Composite wheel position conversion device for robot with convertible underwater motion state

Abstract

The utility model relates to the technical field of underwater robots, in particular to a composite wheel position conversion device for a robot with a convertible underwater motion state. An integrated double-joint module is mounted between the mounting bracket and the fixed flange, the mounting bracket is connected with the propeller composite wheel, and the fixed flange is mounted on a main body frame of the robot; the integrated double-joint module comprises a first machine shell and a second machine shell, one end of the second machine shell is connected with the first machine shell through a bolt, the other end of the second machine shell is connected with the installation support, an installation cavity is formed after the first machine shell and the second machine shell are spliced, and a horizontal rotation driving part and a vertical rotation driving part are installed in the installation cavity. The mounting bracket rotates in a horizontal plane by driving the outer rotor II; the outer rotor I is driven to enable the composite wheel position conversion device to rotate in a vertical plane relative to the assembly mounting and fixing flange, so that the position of the propeller composite wheel in the robot is changed; the structure is simple, the size is small, the weight is light, and the production cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of underwater robot technology, and in particular to a composite wheel position conversion device for a robot with changeable underwater motion state. Background Technology

[0002] Underwater robots, also known as unmanned underwater vehicles (UUVs), are robotic systems capable of autonomous or remotely controlled operation underwater. They are designed to perform a variety of underwater tasks, including but not limited to marine research, seabed exploration, underwater structure inspection, pipeline and cable laying, environmental monitoring, search and rescue operations, mine detection and clearance, and military applications.

[0003] Underwater robots are classified as either wheeled or tracked. If an underwater robot is designed with wheels, they are typically designed to be foldable or retractable. This can be achieved in various ways, such as by using a hydraulic system or an electric motor to extend or retract the wheels. Such a design allows the underwater robot to retract its wheels when needed, allowing it to switch to a more suitable propeller or thruster for underwater movement, or to use the wheels for transport on the surface.

[0004] However, existing conversion devices have complex structural designs to ensure long-term reliable operation in underwater environments, which increases the overall weight and size of the robot, thus affecting its underwater maneuverability and operational capabilities. They also increase the risk of mechanical failure, as well as maintenance and upkeep requirements, and increase the complexity and cost of operation and maintenance. Summary of the Invention

[0005] The technical problem to be solved by this utility model is: in order to solve the problems existing in the prior art in the background art, a composite wheel position conversion device for a robot with changeable underwater motion state is provided.

[0006] The technical solution adopted by this utility model to solve its technical problem is: a composite wheel position conversion device for a robot with changeable underwater motion state, including a mounting bracket, an integrated double joint module and a fixed flange. The integrated double joint module is installed between the mounting bracket and the fixed flange. The mounting bracket is connected to the propeller composite wheel, and the fixed flange is installed on the main frame of the robot.

[0007] The integrated dual-joint module includes a housing 1 and a housing 2. One end of the housing 2 is connected to the housing 1 by bolts, and the other end of the housing 2 is connected to a mounting bracket. The mounting cavity formed by the assembly of the housing 1 and the housing 2 contains a horizontal rotation drive unit and a vertical rotation drive unit.

[0008] Furthermore, the mounting bracket is installed on the top surface of the second housing, the first housing is installed on the left side of the second housing, and the right side of the second housing is a sloped surface, forming a slanted opening, on which an end cap that mates with it is installed.

[0009] Furthermore, the vertical rotation drive unit includes a reduction mechanism, an outer rotor, and a circuit board. The reduction mechanism is located near the fixed flange and is connected to one end of the outer rotor. The circuit board is installed at the other end of the outer rotor.

[0010] Furthermore, the horizontal rotation drive unit includes a second reduction mechanism, a second outer rotor, a second circuit board, and a third reduction mechanism. The second reduction mechanism is connected to one end of the second outer rotor, and the second circuit board is installed at the other end of the second outer rotor. The second circuit board is installed close to the first circuit board.

[0011] The second and third reduction mechanisms are vertically arranged and meshed with gears. A gear ring is installed at one end of the mounting bracket, and the third reduction mechanism is meshed with the gear ring.

[0012] Furthermore, the mounting bracket includes an inclined section, a horizontal section, and a vertical section connected sequentially by an arc segment. The inclined section is connected to the propeller compound wheel, and the inclined section and the horizontal section form an obtuse angle. The angled surface of this angle faces the propeller compound wheel. The vertical section is connected to the housing two in the integrated dual-joint module.

[0013] Furthermore, the inclined segment and the horizontal segment are in the same horizontal plane, and the horizontal segment and the vertical segment are set perpendicularly to each other.

[0014] Furthermore, the cross-sectional shape in the horizontal direction after the horizontal segment, vertical segment and integrated dual-joint module are assembled is "U".

[0015] The beneficial effects of this utility model are as follows: This utility model drives the second outer rotor to rotate the mounting bracket in the horizontal plane; drives the first outer rotor to rotate the compound wheel position conversion device relative to the component mounting flange in the vertical plane, thereby changing the position of the propeller compound wheel inside the robot. When used in conjunction with the propeller compound wheel, it changes the robot's floating / crawling / walking state switching, which is the core of the robot's state switching and walking functions. At the same time, while ensuring the robot's underwater maneuverability and operation capabilities, the structure is simple, the size is small, and the weight is light, which also reduces the mechanical failure rate and maintenance and protection requirements, thereby reducing production costs. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Figure 1 This is a schematic diagram of the structure of this utility model;

[0018] Figure 2 This is an exploded view of this utility model;

[0019] Figure 3 This is a diagram showing the usage state of this utility model;

[0020] In the diagram: 22. Reduction mechanism one, 23. Mounting bracket, 24. Outer rotor one, 25. Outer rotor two, 26. Reduction mechanism two, 27. Gear ring, 28. End cover, 29. Housing two, 30. Circuit board two, 31. Circuit board one, 32. Housing one, 33. Fixed flange, 40. Integrated double joint module, 52. Reduction mechanism three. Detailed Implementation

[0021] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0022] like Figures 1-3 The device shown is a composite wheel position conversion device for a robot with changeable underwater motion state, including a mounting bracket 23, an integrated double joint module 40 and a fixing flange 33. The integrated double joint module 40 is installed between the mounting bracket 23 and the fixing flange 33. The mounting bracket 23 is connected to the propeller composite wheel, and the fixing flange 33 is installed on the main frame of the robot.

[0023] The integrated dual-joint module 40 includes a housing 32 and a housing 29. One end of the housing 29 is connected to the housing 32 by bolts, and the other end of the housing 29 is connected to the mounting bracket 23. The mounting cavity formed by the assembly of the housing 32 and the housing 29 contains a horizontal rotation drive and a vertical rotation drive.

[0024] Mounting bracket 23 is installed on the top surface of housing 29, housing 32 is installed on the left side of housing 29, and the right side of housing 29 is a sloped surface, forming a slanted opening. An end cap 28 is installed on the slanted opening to facilitate sealing and disassembly and maintenance.

[0025] The vertical rotation drive unit includes a reduction mechanism 22, an outer rotor 24, and a circuit board 31. The reduction mechanism 22 is located near the fixed flange 33 and is connected to one end of the outer rotor 24. The circuit board 31 is installed at the other end of the outer rotor 24.

[0026] like Figure 2As shown, the horizontal rotation drive unit includes a second reduction mechanism 26, an outer rotor 25, a second circuit board 30, and a third reduction mechanism 52. The second reduction mechanism 26 is connected to one end of the outer rotor 25, and the second circuit board 30 is installed at the other end of the outer rotor 25. The second circuit board 30 is installed close to the first circuit board 31.

[0027] The second reduction mechanism 26 and the third reduction mechanism 52 are vertically arranged and are meshed by gears. A gear ring 27 is installed at one end of the mounting bracket 23 and is meshed with the third reduction mechanism 52.

[0028] Mounting bracket 23 includes an inclined section, a horizontal section, and a vertical section connected sequentially by an arc segment. The inclined section is connected to the propeller compound wheel, and the inclined section and the horizontal section are connected to form an obtuse angle. The angled surface of the angle faces the propeller compound wheel. The vertical section is connected to the housing 29 in the integrated dual-joint module 40.

[0029] The inclined segment and the horizontal segment are in the same horizontal plane, and the horizontal segment and the vertical segment are set perpendicularly to each other.

[0030] like Figure 1 As shown, the cross-sectional shape in the horizontal direction after the horizontal segment, vertical segment and integrated double joint module 40 are spliced ​​together is "U".

[0031] like Figure 3 As shown, in use, the mounting bracket 23 is rotated in the horizontal plane by driving the outer rotor 25. The compound wheel position conversion device is rotated in the vertical plane relative to the component mounting flange 33 by driving the outer rotor 24, thereby changing the position of the propeller compound wheel inside the robot.

[0032] When the compound wheel position conversion device 10 is in the retracted state, the propeller compound wheel is arranged inside the robot at a 45° angle relative to the robot's main frame;

[0033] When the compound wheel position conversion device is in the deployed state, the propeller compound wheel is arranged at the lower part of the robot's main frame.

[0034] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A composite wheel position conversion device for a robot with changeable underwater motion state, characterized in that: The robot includes a mounting bracket (23), an integrated dual-joint module (40), and a fixing flange (33). The integrated dual-joint module (40) is installed between the mounting bracket (23) and the fixing flange (33). The mounting bracket (23) is connected to the propeller compound wheel, and the fixing flange (33) is installed on the main frame of the robot. The integrated dual-joint module (40) includes a housing 1 (32) and a housing 2 (29). One end of the housing 2 (29) is connected to the housing 1 (32) by bolts, and the other end of the housing 2 (29) is connected to the mounting bracket (23). The mounting cavity formed by the assembly of the housing 1 (32) and the housing 2 (29) contains a horizontal rotation drive unit and a vertical rotation drive unit.

2. The underwater motion state changeable compound wheel position conversion device for robots according to claim 1, characterized in that: The mounting bracket (23) is installed on the top surface of the housing 2 (29), the housing 1 (32) is installed on the left side of the housing 2 (29), the right side of the housing 2 (29) is a slope, forming a slanted opening, and an end cap (28) that matches it is installed on the slanted opening.

3. The underwater motion state changeable compound wheel position conversion device for robots according to claim 1, characterized in that: The vertical rotation drive unit includes a deceleration mechanism (22), an outer rotor (24), and a circuit board (31). The deceleration mechanism (22) is located near the fixed flange (33). The deceleration mechanism (22) is connected to one end of the outer rotor (24), and the circuit board (31) is installed at the other end of the outer rotor (24).

4. The underwater motion state changeable compound wheel position conversion device for robots according to claim 1, characterized in that: The horizontal rotation drive unit includes a second reduction mechanism (26), an outer rotor (25), a second circuit board (30), and a third reduction mechanism (52). The second reduction mechanism (26) is connected to one end of the outer rotor (25), and the second circuit board (30) is installed at the other end of the outer rotor (25). The second circuit board (30) is installed close to the first circuit board (31). The second deceleration mechanism (26) and the third deceleration mechanism (52) are arranged vertically between each other. The second deceleration mechanism (26) and the third deceleration mechanism (52) are meshed by gears. A gear ring (27) is installed at one end of the mounting bracket (23). The third deceleration mechanism (52) and the gear ring (27) are meshed together.

5. The underwater motion state changeable compound wheel position conversion device for robots according to claim 1, characterized in that: The mounting bracket (23) includes an inclined section, a horizontal section and a vertical section connected in sequence by an arc segment. The inclined section is connected to the propeller compound wheel. The inclined section and the horizontal section are connected to form an obtuse angle. The angled surface of the angle faces the propeller compound wheel. The vertical section is connected to the housing two (29) in the integrated double joint module (40).

6. The underwater motion state changeable compound wheel position conversion device for robots according to claim 5, characterized in that: The inclined segment and the horizontal segment are in the same horizontal plane, and the horizontal segment and the vertical segment are set perpendicularly to each other.

7. The underwater motion state changeable compound wheel position conversion device for robots according to claim 5, characterized in that: The cross-sectional shape in the horizontal direction after the horizontal segment, vertical segment and integrated double joint module (40) are assembled is "U".

Images