Underwater advancing device and underwater robot

Abstract

The utility model relates to an underwater marching device and an underwater robot. The underwater marching device comprises a frame, a sliding plate mechanism and a crawler belt mechanism, the crawler belt mechanism comprises a driving part and a crawler belt arranged on the driving part in a sleeving mode, the driving part is arranged on the frame, and the sliding plate mechanism comprises a sliding plate and a lifting part; one end of the lifting part is connected with the frame, the other end of the lifting part is connected with the sliding plate, and the lifting part is used for stretching out and drawing back so that the sliding plate can make contact with the ground and overhead the crawler belt. According to the underwater advancing device, under the condition that the water bottom is hard or the silt layer of the water bottom is shallow, the driving piece in the crawler mechanism drives the crawler to move, and therefore the underwater robot walks. And the device can adapt to various rugged water bottoms. When silt is too deep, the lifting piece is started, the sliding plate makes contact with the silt, and the crawler belt is overhead. The sliding plate has a larger contact surface relative to the crawler belt, so that the underwater robot is not in the sludge.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot field especially underwater bottom advancing device and underwater robot of a kind of underwater bottom. BACKGROUND

[0002] Underwater robot is a kind of underwater robot of underwater operation. In some underwater environment, underwater robot can be used for geological detection, underwater search for sunken ship, auxiliary cable laying and underwater archaeological research etc. Underwater robot can usually walk on the bottom of water, especially the bottom of sea. In prior art, track type structure is generally used to facilitate walking on the uneven bottom of water. However, there is a lot of soft silt in some bottom of water, even if practical track type is easy to sink into silt. The existing underwater walking robot cannot overcome this kind of problem, and can only make underwater robot walk on the hard seabed, and cannot walk in soft silt. SUMMARY

[0003] The first aspect, the utility model provides a kind of bottom advancing device, for the purpose that water robot can also walk in soft silt.

[0004] The utility model provides a kind of bottom advancing device, including frame, slide plate mechanism and track mechanism;The track mechanism includes driving part and track set on driving part, the driving part is set on the frame, and the slide plate mechanism includes slide plate and lifting part;One end of the lifting part is connected to the frame, and the other end is connected to the slide plate, and the lifting part is used to stretch and contract to make the slide plate touch ground and the track empty.

[0005] According to an embodiment of the utility model, the driving part includes support and driving unit, the driving unit is set on the frame and is partially set in the support, and the support is used to support the track.

[0006] According to an embodiment of the utility model, the support includes main body and end, and the end is upwardly inclined and arranged at both ends of the main body.

[0007] According to an embodiment of the utility model, the part of the end away from the main body is arc-shaped.

[0008] According to an embodiment of the utility model, the driving unit is provided with three, and is equally spaced and distributed on the support.

[0009] According to an embodiment of the utility model, the slide plate mechanism further includes inclined plate, and the inclined plate is upwardly inclined and arranged at one end of the slide plate.

[0010] In a second aspect, the utility model provides a kind of underwater robot, including propeller and the water bottom travelling device of any described in the first aspect, the propeller is connected on the frame and is used to push the underwater robot swim.

[0011] According to an embodiment of the utility model, further include manipulator, the manipulator is arranged on the frame.

[0012] According to an embodiment of the utility model, further include hydraulic system, the hydraulic system is located in the frame, and is used to drive the water bottom travelling device, the propeller and the manipulator.

[0013] According to an embodiment of the utility model, the hydraulic system includes motor, oil tank, pump machine, servo valve, output end and oil pipe, oil pipe is connected in proper order the oil tank, the pump machine, the servo valve and the output end, the motor is used to drive the pump machine, the pump machine is used to drive liquid to flow in the oil pipe, the servo valve is used to control the flow of the liquid and control liquid flow direction between the servo valve and the output end, the output end is used to drive the water bottom travelling device, the propeller and the manipulator.

[0014] Implement the utility model embodiment, with following beneficial effects:

[0015] Use the water bottom travelling device of this embodiment, in the case where water bottom is relatively hard, or in the case where water bottom silt layer is relatively shallow, the driving piece in track mechanism drives track to move, to make underwater robot walk. And can adapt to various rugged water bottom. When finding that silt is too deep, start lifting piece, make slide plate contact silt, make track airdry. Because slide plate has greater contact surface relative to track, so underwater robot will not be in silt.

[0016] Use the underwater robot of this embodiment, in the case where slide plate contacts ground, start propeller, and propeller will make underwater robot have advancing force. The friction of slide plate and silt is very low, so propeller can push slide plate to slide relative to silt. Use the underwater robot in the utility model, can realize the purpose that water robot can also walk in soft silt. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical scheme in the embodiment of the utility model or prior art, the following will briefly introduce the drawing needed to be used in embodiment or prior art description, obviously, the drawing in the following description only some embodiments of the utility model, for ordinary skilled person in the art, under the premise of not paying creative labor, other drawings can also be obtained according to these drawings.

[0018] Among them:

[0019] Figure 1 is a whole structure schematic diagram of the underwater robot in an embodiment of the utility model;

[0020] Figure 2 is a whole structure schematic diagram of the underwater robot in an embodiment of the utility model under the front view angle;

[0021] Figure 3 is a structure schematic diagram of the underwater cable laying robot under the side view angle in an embodiment of the utility model;

[0022] Figure 4 is a principle schematic diagram of the hydraulic system in an embodiment of the utility model.

[0023] Reference signs:

[0024] Frame-10;Slide plate mechanism-20;Crawler mechanism-30;Driving piece-310;Track-320;Slide plate-210;Support piece-3110;Driving unit-3120;Main body-3110a;End-3110b;Inclined plate-220;Propeller-40;Manipulator-50;Motor-610;Oil tank-620;Pump-630;Servo valve-640;Output end-650;Oil pipe-660;Oil pressure control assembly-670;Pressure relief valve-680. DETAILED DESCRIPTION

[0025] 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 below in combination with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor fall within the protection scope of the utility model.

[0026] In the first aspect, the utility model embodiment provides a bottom traveling device, please refer to Figures 1-3 , including frame 10, slide plate 210 mechanism 20 and track 320 mechanism 30;Track 320 mechanism 30 includes driving piece 310 and track 320 that sets on driving piece 310, and driving piece is arranged on frame 10, and slide plate 210 mechanism 20 includes slide plate 210 and lifting piece;Lifting piece is connected frame 10 in one end, and is connected slide plate 210 in other end, and lifting piece is used to extend and retract to make slide plate 210 touch ground and track 320.

[0027] The water bottom traveling device of the embodiment can be used in the following conditions: when the water bottom is hard, or when the silt layer of the water bottom is shallow, the driving member 310 in the track 320 mechanism 30 drives the track 320 to move, so as to make the underwater robot walk. The underwater robot can adapt to various rugged water bottoms. When it is found that the silt is too deep, the lifting member is started, the slide plate 210 contacts the silt, and the track 320 is elevated. Since the slide plate 210 has a larger contact surface relative to the track 320, the underwater robot will not be in the silt.

[0028] In an embodiment, the driving member includes a support member 3110 and a driving unit 3120, the driving unit 3120 is arranged on the frame 10 and partially arranged in the support member 3110, and the support member 3110 is used for supporting the track 320.

[0029] In the embodiment, the support member 3110 is mainly used for tensioning the track 320, and the driving unit 3120 is mainly used for driving the track 320. The driving unit 3120 generally includes a driving wheel and a transmission shaft, the transmission shaft is connected with the driving wheel and the frame 10, and the driving wheel is generally arranged on the support member 3110.

[0030] In an embodiment, the support member 3110 includes a main body 3110a and end portions 3110b, and the end portions 3110b are arranged on both ends of the main body 3110a in an upwardly inclined manner.

[0031] In the embodiment, the track 320 has a certain deformation ability. The inclined arrangement of the end portions 3110b on both ends of the main body 3110a can ensure that part of the track 320 falls between the two end portions 3110b in a relaxed state, so as to avoid the track 320 from falling due to excessive relaxation.

[0032] In an embodiment, the part of the end portion 3110b away from the main body 3110a is in an arc shape.

[0033] The arc-shaped part of the end portion 3110b away from the main body 3110a can better fit the track 320, so as to avoid mutual abrasion between the track 320 and the end portion 3110b.

[0034] In an embodiment, the driving unit 3120 is provided with three driving units, and the three driving units are equally spaced on the support member 3110.

[0035] Since the track 320 is relatively heavy and has a large friction with the sea bottom, a larger driving force is required. The provision of three driving units on the support member 3110 can ensure that the track 320 is evenly stressed and has sufficient power.

[0036] In an embodiment, the slide plate 210 mechanism 20 further includes an inclined plate 220, and the inclined plate 220 is arranged on one end of the slide plate 210 in an upwardly inclined manner.

[0037] The inclined plate 220 can play a guiding role to avoid the sliding plate 210 from being inserted into the silt, and the principle is equivalent to a ski.

[0038] In the second aspect, the utility model provides a kind of underwater robot, including propeller 40 and the water bottom travelling device of any one of first aspect, propeller 40 is connected on frame 10 and is used to push underwater robot swim.

[0039] Using underwater robot of the embodiment, in the case where sliding plate 210 touches ground, propeller 40 is started, and propeller 40 will make underwater robot have a advancing force.The friction of sliding plate 210 with silt is very low, so propeller 40 can push sliding plate 210 to slide relative to silt.Using underwater robot in the utility model, the purpose that water robot can travel in soft silt can be realized.

[0040] In an embodiment, further comprising manipulator 50, manipulator 50 is arranged on frame 10.

[0041] The setting of manipulator 50 is generally used to cut damaged cable, or reconnect to repair broken cable.Alternatively, manipulator 50 can be used to complete some underwater maintenance, installation and other operations.

[0042] In an embodiment, further comprising hydraulic system 60, hydraulic system 60 is arranged in frame 10, and is used to drive water bottom travelling device, propeller 40 and manipulator 50.

[0043] In an embodiment, please refer to Figure 1 And Figure 4 Hydraulic system (not shown in figure) includes motor 610, oil tank 620, pump 630, servo valve 640, output end 650 and oil pipe 660, oil pipe 660 is in series with oil tank 620, pump 630, servo valve 640 and output end 650 in sequence, motor 610 is used to drive pump 630, pump 630 is used to drive liquid to flow in oil pipe 660, servo valve 640 is used to control the flow of liquid and control liquid flow direction between servo valve 640 and output end 650, output end 650 is used to drive water bottom travelling device, propeller 40 and manipulator 50.

[0044] In the embodiment, motor 610 drives pump 630, and pump 630 makes oil in oil pipe 660 have certain oil pressure.By electromagnetic valve control liquid flow and liquid flow direction in oil pipe 660, so that output end 650 is driven.

[0045] Generally speaking, the form of the output end 650 is mostly a plunger motor. The plunger motor is a type of hydraulic motor, which works on the principle that the working medium (such as hydraulic oil) acts on the end face of the piston or plunger to make the piston or plunger do linear reciprocating motion, and then the reciprocating motion of the piston or plunger is converted into the circular motion of the output shaft through a motion conversion mechanism (such as a swash plate, a cam, a crank, etc.). The conversion mechanism of the plunger motor enables it to convert hydraulic energy into mechanical energy, thereby driving various equipment.

[0046] It should be noted that the hydraulic system also includes an oil pressure control assembly 670, which can be used to distribute the liquid pressure on a pipeline, so that one pump machine 630 can drive multiple output ends 650. In addition, the hydraulic system is generally provided with a pressure relief valve 680, which can be opened when the pressure in the oil pipe 660 is too large, thereby avoiding excessive pressure in the hydraulic system.

[0047] In the description of the embodiments of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying 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 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.

[0048] In the description of the embodiments of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those 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.

[0049] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which 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 "above", "above" and "above" 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 "below", "below" and "below" 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.

[0050] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like 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 embodiments of the present application. In the present specification, 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. Furthermore, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples, without contradiction.

[0051] 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 for 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 traveling apparatus characterized by comprising: The water bottom traveling device comprises a frame, a slide plate mechanism and a track mechanism; the track mechanism comprises a driving member and a track sleeved on the driving member; the driving member is arranged on the frame; the slide plate mechanism comprises a slide plate and a lifting member; one end of the lifting member is connected with the frame, and the other end is connected with the slide plate; the lifting member is used for stretching and retracting so as to make the slide plate touch the ground and make the track be lifted.

2. The underwater travelling apparatus according to claim 1, wherein The driving member comprises a supporting member and a driving unit; the driving unit is arranged on the frame and partially arranged in the supporting member; the supporting member is used for supporting the track.

3. The underwater travelling apparatus according to claim 2, wherein The supporting member comprises a main body and end portions; the end portions are arranged on both ends of the main body in an upwardly inclined manner.

4. The underwater travelling apparatus according to claim 3, wherein The end portions are in arc shape away from the main body.

5. The underwater traveling apparatus according to claim 3, wherein Three driving units are arranged on the supporting member in an equidistant manner.

6. The underwater traveling apparatus according to claim 3, wherein The slide plate mechanism further comprises an inclined plate; the inclined plate is arranged on one end of the slide plate in an upwardly inclined manner.

7. An underwater robot, characterized in that, The water bottom traveling device further comprises a propeller; the propeller is connected with the frame and used for propelling the underwater robot.

8. The underwater robot of claim 7, wherein, The water bottom traveling device further comprises a mechanical hand; the mechanical hand is arranged on the frame.

9. The underwater robot of claim 8, wherein, The water bottom traveling device further comprises a hydraulic system; the hydraulic system is arranged in the frame and used for driving the water bottom traveling device, the propeller and the mechanical hand.

10. The underwater robot of claim 9, wherein, The hydraulic system comprises a motor, an oil tank, a pump, a servo valve, an output end and an oil pipe; the oil pipe is connected with the oil tank, the pump, the servo valve and the output end in sequence; the motor is used for driving the pump; the pump is used for driving liquid to flow in the oil pipe; the servo valve is used for controlling the flow of the liquid and controlling the flow direction between the servo valve and the output end; the output end is used for driving the water bottom traveling device, the propeller and the mechanical hand.

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