An underwater robot with oblique propulsion

Abstract

The application discloses a propelling part oblique installation type underwater robot, relates to the technical field of underwater unmanned vehicle, and comprises lifting propelling parts arranged on both sides of an upper layer of a frame, translation propelling parts arranged on both sides of a lower layer of the frame, a frame carrying a detection bin and an image detection and illumination part, the frame is divided into two layers, and a shell is further arranged on the frame, and a floating block is arranged in the shell.The technical advantages of the application are as follows: the translation propelling parts are arranged in a horizontal direction and the lifting propelling parts are arranged in a vertical direction, and under the combined action of the floating block, the diversity of overall attitude adjustment can be improved, and stable floating can be realized; the unified control of the inclination angles of the lifting propelling parts is realized through an inclination angle adjusting assembly, a linkage assembly and a hinged seat, the adjustment of the installation attitude is completed, and the number of driving parts is simplified; an angle sensor and a driven gear are arranged at the end of the rack, and the precision of the inclination angle control of the lifting propelling parts is further improved.

Description

Technical Field

[0001] This application relates to the field of underwater unmanned vehicle technology, and in particular to an underwater robot with its propulsion unit mounted obliquely. Background Technology

[0002] The ocean covers over 70% of the Earth's surface, containing abundant mineral, oil, gas, and biological resources, and is also a key carrier for climate regulation and ecological balance. However, the unique characteristics of the marine environment—especially the high pressure, darkness, low temperature, and complex currents of the deep sea—have long constrained human direct exploration and development of the ocean. Early ocean exploration relied on manned submersibles, but these had limitations such as limited operating depth, high operating costs, and high personnel safety risks, making it difficult to meet the needs of large-scale, long-term, and high-frequency ocean exploration and engineering. To overcome this limitation, unmanned underwater robot technology has gradually emerged, becoming a core piece of equipment for ocean development.

[0003] Currently, the lifting thrusters of underwater robots are vertically installed, which can only provide power in the up and down directions. If the robot encounters water flow impact or load shift that causes its attitude to tilt (such as roll or pitch), it needs to rely on thrusters in other directions for adjustment. This operation is cumbersome and the response is slow. Therefore, there is an urgent need for an underwater robot that can provide multi-directional orientation adjustment to cope with complex underwater situations and thus achieve efficient collection of hydrological parameters. Utility Model Content

[0004] This device provides an underwater robot with its propulsion unit mounted at an angle, and the specific implementation method is as follows: An underwater robot with its propulsion unit mounted obliquely, comprising: The rack, which houses the detection chamber and image detection unit, is divided into upper and lower layers. The lifting and propulsion units are located on both sides of the upper layer, and the lifting and propulsion units are all arranged in an inward vertical direction. The translation propulsion units located on both sides of the lower layer include backward thrusters and forward thrusters arranged in opposite directions, and each translation propulsion unit is arranged at an angle along the length of the detection chamber. The frame is also equipped with a casing, inside which is a floating block. The lifting propulsion unit and the translation propulsion unit provide power greater than the buoyancy of the floating block to achieve underwater movement together. When surfacing, it uses the buoyancy of the floating block to rise.

[0005] Based on the above technical solutions, by setting the translation propulsion unit to a horizontally tilted posture and the lifting propulsion unit to a vertically tilted posture, combined with the synergistic effect of the floating blocks, the diversity of overall posture adjustment can be improved, and stable buoyancy can be achieved.

[0006] Preferably, the frame includes a top plate and a bottom plate. The detection chamber is installed on the bottom plate by a locking clamp. The lifting propulsion unit is connected to the top plate by a hinge seat. The translation propulsion unit is connected to the bottom plate by a mounting seat. The translation propulsion units on both sides of the detection chamber are arranged symmetrically.

[0007] Preferably, the translation propulsion unit and the lifting propulsion unit have the same structure. Taking the translation propulsion unit as an example, it includes a duct shell, and a propulsion drive motor, a blade and a conical head are coaxially arranged inside the duct shell.

[0008] Preferably, a handle is provided on the top of the top plate, at the part without the inorganic casing.

[0009] Based on the above technical solutions, the detection chamber is equipped with conventional detection equipment. The image detection unit is a conventional image sensor or radar with a lamp. Alternatively, the image detection unit may only include a lamp, with the conventional image sensor or radar built into the detection chamber.

[0010] Preferably, the hinged seat consists of a movable plate and a fixed plate. The lifting and pushing part is installed on the top plate through the movable plate. The movable plate is connected to the tilt adjustment component through the linkage component. The linkage component includes a translation block, and the translation block is connected to a pair of movable plates through the linkage block.

[0011] Preferably, the tilt adjustment assembly is located between the top plate and the housing. The tilt adjustment assembly includes a movable seat that is slidably connected to the top plate, and a drive motor is provided on the movable seat. At least one transverse guide groove is opened on both sides of the top plate. The translation block is slidably connected to the transverse guide groove, and the translation block is rotatably connected to the movable seat through a connecting rod.

[0012] Based on the above technical solutions, the tilt angle of each lifting and pushing part is first uniformly controlled by the coordination of the tilt adjustment component, the linkage component and the hinge seat. On this basis, not only is the installation posture successfully adjusted, but the number of drive components is further reduced and the overall structure is optimized.

[0013] Preferably, the top plate has a first opening and a second opening, and the two sides of the base plate of the movable seat are rotatably connected to the first opening via sliders; a rack is installed along the length of the second opening, and the output end of the drive motor meshes with the rack through a driving gear. Preferably, an angle sensor is provided at the end of the second opening, and a driven gear is provided at the input end of the angle sensor, and the driven gear and the driving gear are movably meshed on the same horizontal plane.

[0014] In summary, this application includes the following beneficial technical effects: 1. By setting the translation propulsion part to a horizontal tilted posture and the lifting propulsion part to a vertical tilted posture, the present invention, under the combined action of the floating blocks, can not only improve the diversity of overall posture adjustment, but also achieve stable buoyancy. 2. This utility model has a simple structure. It achieves unified control of the tilt angle of each lifting and pushing part through the tilt angle adjustment component, linkage component and hinge seat, which not only completes the adjustment of the installation posture, but also simplifies the number of drive components. 3. By setting an angle sensor and a driven gear at the end of the rack, this utility model can realize the zero-calibration of the drive motor and the driving gear, further improving the accuracy of the tilt angle control of the lifting and pushing part. Attached Figure Description

[0015] Figure 1 This is a side view structural diagram of the present invention; Figure 2 This is a schematic diagram of the right-side structure of this utility model; Figure 3 This is a top view of the structure of this utility model; Figure 4 This is a top view of the cross-sectional structure of this utility model; Figure 5 This is a cross-sectional view of the propulsion section structure in this utility model; Figure 6 This is a schematic diagram of the structure of this utility model after adding the tilt adjustment part. Figure 1 ; Figure 7 This is a schematic diagram of the structure of this utility model after adding the tilt adjustment part. Figure 2 ; Figure 8 This is a cross-sectional view of the exploded structure after adding the tilt adjustment part in this utility model.

[0016] Explanation of reference numerals in the attached figures: 1. Frame, 2. Translation propulsion unit, 3. Lifting propulsion unit, 4. Housing, 5. Tilt adjustment assembly, 6. Linkage assembly, 7. Hinge base, 8. Detection chamber, 9. Handle, 10. Floating block, 11. Angle sensor, 12. Driven gear, 13. Rack, 14. Image detection unit 21. Reverse thruster; 22. Forward thruster. 101. Top plate; 102. Bottom plate; 103. First opening; 104. Second opening; 105. Horizontal guide groove. 201. Duct housing; 202. Mounting base; 203. Propulsion drive motor section; 204. Conical head; 205. Blade. 401. Flow guide channel 501. Slider; 502. Connecting rod; 503. Drive motor; 504. Drive gear; 505. Moving base. 601. Translation block; 602. Linkage block. 701. Movable panel; 702. Fixed panel. 801. Locking clamp. Detailed Implementation

[0017] The specific embodiments of this utility model are described below with reference to the accompanying drawings and examples: It should be noted that the structures, proportions, sizes, etc. shown in the accompanying drawings are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and purposes that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0018] Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in this specification are only for clarity of description and are not intended to limit the scope of implementation of this utility model. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered as within the scope of implementation of this utility model.

[0019] The following is in conjunction with the appendix Figure 1-6 This application will be described in further detail.

[0020] This application discloses an underwater robot with its propulsion unit mounted obliquely.

[0021] Example 1 Reference Figures 1 to 4 This embodiment discloses an underwater robot with an obliquely mounted propulsion section, including a lifting propulsion section 3, a translational propulsion section 2, and a frame 1 that carries a detection chamber 8 and an image detection section 14. The frame 1 is divided into upper and lower layers. The lifting propulsion sections 3 are all arranged in an oblique manner along the vertical inward. The translational propulsion section 2 includes a backward thruster 21 and a forward thruster 22 arranged in opposite directions. Each translational propulsion section 2 is arranged in an oblique manner along the length direction of the detection chamber 8. In this structure, a handle 9 is provided on the top of the top plate 101 where there is no casing 4. The frame 1 is provided with a casing 4, and a floating block 10 is provided inside the casing 4. The casing 4 is obliquely opened with a guide channel 401 for accommodating the lifting propulsion section 3. The guide channel 401 is open upward and outward on both the side.

[0022] The frame 1 includes a top plate 101 and a bottom plate 102. The detection chamber 8 is installed on the bottom plate 102 by a locking clamp 801. The translation propulsion part 2 is connected to the bottom plate 102 by a mounting base 202. The translation propulsion parts 2 on both sides of the detection chamber 8 are arranged symmetrically. In this structure, the translation propulsion part 2 and the lifting propulsion part 3 have the same structure. Taking the translation propulsion part 2 as an example, it includes a duct shell 201. The duct shell 201 is coaxially provided with a propulsion drive motor part 203, a blade 205 and a conical head 204. By changing the driving force of the lifting propulsion parts 3 on different sides, the horizontal attitude adjustment of the frame 1 can also be realized. By changing the driving force or direction of each lifting propulsion part 3 together, the lifting of the frame 1 can be realized.

[0023] Example 2 Reference Figures 1 to 6 This embodiment also discloses an underwater robot with an obliquely mounted propulsion section, which further includes an angle adjustment component 5, a linkage component 6, and a hinge seat 7. The lifting propulsion section 3 is connected to the top plate 101 through the hinge seat 7. The hinge seat 7 is composed of a movable plate 701 and a fixed plate 702. The lifting propulsion section 3 is mounted on the top plate 101 through the movable plate 701. The movable plate 701 is connected to the angle adjustment component 5 through the linkage component 6. In this structure, the linkage component 6 includes a translation block 601. The translation block 601 is connected to a pair of movable plates 701 through the linkage block 602.

[0024] The tilt adjustment assembly 5 is located between the top plate 101 and the housing 4. The tilt adjustment assembly 5 includes a movable seat 505 slidably connected to the top plate 101. A drive motor 503 is provided on the movable seat 505. A transverse guide groove 105 is provided on both sides of the top plate 101. The translation block 601 is slidably connected to the transverse guide groove 105 and is rotatably connected to the movable seat 505 through the connecting rod 502. In this structure, two transverse guide grooves 105 can be provided. By selecting different transverse guide grooves 105, the attitude control position of the tilt adjustment assembly 5 on the movable plate 701 and the lifting propulsion part 3 can be changed. A rubber membrane for isolating liquid can be provided at the outlet of the transverse guide groove 105 to ensure the water-proofing capability of the tilt adjustment assembly 5 during the translation of the translation block 601.

[0025] The top plate 101 has a first opening 103 and a second opening 104. The two sides of the base plate of the movable seat 505 are rotatably connected to the first opening 103 via sliders 501. A rack 13 is installed along the length of the second opening 104. The output end of the drive motor 503 meshes with the rack 13 via the drive gear 504. In this structure, the rack 13 has an inverted L-shaped structure, with its horizontal part abutting against the top of the drive gear 504 and its vertical part meshing with the side of the drive gear 504, which can improve the stability of the installation of the drive gear 504 and the drive motor 503.

[0026] The specific tilt adjustment process of the lifting propulsion unit 3 is as follows: before or after entering the water, the drive motor 503 can be started, and the drive gear 504 drives the moving seat 505 to move along the direction of the rack 13; the moving seat 505 drives the translation blocks 601 on both sides to move synchronously in opposite directions along the transverse guide groove 105 through the connecting rod 502. The translation blocks 601 are connected to a pair of movable plates 701 and the lifting propulsion unit 3 through the linkage block 602; thus, the drive motor 503 realizes the synchronous action of the four lifting propulsion units 3, and the flipping directions of the lifting propulsion units 3 on both sides are opposite.

[0027] Example 3 Reference Figures 1 to 6 This embodiment also discloses an underwater robot with an obliquely mounted propulsion section. An angle sensor 11 is provided at the end of the second opening 104. The input end of the angle sensor 11 is provided with a driven gear 12, and the driven gear 12, which is on the same horizontal plane, is movably meshed with the driving gear 504. The angle sensor 11 and the drive motor 503 can communicate remotely via cable or be triggered at a time. In this structure, when the driving gear 504 moves to the end of the rack 13, the lifting propulsion section 3 is vertical. At this time, the other side of the driving gear 504 also meshes with and triggers the angle sensor 11, that is, the angle sensor 11 is used for zeroing detection. When the lifting propulsion section 3 is vertical, it is convenient for the underwater robot to perform vertical lifting and lowering before and after completing the exploration task.

[0028] Many other changes and modifications can be made without departing from the concept and scope of this utility model. It should be understood that this utility model is not limited to the specific embodiments, and the scope of this utility model is defined by the appended claims.

Claims

1. An underwater robot with its propulsion unit obliquely mounted, characterized in that, include: A frame (1) is equipped with a detection chamber (8) and an image detection unit (14), the frame (1) being divided into upper and lower layers; The lifting and pushing parts (3) are located on both sides of the upper layer, and the lifting and pushing parts (3) are all arranged in an inclined manner in the vertical direction; The translation propulsion units (2) located on both sides of the lower layer include a backward propulsion unit (21) and a forward propulsion unit (22) arranged in opposite directions, and each of the translation propulsion units (2) is arranged in an inclined manner along the length direction of the detection chamber (8); The frame (1) is also provided with a housing (4), and a floating block (10) is provided inside the housing (4). The lifting propulsion unit (3) and the translation propulsion unit (2) provide power greater than the buoyancy of the floating block (10) to jointly achieve underwater movement. When floating, it floats up with the help of the buoyancy of the floating block (10).

2. The underwater robot with its propulsion unit obliquely mounted according to claim 1, characterized in that, The frame (1) includes a top plate (101) and a bottom plate (102). The detection chamber (8) is installed on the bottom plate (102) by a locking clamp (801). The lifting and pushing part (3) is connected to the top plate (101) by a hinge seat (7). The translation propulsion unit (2) is connected to the base plate (102) via the mounting base (202), and the translation propulsion units (2) on both sides of the probe chamber (8) are arranged symmetrically.

3. The underwater robot with its propulsion unit obliquely mounted according to claim 2, characterized in that, The translation propulsion unit (2) and the lifting propulsion unit (3) have the same structure. Taking the translation propulsion unit (2) as an example, it includes a duct shell (201). The duct shell (201) is coaxially provided with a propulsion drive motor unit (203), a blade (205) and a conical head (204).

4. The underwater robot with its propulsion unit obliquely mounted according to claim 2, characterized in that, The hinge seat (7) is composed of a movable plate (701) and a fixed plate (702). The lifting and pushing part (3) is installed on the top plate (101) through the movable plate (701). The movable plate (701) is connected to the tilt adjustment component (5) through the linkage component (6). The linkage component (6) includes a translation block (601), which is connected to a pair of movable plates (701) via a linkage block (602).

5. The underwater robot with its propulsion unit obliquely mounted according to claim 4, characterized in that, The tilt adjustment assembly (5) is located between the top plate (101) and the housing (4). The tilt adjustment assembly (5) includes a movable seat (505) slidably connected to the top plate (101), and a drive motor (503) is provided on the movable seat (505). The top plate (101) has at least one transverse guide groove (105) on both sides. The translation block (601) is slidably connected to the transverse guide groove (105), and the translation block (601) is rotatably connected to the moving seat (505) through the connecting rod (502).

6. The underwater robot with its propulsion unit obliquely mounted according to claim 5, characterized in that, The top plate (101) has a first opening (103) and a second opening (104), and the two sides of the bottom plate of the movable seat (505) are rotatably connected to the first opening (103) via sliders (501). The second opening (104) is fitted with a rack (13) along its length, and the output end of the drive motor (503) meshes with the rack (13) through a drive gear (504).

7. The underwater robot with its propulsion unit obliquely mounted according to claim 6, characterized in that, An angle sensor (11) is provided at the end of the second opening (104). The input end of the angle sensor (11) is provided with a driven gear (12), and the driven gear (12) on the same horizontal plane is in active mesh with the driving gear (504).

8. The underwater robot with its propulsion unit obliquely mounted according to claim 2, characterized in that, A handle (9) is provided on the top of the top plate (101) where it is not covered by the casing (4).

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