically distributed on both sides of the frame.

9. The underwater robot of claim 1, wherein, The number of the vertical propeller is four, and the vertical propeller is arranged on the edge of the frame respectively.

10. The underwater robot of claim 1, wherein, The propelling direction of the vertical propeller is inclined to the center point of the plurality of vertical propellers.

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