Propulsion-driven underwater snake-like articulated vehicle provided with multiple compartments

Abstract

The present invention pertains to the technical field of underwater vehicles. Disclosed is a propulsion-driven underwater snakelike articulated vehicle provided with multiple compartments, said vehicle comprising: a plurality of functional compartments; a first driving part is provided on the functional compartments, the first driving part comprising a pair of first lateral propellers and a pair of first horizontal propellers; and a second driving part is provided on the functional compartments, the second driving part comprising a pair of second lateral propellers and a pair of second horizontal propellers. In a first working state, the first lateral propellers and the second lateral propellers are inclined relative to the central axis of the functional compartments, the pair of first lateral propellers are inclined in opposite directions, the pair of second lateral propellers are inclined in opposite directions, and a first lateral propeller and a second lateral propeller on a same side are inclined in opposite directions. The present invention can facilitate flexible movement in a complex underwater environment, adapt to pipelines of different shapes and curvatures, and be maintained in a stable state.

Description

Propulsion-driven multi-compartment articulated underwater snake-like robot Technical Field

[0001] The present invention belongs to the technical field of underwater robots, and in particular relates to a propulsion-driven multi-compartment articulated underwater snake-like robot. Background Art

[0002] Underwater robots are a significant achievement of modern science and technology, playing a key role in ocean exploration. Exploring the ocean presents a significant challenge for humans, as it involves facing extreme conditions such as high pressure, extreme temperatures, and darkness. However, the emergence of underwater robots fills a gap in human access, revealing the secrets of the ocean's depths.

[0003] Current underwater robots mainly include remote operating vehicles (ROVs) and autonomous underwater vehicles (AUVs).

[0004] However, traditional underwater robots have poor flexibility and stability, and lack the ability to deform, and cannot be effectively applied to environments with curvature and complex geometries like pipes.

[0005] Summary of the Invention

[0006] In order to solve the above technical problems, the present invention proposes a propulsion-driven multi-compartment articulated underwater snake-like robot, which aims to solve or improve at least one of the above technical problems.

[0007] To achieve the above objectives, the present invention provides a propulsion-driven multi-compartment articulated underwater snake-like robot, comprising:

[0008] A plurality of functional compartments, wherein two adjacent functional compartments are connected by a joint section so that the plurality of functional compartments form a serpentine structure;

[0009] a first driving unit, the first driving unit being arranged on the functional module, the first driving unit comprising a pair of first lateral thrusters and a pair of first horizontal thrusters, the first lateral thrusters being rotatably connected to the functional module;

[0010] a second drive unit, the second drive unit being arranged on the functional module, the second drive unit and the first drive unit being located on different functional modules, the second drive unit comprising a pair of second lateral thrusters and a pair of second horizontal thrusters, the second lateral thrusters being rotatably connected to the functional module;

[0011] The first working state: in the first working state, the first lateral thruster and the second lateral thruster are tilted relative to the central axis of the functional compartment, a pair of the first lateral thrusters are tilted in opposite directions, a pair of the second lateral thrusters are tilted in opposite directions, and the first lateral thrusters and the second lateral thrusters on the same side are tilted in opposite directions.

[0012] Optionally, in the first working state, the inclination angles of the first lateral thruster and the second lateral thruster are both 45°.

[0013] Optionally, the first lateral propeller, the first horizontal propeller, the second lateral propeller and the second horizontal propeller have the same structure, including an outer shell, a first single-axis motor is arranged in the outer shell, a blade cover is rotatably sleeved on the outer wall of the outer shell, a rotating paddle is circumferentially fixed to the blade cover, and covers are respectively fixed at both ends of the blade cover, the two covers and the blade cover cover the outer shell, and any cover is connected to the output shaft of the first single-axis motor through a magnetic coupling static sealing structure.

[0014] Optionally, the magnetically coupled static sealing structure includes a magnetic outer rotor, which is fixed to the cover, and the magnetic outer rotor is rotatably connected to a self-lubricating bearing, which is fixed to the outer shell, and the magnetic outer rotor magnetically transmits a magnetic inner rotor, which is connected to the output shaft of the first single-axis motor.

[0015] Optionally, the pitch angle of the rotating paddle blades is 45°.

[0016] Optionally, in the first working state, the first lateral thruster generates a yaw torque when it is moved.

[0017] Optionally, in the first working state, the second lateral thruster generates a tipping torque when it is moved.

[0018] Optionally, the joint segment includes a bellows, which is fixed between two adjacent functional compartments. A two-degree-of-freedom joint assembly is provided in the bellows, and the two-degree-of-freedom joint assembly is connected to the two functional compartments.

[0019] Optionally, the two-degree-of-freedom joint group includes a second single-axis motor, the outer casing of the second single-axis motor is provided with a sealing cover, the output shaft of the second single-axis motor is fixedly connected to a dual-axis motor, the two output shafts of the dual-axis motor are transmission-connected to a fixed arm, and the sealing cover and the fixed arm are respectively fixed to the two adjacent functional compartments.

[0020] Optionally, the first lateral thruster and the second lateral thruster are both rotationally connected to the functional compartment via a third single-axis motor.

[0021] Compared with the prior art, the present invention has the following advantages and technical effects:

[0022] The underwater robot has a serpentine structure formed by multiple functional compartments and multiple joint segments, which gives it a flexible body and enables multi-degree-of-freedom deformation, presenting different forms, such as L-type, U-type, S-type and hovering structure. It has the characteristics of high maneuverability and operational flexibility, so that it can move flexibly in complex underwater environments and can adapt to pipes of different shapes and curvatures.

[0023] The first lateral thruster and the second lateral thruster are rotationally connected to the functional compartment, and the inclination of the first lateral thruster and the second lateral thruster is adjusted in the first working state, so that the underwater robot maintains a good stable state. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of this application. The exemplary embodiments and descriptions of this application are intended to explain this application and do not constitute an improper limitation on this application. In the accompanying drawings:

[0025] FIG1 is a schematic diagram of the overall structure of the present invention;

[0026] FIG2 is a schematic structural diagram of the first driving unit in the first working state of the present invention;

[0027] FIG3 is a schematic structural diagram of the second driving unit in the first working state of the present invention;

[0028] FIG4 is a schematic diagram of a magnetically coupled static seal structure according to the present invention;

[0029] FIG5 is a schematic diagram of a two-degree-of-freedom joint assembly of the present invention

[0030] FIG6 is a schematic diagram of a five-segment robot module of the present invention.

[0031] In the figure: 1. Functional compartment; 2. First lateral thruster; 3. First horizontal thruster; 4. Second lateral thruster; 5. Second horizontal thruster; 6. Casing; 7. First single-axis motor; 8. Blade cover; 9. Rotating propeller; 10. Cover; 11. Magnetic outer rotor; 12. Self-lubricating bearing; 13. Magnetic inner rotor; 14. Bellows; 15. Second single-axis motor; 16. Sealing cover; 17. Dual-axis motor; 18. Fixed arm. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] 1 to 6 , this embodiment provides a propulsion-driven multi-compartment articulated underwater snake-like robot, comprising:

[0035] Multiple functional compartments 1, where two adjacent functional compartments 1 are connected via joint segments, so that the multiple functional compartments 1 form a serpentine structure;

[0036] The first driving unit is arranged on the functional module 1 and includes a pair of first lateral thrusters 2 and a pair of first horizontal thrusters 3. The first lateral thrusters 2 are rotatably connected to the functional module 1.

[0037] The second drive unit is arranged on the functional module 1. The second drive unit and the first drive unit are located on different functional modules 1. The second drive unit includes a pair of second lateral thrusters 4 and a pair of second horizontal thrusters 5. The second lateral thrusters 4 are rotatably connected to the functional module 1.

[0038] In the first working state (when in the working area), in the first working state, the first lateral thruster 2 and the second lateral thruster 4 are tilted relative to the central axis of the functional compartment 1, a pair of first lateral thrusters 2 are tilted in opposite directions, a pair of second lateral thrusters 4 are tilted in opposite directions, and the first lateral thrusters 2 and the second lateral thrusters 4 on the same side are tilted in opposite directions.

[0039] The underwater robot, which has a serpentine structure formed by multiple functional compartments 1 and multiple joint segments, has a flexible body, can be deformed with multiple degrees of freedom, and presents different forms, such as L-type, U-type, S-type and hovering structure, etc. It has the characteristics of high maneuverability and operational flexibility, so that it can move flexibly in complex underwater environments and can adapt to pipes of different shapes and curvatures.

[0040] By rotating the first lateral thruster 2 and the second lateral thruster 4 to the functional compartment 1 and adjusting the tilt of the first lateral thruster 2 and the second lateral thruster 4 in the first working state, the underwater robot maintains a good stable state.

[0041] In the second working state (when the non-working area needs to quickly reach the working area), the first lateral thruster 2 and the second lateral thruster 4 are parallel to the central axis of the functional compartment 1, so that forward and backward movement can be achieved.

[0042] In the third working state (rapid floating and sinking), the first lateral thruster 2 and the second lateral thruster 4 are perpendicular to the central axis of the functional compartment 1, so as to realize floating and sinking movements.

[0043] It achieves more flexible and varied propulsion methods to adapt to different underwater environments and mission requirements, greatly enriching the movement methods of underwater robots.

[0044] According to a further optimized solution, in the first working state, the inclination angles of the first lateral thruster 2 and the second lateral thruster 4 are both 45°.

[0045] Further optimization scheme, the first lateral thruster 2, the first horizontal thruster 3, the second lateral thruster 4 and the second horizontal thruster 5 have the same structure, including an outer shell 6, a first single-axis motor 7 is arranged in the outer shell 6, a blade cover 8 is rotatably sleeved on the outer wall of the outer shell 6, a rotating paddle 9 is circumferentially fixed to the blade cover 8, and a cover 10 is fixed at both ends of the blade cover 8. The two covers 10 and the blade cover 8 cover the outer shell 6, and any cover 10 is connected to the output shaft of the first single-axis motor 7 through a magnetic coupling static sealing structure.

[0046] A further optimized solution is provided, in which the magnetically coupled static sealing structure includes a magnetic outer rotor 11, which is fixedly connected to the cover 10, and the magnetic outer rotor 11 is rotatably connected to a self-lubricating bearing 12, which is fixedly connected to the outer casing 6, and the magnetic outer rotor 11 is magnetically transmitted with a magnetic inner rotor 13, which is connected to the output shaft of the first single-axis motor 7.

[0047] When the first single-axis motor 7 rotates, it drives the magnetic inner rotor 13 to move. There is a magnetic force between the magnetic inner rotor 13 and the magnetic outer rotor 11. The rotation of the magnetic inner rotor 13 transmits the torque to the magnetic outer rotor 11 through the magnetic force, so that the magnetic outer rotor 11 rotates. The magnetic outer rotor 11 is fixed to the cover 10 and the blade cover 8, and synchronously drives the blade cover 8 and the rotating paddle 9 to rotate, realizing magnetic coupling conduction and forming a sealed structure. It can not only completely isolate the interior of the equipment from the external water, avoiding moisture from entering the interior of the equipment and causing damage, ensuring good working condition and long service life under extreme pressure and humidity environments, but also ensure that the rotational force inside and outside the sealed environment can be seamlessly transmitted, which can avoid friction loss and sealing problems in traditional mechanical transmission and improve the operating efficiency and service life of the equipment.

[0048] The solution is further optimized, and the pitch angle of the 9 blades of the rotating propeller is 45°.

[0049] The design and adjustment of the pitch angle has a crucial impact on the overall performance and efficiency. Setting the pitch angle of the rotating propeller 9 to 45° can achieve the best propulsion effect under different motion conditions.

[0050] A further optimized solution is that, in the first working state, when the first lateral thruster 2 is toggled, a bow rocking moment is generated, and at least one sub-blade of the rotating propeller 9 on the first lateral thruster 2 is perpendicular to the central axis of the functional compartment 1; in the first working state, when the second lateral thruster 4 is toggled, a tipping moment is generated, and at least one sub-blade of the rotating propeller 9 on the second lateral thruster 4 is horizontal to the central axis of the functional compartment 1; with such an arrangement, a wave-propulsion integrated structure can be formed, which generates thrust along the rotation axis of the rotating propeller 9 when rotating at high speed, and generates a tossing force perpendicular to the direction of the rotation axis when rotating at low speed.

[0051] According to a further optimized solution, the joint section includes a bellows 14 , which is fixed between two adjacent functional compartments 1 , and a two-degree-of-freedom joint assembly is provided in the bellows 14 , which is connected to the two functional compartments 1 .

[0052] To further optimize the solution, the two-degree-of-freedom joint group includes a second single-axis motor 15, the outer cover of the second single-axis motor 15 is provided with a sealing cover 16, the output shaft of the second single-axis motor 15 is fixedly connected to a dual-axis motor 17, and the two output shafts of the dual-axis motor 17 are transmission-connected to a fixed arm 18, and the sealing cover 16 and the fixed arm 18 are respectively fixed to the two adjacent functional compartments 1.

[0053] The second single-axis motor 15 provides 360° rotational motion. The dual-axis motor 17 provides 180° rotational motion. The second single-axis motor 15 provides rotational motion around the x-axis, or roll motion, while the dual-axis motor 17 provides rotational motion around the y-axis, or pitch motion. After the second single-axis motor 15 rotates 90°, the dual-axis motor 17 provides rotational motion around the z-axis, or yaw motion. The combination of these two joints produces three degrees of rotational freedom.

[0054] A magnetic coupling static sealing structure is provided between the second single-axis motor 15 and the dual-axis motor 17 , and between the dual-axis motor 17 and the sealing cover 16 .

[0055] According to a further optimized solution, the first lateral thruster 2 and the second lateral thruster 4 are both rotationally connected to the functional compartment 1 through a third single-axis motor 19, and a magnetic coupling static sealing structure is provided on the third single-axis motor.

[0056] In addition to the first drive unit and the second drive unit, the multiple functional compartments 1 of the present invention can be set to have functions required for underwater operations such as camera modules, energy modules, and main control modules. They can be customized and assembled according to different task requirements. Through the intelligent control system, the operator can easily specify the robot's shape and movement path, or allow the robot to independently determine the optimal structure and movement mode to complete the task most effectively.

[0057] The present invention can be provided with multiple first driving parts and multiple second driving parts according to actual needs.

[0058] A single first or second actuator can generate a propulsion vector with four degrees of freedom. When the underwater snake-like robot is equipped with at least one first and one second actuator, it can generate six degrees of freedom. With the positive direction set to 1, the propulsion direction and thrust distribution are shown below.

[0059] Taking a five-segment robot as an example, as shown in Figure 6, it includes five functional compartments 1, among which the second and fourth functional compartments 1 are respectively provided with a first drive unit and a second drive unit; and the second functional compartment 1 is also provided with a control module, including a main control chip, sensors and data communication modules, which are responsible for controlling the movement of the robot and performing various tasks.

[0060] The first functional compartment 1 is equipped with a head camera module for capturing images and information in front of the robot so as to make corresponding responses and decisions.

[0061] The third functional compartment 1 is provided with an energy module, which includes batteries or other energy storage devices to supply the power required by other functional compartments 1 and functional modules.

[0062] The fifth functional compartment 1 is provided with a tail camera module. When the fifth functional compartment 1 rotates around the axis, it can capture 360° all-round images, which is convenient for monitoring the surrounding environment.

[0063] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0064] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art shall fall within the scope of protection defined by the claims of the present invention.

Claims

1. A propulsion-driven multi-compartment articulated underwater snake-like robot, characterized in that: include: A plurality of functional compartments (1), wherein two adjacent functional compartments (1) are connected via a joint section, so that the plurality of functional compartments (1) form a serpentine structure; a first driving unit, the first driving unit being arranged on the functional compartment (1), the first driving unit comprising a pair of first lateral thrusters (2) and a pair of first horizontal thrusters (3), the first lateral thrusters (2) being rotatably connected to the functional compartment (1); a second driving unit, the second driving unit being arranged on the functional compartment (1), the second driving unit and the first driving unit being located on different functional compartments (1), the second driving unit comprising a pair of second lateral thrusters (4) and a pair of second horizontal thrusters (5), the second lateral thrusters (4) being rotatably connected to the functional compartment (1); A first working state, in which the first lateral thruster (2) and the second lateral thruster (4) are inclined relative to the central axis of the functional compartment (1), a pair of the first lateral thrusters (2) are inclined in opposite directions, a pair of the second lateral thrusters (4) are inclined in opposite directions, and the first lateral thruster (2) and the second lateral thruster (4) on the same side are inclined in opposite directions.

2. The propulsion-driven multi-compartment articulated underwater snake-like robot according to claim 1, characterized in that: In the first working state, the inclination angles of the first lateral thruster (2) and the second lateral thruster (4) are both 45°.

3. The propulsion-driven multi-compartment articulated underwater snake-like robot according to claim 1, characterized in that: The first lateral thruster (2), the first horizontal thruster (3), the second lateral thruster (4) and the second horizontal thruster (5) have the same structure, including a shell (6), a first single-axis motor (7) is arranged in the shell (6), a blade cover (8) is rotatably sleeved on the outer wall of the shell (6), a rotating propeller (9) is circumferentially fixedly connected to the blade cover (8), and covers (10) are respectively fixedly connected at both ends of the blade cover (8), the two covers (10) and the blade cover (8) cover the shell (6), and any of the covers is drivingly connected to the output shaft of the first single-axis motor (7) through a magnetic coupling static sealing structure.

4. The propulsion-driven multi-compartment articulated underwater snake-like robot according to claim 3, characterized in that: The magnetic coupling static sealing structure comprises a magnetic outer rotor (11), the magnetic outer rotor (11) is fixedly connected to the sealing cover (10), the magnetic outer rotor (11) is rotatably connected to a self-lubricating bearing (12), the self-lubricating bearing (12) is fixedly connected to the housing (6), the magnetic outer rotor (11) is magnetically transmitted to a magnetic inner rotor (13), and the magnetic inner rotor (13) is connected to the output shaft of the first single-axis motor (7).

5. The propulsion-driven multi-compartment articulated underwater snake-like robot according to claim 3, characterized in that: The pitch angle of the sub-blades of the rotating paddle (9) is 45°.

6. The propulsion-driven multi-compartment articulated underwater snake-like robot according to claim 2, characterized in that: In the first working state, the first lateral thruster (2) generates a bow pitch torque when it is moved.

7. The propulsion-driven multi-compartment articulated underwater snake-like robot according to claim 2, characterized in that: In the first working state, the second lateral thruster (4) generates a tipping torque when it is moved.

8. The propulsion-driven multi-compartment articulated underwater snake-like robot according to claim 1, characterized in that: The joint section comprises a bellows (14), the bellows (14) being fixedly connected between two adjacent functional compartments (1), a two-degree-of-freedom joint assembly being arranged inside the bellows (14), and the two-degree-of-freedom joint assembly being connected to the two functional compartments (1).

9. The propulsion-driven multi-compartment articulated underwater snake-like robot according to claim 8, characterized in that: The two-degree-of-freedom joint group includes a second single-axis motor (15), the outer cover of the second single-axis motor (15) is provided with a sealing cover (16), the output shaft of the second single-axis motor (15) is fixedly connected to a dual-axis motor (17), the two output shafts of the dual-axis motor (17) are transmission-connected to a fixed arm (18), and the sealing cover (16) and the fixed arm (18) are respectively fixedly connected to the two adjacent functional compartments (1).

10. The propulsion-driven multi-compartment articulated underwater snake-like robot according to claim 1, characterized in that: The first lateral thruster (2) and the second lateral thruster (4) are both rotationally connected to the functional compartment (1) via a third single-axis motor.

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