CN110525615A - A kind of flexible underwater robot - Google Patents
A kind of flexible underwater robot Download PDFInfo
- Publication number
- CN110525615A CN110525615A CN201910845440.XA CN201910845440A CN110525615A CN 110525615 A CN110525615 A CN 110525615A CN 201910845440 A CN201910845440 A CN 201910845440A CN 110525615 A CN110525615 A CN 110525615A
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- Prior art keywords
- shell
- procapsid
- connection ring
- connection
- flexible
- Prior art date
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Links
- 238000007789 sealing Methods 0.000 claims abstract description 72
- 108090000565 Capsid Proteins Proteins 0.000 claims abstract description 42
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 24
- 238000007514 turning Methods 0.000 claims abstract description 19
- 238000005286 illumination Methods 0.000 claims description 9
- 239000013535 sea water Substances 0.000 description 8
- 239000000463 material Substances 0.000 description 5
- 229910000838 Al alloy Inorganic materials 0.000 description 3
- 208000037656 Respiratory Sounds Diseases 0.000 description 3
- 230000008602 contraction Effects 0.000 description 3
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003628 erosive effect Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 239000000956 alloy Substances 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/13—Hulls built to withstand hydrostatic pressure when fully submerged, e.g. submarine hulls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/14—Hull parts
- B63B3/16—Shells
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to underwater robot technical fields, disclose a kind of shell and underwater robot, head and main body including being in turn connected to form cavity, the main body include the procapsid, flexible joint and back casing being successively tightly connected, and the front housing and the rear housing is fixedly connected by fastener；The flexible joint includes the telescopic flexible water cover covered at outside the fastener, the both ends of the flexible water cover are fixed with the first connecting pin and second connection end respectively, and the flexible water cover interference press fitting squeezes sealing, the second connecting portion and back casing extruding on the procapsid and back casing so that first connecting pin and procapsid and seals.Shell of the invention includes flexible joint, has shell and shrinks to realize the flexible turning function in left and right；Underwater robot turning of the invention occupies little space, and flexibility is high.
Description
Technical field
The present invention relates to underwater robot technical fields, more particularly to a kind of flexible underwater robot.
Background technique
Currently, underwater robot is in marine organisms research, seabed resources detection and sea as national marine strategy promotes
The dual-use field such as foreign military mission is widely used.Underwater robot, which can be divided into, cable underwater robot and untethered
Two class of underwater robot has cable underwater robot to be communicated using cable with robot, limit of the working range by cable
Autonomous navigation is realized in system, the control that can not be detached from water surface base station；Another kind is cableless underwater robot, with small in size, fortune
It is dynamic flexibly, the advantages that mobility is good, can adapt to the changeable environment of underwater complex, therefore can be used for executing sea without cable robot
The civilian and military subsea tasks of the complexity such as bottom pipeline laying, underwater equipment maintenance, seabed clearance, ocean military surveillance.
Common underwater robot system structure is usually rigid material, can guarantee its intensity using rigid material, still
Rigid material with the following drawback that: the flexibility of the underwater robot of integral rigidity material production is not strong, due to underwater environment
Changeable, when robot is moved to smaller space or the more maintenance of underwater sundries, underwater robot is due to its rigid body
Structure, turning need whole overturning, and the turning space needed is big, are easy to hit ambient when underwater robot is turned
Product cause the crackle of robot shell even to damage.
Summary of the invention
The object of the present invention is to provide a kind of shells.
Another object of the present invention is to provide a kind of underwater robot.
The technical problem to be solved by the present invention is underwater robot turning needs space big, turn not flexible, is easy to hit
Sundries and damage.
To achieve the goals above, the present invention provides a kind of shells, head and master including being in turn connected to form cavity
Body, the main body include the procapsid, flexible joint and back casing being successively tightly connected, and the front housing and the rear housing passes through
Fastener is fixedly connected；
The flexible joint includes the telescopic flexible water cover covered at outside the fastener, described flexible anti-
The both ends of water cover are fixed with the first connecting pin and second connection end respectively, and the flexible water cover interference press fitting is in the front housing
On body and back casing so that first connecting pin squeezes close with procapsid extruding sealing, the second connecting portion and back casing
Envelope.
Preferably, first connecting pin is identical with second connection end structure；The end of the procapsid is equipped with
Columnar first boss, first connecting pin are sheathed in the first boss, and first connecting pin block is in described convex
Platform on the side of shell longitudinal direction；The end of the back casing is equipped with columnar second boss, the second connection end set
In the second boss, the second connection end block is in the second boss on the side of shell longitudinal direction.
Preferably, between the first boss and the first connecting pin, the second boss and second connection end it
Between be equipped with main first sealing ring.
Preferably, the head includes sequentially connected translucent cover and pod, is equipped with both ends in the cavity
It is respectively fixedly connected with the platform board of the procapsid and pod, the end far from the flexible joint of the procapsid is solid
Surely there is connection ring, the pod interference press fitting is gone back between the connection ring and pod in the connection ring and procapsid
Equipped with the first seal assembly.
Preferably, the connection ring includes integrally formed first connection ring and the second connection ring, and described first
Connection ring is radially extended along the shell, and second connection ring is along the axially extending of the shell, and described first connects
The diameter of ring is greater than the diameter of the second connection ring；
One end of the pod be equipped with the matched convex edge of the connection ring, first seal assembly include be set to institute
State the second sealing ring between the first connection ring and the convex edge and between second connection ring and the convex edge successively
The third sealing ring and the 4th sealing ring of setting.
Preferably, second sealing ring, third sealing ring and the 4th ring structure are identical, and described second is close
Seal is set there are two for increasing the corrugated surface of sealing performance, two corrugated surfaces be oppositely arranged and respectively with the connection ring
It is matched with pod.
Preferably, the second seal assembly is equipped between the pod and translucent cover.
Preferably, the translucent cover includes the cover of taper and one end of cover and the radial direction along cover is arranged in
Far from the gear edge that center line extends, the other end of the pod is covered on the cover and is matched with the gear edge, institute
Stating the first seal assembly includes at least one the 5th sealing ring being arranged between the pod and cover.
The present invention also provides a kind of flexible underwater robots using above-mentioned shell, including shell, the shell to include
It is in turn connected to form head and the main body of cavity, the inside cavity is equipped with steering engine, battery and control module, sets on the shell
There are multiple balance propulsion dies and multiple movement propulsion dies, be located at head in the cavity and be nearby equipped with illumination photographing module,
The balance propulsion die, movement propulsion die, illumination photographing module, steering engine and battery are electrically connected with control module；Institute
State the pose that balance propulsion die is used to adjust underwater robot；The movement propulsion die and steering engine are used to provide the dynamic of propulsion
Power.
Preferably, the balance propulsion die includes four propellers being uniformly arranged on shell；The fortune
Dynamic propulsion die includes four main thrusters being uniformly arranged on shell；The illumination photographing module is video camera.
A kind of shell of the present invention compared with prior art, the beneficial effect is that:
Shell of the invention includes procapsid, back casing, the flexible joint between front housing and the rear housing, flexible connection
First connecting pin in portion and procapsid are tightly connected, and second connection end and back casing are tightly connected, in this way when shell uses
It waits, flexible joint can carry out certain contraction when shell is turned, and shell is enable to be suitable for compression or turning
Etc. the use demand of specific operating condition.
Underwater robot of the invention is connect using flexible joint with procapsid and back casing, under water robot straight line
When mobile or turning, the movement of underwater robot is promoted using movement propulsion die and balance propulsion die, utilizes control
Device processed, which controls corresponding movement propulsion die, to drive procapsid to turn, and in shell turning, flexible joint is corresponding
A side stretching and and other side is compressed, the flexible turning of flexible joint has been achieved, has improved the spirit of underwater robot
Activity, and reduce the space occupied when underwater robot is turned, smaller space is moved in robot or underwater sundries is more
When, surrounding sundries is hit when avoiding underwater robot from turning, and the crackle of robot shell is caused even to damage.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of underwater robot of the embodiment of the present invention；
Fig. 2 is the cross section view of Fig. 1；
Fig. 3 is the partial structural diagram of Fig. 2.
In figure, 1, shell；11, procapsid；12, back casing；13, flexible joint；131, soft type waterproof cover；132, first
Connecting pin；133, second connection end；3, steering engine；4, battery；5, control module；6, propulsion die is moved；7, propulsion die is balanced；
14, photographing module is illuminated；15, fastener；16, pod；17, translucent cover；18, platform board；20, connection ring；201, first connects
Connect ring；202, the second connection ring；21, the first seal assembly；22, the second seal assembly；100, the first sealing ring；200, second is close
Seal；300, third sealing ring；400, the 4th sealing ring.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
In the description of the present invention, it is to be understood that, term " on ", "lower", "left", "right", "top", "bottom" etc. indicate
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention and simplification retouch
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation,
Therefore it is not considered as limiting the invention.It should be understood that being retouched in the present invention using term " first ", " second " etc.
Various information are stated, but these information should not necessarily be limited by these terms, these terms are only used to for same type of information being distinguished from each other
It opens.For example, without departing from the present invention, " first " information can also be referred to as " second " information, it is similar,
" second " information can also be referred to as " first " information.
As shown in Figure 1-3, a kind of underwater robot of preferred embodiment of the embodiment of the present invention, including shell 1, shell 1 wrap
The head for being in turn connected to form cavity and main body are included, inside cavity is equipped with steering engine 3, battery 4 and control module 5, the outside of shell 1
Installation is made of 4 propellers, is also equipped on the side wall of shell 1 there are four propulsion die 6, a movement propulsion die is moved
Four balance propulsion dies 7, movement propulsion die 6, balance propulsion die 7, steering engine 3, battery 4 electrically connect with control module 5
It connects, the opening and closing that control module 5 can control movement propulsion die 6, balance propulsion die 7 and steering engine 3；Control module 5
For controller；Balance propulsion die 7 is used to adjust the pose of underwater robot, moves propulsion die 6 and steering engine 3 and pushes away for providing
Into power；Specifically, head 2 is located at the front end of main body, head 2 is connect with body seal, and main body includes procapsid 11, rear shell
Body 12 and the flexible joint 13 for connecting procapsid 11 and back casing 12, flexible joint 13 are made of elastic material, such as
It can be rubber-plastics material, flexible joint 13 has telescopicing performance；Four movement propulsion dies 6 it is uniform and opposite be distributed in shell
The outer surface of body 4, and it is positioned opposite in the opposite two sides of shell.When robot moves linearly under water, four movements
Propulsion die 6 can start simultaneously, for pushing the movement of underwater robot, when robot needs to turn under water, position
Movement propulsion die 6 in underwater robot side starts, and the two of side move propulsion die and close corresponding thereto, underwater in this way
Propulsive force of the robot by shell side, cooperation steering engine movement, makes underwater robot turn, while making 13 phase of flexible joint
Corresponding contraction and elongation are convenient for the turning of underwater robot in this way, improve the flexibility of the turning of underwater robot.
Wherein, head 2 is located in cavity and is nearby additionally provided with illumination photographing module 14, for robot moving process under water
Middle offer illumination and timely image transmitting are to staff.
Specifically, balance propulsion die 7 includes four propellers being uniformly arranged on shell；Propulsion die 6 is moved to wrap
Include four main thrusters being uniformly arranged on shell；Illumination photographing module 14 is video camera.
In the present embodiment, procapsid 11 is fixedly connected with the inside of back casing 12 by fastener 15, to enhance shell
Intensity avoids the separation of procapsid 11 Yu back casing 12, specifically, one end of back casing 12 is welded with connecting plate, front housing
Opposite one end of body 11 is fixed with trunnion, and trunnion is bolted to connection with connecting plate.Flexible joint 13 includes that can stretch
The flexible water cover 131 of contracting covered at outside fastener 15, the diameter and procapsid 11 and back casing 12 of flexible water cover 131
Diameter matches, the both ends interference of flexible water cover 131 on its corresponding procapsid 11 and back casing 12, specifically,
The both ends of flexible water cover are fixed with the first connecting pin 132 and second connection end 133 respectively, and the end of procapsid 11 is equipped with column
The first boss of shape, the first connecting pin 132 are sheathed in the first boss and are tightly connected with procapsid 11, the first connecting pin
132 blocks are located on the longitudinal side of shell 1 in first boss；The end of back casing 12 is equipped with columnar second boss, the
Two connecting pins 133 are sheathed in the second boss and are tightly connected with back casing 12, and 133 block of second connection end is in described the
Two boss on the side of shell longitudinal direction.
Further, refering to what is shown in Fig. 2, between first boss and the first connecting pin 132, second boss and second connection end
At least one first sealing ring 100 is equipped between 133, specifically, there are two the first sealing ring 100 includes, before corresponding
Reserve fluted on the boss of shell 11 and back casing 12, the first sealing ring 100 is mounted in groove, two the first sealing rings
100 are separately mounted on the one side for being located at 1 axial direction of shell of boss and on longitudinal one side of shell 1, in this way preceding
Being respectively formed two layers between the first connecting pin and between the boss and second connection end of back casing 12 on the boss of shell 11
Sealing, and since two sides of boss are arranged at angle, generally right angle, such two layers of sealing can make seawater pass through first
Second layer sealing, the right angle energy of the first sealing ring of two such 100 and boss can be just entered after layer sealing by right angle
Enough increase the sealing performance of shell 1 and flexible joint 13.
In the application, head includes sequentially connected translucent cover 17 and pod 16, and pod 16 and procapsid 11 seal
Connection, wherein be equipped with the platform board 18 that both ends are respectively fixedly connected with the procapsid 11 and pod 16 in the front end of cavity, put down
The both ends of platen 18 are fixedly connected with procapsid 11 and translucent cover 17 respectively, are specially welded or are bolted；Procapsid 11
There is connection ring 20 between pod 16, translucent cover 17 is and the matched columned shell of shell 1, the both ends of translucent cover 17
Interference press fitting is on connection ring 20 and procapsid 11, since pod 16 there is water conservancy diversion to make during robot is mobile under water
With, it is more demanding to its sealing performance, therefore the first seal assembly 21 is additionally provided between connection ring 20 and pod 16.First is close
Sealing assembly 21 is for sealing procapsid 11 and pod 16.
Refering to what is shown in Fig. 3, connection ring 20 includes integrally formed first connection ring 201 and the second connection ring 202, first connects
Connect the radially extending along shell 1 of ring 201, the second connection ring 202 is along the axially extending of shell 1, and the diameter of the first connection ring 201
Greater than the diameter of the second connection ring 202；First connection ring 201 is vertically arranged with the second connection ring 202, corresponding, pod
16 one end be equipped with the matched convex edge of connection ring 20, the first seal assembly 21 include be set to first connection ring 201 with it is convex
The second sealing ring 200 and the third sealing ring 300 that is set gradually between the second connection ring 202 and convex edge between and the
Four sealing rings 400, the second sealing ring 200, third sealing ring 300 and 400 structure of the 4th sealing ring are all the same.Such second sealing
Circle 200, third sealing 300 circle and the 4th sealing ring 400 formed sealing procapsid 11 and pod it is three-layer sealed.If with seawater
Contact Seal ring leaks, and seawater reaches 300 position of third sealing ring by 90 ° of turnings after the second sealing ring 200,
Its frictional resistance is effectively reduced, and the pressure of seawater eroding to third sealing ring 300 will reduce, at this time sealing structure shape
At secondary seal, sealing performance is improved.Small part seawater energy penetration third sealing ring 300 and reach the 4th sealing ring 400,
And the seawater of the 4th sealing ring 400 of penetration is that can be ignored under sealing structure normal condition.
Since sealing ring is easy to appear deformation under for a long time by High Voltage, to reduce the deformation of sealing ring as far as possible to reduce
Leakage, sealing ring is pressed to, and the reason of movement of low-pressure side is obtained through analysis is sealing ring and two seal face contact surfaces are plane,
Friction is small, causes to be pressurized and move.Two seal faces are improved, the second sealing ring 200, third sealing ring 300 and the 4th are close
Seal 400 is all provided with there are two for increasing the corrugated surface of sealing performance, two corrugated surfaces be oppositely arranged and respectively with connection ring 20
It is matched with pod 16, when sealing structure compresses sealing, the upper and lower part of sealing ring is embedded into waveform recess, at this time can be
Pressure of the seawater eroding on sealing ring top is decomposed, and concentration is relieved stress, and increases the resistance to deformation of friction and sealing ring
Ability and service life.
For the sealing for further strengthening shell, the second seal assembly 22 is equipped between pod 16 and translucent cover 17.It is transparent
Cover 17 includes the cover of taper with one end that cover is arranged in and along the gear edge of cover extended radially away from center line, described to lead
The other end of stream cover 16 covers on the cover and with the gear along matching, and the second seal assembly 22 includes the pod
The 5th sealing ring of at least one being arranged between 16 and cover.
It is more that existing underwater robot shell is typically chosen aluminium alloy, but aluminum alloy hardness and intensity are insufficient, once hair
Raw collision, the deformation for being easy to appear structure even damage, and surface is easy to be damaged by seawater corrosion, therefore the shell of the application is in aluminium
The surface of alloy material carries out reinforcing milled processed, and aluminum alloy surface hardness is promoted to highest by original 5HRC or so
18HRC or so increases its hardness and corrosion resistance.
When needing to turn or reverse end for end, steering engine executes orders and cooperates the featured of procapsid 11 underwater robot of the application
Differential into device promotes, and front deck realizes itself turning (rotate left and right angle and be up to 30 °)；Angle of turn meets job requirement
Afterwards, steering engine opposite direction rotates, until main body moves under same direction, steering engine enters self-locking state for adjustment 12 position of back casing.
Underwater robot of the invention is connect using flexible joint 13 with procapsid 11 and back casing 12, under water machine
When people's linear movement or turning, the movement of underwater robot is promoted using movement propulsion die and balance propulsion die,
Controlling corresponding movement propulsion die using controller can drive procapsid 11 to turn, when shell 1 is turned, flexible connection
The corresponding side stretching in portion 13 and and other side is compressed, the flexible turning of flexible joint 13 has been achieved, has improved water
The flexibility of lower robot, and reduce underwater robot turning when the space occupied, robot be moved to smaller space or
The crackle that surrounding sundries causes underwater robot shell 1 is hit when sundries is more under water, when avoiding underwater robot from turning
Even damage.Its shell of the invention include between procapsid 11, back casing 12 and procapsid 11 and back casing 12 it is flexible even
Socket part 13, the first connecting pin of flexible joint 13 and procapsid 11 are tightly connected, and second connection end and the sealing of back casing 12 connect
It connects, in this way when shell uses, flexible joint 13 can carry out certain contraction when shell is turned, and make shell
It can be suitable for the use demand of the specific operating condition of the energy that compresses or turn.
The embodiment of shell of the invention, the embodiment of shell is identical as the structure of shell in above-mentioned underwater robot,
It is not being repeated secondary.
The above is only a preferred embodiment of the present invention, it is noted that for the common counting people of the art
For member, without departing from the technical principles of the invention, several improvement and replacement can also be made, these are improved and replacement
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of shell, which is characterized in that head and main body including being in turn connected to form cavity, the main body include successively close
Procapsid, flexible joint and the back casing of connection are sealed, the front housing and the rear housing is fixedly connected by fastener, described soft
Property interconnecting piece it is flexible so that the front housing and the rear housing flexibility turning；
The flexible joint includes the telescopic flexible water cover covered at outside the fastener, the flexible water cover
Both ends be fixed with the first connecting pin and second connection end respectively, the flexible water cover interference press fitting in the procapsid and
On back casing so that first connecting pin and procapsid squeeze sealing, the second connecting portion and back casing and squeeze sealing.
2. shell according to claim 1, it is characterised in that: first connecting pin is identical with second connection end structure；
The end of the procapsid is equipped with columnar first boss, and first connecting pin is sheathed in the first boss, and described the
One connecting pin block is in the boss on the side of shell longitudinal direction；It is convex that the end of the back casing is equipped with columnar second
Platform, the second connection end are sheathed in the second boss, second connection end block being located in the second boss
On the side of shell longitudinal direction.
3. shell according to claim 2, it is characterised in that: between the first boss and the first connecting pin, described
At least one first sealing ring is equipped between two boss and second connection end.
4. shell according to claim 1, it is characterised in that: the head includes sequentially connected translucent cover and water conservancy diversion
Cover, is respectively fixedly connected with the platform board of the procapsid and pod in the cavity equipped with both ends, the procapsid it is separate
The end of the flexible joint is fixed with connection ring, and the pod interference press fitting is in the connection ring and procapsid, institute
It states and is additionally provided with the first seal assembly between connection ring and pod.
5. shell according to claim 4, it is characterised in that: the connection ring include integrally formed first connection ring and
Second connection ring, the first connection ring radially extending along the shell, axial direction of second connection ring along the shell
Extend, and the diameter of first connection ring is greater than the diameter of the second connection ring；
One end of the pod be equipped with the matched convex edge of the connection ring, first seal assembly includes being set to described the
It the second sealing ring between one connection ring and the convex edge and is set gradually between second connection ring and the convex edge
Third sealing ring and the 4th sealing ring.
6. shell according to claim 1, it is characterised in that: second sealing ring, third sealing ring and the 4th sealing
Coil structures are identical, and second sealing ring is set there are two the corrugated surface for increasing sealing performance, and two corrugated surfaces are opposite
It is arranged and is matched respectively with the connection ring and pod.
7. shell according to claim 6, it is characterised in that: be equipped with the second sealing group between the pod and translucent cover
Part.
8. shell according to claim 1, it is characterised in that: the translucent cover includes the cover of taper and is arranged in cover
One end and along the gear edge that cover extends radially away from center line, the other end of the pod covers on the cover
And with the gear along matching, second seal assembly includes that at least one that be arranged between the pod and cover is the 5th close
Seal.
9. a kind of flexible underwater robot using shell described in claim 1-7, it is characterised in that: described including shell
Shell includes head and the main body for being in turn connected to form cavity, and the inside cavity is equipped with steering engine, battery and control module, described
Shell is equipped with multiple balance propulsion dies and multiple movement propulsion dies, is nearby equipped with illumination positioned at head in the cavity and takes the photograph
As module, the balance propulsion die, movement propulsion die, illumination photographing module, steering engine and battery are electrical with control module
Connection；The balance propulsion die is used to adjust the pose of underwater robot；The movement propulsion die and steering engine are for providing
The power of propulsion.
10. flexible underwater robot according to claim 1, it is characterised in that: the balance propulsion die includes four
The propeller being uniformly arranged on shell；The movement propulsion die includes four main thrusters being uniformly arranged on shell；
The illumination photographing module is video camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910845440.XA CN110525615A (en) | 2019-09-05 | 2019-09-05 | A kind of flexible underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910845440.XA CN110525615A (en) | 2019-09-05 | 2019-09-05 | A kind of flexible underwater robot |
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|---|---|
| CN110525615A true CN110525615A (en) | 2019-12-03 |
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| CN201910845440.XA Pending CN110525615A (en) | 2019-09-05 | 2019-09-05 | A kind of flexible underwater robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111399316A (en) * | 2020-04-01 | 2020-07-10 | 浙江大学 | Underwater wide-angle camera equipment |
| CN111942553A (en) * | 2020-08-18 | 2020-11-17 | 中国船舶重工集团衡远科技有限公司 | Electric pod propeller |
| CN112849373A (en) * | 2021-04-01 | 2021-05-28 | 广东海洋大学 | Underwater small-space grabbing robot |
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