Underwater robot for bounded water area operation

Abstract

The utility model belongs to the technical field of underwater robots, and relates to an underwater robot for bounded water area operation, which comprises a sealed cabin, wings and flow guide covers mounted at two ends of the sealed cabin, a communication component is mounted at the rear end of the sealed cabin, and a main body, a control component and an energy component are mounted in the sealed cabin; a buoyancy driving assembly and a posture adjusting assembly are further installed in the sealed cabin, the buoyancy driving assembly and the posture adjusting assembly are matched with each other to achieve snorkeling and steering of the underwater robot, and a tracking distance measuring assembly is installed at the end of a flow guide cover at the front end of the sealed cabin. The tracking distance measuring assembly comprises a plurality of distance measuring sensors which are installed at the front end of the front flow guide cover, the lower side of the rear flow guide cover and the two sides of the sealed cabin respectively. The distance of the underwater robot in the X, Y and Z directions in the bounded water area can be determined, and then the space positioning of the underwater robot is determined. Different sensors can be installed according to underwater monitoring requirements, and the device is especially suitable for algorithm control experiments or verification of underwater robots in bounded water areas.

Description

TECHNICAL FIELD

[0001] The utility model belongs to underwater robot technical field, concretely relates to a kind of underwater robots for bounded water area operation. BACKGROUND

[0002] Underwater glider is a new type of underwater robot, with the ability of long time, long distance gliding and scientific observation underwater. With its unique power system and efficient gliding mechanism, underwater glider can achieve stable sliding underwater, and has the characteristics of low power consumption and high efficiency. Compared with traditional underwater robots, underwater glider does not rely on complex propulsion devices, but achieves gliding motion through water flow and buoyancy change, with the advantages of low energy consumption, long range and low cost, so it is widely used in marine scientific investigation, environmental monitoring, military reconnaissance and other fields.

[0003] The existing underwater robot has complex structure, and the buoyancy driving system usually uses oil tank for positive and negative buoyancy adjustment. Due to the limited buoyancy adjustment speed, it is difficult to realize the diving and floating motion in small water depth, and the flexibility is poor. In addition, it is difficult to obtain underwater positioning data during small pool or water tank test. In order to overcome the shortcomings of the prior art, the utility model provides an improved underwater robot design, which carries a self-tracking distance measuring sensor at the front end to measure the height and left-right distance of the robot, so as to provide accurate spatial positioning, trajectory control and algorithm verification for the underwater robot. SUMMARY

[0004] The utility model aims at providing a kind of underwater robot for bounded water area operation, which is convenient to control and can quickly and accurately position the robot in space.

[0005] The utility model solves the technical problems by adopting the following technical scheme: a kind of underwater robot for bounded water area operation, including sealed cabin, wing installed on sealed cabin and fairing installed on both ends of sealed cabin, the end of the fairing at the rear end of sealed cabin is provided with communication assembly, and main body, control assembly and energy component are installed in sealed cabin;Sealed cabin is also provided with buoyancy driving assembly and attitude adjustment assembly, buoyancy driving assembly is installed at the front end of sealed cabin, attitude adjustment assembly is installed at the rear of sealed cabin, and buoyancy driving assembly and attitude adjustment assembly cooperate to realize the floating and diving of underwater robot and turning, sensing assembly is installed in fairing, and tracking distance measuring assembly is installed at the end of fairing at the front end of sealed cabin, and buoyancy driving assembly, attitude adjustment assembly, communication assembly, sensing assembly and tracking distance measuring assembly are connected with control assembly.

[0006] The tracking and ranging assembly comprises a fixed support fixedly connected to the front end of the sealed cabin, a transmission control assembly installed on the fixed support, and a ranging sensor installed at the end of the transmission control assembly; the transmission control assembly comprises a steering engine, a rocker arm and a connecting rod, the fixed support comprises a flange support fixedly connected to the front end of the sealed cabin, a motor support installed on the flange support, and the steering engine fixedly installed on the motor support; the steering engine is hingedly connected to one end of the connecting rod through the rocker arm, and the other end of the connecting rod is hingedly connected to a sensing support, and a swinging support is further installed on the sensing support; the ranging sensor is fixedly installed on the sensing support and extends to the outside of the front end of the front fairing of the sealed cabin.

[0007] Further, the main body comprises a flange assembly and a connecting rod assembly, the flange assembly is connected along the length direction of the sealed cabin through the connecting rod assembly, and a check ring is arranged at the connection between the flange assembly and the connecting rod assembly.

[0008] The sealed cabin comprises a cylindrical sealed cylinder, a front end cover and a rear end cover are respectively installed at the two ends of the sealed cylinder, the flange assembly comprises a first flange, a second flange, a third flange and a fourth flange arranged in sequence from front to back along the sealed cabin, the connecting rod assembly comprises a first connecting rod, a second connecting rod and a third connecting rod, the first flange is fixedly connected to the front end cover, the first flange is connected in series to the second flange, the third flange and the fourth flange through a plurality of first connecting rods, the first flange is further fixedly connected to the second flange and the third flange through the second connecting rod, the buoyancy driving assembly is fixedly installed on the second flange and the third flange, the attitude adjusting assembly is installed between the third flange and the fourth flange, and the fourth flange is fixedly connected to the rear end cover through a plurality of third connecting rods.

[0009] Further, the buoyancy driving assembly comprises a skeleton, a buoyancy driving motor and a sleeve, the two ends of the skeleton are fixedly connected to the second flange and the third flange respectively, the control assembly is fixedly installed on the skeleton, the buoyancy driving motor is installed on the skeleton close to the third flange, the output end of the buoyancy driving motor is connected to a first lead screw, the other end of the first lead screw is connected to the second flange through a bearing, a sliding table is screwed on the first lead screw, one end of the sleeve is fixedly installed on the second flange, the other end of the sleeve extends into the front fairing through the front end cover of the sealed cabin and the first flange, and the end of the sleeve in the front fairing is open to facilitate the flow of fluid, a piston is arranged in the sleeve, a sealing ring is arranged between the piston and the sleeve, the rear end of the piston is fixedly connected to a fourth connecting rod, the other end of the fourth connecting rod is fixedly connected to the sliding table through the front end cover of the sealed cabin and the first flange, the buoyancy driving motor drives the first lead screw to rotate, and then drives the sliding table to move linearly along the first lead screw, the sliding table drives the piston to move along the inner wall of the sleeve through the fourth connecting rod, so as to adjust the buoyancy by adjusting the displacement of water in the sleeve.

[0010] Further, the posture adjusting assembly comprises a posture adjusting motor, a slide rod, a transmission mechanism, a flange and a rotating shaft, the posture adjusting motor comprises a first roll adjusting motor and a second pitch adjusting motor, the flange comprises oppositely arranged first and second flanges;

[0011] The second pitch adjusting motor is fixedly connected with one end surface of the first flange, the output end of the second pitch adjusting motor is fixedly connected with the transmission mechanism through a shaft coupling, the other end of the transmission mechanism is rotatably connected with the second flange, the energy component is slidably connected with the slide rod, and the slide rod is fixedly connected with the first and second flanges at two ends thereof.

[0012] The first roll adjusting motor is fixedly connected with the fourth flange, the output end of the first roll adjusting motor is fixedly connected with the second flange through a shaft coupling, the rotating shaft is fixedly installed on the other end surface of the first flange, the third flange is provided with a shaft hole matched with the rotating shaft, and the rotating shaft is rotatably connected in the shaft hole of the third flange.

[0013] Further, the transmission mechanism comprises a second screw rod, a nut seat, a support seat and a support flange, one end of the second screw rod is connected with the output end of the second pitch adjusting motor through a shaft coupling after penetrating through the support seat, the support seat is fixedly connected with the first flange through a support frame, the support flange is fixedly installed on the second flange, the other end of the second screw rod is rotatably connected with the support flange, the outer portion of the energy component is provided with a baffle, the baffle comprises first and second baffles fixedly installed at two ends of the energy component, the bottom portions of the first and second baffles are connected with a connecting plate for supporting the energy component, the first and second baffles are slidably connected with the slide rod, the upper end of the first baffle is fixedly connected with the nut seat, the nut seat is threadedly connected with the second screw rod, and the second pitch adjusting motor drives the second screw rod to rotate, so that the baffle and the energy component are driven to move linearly along the slide rod through the nut seat.

[0014] Further, the flow guide cover comprises front and rear flow guide covers fixedly installed at two ends of the sealed cabin, and the front end of the front flow guide cover and the rear end of the rear flow guide cover are provided with fluid channels in communication with the outside.

[0015] Further, the wings comprise horizontal wings installed on the left and right sides of the sealed cabin and vertical tail wings installed on the upper and lower sides of the rear flow guide cover, the horizontal wings comprise two groups of wing plates symmetrically arranged and fixedly installed on wing frames, and the wing frames are tightly installed on the outer periphery of the sealed cabin through wing clamps.

[0016] Further, the communication assembly comprises an antenna rod installed at the end of the sealed cabin, the antenna rod penetrates through the fairing, and a sealing pipe is connected to the end of the antenna rod, an antenna and a feeder are installed in the sealing pipe, and the antenna and the feeder are electrically connected with the control assembly.

[0017] Further, the sensing assembly comprises a pressure-depth sensor, a charging port and a switch assembly installed on the sealed cabin, the charging port is used for charging an energy assembly for providing energy for the underwater robot, and the switch assembly is electrically connected with the control assembly and is used for controlling the start and stop of the underwater robot.

[0018] Further, the ranging sensors are further provided with a plurality of ranging sensors, which are respectively fixedly installed at the lower side of the fairing at the rear end of the sealed cabin and the two sides of the sealed cabin; and an attitude sensor is further installed on the sealed cabin.

[0019] The underwater robot has the following beneficial effects:

[0020] 1. The underwater robot adjusts the buoyancy size through the straight-push piston type buoyancy driving assembly, realizes the rapid floating or diving of the robot, and has stronger maneuvering flexibility.

[0021] 2. The underwater robot realizes the front and rear adjustment of the gravity center of the robot through the attitude adjustment assembly, assists the robot in floating or diving, and the attitude adjustment assembly can also perform the left and right adjustment of the gravity center of the robot, so that the robot can be turned.

[0022] 3. The underwater robot adopts the pressure-depth sensor, can calculate the depth of the underwater robot from the water surface according to the water pressure of the position where the underwater robot is located and the pressure value at the water surface, and the depth value of the underwater robot calculated by the ranging sensor at the lower side of the rear fairing is mutually integrated, so that the accuracy of the depth data of the underwater robot is improved.

[0023] 4. The ranging sensor at the front end of the front fairing of the underwater robot is always kept in a horizontal state through the transmission control assembly, so that the distance between the front end of the underwater robot and the boundary in front of the bounded water area can be measured in real time.

[0024] 5. The ranging sensors at the front end of the front fairing, the lower side of the rear fairing and the two sides of the sealed cabin of the underwater robot can determine the distances of the underwater robot in X, Y and Z directions in the bounded water area, and then determine the position and coordinates of the underwater robot, and perform spatial positioning. Different sensors can be installed according to the needs of underwater observation or monitoring, and the underwater robot is particularly suitable for algorithm control experiment or verification in the bounded water area. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is the overall three-dimensional structure schematic diagram of the underwater robot for bounded water area operation.

[0026] Figure 2 The utility model discloses an underwater robot's internal structure after removing the sealed cabin and the fairing.

[0027] Figure 3 The utility model discloses an underwater robot's internal structure after removing the sealed cabin and the fairing.

[0028] Figure 4 It is Figure 3 The partial structure enlarged view of D in middle.

[0029] Figure 5 The utility model discloses an underwater robot's internal structure after removing the sealed cabin and the fairing.

[0030] Figure 6 It is Figure 5 The sectional view of A-A in middle.

[0031] Figure 7 The utility model discloses an underwater robot's internal structure after removing the sealed cabin and the fairing.

[0032] Figure 8 The utility model discloses an underwater robot's internal structure after removing the sealed cabin and the fairing.

[0033] Figure 9 The utility model discloses an underwater robot's internal structure after removing the sealed cabin and the fairing.

[0034] Figure 10 It is Figure 9 The sectional view of B-B in middle.

[0035] Figure 11 The utility model discloses an underwater robot's internal structure after removing the sealed cabin and the fairing.

[0036] Figure 12 The utility model discloses an underwater robot's internal structure after removing the sealed cabin and the fairing.

[0037] Figure 13 The utility model discloses an underwater robot's internal structure after removing the sealed cabin and the fairing.

[0038] Figure 14 It is Figure 13 The sectional view of C-C in middle.

[0039] Figure 15 The utility model discloses an underwater robot's internal structure after removing the sealed cabin and the fairing.

[0040] Figure 16 The utility model discloses an underwater robot's internal structure after removing the sealed cabin and the fairing.

[0041] Figure 17It is the internal structure section view of the underwater robot in the horizontal neutral state.

[0042] Figure 18 It is the internal structure section view of the underwater robot in the floating state.

[0043] Figure 19 It is the internal structure section view of the underwater robot in the diving state.

[0044] In the figure, 100, main body, 200, sealed cabin, 300, fairing, 400, wing, 500, buoyancy driving assembly, 600, attitude adjusting assembly, 700, communication assembly, 800, sensing assembly, 900, control assembly, 1000, energy assembly, 1100, tracking and ranging assembly;

[0045] 110, flange assembly, 120, connecting rod assembly, 130, check ring;

[0046] 111, first flange, 112, second flange, 113, third flange, 114, fourth flange;

[0047] 121, first connecting rod, 122, second connecting rod, 123, third connecting rod;

[0048] 210, front end cover, 220, rear end cover, 230, sealing cylinder;

[0049] 310, front fairing, 320, rear fairing;

[0050] 410, horizontal wing, 420, vertical tail wing, 411, wing plate, 412, wing support, 413, wing hoop;

[0051] 510, framework, 520, buoyancy driving motor, 530, first lead screw, 540, sliding table, 550, sleeve, 560, piston, 570, fourth connecting rod, 580, sealing ring;

[0052] 610, attitude adjusting motor, 620, sliding rod, 630, transmission mechanism, 640, baffle, 650, flange plate, 660, rotating shaft, 670, support frame;

[0053] 611, first roll adjusting motor, 612, second pitch adjusting motor, 613, coupling;

[0054] 631, second lead screw, 632, nut seat, 633, support seat, 634, support flange;

[0055] 641, first baffle, 642, second baffle, 643, connecting plate;

[0056] 651, first flange plate, 652, second flange plate;

[0057] 710, antenna pole, 720, sealing pipe, 730, antenna, 740, feeder line;

[0058] 810, pressure depth sensor, 820, charging port, 830, switch assembly;

[0059] 1110, ranging sensor, 1120, fixed support, 1130, transmission control assembly;

[0060] 1121, flange support, 1122, motor support, 1123, sensing support, 1124, swing support;

[0061] 1131, steering engine, 1132, rocker arm, 1133, connecting rod. DETAILED DESCRIPTION

[0062] The utility model will be further explained in detail in combination with the drawings.

[0063] As Figure 1 , Figure 2 shown, an underwater robot for bounded water area operation, comprising a sealed cabin 200, a wing 400 installed on the sealed cabin 200 and a fairing 300 installed on both ends of the sealed cabin 200, the end of the fairing 300 at the rear end of the sealed cabin 200 is provided with a communication assembly 700, the sealed cabin 200 is provided with a main body 100, a control assembly 900 and an energy assembly 1000; the sealed cabin 200 is further provided with a buoyancy driving assembly 500 and a posture adjusting assembly 600, the buoyancy driving assembly 500 is installed at the front end of the sealed cabin 200, the posture adjusting assembly 600 is installed at the rear part of the sealed cabin 200, the buoyancy driving assembly 500 and the posture adjusting assembly 600 cooperate to realize the floating and turning of the underwater robot, the fairing 300 at the rear end of the sealed cabin 200 is provided with a sensing assembly 800, the end of the fairing 300 at the front end of the sealed cabin 200 is provided with a tracking and ranging assembly 1100, and the buoyancy driving assembly 500, the posture adjusting assembly 600, the communication assembly 700, the sensing assembly 800 and the tracking and ranging assembly 1100 are connected with the control assembly 900.

[0064] As Figure 3 , Figure 4As shown, the tracking and ranging component 1100 includes a fixed bracket 1120 fixedly connected to the front end of the sealed chamber 200, a transmission control component 1130 mounted on the fixed bracket 1120, and a ranging sensor 1110 mounted at the end of the transmission control component 1130. The transmission control assembly 1130 includes a servo motor 1131, a rocker arm 1132, and a connecting rod 1133. The fixed bracket 1120 includes a flange bracket 1121 fixedly connected to the front end of the sealed chamber 200. A motor bracket 1122 is mounted on the flange bracket 1121. The servo motor 1131 is fixedly mounted on the motor bracket 1122. The servo motor 1131 is hinged to one end of the connecting rod 1133 via the rocker arm 1132. The other end of the connecting rod 1133 is hinged to a sensor bracket 1123. A swing bracket 1124 is also mounted on the sensor bracket 1123. A ranging sensor 1110 is fixedly mounted on the sensor bracket 1123, and the ranging sensor 1110 extends to the outer side of the front end of the front fairing 300 of the sealed chamber 200.

[0065] Regardless of whether the underwater robot is in a horizontal, surfacing, or submerged state, the control component 900 controls the servo motor 1131 to keep the ranging sensor 1110 in a horizontal state via the rocker arm 1132 and connecting rod 1133, based on the angle of the underwater robot. The ranging sensor 1110 measures the distance between the front end of the underwater robot and the boundary of the bounded water area in real time. The ranging sensor 1110 in this invention adopts the principle of underwater acoustic ranging.

[0066] In a preferred embodiment of this utility model, multiple ranging sensors 1110 are provided, respectively fixedly installed at the front end of the front fairing 310, the lower side of the rear fairing 320, and both sides of the sealed chamber 200. Figure 15 , Figure 16 As shown, a total of four ranging sensors 1110 are installed. One ranging sensor 1110 is installed at the front end of the front fairing 310 to determine the distance of the underwater robot from the front boundary of the bounded water area; one ranging sensor 1110 is installed at the lower part of the rear fairing 320 to determine the distance of the underwater robot from the bottom of the water; and one ranging sensor 1110 is installed below the wings 400 on both sides of the sealed chamber 200 to determine the distance of the underwater robot from the boundaries of the bounded water area on both sides. The multiple ranging sensors 1110 work together to determine the distance of the underwater robot in the X, Y, and Z directions in the bounded water area, thereby determining the position and coordinates of the underwater robot. An attitude sensor is also installed on the sealed chamber 200 to determine the spatial attitude of the underwater robot, which can determine the tilt angle of the robot.

[0067] like Figure 2As shown, the main body 100 includes a flange assembly 110 and a connecting rod assembly 120. The flange assembly 110 is connected along the length of the sealed chamber 200 via the connecting rod assembly 120. A retaining ring 130 is provided at the connection between the flange assembly 110 and the connecting rod assembly 120.

[0068] like Figure 3 , Figure 5 As shown, the sealed chamber 200 includes a cylindrical sealing cylinder 230, with a front end cover 210 and a rear end cover 220 installed at both ends of the sealing cylinder 230. The flange assembly 110 includes a first flange 111, a second flange 112, a third flange 113, and a fourth flange 114 arranged sequentially from front to back along the sealed chamber 200. The connecting rod assembly 120 includes a first connecting rod 121, a second connecting rod 122, and a third connecting rod 123. The first flange 111 is fixedly connected to the front end cover 210, and the first flange 111 is connected via... Several first connecting rods 121 are connected in series with the second flange 112, the third flange 113, and the fourth flange 114. The first flange 111 is also fixedly connected to the second flange 112 and the third flange 113 through the second connecting rod 122. The buoyancy drive assembly 500 is fixedly installed on the second flange 112 and the third flange 113. The attitude adjustment assembly 600 is installed between the third flange 113 and the fourth flange 114. The fourth flange 114 is fixedly connected to the rear end cover 220 through several third connecting rods 123.

[0069] like Figures 8-10As shown, the buoyancy driving assembly 500 includes a skeleton 510, a buoyancy driving motor 520 and a sleeve 550, the skeleton 510 is fixedly connected with the second flange 112 and the third flange 113 at both ends respectively, the control assembly 900 is fixedly installed on the skeleton 510, the buoyancy driving motor 520 is installed on the skeleton 510 close to the third flange 113, the output end of the buoyancy driving motor 520 is connected with a first lead screw 530, the other end of the first lead screw 530 is connected with the second flange 112 through a bearing, a sliding table 540 is screwed on the first lead screw 530, one end of the sleeve 550 is fixedly installed on the second flange 112, the other end of the sleeve 550 extends into the front fairing 310 through the first flange 111 and the front end cover 210 of the sealed cabin 200, a sealing ring 580 is arranged between the outer wall of the sleeve 550 and the front end cover 210 of the sealed cabin 200, one end of the sleeve 550 located in the front fairing 310 is open to facilitate fluid in and out, a piston 560 is arranged in the sleeve 550, a sealing ring 580 is arranged between the piston 560 and the sleeve 550, the rear end of the piston 560 is fixedly connected with a fourth connecting rod 570, the other end of the fourth connecting rod 570 is fixedly connected with the sliding table 540 through the front end cover 210 of the sealed cabin 200 and the first flange 111, the buoyancy driving motor 520 drives the first lead screw 530 to rotate, and then drives the sliding table 540 to move linearly along the first lead screw 530, the sliding table 540 drives the piston 560 to move along the inner wall of the sleeve 550 through the fourth connecting rod 570, so as to adjust the buoyancy by adjusting the displacement of water in the sleeve 550.

[0070] When the buoyancy driving motor 520 drives the piston 560 to move forward along the inner wall of the sleeve 550, that is, to move to the opening direction of the sleeve 550, at this time, the volume of water in the sleeve 550 decreases, the volume of water discharged increases, the buoyancy increases, and the underwater robot realizes the floating; when the buoyancy driving motor 520 drives the piston 560 to move backward along the inner wall of the sleeve 550, that is, to move away from the opening direction of the sleeve 550, at this time, the volume of water in the sleeve 550 increases, the volume of water discharged decreases, the buoyancy decreases, and the underwater robot realizes the diving.

[0071] As shown in Figures 11-14 The attitude adjusting assembly 600 includes an attitude adjusting motor 610, a sliding rod 620, a transmission mechanism 630, a flange plate 650 and a rotating shaft 660, the attitude adjusting motor 610 includes a first roll adjusting motor 611 and a second pitch adjusting motor 612, the flange plate 650 includes a first flange plate 651 and a second flange plate 652 arranged oppositely.

[0072] The second pitch adjusting motor 612 is fixedly connected with one end surface of the first flange plate 651. The output end of the second pitch adjusting motor 612 is fixedly connected with the transmission mechanism 630 through the shaft coupling 613. The other end of the transmission mechanism 630 is rotatably connected with the second flange plate 652. The energy component 1000 is slidably connected with the slide rod 620. The slide rod 620 is fixedly connected with the first flange plate 651 and the second flange plate 652 at two ends respectively. The second pitch adjusting motor 612 is actuated to drive the energy component 1000 to move linearly along the transmission mechanism 630 and the slide rod 620 through the transmission mechanism 630. The front and back linear movement of the energy component 1000 realizes the front and back deviation of the gravity center of the underwater robot.

[0073] The first roll adjusting motor 611 is fixedly connected with the fourth flange 114. The output end of the first roll adjusting motor 611 is fixedly connected with the second flange plate 652 through the shaft coupling 613. The other end surface of the first flange plate 651 is fixedly installed with the rotating shaft 660. The third flange 113 is provided with the shaft hole matched with the rotating shaft 660. The rotating shaft 660 is rotatably connected with the shaft hole of the third flange 113. The first roll adjusting motor 611 is actuated to drive the second flange plate 652, the transmission mechanism 630, the slide rod 620, the energy component 1000, the first flange plate 651 and the rotating shaft 660 to rotate transversely in the shaft hole.

[0074] The energy component 1000 is a battery pack. The first roll adjusting motor 611 is actuated to realize the transverse rolling of the energy component 1000. The gravity center of the energy component 1000 deviates left and right, which drives the gravity center of the underwater robot to deviate left and right. The wing 400 is inclined to realize the turning of the underwater robot.

[0075] As Figure 13 , Figure 14As shown, the transmission mechanism 630 includes a second screw rod 631, a nut seat 632, a support seat 633 and a support flange 634, one end of the second screw rod 631 is connected with the output end of the second pitch adjusting motor 612 through the shaft coupling 613 after passing through the support seat 633, the support seat 633 is fixedly connected to the first flange plate 651 through the support frame 670, the support flange 634 is fixedly installed on the second flange plate 652, the other end of the second screw rod 631 is rotationally connected with the support flange 634, the outside of the energy component 1000 is provided with a baffle 640, the baffle 640 includes a first baffle 641 and a second baffle 642 fixedly installed at both ends of the energy component 1000, the bottom of the first baffle 641 and the second baffle 642 is connected with a connecting plate 643 for supporting the energy component 1000, the first baffle 641 and the second baffle 642 are both slidingly connected to the slide rod 620, the upper end of the first baffle 641 is fixedly connected with the nut seat 632, the nut seat 632 is threadedly connected to the second screw rod 631, the second pitch adjusting motor 612 drives the second screw rod 631 to rotate, and then drives the baffle 640 and the energy component 1000 to move linearly along the slide rod 620 through the nut seat 632.

[0076] When the underwater robot needs to float up, as shown in Figure 18 , the buoyancy drive motor 520 drives the piston 560 to move forward along the inner wall of the sleeve 550, that is, to move away from the opening direction of the sleeve 550, the volume of water discharged by the underwater robot increases, the buoyancy increases, at the same time, the transmission mechanism 630 drives the energy component 1000 to move backward, the center of gravity moves backward, so that the front end of the underwater robot faces a diagonal upward direction, which is beneficial to the robot to float up.

[0077] When the underwater robot needs to dive, as shown in Figure 19 , the buoyancy drive motor 520 drives the piston 560 to move backward along the inner wall of the sleeve 550, that is, to move away from the opening direction of the sleeve 550, the volume of water discharged by the underwater robot decreases, the buoyancy decreases, at the same time, the transmission mechanism 630 drives the energy component 1000 to move forward, the center of gravity moves forward, so that the front end of the underwater robot faces a diagonal downward direction, which is beneficial to the robot to dive.

[0078] By adjusting the position of the piston 560 in the sleeve 550 and the position of the energy component 1000, the underwater robot can be in a horizontal neutral state, as shown in Figure 17 , in a horizontal gliding forward state in water.

[0079] As shown in Figure 5 , the fairing 300 includes a front fairing 310 and a rear fairing 320 fixedly installed at both ends of the sealed cabin 200, the front end of the front fairing 310 and the rear end of the rear fairing 320 are provided with fluid channels in communication with the outside.

[0080] As shown in Figure 5 ,Figure 6 As shown in the figure, the wing 400 includes horizontal wings 410 installed on the left and right sides of the sealed cabin 200 and vertical tail wings 420 installed on the upper and lower sides of the rear fairing 320, the horizontal wings 410 include two groups of wing plates 411 symmetrically arranged, the two groups of wing plates 411 are fixedly installed on wing racks 412, and the wing racks 412 are tightly installed on the outer periphery of the sealed cabin 200 through wing hoops 413.

[0081] As shown in the figure, Figure 5 , Figure 6 As shown in the figure, the communication assembly 700 includes an antenna rod 710 installed on the rear end cover 220 of the sealed cabin 200, the antenna rod 710 penetrates through the rear fairing 320, and the end of the antenna rod 710 is connected with a sealing pipe 720, the sealing pipe 720 is internally installed with an antenna 730 and a feeder 740, and the antenna 730 and the feeder 740 are electrically connected with the control assembly 900. The communication assembly 700 is mainly used for communication when the underwater robot floats to the water surface.

[0082] As shown in the figure, Figure 7 As shown in the figure, the sensing assembly 800 includes a pressure depth sensor 810, a charging port 820 and a switch assembly 830 installed on the rear end cover 220 of the sealed cabin 200, the pressure depth sensor 810 is used for calculating the distance of the robot from the water surface according to the water pressure of the position, the charging port 820 is used for charging the energy assembly 1000, the energy assembly 1000 is used for providing energy for the underwater robot, and the switch assembly 830 is electrically connected with the control assembly 900 and is used for controlling the start and stop of the underwater robot.

[0083] The underwater robot of the utility model can also be installed with different sensors according to the needs of underwater observation or monitoring.

[0084] The operation method of the underwater robot of the utility model in a bounded water area is as follows:

[0085] (1) The underwater robot floats up:

[0086] The buoyancy driving motor 520 drives the piston 560 to move forward along the inner wall of the sleeve 550, that is, to move to the opening direction of the sleeve 550, the volume of the underwater robot for expelling water increases, the buoyancy increases, and the robot starts to float up; at the same time, the second pitch adjusting motor 612 drives the second lead screw 631 to rotate, and then drives the baffle 640 and the energy assembly 1000 to move backward along the slide rod 620 through the nut seat 632, the center of gravity moves backward, so that the front end of the underwater robot faces the oblique upward direction, so as to facilitate the robot to float up.

[0087] (2) The underwater robot dives:

[0088] The buoyancy driving motor 520 drives the piston 560 to move along the inner wall of the sleeve 550 backward, i.e. away from the opening of the sleeve 550, the volume of water expelled by the underwater robot decreases, the buoyancy decreases, and the robot starts to dive; at the same time, the second pitch adjusting motor 612 drives the second lead screw 631 to rotate reversely, and then drives the baffle 640 and the energy assembly 1000 to move forward along the slide rod 620 through the nut seat 632, the center of gravity moves forward, so that the front end of the underwater robot faces a downward diagonal direction, which is beneficial to the diving of the robot.

[0089] (3) Underwater robot horizontal gliding forward:

[0090] The buoyancy driving motor 520 drives the piston 560 to move along the inner wall of the sleeve 550 to a suitable position, and the underwater robot is suspended in water. The second pitch adjusting motor 612 drives the second lead screw 631 to rotate, and then drives the baffle 640 and the energy assembly 1000 to move to a suitable position along the slide rod 620 through the nut seat 632, so that the underwater robot is balanced and glides horizontally in water.

[0091] (4) Underwater robot turning:

[0092] The first roll adjusting motor 611 acts to drive the second flange plate 652 to rotate clockwise, and then drives the transmission mechanism 630, the slide rod 620, the energy assembly 1000, the first flange plate 651 and the rotating shaft 660 to rotate clockwise in the shaft hole, so that the energy assembly 1000 rotates clockwise with the output shaft of the first roll adjusting motor 611 and the rotating shaft 660 as the center axis, the center of gravity of the energy assembly 1000 deviates to the left, the underwater robot tilts to the left, the left horizontal wing 410 tilts downward, and the right horizontal wing 410 tilts upward, so as to realize the turning of the robot to the left under the action of buoyancy and water flow; the first roll adjusting motor 611 acts reversely to drive the second flange plate 652 to rotate counterclockwise, thereby realizing the turning of the robot to the right.

[0093] (5) Spatial positioning of the robot in a bounded water area:

[0094] a. Regardless of the horizontal, floating or diving state of the underwater robot, the control assembly 900 controls the rudder 1131 to keep the distance measuring sensor 1110 in a horizontal state through the rocker arm 1132 and the connecting rod 1133 according to the angle data fed back by the underwater robot posture sensor, and the distance measuring sensor 1110 measures the distance from the front end of the underwater robot to the front boundary of the bounded water area in real time.

[0095] b. The ranging sensor 1110 at the lower part of the rear fairing 320 measures the inclined distance of the underwater robot from the water bottom, and according to the angle data fed back by the underwater robot posture sensor, the vertical distance of the underwater robot from the water bottom is calculated by combining the Pythagorean theorem, and if the vertical distance of the water surface from the water bottom is measured in advance, the depth of the underwater robot from the water surface can also be calculated; the pressure depth sensor 810 can calculate the depth of the underwater robot from the water surface according to the water pressure at the position of the underwater robot and the pressure value at the water surface; the depth values of the underwater robot measured by the two methods are fused with each other, so as to improve the accuracy of the depth data of the underwater robot.

[0096] c. The ranging sensors 1110 on both sides of the sealed cabin 200 measure the distance of the underwater robot from the boundaries on both sides of the bounded water area; the distances of the underwater robot in the X, Y and Z directions in the bounded water area can be determined, and then the position and coordinates of the underwater robot are determined, and the spatial positioning is performed.

[0097] The above-described embodiments are merely preferred embodiments of the present application, and do not limit the concept and scope of the present application. Various modifications and improvements to the technical solutions of the present application made by those skilled in the art without departing from the design concept of the present application shall fall within the protection scope of the present application.

[0098] The technical, shape and structure parts not described in detail in the present application are well-known technologies.

Claims

1. An underwater robot for operating in a bounded water area, comprising a sealed cabin, wings mounted on the sealed cabin, and fairings mounted on both ends of the sealed cabin, a communication assembly is mounted on the end of the fairing at the rear end of the sealed cabin, a main body, a control assembly, and an energy assembly are mounted in the sealed cabin, characterized in that, The sealing cabin is also provided with a buoyancy driving assembly and an attitude adjusting assembly, the buoyancy driving assembly is arranged at the front end of the sealing cabin, the attitude adjusting assembly is arranged at the rear part of the sealing cabin, and the buoyancy driving assembly and the attitude adjusting assembly are matched to realize the floating and turning of the underwater robot, the sensing assembly is arranged in the fairing, the end of the fairing at the front end of the sealing cabin is provided with a tracking and ranging assembly, and the buoyancy driving assembly, the attitude adjusting assembly, the communication assembly, the sensing assembly and the tracking and ranging assembly are connected with the control assembly. The tracking and ranging assembly comprises a fixed support fixedly connected to the front end of the sealing cabin, a transmission control assembly is arranged on the fixed support, and a ranging sensor is arranged at the tail end of the transmission control assembly; the transmission control assembly comprises a rudder, a rocker arm and a connecting rod, the fixed support comprises a flange support fixedly connected to the front end of the sealing cabin, a motor support is arranged on the flange support, the rudder is fixedly arranged on the motor support, the rudder is hingedly connected to one end of the connecting rod through the rocker arm, the other end of the connecting rod is hingedly connected to a sensing support, a swing support is further arranged on the sensing support, and the ranging sensor is fixedly arranged on the sensing support and extends to the outside of the front end of the fairing at the front end of the sealing cabin.

2. The underwater robot for bounded water operation according to claim 1, characterized in that, The main body comprises a flange assembly and a connecting rod assembly, the flange assembly is connected along the length direction of the sealing cabin through the connecting rod assembly, and a check ring is arranged at the connecting position of the flange assembly and the connecting rod assembly. The sealing cabin comprises a cylindrical sealing cylinder, the front end cover and the rear end cover are arranged at the two ends of the sealing cylinder respectively, the flange assembly comprises the first flange, the second flange, the third flange and the fourth flange arranged in sequence from front to back along the sealing cabin, the connecting rod assembly comprises the first connecting rod, the second connecting rod and the third connecting rod, the first flange is fixedly connected to the front end cover, the first flange is connected to the second flange, the third flange and the fourth flange through a plurality of first connecting rods in series, the first flange is further fixedly connected to the second flange and the third flange through the second connecting rod, the buoyancy driving assembly is fixedly arranged on the second flange and the third flange, the attitude adjusting assembly is arranged between the third flange and the fourth flange, and the fourth flange is fixedly connected to the rear end cover through a plurality of third connecting rods.

3. The underwater vehicle for bounded water operation as claimed in claim 2, wherein The buoyancy driving assembly comprises a framework, a buoyancy driving motor and a sleeve, the two ends of the framework are fixedly connected to the second flange and the third flange respectively, the control assembly is fixedly arranged on the framework, the buoyancy driving motor is arranged on the framework close to the end of the third flange, the output end of the buoyancy driving motor is connected to a first lead screw, the other end of the first lead screw is connected to the second flange through a bearing, a sliding table is connected to the first lead screw, one end of the sleeve is fixedly arranged on the second flange, the other end of the sleeve extends into the front fairing through the front end cover of the sealing cabin and the first flange, and the end of the sleeve in the front fairing is provided with an opening for the fluid to enter and exit, a piston is arranged in the sleeve, a sealing ring is arranged between the piston and the sleeve, the rear end of the piston is fixedly connected to a fourth connecting rod, the other end of the fourth connecting rod is fixedly connected to the sliding table through the front end cover of the sealing cabin and the first flange, the buoyancy driving motor drives the first lead screw to rotate, and then drives the sliding table to move linearly along the first lead screw, the sliding table drives the piston to move along the inner wall of the sleeve through the fourth connecting rod, so that the buoyancy is adjusted by adjusting the displacement of water in the sleeve.

4. The underwater vehicle for bounded water operation as claimed in claim 2, wherein The posture adjusting assembly comprises a posture adjusting motor, a slide rod, a transmission mechanism, a flange and a rotating shaft, the posture adjusting motor comprises a first roll adjusting motor and a second pitch adjusting motor, and the flange comprises oppositely arranged first and second flanges. The second pitch adjusting motor is fixedly connected to one end surface of the first flange, the output end of the second pitch adjusting motor is fixedly connected to the transmission mechanism through a shaft coupling, the other end of the transmission mechanism is rotatably connected to the second flange, the energy component is slidably connected to the transmission mechanism, and the slide rod is fixedly connected to the first and second flanges at two ends thereof. The first roll adjusting motor is fixedly connected to the fourth flange, the output end of the first roll adjusting motor is fixedly connected to the second flange through a shaft coupling, the rotating shaft is fixedly installed on the other end surface of the first flange, the third flange is provided with a shaft hole matched with the rotating shaft, and the rotating shaft is rotatably connected to the shaft hole of the third flange.

5. The underwater vehicle for bounded water operation as claimed in claim 4, wherein The transmission mechanism comprises a second screw rod, a nut seat, a support seat and a support flange, one end of the second screw rod is connected to the output end of the second pitch adjusting motor through a shaft coupling after penetrating through the support seat, the support seat is fixedly connected to the first flange through a support frame, the support flange is fixedly installed on the second flange, the other end of the second screw rod is rotatably connected to the support flange, the outer portion of the energy component is provided with a baffle, the baffle comprises first and second baffles fixedly installed at two ends of the energy component, the first and second baffles are connected by a connecting plate for supporting the energy component, the first and second baffles are slidably connected to the slide rod, the upper end of the first baffle is fixedly connected to the nut seat, the nut seat is threadedly connected to the second screw rod, and the second pitch adjusting motor drives the second screw rod to rotate, so that the baffle and the energy component are driven by the nut seat to move linearly along the slide rod.

6. The underwater vehicle for bounded water operation as claimed in claim 1, wherein The fairing comprises front and rear fairings fixedly installed at two ends of the sealed cabin, and the front end of the front fairing and the rear end of the rear fairing are provided with fluid channels in communication with the outside.

7. The underwater vehicle for bounded water operation as claimed in claim 6, wherein The wings comprise horizontal wings installed on the left and right sides of the sealed cabin and vertical tail wings installed on the upper and lower sides of the rear fairing, the horizontal wings comprise two groups of wing plates symmetrically arranged and fixedly installed on wing frames, and the wing frames are tightly installed on the outer periphery of the sealed cabin through wing clamps.

8. The underwater vehicle for bounded water operation as claimed in claim 1, wherein The communication assembly comprises an antenna rod installed at the end of the sealed cabin, the antenna rod penetrates through the fairing, the end of the antenna rod is connected with a sealed pipe, the sealed pipe is installed with an antenna and a feeder, and the antenna and the feeder are electrically connected with the control assembly.

9. The underwater vehicle for bounded water operation as claimed in claim 1, wherein The sensing assembly comprises a pressure depth sensor, a charging port and a switch assembly installed on the sealed cabin, the charging port is used for charging the energy component, the energy component is used for providing energy for the underwater robot, and the switch assembly is electrically connected with the control assembly and is used for controlling the start and stop of the underwater robot.

10. The underwater vehicle for bounded water operation as claimed in claim 1, wherein The ranging sensor is also provided with a plurality of ranging sensors respectively fixedly installed on the lower side of the rear fairing and the two sides of the sealed cabin. The attitude sensor is also installed on the sealed cabin.

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