CN-122009444-A - Modularized underwater robot single body butt joint and multi-body deformation device and method

CN122009444ACN 122009444 ACN122009444 ACN 122009444ACN-122009444-A

Abstract

The invention relates to a modularized underwater robot single-body butt joint and multi-body deformation device which structurally comprises an active connection module and a passive connection module, wherein a male butt joint contact is extended out of the end face of the active module, a vertical locking round hole is formed in the center of the top of the male butt joint contact, at least one radial horizontal locking round hole is formed in the center of the circumferential surface of the male butt joint contact, a female butt joint contact is arranged in an inner cavity of the passive connection module, a butt joint semi-cylindrical groove is formed in the outer end face of the female butt joint contact and is in plug-in fit with the male butt joint contact, and two locking linkage mechanisms respectively drive vertical and horizontal locking conical columns to move inwards and insert into corresponding vertical locking round holes or horizontal locking round holes. The modularized underwater robot single body butt joint and multi-body deformation device realizes high fault tolerance and reliable butt joint of the underwater robot single body, can flexibly complete angle and interval adjustment under multi-body state, improves stability of a locking structure and multi-form operation suitability of the robot, and meets application requirements of complex underwater operation scenes.

Inventors

ZHANG JIN
LU FENG
LI BIN
Kang shuai
LI JIHAN
CHEN ZHENSHUO
LIU YUNFENG

Assignees

辽宁大学

Dates

Publication Date: 20260512
Application Date: 20260302

Claims (7)

1. A modularized underwater robot single body butt joint and multi-body deformation device is characterized by comprising an active connecting module (10) and a passive connecting module (20), wherein a male butt joint contact (11) extends out of the end face of the active module, the male butt joint contact (11) is of a cylindrical structure, a bevel section (12) is arranged on the upper end face and the lower end face of the outer side of the cylindrical body respectively, a vertical locking round hole (13) is formed in the center of the top of the male butt joint contact (11), at least one radial horizontal locking round hole (14) is formed in the center of the circumferential surface of the male butt joint contact (11), a female butt joint contact (21) is arranged in an inner cavity of the passive connecting module (20), a butt joint semicircular groove (22) is formed in the outer end face of the female butt joint contact (21), the butt joint semicircular groove (22) is in plug-in fit with the male butt joint contact (11), guide grooves (23) are formed in the center of the top and the side face of the female butt joint contact (21), locking conical columns (24) are respectively arranged in the center of the top and the side faces of the guide grooves (23), and the two locking linkage mechanisms respectively drive the vertical and horizontal locking conical columns (24) to be inserted into the corresponding vertical locking round holes (13) or horizontal round holes (14) in an inward mode.
2. The single-body butt joint and multi-body deformation device of the modularized underwater robot according to claim 1, wherein the number of the horizontal locking round holes (14) is three, and the horizontal locking round holes are positioned on one side of the male butt joint contact (11) and form an angle of 45 degrees, an angle of 90 degrees and an angle of 135 degrees with the central axis of the active connection module (10) respectively.
3. The modularized underwater robot single-body butt joint and multi-body deformation device according to claim 1, wherein the locking linkage mechanism comprises a locking driving steering engine (31), a right-angle transmission rod (32), a sliding block (33) and a columnar rod (34), one end of the right-angle transmission rod (32) is connected with an output shaft of the driving steering engine (31), the other end of the right-angle transmission rod is hinged with the sliding block (33), a through hole perpendicular to the output shaft of the locking driving steering engine (31) is formed in the sliding block (33), and the columnar rod (34) penetrates through the through hole of the sliding block (33) and is perpendicularly connected with a locking conical column (24) at a corresponding position.
4. The modular underwater robot single docking and multiple deformation device of claim 3, wherein the guide slot (23) comprises a radial movement path of the locking conical column (24) and part of the cylindrical rod (34).
5. The modular underwater robot single body docking and multiple body deformation apparatus of claim 4 wherein the locking conical posts (24) are located in cylindrical guide slots and the partial cylindrical posts (34) are located in rectangular guide slots, the diameter of the cylindrical guide slots being greater than the width of the rectangular guide slots.
6. The modularized underwater robot single-body butt joint and multi-body deformation device is characterized in that a telescopic driving steering engine (15) and a telescopic rod (16) are arranged in the active connecting module (10), the telescopic rod (16) extends out of the active connecting module (10) to be connected with the male butt joint contact (11), an output shaft of the telescopic driving steering engine (15) is connected with an adjusting gear (17), a telescopic tooth-shaped slide way (18) is arranged on the telescopic rod (16), and the adjusting gear (17) is meshed with the telescopic tooth-shaped slide way (18).
7. The single butt joint and multi-body deformation method based on the single butt joint and multi-body deformation device of the modularized underwater robot is characterized by comprising the following steps of: 1. When two underwater robots approach, the fault-tolerant space of the bevel cut section (12) of the male butt joint contact (11) is utilized to enable the male butt joint contact (11) of the active connecting module (10) to be connected with the butt joint semi-cylindrical groove (22) of the female butt joint head (21) of the passive connecting module (20), the vertical locking driving steering engine (31) drives the vertical locking conical column (24) to move downwards to be embedded into the vertical locking round hole (13) so as to realize the axial fixation of the active connecting module (10), the horizontal locking driving steering engine (31) drives the horizontal locking conical column (24) to be embedded into the horizontal locking round hole (14) of a lateral 90-degree angle, and the butt joint locking of the active connecting module (10) and the passive connecting module (20) is completed and the central axis is formed to coincide; 2. The rotation angle between the monomers is adjusted under the multi-body state, wherein a horizontal locking driving steering engine (24) drives a horizontal sliding block (33) to reversely move, a horizontal locking conical column (23) is driven to be separated from a horizontal locking round hole (14), the horizontal rotation freedom degree of the active connection module (10) is released, when the active connection module (10) horizontally rotates by-45 degrees or 45 degrees, the locking driving steering engine (24) is again locked to drive the horizontal sliding block (33) to positively move, and the horizontal locking conical column (23) is driven to be inserted into the corresponding horizontal locking round hole (14), so that the angle adjusting function is completed; 3. and the distance between the single bodies is adjusted in a multi-body state, namely the telescopic driving steering engine (15) rotates to drive the adjusting gear (17) to operate, so that the telescopic rod (16) moves along the telescopic tooth-shaped slideway (18), the distance of the male butt contact (11) extending out of the active connection module (10) is adjusted, and the extension or shortening adjustment of the distance between the single bodies in the multi-body state is realized.

Description

Modularized underwater robot single body butt joint and multi-body deformation device and method Technical Field The invention relates to a single-body butt joint and multi-body deformation device and method for a modularized underwater robot, and belongs to the technical field of underwater robots. Background The modularized underwater robot has the technical advantages of combinability and easy expansion, and is widely applied to the fields of underwater detection, underwater engineering operation and the like, and reliable butt joint among monomers and flexible deformation of multiple forms become core key technologies for realizing modularized application of the modularized underwater robot. In the prior art, the problem of insufficient fault-tolerant design exists in the docking structure of the underwater robot, the requirement on the positioning precision is high in the docking process, so that the docking success rate is low, meanwhile, the traditional locking structure has single function, only can realize the connection and fixation of a foundation, can not finish the angle adjustment among multiple bodies after docking, and lacks a special interval adjusting component, so that the relative position among the single bodies is difficult to flexibly adjust according to the underwater operation requirement, and the operation form adaptability is poor. Therefore, developing a butt joint and deformation technology with high fault tolerance, reliable locking and flexible adjustment of multiple angles and intervals becomes a technical problem to be solved in the field. Disclosure of Invention The invention aims to solve the technical problem of providing a modularized underwater robot single body butt joint and multi-body deformation device and a modularized underwater robot single body butt joint and multi-body deformation method, wherein the modularized underwater robot single body butt joint and multi-body deformation device realizes high fault tolerance and reliable butt joint of an underwater robot single body, can flexibly complete angle and interval adjustment under a multi-body state, improves stability of a locking structure and multi-form operation suitability of the robot, and meets application requirements of complex underwater operation scenes. The modularized underwater robot single body butt joint and multi-body deformation device is characterized by comprising an active connection module and a passive connection module, wherein the end face of the active module extends out of a male butt joint contact, the male butt joint contact is of a cylindrical structure, the upper end face and the lower end face of the outer side of the cylindrical body are respectively provided with a chamfer section, the center of the top of the male butt joint contact is provided with a vertical locking round hole, the center of the circumferential surface of the male butt joint contact is provided with at least one radial horizontal locking round hole, the inner cavity of the passive connection module is provided with a female butt joint contact, the outer end face of the female butt joint contact is provided with a butt joint semicircular column groove which is in splicing fit with the male butt joint contact, the center of the top and the center of the side face of the female butt joint contact are respectively provided with a guide groove, and two locking linkage mechanisms respectively drive the vertical locking conical column and the horizontal locking conical column to move inwards to be inserted into the corresponding vertical locking round hole or the horizontal locking round hole. The number of the horizontal locking round holes is three, and the horizontal locking round holes are positioned on one side of the male butt contact and form an angle of 45 degrees, an angle of 90 degrees and an angle of 135 degrees with the central axis of the active connection module respectively. The locking linkage mechanism comprises a locking driving steering engine, a right-angle transmission rod, a sliding block and a columnar rod, wherein one end of the right-angle transmission rod is connected with an output shaft of the driving steering engine, the other end of the right-angle transmission rod is hinged with the sliding block, a through hole perpendicular to the output shaft of the locking driving steering engine is formed in the sliding block, and the columnar rod penetrates through the through hole of the sliding block and is vertically connected with a locking conical column at a corresponding position. The guide groove comprises a radial moving path of the locking conical column and a part of the columnar rod. The locking conical column is located in the cylindrical guide groove, part of the cylindrical rod is located in the rectangular guide groove, and the diameter of the cylindrical guide groove is larger than the width of the rectangular guide groove. The driving connection module is internally provided wit