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CN-117550044-B - Reconfigurable underwater robot capable of adapting to multiple terrains

CN117550044BCN 117550044 BCN117550044 BCN 117550044BCN-117550044-B

Abstract

The invention discloses a reconfigurable underwater robot capable of adapting to multiple terrains, which comprises an underwater robot main body and a supporting underframe, wherein four first positioning rods and four second positioning rods are fixedly arranged on the inner side of the supporting underframe, a first rectangular ring is arranged between the four first positioning rods, the first positioning rods are all connected with the outer side of the first rectangular ring in a sliding manner, second rectangular rings are arranged on the outer sides of the four second positioning rods, the second positioning rods are all connected with the inner sides of the four right angles of the second rectangular rings in a sliding manner, the first rectangular rings are positioned on the upper sides of the second rectangular rings, four first cutters are arranged on the inner sides of the first rectangular rings, four second cutters are arranged on the outer sides of the second rectangular rings, and a cutting mechanism is arranged between the first rectangular rings and the second rectangular rings, so that the problem that the conventional reconfigurable underwater robot capable of adapting to multiple terrains cannot be automatically trapped in the operation process is solved.

Inventors

  • CHENG HAOYUAN
  • LI HUAJUN
  • LIU GUIJIE
  • CHEN YUJING

Assignees

  • 中国海洋大学

Dates

Publication Date
20260512
Application Date
20231226

Claims (6)

  1. 1. The reconfigurable underwater robot capable of adapting to various terrains comprises an underwater robot main body (1) and a supporting underframe (2), and is characterized in that four first positioning rods (3) and four second positioning rods (4) are fixedly arranged on the inner side of the supporting underframe (2), a first rectangular ring (5) is arranged between the four first positioning rods (3), the first positioning rods (3) are all connected with the outer side of the first rectangular ring (5) in a sliding manner, a second rectangular ring (6) is arranged on the outer side of the four second positioning rods (4), the second positioning rods (4) are all connected with the inner sides of the four right angles of the second rectangular ring (6) in a sliding manner, the first rectangular ring (5) is positioned on the upper side of the second rectangular ring (6), four second cutters (8) are arranged on the outer side of the second rectangular ring (6), a cutting mechanism between the first rectangular ring (5) and the second rectangular ring (6) is provided with a second rectangular ring (6), and when the left and right sides of the second rectangular ring (6) are close to each other, a cutting mechanism is arranged on the left and right sides of the second rectangular ring (6) and a sawing mechanism (5) is used for cutting the left and the right sides of the second rectangular ring (6), the sawing mechanism is used for driving the first cutter (7) or the second cutter (8) to horizontally reciprocate when the first cutter (7) or the second cutter (8) is blocked in the moving process; The cutting mechanism comprises a first mounting box (9) fixedly mounted at the left end and the right end of a first rectangular ring (5), a second mounting box (10) is fixedly mounted at the inner sides of the left end and the right end of a second rectangular ring (6), a first motor (11) is fixedly mounted at the left end and the right end of a supporting underframe (2), a first wire winding roller (12) is fixedly mounted at the output end of the first motor (11), a first pull rope (13) is fixedly mounted at the inner side of the first wire winding roller (12), the other end of the first pull rope (13) is connected with the first mounting box (9), a second motor (14) is fixedly mounted at the left side and the right side of a main body (1) of the underwater robot, a second wire winding roller (15) is fixedly mounted at the output end of the second motor (14), a second pull rope (16) is fixedly mounted at the inner side of the second wire winding roller (15), and the other end of the second pull rope (16) is connected with the second mounting box (10). The sawing mechanism comprises a first limit rod (19) which is fixedly installed on one side of a first rectangular ring (5) and is close to a first cutter (7), the first limit rod (19) is located on the inner side of the first rectangular ring (5) and is connected with the first rectangular ring in a sliding mode, the first limit rod (19) can horizontally slide on the inner side of the first rectangular ring (5), a second limit rod (20) is fixedly installed on one side, close to a second rectangular ring (6), of a second cutter (8), the second limit rod (20) is located on the inner side of the second rectangular ring (6) and is connected with the second rectangular ring in a sliding mode, the second limit rod (20) can horizontally slide on the inner side of the second rectangular ring (6), sliding frames (21) are connected at the openings of a first mounting box (9) and a second mounting box (10) in a sliding mode, the sliding frames (21) are fixedly installed on the inner sides of the adjacent first limit rod (19) and the second limit rod (20), and the first mounting box (9) and the second mounting box (10) are blocked by the first cutter (9) or the second cutter (10) when the first mounting box (8) is driven by the first mounting box (8) or the second box (7) in a sliding mode.
  2. 2. The reconfigurable underwater robot capable of adapting to multiple terrains according to claim 1, wherein a first elastic band (17) is fixedly arranged on the outer side of the first mounting box (9), the other end of the first elastic band (17) is fixedly connected with the underwater robot main body (1), a second elastic band (18) is fixedly arranged on the outer side of the second mounting box (10), and the other end of the second elastic band (18) is fixedly connected with the supporting underframe (2).
  3. 3. The reconfigurable underwater robot capable of adapting to multiple terrains according to claim 1, wherein the driving mechanism comprises third wire collecting rollers (22) which are arranged on the inner sides of the first mounting box (9) and the second mounting box (10), the third wire collecting rollers (22) are connected with the inner walls of the first mounting box (9) and the second mounting box (10) through torsion springs in a rotating mode, the first pull ropes (13) and the second pull ropes (16) are wound on the outer sides of the adjacent third wire collecting rollers (22), inserting rods (23) are fixedly arranged on the sides, close to the first rectangular ring (5) and the second rectangular ring (6), of the third wire collecting rollers, and the end portions of the inserting rods (23) penetrate through the sliding frames (21) and are connected with the sliding frames in a sliding mode.
  4. 4. A reconfigurable underwater robot capable of adapting to various terrains according to claim 3, characterized in that the ends of two adjacent first cutters (7) close to each other are connected by a first hinging rod (24), and the ends of two adjacent second cutters (8) close to each other are connected by a second hinging rod (25).
  5. 5. A reconfigurable underwater robot capable of adapting to multiple terrains according to claim 3, characterized in that the edges of the first and second cutters (7, 8) on the same side correspond and can mutually adhere during movement.
  6. 6. A reconfigurable underwater robot capable of adapting to various terrains according to claim 3, characterized in that the first cutter (7) and the second cutter (8) are both positioned on the inner side of the supporting base, and the first cutter (7) and the second cutter (8) can completely cover the outer sides of the blades of the underwater robot in the moving process.

Description

Reconfigurable underwater robot capable of adapting to multiple terrains Technical Field The invention relates to the technical field of underwater robots, in particular to a reconfigurable underwater robot which can adapt to multiple terrains. Background The reconfigurable underwater robot is also called an unmanned remote-control submersible, and is an ultimate operation robot working under water. The underwater robot has become an important tool for developing ocean because of the severe danger of the underwater environment and the limited diving depth of people, and the working environment of the underwater robot is intricate, so that the underwater robot is particularly important to adapt to multi-terrain work; In the prior art, the underwater robot is powered by the rotation of the propulsion blade during underwater operation, the structure of the propulsion blade is simpler, algae or abandoned fish wires in water are often wound on the blade, so that the blade is blocked and cannot be operated any more, at the moment, workers can only pull the underwater robot back through the rope in a forced way, the blade can be pulled strongly in the process of forcibly retrieving the machine, the service life of the underwater robot is influenced, and the conventional reconfigurable underwater robot which can adapt to various terrains cannot be automatically stranded in the operation process. Based on the above, the invention designs a reconfigurable underwater robot which can adapt to various terrains so as to solve the problems. Disclosure of Invention The invention aims to provide a reconfigurable underwater robot with an automatic escape function in the operation process, which can adapt to various terrains so as to solve the problems in the prior art. The invention provides a reconfigurable underwater robot capable of adapting to multiple terrains, which comprises an underwater robot main body and a supporting underframe, wherein four first positioning rods and four second positioning rods are fixedly arranged on the inner side of the supporting underframe, a first rectangular ring is arranged between the four first positioning rods, the first positioning rods are all in sliding connection with the outer sides of the first rectangular ring, second rectangular rings are arranged on the outer sides of the four second positioning rods, the second positioning rods are all in sliding connection with the four right-angle inner sides of the second rectangular ring, the first rectangular ring is positioned on the upper side of the second rectangular ring, four first cutters are arranged on the inner side of the first rectangular ring, four second cutters are arranged on the outer sides of the second rectangular ring, a cutting mechanism is arranged between the first rectangular ring and the second rectangular ring, the cutting mechanism is used for driving the first rectangular ring and the second rectangular ring to be close to each other when a blade of the underwater robot main body is wound and blocked, and the first rectangular ring and the second rectangular ring are driven to move horizontally or are driven to reciprocate in the sawing process or the second cutter mechanism is arranged on the two sides of the second rectangular ring to be sawed; As a further scheme of the invention, the cutting mechanism comprises a first mounting box fixedly mounted at the left end and the right end of a first rectangular ring, a second mounting box is fixedly mounted at the inner sides of the left end and the right end of a second rectangular ring, a first motor is fixedly mounted at the left end and the right end of a supporting underframe, a first wire winding roller is fixedly mounted at the output end of the first motor, a first pull rope is fixedly mounted at the inner side of the first wire winding roller, the other end of the first pull rope is connected with the first mounting box, a second motor is fixedly mounted at the left side and the right side of the main body of the underwater robot, a second wire winding roller is fixedly mounted at the output end of the second motor, a second pull rope is fixedly mounted at the inner side of the second wire winding roller, and the other end of the second pull rope is connected with the second mounting box; as a further scheme of the invention, a first elastic band is fixedly arranged on the outer side of the first mounting box, the other end of the first elastic band is fixedly connected with the underwater robot main body, a second elastic band is fixedly arranged on the outer side of the second mounting box, and the other end of the second elastic band is fixedly connected with the supporting underframe; As a further scheme of the invention, the sawing mechanism comprises first limiting rods fixedly arranged on one sides of the first cutters, which are close to the first rectangular ring, and the first limiting rods are respectively positioned on the inner sides of the