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An underwater crawler robot with posture change

A crawler and robot technology, applied to underwater operation equipment, manipulators, ships, etc., can solve problems such as energy-consuming working posture, difficulty in maintaining stability, and difficulties in underwater robots

Active Publication Date: 2021-06-18
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the existing underwater robot only uses propellers to change the working posture, which not only consumes energy but also makes it difficult to maintain a stable working posture, making it difficult for the underwater robot to perform flexible operations in a complex underwater environment; now provides a A crawler robot capable of changing posture underwater

Method used

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  • An underwater crawler robot with posture change
  • An underwater crawler robot with posture change
  • An underwater crawler robot with posture change

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specific Embodiment approach 1

[0031] Specific implementation mode one: refer to figure 1 , figure 2 and image 3 Describe this embodiment in detail, a kind of crawler type robot of underwater posture change described in this embodiment includes housing 1, monitoring mechanism, vertical thruster 14, horizontal thruster 15 and two sets of crawler walking mechanisms, monitoring mechanism is arranged on The front end of the shell 1 is used for underwater monitoring. Two vertical propellers 14 are respectively arranged in the through holes on both sides above the shell 1 for the ups and downs and heeling of the underwater robot. When the two vertical propellers 14 generate When the force is in the same direction, the underwater robot floats or dives. When the two vertical propellers 14 produce different directions, the underwater robot will roll; two horizontal propellers 15 are arranged at the rear end of the shell 1 for The advance, retreat and steering of the underwater robot, when the two horizontal prop...

specific Embodiment approach 2

[0036] Specific implementation mode two: refer to image 3 Describe this embodiment in detail, in this embodiment, the two side walls of described guide plate 6 are respectively provided with slideway 6-1, and the two ends of lead screw nut 8 lower surface are respectively provided with a pulley 4, and pulley 4 and pulley Tract 6-1 Sliding connections.

[0037] Other compositions and connection methods are the same as those in Embodiment 1.

specific Embodiment approach 3

[0038] Specific implementation mode three: refer to Figure 4 to Figure 7Describe this embodiment in detail, in this embodiment, each crawler belt traveling mechanism comprises a crawler belt 23, two torque motors 24, two power gears 25, two load-bearing wheels 26, two crawler belt motors 27 and two connecting plates 28. Two torque motors 24 are arranged laterally side by side on the side end of the housing 1. The driving end of each torque motor 24 is fixedly connected to the middle of one side of a connecting plate 28, and the other side of the connecting plate 28 is One end of one end is provided with a power gear 25, and is rotationally connected with the power gear 25, and the other end of the other side of the connecting plate 28 is provided with a load-bearing wheel 26, and is rotatably connected with the load-bearing wheel 26; the specific structure is, the connecting plate 28 A round hole is respectively opened at both ends of each round hole, and a bearing is arrange...

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Abstract

The utility model relates to an underwater crawler robot capable of changing poses, which belongs to the field of underwater robots. The invention aims to solve the problem that the existing underwater robot uses propellers to change the working attitude, consumes energy and is unstable, and is difficult to perform flexible operations in complex underwater environments. The invention includes a shell, a monitoring mechanism, a vertical thruster, a horizontal thruster, two sets of attitude changing mechanisms and two sets of crawler walking mechanisms, the monitoring mechanism is arranged at the front end of the shell for underwater monitoring, and the vertical thruster is set on the shell The through holes on both sides above are used for ups and downs and heeling of the underwater robot. The horizontal propeller is arranged at the rear end of the shell for the advance, retreat and steering of the underwater robot. Each set of crawler walking mechanisms is respectively set on the shell The sidewalls on both sides of the underwater robot are used for crawling of the underwater robot, and two sets of attitude changing mechanisms are respectively arranged on both sides of the inside of the housing for the attitude changing of the underwater robot. The invention is used for underwater operation.

Description

technical field [0001] The invention relates to a crawler robot capable of changing attitude underwater, belonging to the field of underwater robots. Background technique [0002] The underwater robot is a kind of extreme operation robot that works underwater. The underwater environment is harsh and dangerous, and people's diving depth is limited, so underwater robots have become an important tool for developing the ocean. At present, the main tasks of underwater robots are: (1) cleaning and maintenance of the bottom of the ship; (2) checking whether explosives are installed on the dam and pier and the structure of the dam and pier; (3) remote control reconnaissance and inspection of danger (4) Assist in the installation or disassembly of underwater arrays; (5) Help public security organs or customs to detect whether there are smuggled items on the side and bottom of the ship; (6) Observation of underwater targets, search and rescue of ruins and collapsed mines, etc.; Howe...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00B25J5/00B63C11/52
CPCB25J5/005B25J11/00B63C11/52
Inventor 张栋梁孙延超秦洪德万磊刘传奇杜雨桐陈辉
Owner HARBIN ENG UNIV
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