Underwater robot with high flexibility

Abstract

The utility model relates to the technical field of underwater robots, and discloses a high-flexibility underwater robot which comprises an underwater robot body, first cameras are arranged at the front end and the rear end of the underwater robot body respectively, and a second camera is arranged on the top face of the underwater robot body. Transverse propellers are arranged on the two sides of the underwater robot body correspondingly, first cameras are arranged at the front end and the rear end of the underwater robot body correspondingly, so that the two first cameras detect the front end and the rear end of the underwater robot body at the same time, and meanwhile a second camera is arranged on the top face of the underwater robot body. Meanwhile, the longitudinal propellers are arranged on the periphery of the underwater robot main body, and the first cutting blades are arranged in the longitudinal propellers, so that the problems that the robot camera is single in setting angle and high in cutting efficiency are solved; and meanwhile, the flexibility of the robot is influenced when the obstacle is wound on the propelling device of the robot.

Description

TECHNICAL FIELD

[0001] The utility model application relates to underwater robot technical field, specifically a kind of high flexibility underwater robot. BACKGROUND

[0002] Underwater robot is a kind of intelligent equipment that can be in underwater environment autonomous or remote control operation, it is usually used in ocean exploration, resource development, environmental monitoring and military tasks etc. field, according to work mode, can be divided into remote control underwater robot, autonomous underwater vehicle and hybrid, underwater robot carries sensor, camera, mechanical arm etc. tool, can execute deep-sea detection, pipeline maintenance, sample collection etc. difficult task, its core technology includes hydrodynamics design, underwater communication, navigation positioning and energy management, is the important embodiment of ocean engineering and artificial intelligence fusion.

[0003] According to CN21 fixed block (74) 56308U a kind of underwater robot, the utility model cooperates by controller, vertical propeller and horizontal propeller, the vertical, horizontal, turning etc. movement of underwater robot can be realized, so that the degree of flexibility is higher, through the setting of radar emitter and radar receiver, the distance between underwater robot and obstacle can be judged, it is convenient for controller to control underwater robot to change the direction of travel, avoid underwater robot and obstacle to collide and damage, and it is convenient to carry out quick disassembly, overhaul and maintenance operation to underwater robot ontology.

[0004] But the camera of this robot is only set in the front end of robot, so that robot needs to turn direction frequently when working underwater, and although this robot can actively avoid obstacles through radar device, when there are kelp or marine garbage etc. floating objects quickly approach robot and entangle on propelling device, then the flexibility of robot under water will be affected. SUMMARY

[0005] In order to solve the above-mentioned problems of single camera angle setting and the flexibility of robot being affected when obstacles entangle on propelling device of robot, the utility model provides a kind of high flexibility underwater robot to solve the above-mentioned problems.

[0006] To achieve the above object, the utility model provides the following technical scheme:

[0007] A kind of high flexibility underwater robot, including underwater robot main body, the underwater robot main body front and rear both ends are equipped with first camera, the underwater robot main body top is opened in second camera, the underwater robot main body both sides are respectively provided with horizontal propeller, the underwater robot main body inside is respectively equipped with four longitudinal propellers, the underwater robot main body bottom end is symmetrically connected with carousel, the underwater robot main body is rotated by inside motor and drives two carousels, and each the carousel bottom end is fixed with cutting device.

[0008] Further, the cutting device comprises a connecting plate, a guide plate is fixed to the bottom end of the connecting plate, and a detachable second cutting blade is fixed inside the connecting plate.

[0009] Further, the longitudinal pusher comprises two fixed plates, the two fixed plates are symmetrically fixed inside the underwater robot body, a rotating rod is rotatably connected between the two fixed plates, a plurality of pusher plates are fixed to the rotating rod, a micro motor is fixed inside the upper fixed plate, the output end of the micro motor inside the fixed plate is fixedly connected with the rotating rod, a plurality of first cutting blades are arranged at the end of the two fixed plates away from the rotating rod, and each first cutting blade is fixedly connected with the underwater robot body.

[0010] Further, the second cutting blade is fixed to the fixed block at the end away from the rotating disc, and the fixed block is fixedly connected with the connecting plate through the embedded hexagonal bolt.

[0011] Further, the second cutting blade is fixed to the fixed block at the end away from the rotating disc, and the fixed block is fixedly connected with the connecting plate through the embedded hexagonal bolt.

[0012] Further, the second cutting blade is fixed to the fixed block at the end away from the rotating disc, and the fixed block is fixedly connected with the connecting plate through the embedded hexagonal bolt.

[0013] Compared with the prior art, the utility model has the advantages that:

[0014] 1、In the utility model, the first camera is arranged at the front end and the rear end of the underwater robot body, the two first cameras detect the front end and the rear end of the underwater robot body at the same time, the second camera is arranged on the top surface of the underwater robot body, the second camera detects the top surface of the underwater robot body, the longitudinal pusher is arranged around the underwater robot body, and the first cutting blade is arranged inside the longitudinal pusher, so that the above-mentioned problems of single setting angle of the robot camera and influence of the robot flexibility when the obstacle is wound on the robot pushing device are solved.

[0015] 2、In the utility model, the cutting device is symmetrically rotatably arranged at the bottom end of the underwater robot body, the guide plate assists the pushing device to control the moving direction of the underwater robot body when the underwater robot body moves, and when the obstacle is wound on the underwater robot body, the cutting device is driven to rotate by the rotating disc, so that the second cutting blade cuts the obstacle wound on the underwater robot body, and the obstacle is prevented from shielding the two first cameras. BRIEF DESCRIPTION OF DRAWINGS

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

[0017] Figure 1 is a perspective structural schematic diagram according to an embodiment of the present application;

[0018] Figure 2 is Figure 1 the bottom view structural schematic diagram of the embodiment shown;

[0019] Figure 3 is Figure 1 the structural schematic diagram of the propulsion device of the embodiment shown;

[0020] Figure 4 is Figure 1 the structural schematic diagram of the cutting device of the embodiment shown.

[0021] The meanings of the reference signs in the drawings are as follows: 1, underwater robot main body; 2, first camera; 3, second camera; 4, transverse propeller; 5, longitudinal propeller; 51, fixed plate; 52, rotating rod; 53, propelling plate; 54, first cutting blade; 6, rotating disc; 7, cutting device; 71, connecting plate; 72, flow guide plate; 73, second cutting blade; 74, fixed block; 75, limiting groove. DETAILED DESCRIPTION

[0022] In order to make the application purposes, features and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the embodiments described below are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0023] Referring to Figure 1 , Figure 2 , Figure 3 and Figure 4The utility model provides a high flexibility underwater robot, including underwater robot main body 1, underwater robot main body 1 both ends are equipped with first camera 2, underwater robot main body 1 top surface is equipped with second camera 3, underwater robot main body 1 both sides are provided with transverse propeller 4 respectively, underwater robot main body 1 is equipped with four longitudinal propeller 5 respectively in the inside, underwater robot main body 1 bottom end is rotatably connected with carousel 6 symmetrically, underwater robot main body 1 is rotated by inside motor and drives two carousels 6, and each carousel 6 bottom end is fixed with cutting device 7, so that first camera 2 and second camera 3 make underwater robot main body 1 detect and avoid obstacles to the four around.

[0024] Specifically, longitudinal propeller 5 includes fixed plate 51, two fixed plate 51 are fixedly connected in the inside of underwater robot main body 1, rotatable rod 52 is rotatably connected between two fixed plate 51, rotatable rod 52 is fixed with a plurality of propelling plate 53, the upper fixed plate 51 is fixed with micro motor in the inside, and the output end of micro motor in the inside of fixed plate 51 is fixedly connected with rotatable rod 52, and the end of two fixed plate 51 away from rotatable rod 52 is equipped with a plurality of first cutting blade 54, and each first cutting blade 54 is fixedly connected with underwater robot main body 1, to facilitate first cutting blade 54 cutting the sundries brought by propelling plate 53 rotation.

[0025] As an optimization scheme, as shown in Figure 1 、 Figure 2 、 Figure 3 and Figure 4 , cutting device 7 includes connecting plate 71, connecting plate 71 bottom end is fixed with flow guide plate 72, connecting plate 71 inside is fixed with detachable second cutting blade 73, so that flow guide plate 72 assists underwater robot main body 1 rotation.

[0026] Specifically, the end of second cutting blade 73 away from carousel 6 is fixed with fixed block 74, and fixed block 74 is fixedly connected with connecting plate 71 through embedded hexagon bolt, the end of second cutting blade 73 close to carousel 6 is provided with inclined plane, connecting plate 71 inside is provided with clamping groove matched with the inclined plane of second cutting blade 73, and connecting plate 71 and second cutting blade 73 are provided with same position limiting slot 75, and second cutting blade 73 is fixedly limited with connecting plate 71 through limiting slot 75, to facilitate second cutting blade 73 fixed in the inside of connecting plate 71.

[0027] Working principle: when the underwater robot body 1 works underwater, the underwater robot body 1 detects front and back and the bottom surface of the underwater robot body 1 through the first camera 2, and detects the top surface of the underwater robot body 1 through the second camera 3, which facilitates the work and obstacle avoidance of the underwater robot body 1, and the underwater robot body 1 is controlled to move through the transverse propeller 4 and the longitudinal propeller 5, when the longitudinal propeller 5 is started, it is easy to attract obstacles to flow to the inside of the longitudinal propeller 5 and affect the operation of the longitudinal propeller 5, at this time, the obstacles are cut by the first cutting blade 54 when passing through the longitudinal propeller 5, so that the scattered obstacles are easy to pass through the longitudinal propeller 5 and will not affect the longitudinal propeller 5, at the same time, when the underwater robot body 1 turns, the worker drives the cutting device 7 to rotate through the turntable 6, so that the guide plate 72 swings and affects the rotation of the underwater robot body 1, and when the obstacles are wound on the underwater robot body 1 and block the shooting of the first camera 2, the cutting device 7 is driven to rotate through the turntable 6, so that the connecting plate 71 drives the second cutting blade 73 to rotate, at this time, the second cutting blade 73 cuts the wound obstacles, and when the underwater robot body 1 moves, the obstacles will naturally fall off the underwater robot body 1.

[0028] It is apparent for those skilled in the art that the present application is not limited to the details of the foregoing exemplary embodiments, and the present application can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all aspects as illustrative and not restrictive, and the scope of the present application is defined by the appended claims rather than the foregoing description, and it is intended to encompass all changes falling within the meaning and range of equivalents of the elements of the claims. Any reference signs in the claims should not be considered as limiting the claims involved.

[0029] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the foregoing embodiments of the present application have been described in detail, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some 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. A highly flexible underwater robot, comprising an underwater robot body (1), characterized in that: The underwater robot body (1) is equipped with a first camera (2) at both the front and rear ends. The underwater robot body (1) is equipped with a second camera (3) on the top surface. The underwater robot body (1) is equipped with a horizontal thruster (4) on both sides. The underwater robot body (1) is equipped with four vertical thrusters (5) inside. The underwater robot body (1) is symmetrically connected to a turntable (6) at the bottom. The underwater robot body (1) drives the two turntables (6) to rotate through an internal motor. Each turntable (6) is fixed with a cutting device (7) at the bottom.

2. The highly flexible underwater robot according to claim 1, characterized in that: The cutting device (7) includes a connecting plate (71), a guide plate (72) is fixed at the bottom of the connecting plate (71), and a detachable second cutting blade (73) is fixed inside the connecting plate (71).

3. The highly flexible underwater robot according to claim 1, characterized in that: The longitudinal thruster (5) includes a fixed plate (51). Two fixed plates (51) are symmetrically fixed inside the underwater robot body (1). A rotating rod (52) is rotatably connected between the two fixed plates (51). Several thrust plates (53) are fixed on the rotating rod (52). A micro motor is fixed inside the upper fixed plate (51). The output end of the micro motor inside the fixed plate (51) is fixedly connected to the rotating rod (52). Several first cutting blades (54) are provided at the ends of the two fixed plates (51) away from the rotating rod (52). Each first cutting blade (54) is fixedly connected to the underwater robot body (1).

4. The highly flexible underwater robot according to claim 2, characterized in that: The end of the second cutting blade (73) away from the turntable (6) is fixed to the fixing block (74), which is fixedly connected to the connecting plate (71) by an embedded hexagonal bolt.

5. A highly flexible underwater robot according to claim 4, characterized in that: The second cutting blade (73) has a bevel at one end near the turntable (6), and the connecting plate (71) has a groove inside that matches the bevel of the second cutting blade (73).

6. The highly flexible underwater robot according to claim 5, characterized in that: The connecting plate (71) and the second cutting blade (73) are provided with a limiting groove (75) in the same position. The second cutting blade (73) is fixedly limited to the connecting plate (71) through the limiting groove (75).

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