Motion state change device for underwater observation and maintenance robot

Abstract

The utility model relates to the technical field of underwater robots, in particular to a motion state change device for an underwater observation and maintenance robot. The propeller composite wheel is installed at one end of the composite wheel position conversion device, and the other end of the composite wheel position conversion device is installed on a main body frame of the robot. The outer edge of the propeller composite wheel adopts a blade design, the propeller composite wheel can be used as a propeller, a roller and a walking foot under the action of a driving motor and a speed reducer, and a mounting bracket rotates in a horizontal plane by driving an 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, and the composite wheel position conversion device is matched with the propeller composite wheel for use to realize rapid and repeated adjustment of'zero buoyancy-negative buoyancy 'of the propeller composite wheel; change of floating / crawling / walking state switching of the robot is the core of state switching and walking functions of the robot.

Description

TECHNICAL FIELD

[0001] The utility model relates to underwater robot technical field especially underwater observation maintenance robot with motion state change device. BACKGROUND

[0002] Underwater robots, also known as Unmanned Underwater Vehicles (UUVs), are robotic systems capable of operating autonomously or under remote control underwater. They are designed to perform a variety of underwater tasks, including but not limited to oceanographic research, seafloor exploration, underwater structure inspection, pipeline and cable laying, environmental monitoring, search and rescue operations, mine detection and clearance, and military applications.

[0003] When operating underwater, existing underwater robots adjust buoyancy by changing the internal ballast or using liquid to achieve precise control of the robot's depth to ensure that the wheels can touch the seabed and provide sufficient propulsion, thereby increasing the weight and volume of the underwater robot; at the same time, the water resistance is much greater than that in the air, which further increases the friction and resistance when the wheels move, which means that the underwater robot needs more energy to push and maintain speed, resulting in increased energy consumption, which affects the working efficiency and service life and applicable time length of the robot; and for complex underwater environments, the wheels may be hindered or unable to move well, limiting the movement range and flexibility of the robot; therefore, there is an urgent need for a motion state change device for underwater robots that can adapt to complex underwater working conditions, can float, can crawl along the seabed, and even walk to adapt to more complex underwater working conditions. SUMMARY

[0004] The technical problem to be solved by the utility model is to solve the problems of the prior art in the background art and provide a motion state change device for an underwater observation and maintenance robot.

[0005] The technical solution adopted by the utility model to solve the technical problem is: a motion state change device for an underwater observation and maintenance robot, comprising a propeller composite wheel and a composite wheel position conversion device, the propeller composite wheel is installed at one end of the composite wheel position conversion device, and the other end of the composite wheel position conversion device is installed on the main body frame of the robot.

[0006] The propeller composite wheel comprises a propeller outer wheel and a pressure-resistant hub, the pressure-resistant hub is externally installed with the propeller outer wheel, and a buoyancy adjustment air bag is installed between the propeller outer wheel and the pressure-resistant hub.

[0007] The open end of the pressure-resistant hub is provided with a hub cover, and a sealing partition plate is installed in the inner cavity of the pressure-resistant hub, which divides the inner cavity of the pressure-resistant hub into a first sealed cabin and a second sealed cabin.

[0008] A driving motor is installed in the second sealed cabin to drive the propeller composite wheel to rotate.

[0009] The composite wheel position conversion device comprises a mounting bracket, an integrated double-joint module and a fixing flange, the integrated double-joint module is installed between the mounting bracket and the fixing flange, the mounting bracket is connected with the propeller composite wheel, and the fixing flange is installed on the main body frame of the robot.

[0010] Further, the integrated double-joint module comprises a casing one and a casing two, one end of the casing two is connected with the casing one through bolts, the other end of the casing two is connected with the mounting bracket, and a mounting cavity is formed after the casing one and the casing two are spliced, and the horizontal rotation driving part and the vertical rotation driving part are installed in the mounting cavity.

[0011] Further, the mounting bracket is installed on the top surface of the casing two, the casing one is installed on the left side surface of the casing two, the right side surface of the casing two is a bevel surface, a bevel opening is formed, and an end cover matched with the bevel opening is installed on the bevel opening.

[0012] Further, the vertical rotation driving part comprises a speed reduction mechanism one, an outer rotor one and a circuit board one, the speed reduction mechanism one is arranged close to the fixing flange, the speed reduction mechanism one is connected with one end of the outer rotor one, and the circuit board one is installed on the other end of the outer rotor one.

[0013] Further, the horizontal rotation driving part comprises a speed reduction mechanism two, an outer rotor two, a circuit board two and a speed reduction mechanism three, the speed reduction mechanism two is connected with one end of the outer rotor two, the circuit board two is installed on the other end of the outer rotor two, and the circuit board two is installed close to the circuit board one.

[0014] The speed reduction mechanism two and the speed reduction mechanism three are arranged vertically, the speed reduction mechanism two and the speed reduction mechanism three are engaged through gears, a gear ring is installed on one end of the mounting bracket, and the speed reduction mechanism three and the gear ring are engaged.

[0015] Further, the mounting bracket comprises an inclined segment, a horizontal segment and a vertical segment which are connected through arc segments in sequence, the inclined segment is connected with the propeller composite wheel, an obtuse angle is formed between the inclined segment and the horizontal segment, the included angle surface of the obtuse angle faces the propeller composite wheel, and the vertical segment is connected with the casing two in the integrated double-joint module.

[0016] Further, the inclined section and the horizontal section are in the same horizontal plane, the horizontal section and the vertical section are vertically arranged, and the cross-sectional shape of the horizontal section, the vertical section and the integrated double-joint module in the horizontal direction after splicing is in the shape of "U".

[0017] Further, the outer circumferential surface of the propeller outer wheel is provided with a plurality of blades arranged in an annular array, and the transverse cross-sectional shape of each blade is in the shape of "S".

[0018] Further, the surface of the blade in contact with the outer circumferential surface of the propeller outer wheel is a straight surface, and the top surface of the blade is in the shape of "S".

[0019] Further, the blade is divided into a first blade and a second blade, the first blade and the second blade are centrally symmetrically arranged about the length center point of the blade, the camber of the blade is positive from the leading edge to the length center position of the blade, and gradually decreases along the chord direction from the maximum value to 0 at the length center position; the camber of the blade is negative from the length center position to the trailing edge, and gradually increases from the minimum value to the maximum value along the chord direction.

[0020] The beneficial effects of the utility model are as follows:

[0021] a) The outer edge of the propeller composite wheel is designed with blades, which can be used as propellers, rollers and walking feet under the action of the driving motor and the speed reducer, so as to adapt to a more complex underwater working environment, and then complete underwater observation and maintenance work, and have strong environmental adaptability;

[0022] b) The gas is discharged between the buoyancy adjusting air bag and the first sealed cabin in the pressure-resistant hub through the air pump, the volume of the buoyancy adjusting air bag is changed, the propeller composite wheel is quickly and repeatedly adjusted between "zero buoyancy and negative buoyancy", the buoyancy of the propeller composite wheel can be repeatedly adjusted between "zero buoyancy and negative buoyancy", and the robot in the floating state is stable, and the robot in the crawling state is close to the water bottom under the cooperation of the composite wheel position conversion device, so that the water flow resistance is high;

[0023] c) The negative buoyancy of the four composite wheels can be adjusted in real time, so that the strength of the robot pressing the water bottom is changed, the energy consumption is reduced, and appropriate water flow resistance is provided;

[0024] d) by driving the outer rotor two to make the installation support rotate in the horizontal plane; by driving the outer rotor one to make the composite wheel position conversion device rotate in the vertical plane relative to the assembly mounting fixed flange, so as to change the position of the propeller composite wheel inside the robot, cooperate with the propeller composite wheel, change the floating / crawling / walking state switching of the robot, and be the core of the robot state conversion and walking function; meanwhile, the structure is simple, the volume is small, the weight is light, the mechanical failure rate and the maintenance protection demand are reduced, and the production cost is reduced under the condition of ensuring the maneuverability and operation ability of the robot under water. BRIEF DESCRIPTION OF DRAWINGS

[0025] The utility model will be further explained in connection with the drawings and embodiments.

[0026] Figure 1 It is the structural schematic diagram of the utility model;

[0027] Figure 2 It is the structural schematic diagram of the propeller composite wheel in the utility model;

[0028] Figure 3 It is the explosion drawing of the propeller composite wheel in the utility model;

[0029] Figure 4 It is the structural schematic diagram of the composite wheel position conversion device in the utility model;

[0030] Figure 5 It is the explosion drawing of the composite wheel position conversion device in the utility model;

[0031] In the drawing: 13, propeller outer wheel, 14, buoyancy adjustment air bag, 15, pressure hub, 16, exhaust pump, 17, sealing partition, 18, drive motor rotor, 19, drive motor stator, 20, speed reducer, 21, air hole, 54, paddle,

[0032] 22, speed reduction mechanism one, 23, installation support, 24, outer rotor one, 25, outer rotor two, 26, speed reduction mechanism two, 27, gear ring, 28, end cover, 29, shell two, 30, circuit board two, 31, circuit board one, 32, shell one, 33, fixed flange, 40, integrated double-joint module, 52, speed reduction mechanism three. DETAILED DESCRIPTION

[0033] The utility model will be further explained in connection with the drawings and embodiments.

[0034] As Figures 1-5The underwater observation maintenance robot motion state changing device shown in the application comprises a propeller composite wheel and a composite wheel position conversion device, the propeller composite wheel is installed at one end of the composite wheel position conversion device, and the other end of the composite wheel position conversion device is installed on the main body frame of the robot.

[0035] The propeller composite wheel mainly provides thrust for the robot in the floating state and crawling power for the robot in the crawling state, and can adjust the buoyancy state of the robot and change the displacement of the propeller composite wheel, so as to provide large negative buoyancy state (so that the robot is tightly pressed on the water bottom to crawl) when providing crawling power and zero buoyancy state (so that the robot is in zero buoyancy to float in water) when providing thrust.

[0036] The composite wheel position conversion device mainly changes the position of the propeller composite wheel on the robot, and stably fixes the propeller composite wheel to the lower part of the robot when crawling, stably fixes the propeller composite wheel to the inside of the robot when floating, and performs forward and reverse reciprocating motion when walking, so as to change the floating / crawling / walking state switching of the robot and be the core of the robot state conversion and walking function.

[0037] The propeller composite wheel comprises a propeller outer wheel 13 and a pressure-resistant hub 15, the pressure-resistant hub 15 is externally installed with the propeller outer wheel 13, and the propeller outer wheel 13 and the pressure-resistant hub 15 are installed with a buoyancy adjusting air bag 14 therebetween.

[0038] The opening end of the pressure-resistant hub 15 is installed with a hub cover, the inner cavity of the pressure-resistant hub 15 is installed with a sealing partition plate 17, the sealing partition plate 17 divides the inner cavity of the pressure-resistant hub 15 into a first sealed cabin and a second sealed cabin, the surface of the pressure-resistant hub 15 is provided with an air hole 21, the buoyancy adjusting air bag 14 is communicated with the first sealed cabin through the air hole 21, the first sealed cabin is installed with an air exhaust pump 16, and the air exhaust pump 16 completes the air exhaust between the buoyancy adjusting air bag 14 and the first sealed cabin.

[0039] The second sealed cavity is installed with a driving motor, which is used to drive the propeller composite wheel 1 to rotate.

[0040] The composite wheel position conversion device comprises a mounting bracket 23, an integrated double-joint module 40 and a fixed flange 33, the integrated double-joint module 40 is installed between the mounting bracket 23 and the fixed flange 33, the mounting bracket 23 is connected with the propeller composite wheel, and the fixed flange 33 is installed on the main body frame of the robot.

[0041] As Figure 5As shown, 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.

[0042] 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, on which an end cap 28 is installed.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] like Figure 4 As shown, the 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.

[0047] The inclined segment and the horizontal segment are in the same horizontal plane, and the horizontal segment and the vertical segment are set perpendicularly. After the horizontal segment, the vertical segment and the integrated double joint module 40 are assembled, the cross-sectional shape in the horizontal direction is "U".

[0048] The outer circumference of the propeller outer wheel 13 is provided with a number of blades 54 arranged in a ring array. The transverse cross-section of each blade 54 is "S" shaped. When the blades 54 rotate at high speed, they have the same effect as a rotating propeller, generating water thrust. When they rotate at low speed, they have the same effect as a patterned roller, generating crawling force.

[0049] like Figure 2As shown, the surface of the blade 54 in contact with the outer circumferential surface of the propeller outer wheel 13 is a straight surface, and the top surface of the blade 54 is shaped like an "S".

[0050] The blade 54 is divided into a first blade and a second blade, which are centrally symmetrically arranged about the length center point of the blade. The camber of the blade 54 is positive in the part from the leading edge to the length center position of the blade, and gradually decreases along the chord direction from a maximum value to 0 at the length center position of the blade. The camber of the blade 54 is negative in the part from the length center position of the blade to the trailing edge, and gradually increases along the chord direction from a minimum value to a maximum value.

[0051] The driving motor includes a driving motor rotor 18, and a driving motor stator 19 is inserted into the driving motor rotor 18. One end of the driving motor stator 19 is provided with a speed reducer 20, and the speed reducer 20 is arranged away from the hub cover. The driving motor is also integrated and installed inside the pressure-resistant hub 15. The driving motor is controlled to rotate at a high speed to drive the propeller outer wheel 13 to generate propeller thrust, and the driving motor is controlled to rotate at a low speed to drive the propeller outer wheel 13 to generate crawling force.

[0052] Specifically, when performing observation tasks, the robot floats or crawls in water;

[0053] When performing underwater maintenance tasks, the robot can crawl along the water bottom according to the carried maintenance equipment and the observed underwater environment;

[0054] The gas in the buoyancy adjusting air bag 14 and the first sealed cabin in the pressure-resistant hub 15 is pumped out by the air pump 16, the volume of the buoyancy adjusting air bag 14 is changed, the propeller composite wheel 1 is quickly and repeatedly adjusted between "zero buoyancy and negative buoyancy", and the buoyancy of the propeller composite wheel can be repeatedly adjusted between "zero buoyancy and negative buoyancy". Under the cooperation of the composite wheel position conversion device, the robot in the floating state is stable, and the robot in the crawling state has a gravity close to the water bottom, and has strong water flow resistance.

[0055] The propeller composite wheel has a blade 54 on the outer edge, a buoyancy adjusting air bag 14, a speed reducer 20, a driving motor, etc. in the inside. When rotating at a high speed, the propeller composite wheel is zero buoyancy, interacts with water, is similar to a propeller, and provides propulsion for the robot movement. When rotating at a low speed, the propeller composite wheel 1 is negative buoyancy, contacts the water bottom, is similar to a patterned roller, and provides crawling force for the robot movement.

[0056] When the floating state, the composite wheel position conversion device is in the contraction state, the air in the first sealed cabin inside the pressure-resistant hub 15 is exhausted to the buoyancy adjusting air bag 14 by the exhaust pump 16, the air pressure of the buoyancy adjusting air bag 14 is intelligently adjusted according to the water depth, the propeller composite wheel is kept in the zero buoyancy state (at this time, the robot is in the zero buoyancy state as a whole, and the propeller composite wheel is arranged at 45° relative to the main frame 34 inside the buoyancy material shell 2), and the propeller composite wheel is controlled to rotate at high speed to generate water thrust, so that the omnidirectional movement of the robot in water is completed.

[0057] When the crawling state, the composite wheel position conversion device is in the expanded state, the four propeller composite wheels are arranged in the "Big Foot" layout, and the obstacle crossing capability is strong; the air in the buoyancy adjusting air bag 14 is exhausted to the first sealed cabin inside the pressure-resistant hub 15 by the exhaust pump 16, so that the propeller composite wheel is kept in the negative buoyancy state, at this time, the robot is in the negative buoyancy state as a whole, the negative buoyancy state (the negative buoyancy of the four propeller composite wheels can be adjusted in real time, so that the strength of the robot pressing on the water bottom can be changed, and the appropriate anti-flow capability can be provided while reducing the energy consumption), and the propeller composite wheel is arranged at the lower part of the main frame 34, at this time, the whole robot is pressed on the water bottom, the propeller composite wheel is controlled to rotate at low speed to generate crawling force, and the robot crawls on the water bottom under the differential control of the four propeller composite wheels.

[0058] When the walking state, the composite wheel position conversion device is in the expanded state and the propeller composite wheel is stuck or locked, the vertical rotation driving part in the composite wheel position conversion device is controlled to reverse by the water surface control unit, so that the underwater robot unit walks underwater like a "mechanical dog". In summary, the application is used to provide power for the robot, provide crawling power for the robot in the crawling state, adjust the buoyancy state of the robot, change the displacement of the propeller composite wheel, and provide larger negative buoyancy state when providing crawling power (so that the robot is pressed on the water bottom to crawl as a whole), and provide zero buoyancy state when providing propulsion (so that the robot is in the zero buoyancy state in water), so that the underwater state of the robot is switched between floating, crawling and walking.

[0059] Based on the above ideal embodiments of the application, the related personnel can make various changes and modifications without deviating from the technical idea of the application according to the above description. The technical scope of the application is not limited to the contents in the specification, and must be determined according to the scope of claims.

Claims

1. A motion state change device for an underwater observation and maintenance robot, characterized in that: The propeller composite wheel is installed at one end of the composite wheel position conversion device, and the other end of the composite wheel position conversion device is installed on the main body frame of the robot. The propeller composite wheel comprises a propeller outer wheel (13) and a pressure-resistant hub (15), the pressure-resistant hub (15) is externally installed with the propeller outer wheel (13), and a buoyancy adjusting air bag (14) is installed between the propeller outer wheel (13) and the pressure-resistant hub (15). A hub cover is installed at the open end of the pressure-resistant hub (15), a sealing partition plate (17) is installed in the inner cavity of the pressure-resistant hub (15), the sealing partition plate (17) divides the inner cavity of the pressure-resistant hub (15) into a first sealed cabin and a second sealed cabin, air holes (21) are formed on the surface of the pressure-resistant hub (15), the buoyancy adjusting air bag (14) penetrates the first sealed cabin through the air holes (21), and a gas pumping and exhausting pump (16) is installed in the first sealed cabin to complete the pumping and exhausting of the gas between the buoyancy adjusting air bag (14) and the first sealed cabin. A driving motor is installed in the second sealed cabin to drive the propeller composite wheel (1) to rotate. The composite wheel position conversion device comprises a mounting bracket (23), an integrated double-joint module (40) and a fixed flange (33), the integrated double-joint module (40) is installed between the mounting bracket (23) and the fixed flange (33), the mounting bracket (23) is connected with the propeller composite wheel, and the fixed flange (33) is installed on the main body frame of the robot.

2. The motion state changing device for an underwater observation maintenance robot according to claim 1, characterized by: The integrated double-joint module (40) comprises a first casing (32) and a second casing (29), one end of the second casing (29) is connected with the first casing (32) through bolts, the other end of the second casing (29) is connected with the mounting bracket (23), and a mounting cavity is formed between the first casing (32) and the second casing (29) after splicing, wherein a horizontal rotation driving part and a vertical rotation driving part are installed in the mounting cavity.

3. The motion state changing device for an underwater observation maintenance robot according to claim 1, characterized by: The mounting bracket (23) is installed on the top surface of the second casing (29), the first casing (32) is installed on the left side surface of the second casing (29), the right side surface of the second casing (29) is a bevel surface, a bevel opening is formed on the bevel surface, and an end cover (28) matched with the bevel opening is installed on the bevel opening.

4. The motion state changing device for an underwater observation maintenance robot according to claim 2, characterized by: The vertical rotation driving part comprises a speed reduction mechanism one (22), an outer rotor one (24) and a circuit board one (31), the speed reduction mechanism one (22) is arranged close to the fixed flange (33), the speed reduction mechanism one (22) is connected with one end of the outer rotor one (24), and the circuit board one (31) is installed on the other end of the outer rotor one (24).

5. The motion state changing device for an underwater observation maintenance robot according to claim 2, characterized by: The horizontal rotation driving part comprises a speed reduction mechanism two (26), an outer rotor two (25), a circuit board two (30) and a speed reduction mechanism three (52), the speed reduction mechanism two (26) is connected with one end of the outer rotor two (25), the circuit board two (30) is installed on the other end of the outer rotor two (25), and the circuit board two (30) is installed close to the circuit board one (31). The speed reduction mechanism two (26) is vertically arranged between the speed reduction mechanism three (52), and the speed reduction mechanism two (26) is engaged with the speed reduction mechanism three (52) through gears.

6. The motion state changing device for an underwater observation maintenance robot according to claim 1, characterized by: The mounting bracket (23) comprises an inclined segment, a horizontal segment and a vertical segment which are sequentially connected through circular arc segments, the inclined segment is connected with the propeller composite wheel, an obtuse angle is formed between the inclined segment and the horizontal segment, and the angle surface of the angle faces the propeller composite wheel, and the vertical segment is connected with the second casing (29) in the integrated double-joint module (40).

7. The motion state changing device for an underwater observation maintenance robot according to claim 6, characterized by: The inclined segment and the horizontal segment are in the same horizontal plane, the horizontal segment and the vertical segment are vertically arranged, and the cross-sectional shape of the horizontal segment, the vertical segment and the integrated double-joint module (40) in the transverse direction is in the shape of "U".

8. The motion state changing device for an underwater observation maintenance robot according to claim 1, characterized by: The outer circumferential surface of the propeller outer wheel (13) is provided with a plurality of blades (54) arranged in an annular array, and the transverse cross-sectional shape of each blade (54) is in the shape of "S".

9. The motion state changing device for an underwater observation maintenance robot according to claim 8, characterized by: The surface of the blade (54) in contact with the outer circumferential surface of the propeller outer wheel (13) is a straight surface, and the top surface of the blade (54) is in the shape of "S".

10. The motion state changing device for an underwater observation maintenance robot according to claim 8, characterized by: The blade (54) is divided into a first blade and a second blade, the first blade and the second blade are centrally symmetrically arranged about the length center point of the blade, the camber of the blade (54) is positive from the leading edge to the length center position of the blade, gradually decreases along the chord direction from the maximum value to 0 at the length center position of the blade, and the camber of the blade (54) is negative from the length center position of the blade to the trailing edge, gradually increases along the chord direction from the minimum value to the maximum value.

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