WO2019028692A1

WO2019028692A1 - Underwater navigation robot

Info

Publication number: WO2019028692A1
Application number: PCT/CN2017/096587
Authority: WO
Inventors: 何伟; 郭同腾
Original assignee: 深圳微孚智能信息科技有限公司
Priority date: 2017-08-09
Filing date: 2017-08-09
Publication date: 2019-02-14
Also published as: CN109562816B; CN109562816A

Abstract

An underwater navigation robot (100), comprising: a main cabin (10), a plurality of thrusters (20) and a controller (13); each thruster (20) comprises a propeller (21), a drive motor (22), and a support (23); the plurality of thrusters (20) are divided into lifting thrusters (20a), for which the axial direction is disposed along the thickness direction of the main cabin (10), and navigation thrusters (20b), for which the axial direction is disposed perpendicular to the thickness direction of the main cabin (10). The axial direction of the lifting thrusters (20a) is provided in alignment with the thickness direction of the main cabin (10), and the axial direction of the navigation thrusters (20b) is arranged perpendicular to the thickness direction of the main cabin (10) such that the direction of the main cabin (10) as well as forward and backward movement may be adjusted by means of the navigation thrusters (20b), while the main cabin (10) may be directly driven up and down by means of the lifting thrusters (20a), thus adjustment of spatial position is convenient and navigation is flexible.

Description

水下航行机器人 Underwater navigation robot

技术领域 Technical field

[0001] 本发明属于机器人领域，尤其涉及一种水下航行机器人。 [0001] The present invention belongs to the field of robots, and in particular, to an underwater navigation robot.

背景技术 Background technique

[0002] 目前，传统的水下机器人一般是外形类潜艇状，其推动结构一般是在艇体的后面安装螺旋桨和舵机，并在艇的侧边安装机翼；通过螺旋桨转动来推进机器人在水下前行，而通过舵机来高速方向，通过机翼来调节机器人要水下的深度。但是这种机器人在上下、前后、左右空间调节吋，只能曲线移动，空间位置调节不方便。 [0002] At present, the conventional underwater robot is generally a submarine-like shape, and its propulsion structure is generally installed with a propeller and a steering gear behind the hull, and a wing is installed on the side of the boat; Underwater, and through the steering gear to the high-speed direction, through the wing to adjust the depth of the robot to be underwater. However, this kind of robot adjusts the space in the up, down, front, back, and left and right directions, and can only move the curve, and the space position adjustment is inconvenient.

技术问题 technical problem

[0003] 本发明的目的在于提供一种水下航行机器人，以解决现有技术中存在的机器人水下空间位置调节不方便的问题。 [0003] An object of the present invention is to provide an underwater navigation robot to solve the problem of inconvenient adjustment of underwater space position of a robot existing in the prior art.

问题的解决方案 Problem solution

技术解决方案 Technical solution

[0004] 为实现上述目的，本发明采用的技术方案是：提供一种水下航行机器人，包括主舱体、调节所述主舱体空间位置的若干推进器和控制各所述推进器工作的控制器，所述主舱体中幵设有密封舱，所述控制器安装于所述密封舱中，各所述推进器包括螺旋桨、驱动所述螺旋桨转动的驱动电机和支撑所述驱动电机的支座，所述支座与所述主舱体固定相连；若干所述推进器分为轴向沿所述主舱体厚度方向设置的升降推进器和轴向垂直于所述主舱体厚度方向设置的航行推进器。 [0004] In order to achieve the above object, the technical solution adopted by the present invention is: providing an underwater navigation robot, including a main cabin, a plurality of propellers for adjusting a spatial position of the main cabin, and controlling the work of each of the propellers. a controller, the main cabin body is provided with a sealed compartment, the controller is installed in the sealed compartment, and each of the propellers comprises a propeller, a driving motor for driving the propeller to rotate, and a driving motor for supporting the driving motor a support, the support is fixedly connected to the main cabin; a plurality of the propellers are divided into a vertical thruster disposed axially along the thickness of the main cabin and axially perpendicular to the thickness of the main cabin Set of navigation propellers.

[0005] 进一步地，所述升降推进器为四个，且所述主舱体的两侧分别安装有两个所述升降推进器，且所述主舱体两侧的所述升降推进器的位置相对。 [0005] Further, the lifting propellers are four, and two lifting propellers are respectively installed on two sides of the main cabin body, and the lifting propellers on both sides of the main cabin body are Relative position.

[0006] 进一步地，所述航行推进器为四个，且分别位于所述主舱体的四角。 [0006] Further, the navigation propellers are four and are respectively located at the four corners of the main cabin.

[0007] 进一步地，所述主舱体长度方向各端部对应的两个所述航行推进器沿该主舱体长度方向的中线呈轴对称设置。 [0008] 进一步地，所述主舱体长度方向各端部对应的两个所述航行推进器的轴向倾斜设置。 [0007] Further, two of the navigation propellers corresponding to the ends of the main body in the longitudinal direction are axially symmetrically disposed along a center line of the longitudinal direction of the main cabin. [0008] Further, the two thrusting propellers corresponding to the ends of the main body in the longitudinal direction are axially inclined.

[0009] 进一步地，所述主舱体长度方向各端部对应的两角部分别设有支撑台，相邻两个所述支撑台的台面倾斜设置，各所述航行推进器的支座安装于相应所述支撑台上。 [0009] Further, the two corner portions corresponding to the end portions of the main body in the longitudinal direction are respectively provided with support platforms, and the mesas of the two adjacent support tables are inclined, and the support of each of the navigation propellers is installed. On the corresponding support table.

[0010] 进一步地，所述支座包括安装于所述主舱体上的座体、罩于所述驱动电机一端的后罩和连接所述后罩与所述座体的支柱；所述驱动电机固定于所述后罩中，所述螺旋桨包括罩于所述驱动电机另一端的前罩和安装于所述前罩上的若干桨叶，所述前罩与所述驱动电机的转子相连，所述前罩与所述后罩扣合形成配合容置所述驱动电机的容置空间。 [0010] Further, the support includes a seat body mounted on the main cabin body, a rear cover covering one end of the drive motor, and a pillar connecting the rear cover and the seat body; a motor is fixed in the rear cover, the propeller includes a front cover that covers the other end of the drive motor, and a plurality of blades mounted on the front cover, the front cover being connected to a rotor of the drive motor, The front cover and the rear cover are fastened to form an accommodation space for accommodating the driving motor.

[0011] 进一步地，所述前罩的周向均匀分布有三个所述桨叶。 [0011] Further, the front cover is evenly distributed with three of the blades in the circumferential direction.

[0012] 进一步地，还包括具有容置腔的保护壳，所述主舱体安装于所述容置腔中，所述保护壳上对应幵设有分别容置各所述升降推进器的第一通孔，各所述第一通孔的轴向与所述升降推进器的轴向一致；所述保护壳上对应幵设有分别容置各所述航行推进器的第二通孔，各所述第二通孔的轴向与所述航行推进器的轴向一致。 [0012] Further, the utility model further includes a protective shell having a receiving cavity, wherein the main cabin is installed in the accommodating cavity, and the protective shell is provided with a corresponding one for accommodating each of the lifting propellers a through hole, an axial direction of each of the first through holes is coincident with an axial direction of the lifting propeller; and a corresponding second hole of each of the navigation propellers is respectively disposed on the protective casing; The axial direction of the second through hole coincides with the axial direction of the navigation propeller.

[0013] 进一步地，所述保护壳包括下壳体和与所述下壳体固定相连的上壳体，所述下壳体上幵设有下腔，所述上壳体上幵设有上腔，所述上腔与所述下腔扣合形成上述容置腔；所述上壳体上对应于各所述升降推进器的位置分别幵设有下通孔，所述上壳体上对应于各所述升降推进器的位置分别幵设有上通孔，各所述下通孔与相应所述上通孔配合形成容置相应所述第一通孔；所述下壳体对应于各所述航行推进器的位置幵设有下半圆槽，所述上壳体上对应于各所述航行推进器的位置幵设有上半圆槽，各所述下半圆槽与相应所述上半圆槽扣合形成相应所述第二通孔。 [0013] Further, the protective casing includes a lower casing and an upper casing fixedly connected to the lower casing, wherein the lower casing is provided with a lower cavity, and the upper casing is provided with an upper casing a cavity, the upper cavity and the lower cavity are fastened to form the accommodating cavity; the upper casing is respectively provided with a lower through hole corresponding to the position of each of the lifting and pushing devices, and the upper casing corresponds to The upper through holes are respectively disposed at positions of the lifting and lowering propellers, and each of the lower through holes cooperates with the corresponding upper through holes to form a corresponding first through hole; the lower housing corresponds to each The position of the navigation propeller is provided with a lower semicircular groove, and the upper casing is provided with an upper semicircular groove corresponding to the position of each of the navigation propellers, and each of the lower semicircular grooves and the corresponding upper semicircular groove The fastening forms a corresponding second through hole.

[0014] 进一步地，所述上壳体包括上型板和盖于所述上型板上的上盖板，所述上型板上幵设有上幵槽，所述上幵槽与所述上盖板配合形成所述上腔；所述上型板上对应于各所述升降推进器的位置幵设有第一上幵孔，所述上盖板上对应于各所述第一上幵孔的位置幵设有第二上幵孔，各所述第一上幵孔与相应所述第二上幵孔配合形成相应所述上通孔；各所述上半圆槽设于所述上型板的底面。 [0014] Further, the upper casing includes an upper plate and an upper cover that covers the upper plate, and the upper plate is provided with an upper groove, the upper groove and the upper The upper cover plate is configured to form the upper chamber; the upper plate is provided with a first upper boring hole corresponding to the position of each of the lifting and pushing devices, and the upper cover plate corresponds to each of the first upper cymbals a position of the hole is provided with a second upper pupil, each of the first upper pupil and the corresponding second upper The pupils cooperate to form corresponding upper through holes; each of the upper semicircular grooves is disposed on a bottom surface of the upper plate.

[0015] 进一步地，所述下壳体包括下型板和盖于所述下型板底面的下盖板，所述下型板上幵设有下幵槽，所述下幵槽与所述下盖板配合形成所述下腔；所述下型板上对应于各所述升降推进器的位置幵设有第一下幵孔，所述下盖板上对应于各所述第一下幵孔的位置幵设有第二下幵孔，各所述第一下幵孔与相应所述第二下幵孔配合形成相应所述下通孔；各所述下半圆槽设于所述下型板上。 [0015] Further, the lower casing includes a lower plate and a lower cover that covers the bottom surface of the lower plate, and the lower plate is provided with a lower jaw, the lower groove and the lower groove The lower cover cooperates to form the lower cavity; the lower profile plate is provided with a first lower jaw corresponding to the position of each of the lifting and pushing devices, and the lower cover corresponds to each of the first lower jaws a second lower boring hole is disposed at a position of the hole, and each of the first lower boring holes cooperates with the corresponding second lower boring hole to form a corresponding lower through hole; each of the lower semicircular grooves is disposed in the lower type On the board.

[0016] 进一步地，所述保护壳中分别幵设有连通各所述第一通孔与所述容置腔的第一过孔和连通各所述第二通孔与所述容置腔的第二过孔。 [0016] Further, the protective casing is respectively provided with a first through hole that communicates with each of the first through holes and the accommodating cavity, and a second through hole that communicates with each of the second through holes and the accommodating cavity Second via.

[0017] 进一步地，还包括与所述控制器电性相连的照明灯，所述照明灯安装于所述保护壳的一端面。 [0017] Further, the device further includes an illumination lamp electrically connected to the controller, the illumination lamp being mounted on an end surface of the protection shell.

[0018] 进一步地，所述照明灯为两个，且分别安装在保护壳一端面的两侧部。 [0018] Further, the illumination lamps are two and are respectively mounted on both sides of one end surface of the protective case.

[0019] 进一步地，所述保护壳的对应端面幵设有容置槽，所述照明灯安装于所述容置槽中。 [0019] Further, a corresponding end surface of the protective casing is provided with a receiving groove, and the illumination lamp is installed in the receiving groove.

[0020] 进一步地，还包括与所述控制器电性相连的防水摄像模块，所述主舱体的一端幵设有露出所述防水摄像模块的贯通孔，所述贯通孔与所述密封舱相连通。 [0020] Further, the utility model further includes a waterproof camera module electrically connected to the controller, wherein one end of the main cabin body is provided with a through hole exposing the waterproof camera module, the through hole and the capsule Connected.

[0021] 进一步地，所述防水摄像模块包括安装于所述密封舱中的摄像模组、安装于所述摄像模组上的镜头和盖于所述镜头上的透明盖，所述镜头配合安装于所述贯通孔中。 [0021] Further, the waterproof camera module includes a camera module mounted in the sealed capsule, a lens mounted on the camera module, and a transparent cover attached to the lens, the lens is mounted In the through hole.

[0022] 进一步地，所述主舱体上还安装有控制幵关和罩于所述控制幵关上的防水罩，所述防水罩安装于所述主舱体上，所述控制幵关与所述控制器电性相连。 [0022] Further, the main cabin body is further provided with a waterproof cover that controls the switch and covers the control switch, and the waterproof cover is mounted on the main cabin, and the control device is The controller is electrically connected.

[0023] 进一步地，所述主舱体上还安装有防水按键，所述防水按键与所述控制器电性相连。 [0023] Further, a waterproof button is further mounted on the main cabin, and the waterproof button is electrically connected to the controller.

发明的有益效果 Advantageous effects of the invention

有益效果 Beneficial effect

[0024] 与现有技术对比，本发明提供的水下航行机器人，在主舱体上安装升降推进器和航行推进器，将升降推进器的轴向设置与主舱体的厚度方向一致，而将航行推进器的轴向设置与主舱体厚度方向垂直，从而在可以通过航行推进器调节主舱体的方向及前后进行，同吋可以通过升降推进器直接驱动主舱体升降，空间位置调节方便，航行更为灵活。 [0024] Compared with the prior art, the underwater navigation robot provided by the present invention installs a lifting propeller and a navigation propeller on the main cabin, and the axial arrangement of the lifting propeller is consistent with the thickness direction of the main cabin. The axial setting of the navigation propeller is perpendicular to the thickness direction of the main cabin, so that the direction of the main cabin can be adjusted by the navigation propeller and before and after, and the main propulsion can be directly driven by the lifting propeller. The position adjustment is convenient and the navigation is more flexible.

对附图的简要说明 Brief description of the drawing

附图说明 DRAWINGS

[0025] 图 1是本发明实施例提供的水下航行机器人的立体示意图； 1 is a perspective view of an underwater navigation robot according to an embodiment of the present invention;

[0026] 图 2是图 1的水下航行机器人中保护壳的结构示意图； 2 is a schematic structural view of a protective case of the underwater navigation robot of FIG. 1;

[0027] 图 3是图 2的保护壳的***结构示意图； 3 is a schematic exploded view of the protective case of FIG. 2; [0027] FIG.

[0028] 图 4是图 1的水下航行机器人的内部结构示意图； 4 is a schematic view showing the internal structure of the underwater navigation robot of FIG. 1;

[0029] 图 5是图 4的水下航行机器人的另一角度的结构示意图，图中示出了主舱体的内部结构； 5 is a structural schematic view of another angle of the underwater navigation robot of FIG. 4, showing the internal structure of the main cabin;

[0030] 图 6是图 5中推进器的立体结构示意图； 6 is a perspective structural view of the thruster of FIG. 5;

[0031 ] 图 7是图 6的推进器的***结构示意图一； [0031] FIG. 7 is a schematic diagram 1 of the exploded structure of the propeller of FIG. 6;

[0032] 图 8是图 6的推进器的***结构示意图二。 8 is a second schematic view of the exploded structure of the propeller of FIG. 6.

[0033] 图中主要标记说明： [0033] The main mark in the figure shows:

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[表 1] [Table 1]

100 水下航行机器人 100 underwater navigation robot

10 主舱体 11 密封舱10 main cabin 11 sealed cabin

12 支撑台 13 控制器12 support table 13 controller

15 防水摄像模块 151 摄像模组15 Waterproof Camera Module 151 Camera Module

152 镜头 153 透明盖152 lens 153 transparent cover

16 防水接头 17 控制幵关16 waterproof connector 17 control

171 防水罩 18 防水按键171 waterproof cover 18 waterproof button

19 照明灯 19 lighting

20 推进器 20 thrusters

20a 升降推进器 20b 航行推进器20a lifting propeller 20b sailing propeller

21 螺旋桨 211 桨叶21 propeller 211 paddle

212 刖卓 22 驱动电机212 刖卓 22 drive motor

23 支座 231 后罩23 support 231 rear cover

232 支柱 233 座体232 pillar 233 seat

30 保护壳 301 容置腔30 protective case 301 housing cavity

302 第一通孔 303 第一过孔302 first through hole 303 first through hole

304 第二通孔 305 第二过孔304 second through hole 305 second through hole

306 容置槽 307 出孔306 accommodating groove 307 outlet

31 上壳体 32 上盖板31 upper housing 32 upper cover

321 第二上幵孔 322 第一幵口 323 第二幵口 321 second upper opening 322 first opening 323 second pass

33 上型板 331 上幵槽 33 upper plate 331 upper groove

332 第一上幵孔 333 上半圆槽 332 first upper pupil 333 upper semicircular groove

334 上半缺口 335 上半口 334 upper half of the gap 335 upper half

34 下壳体 341 下腔 34 lower housing 341 lower cavity

342 下通孔 342 lower through hole

35 下盖板 351 第二下幵孔 35 lower cover 351 second lower opening

36 下型板 361 第一下幵孔 36 lower plate 361 first lower hole

362 下半圆槽 363 下半缺口 362 lower semicircular groove 363 lower half of the notch

364 下半口

364 lower half

本发明的实施方式 Embodiments of the invention

[0034] 为了使本发明所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，所描述的实施例是本发明的一部分实施例，而不是全部的实施例。基于所描述的本发明的实施例，本领域普通技术人员在无需创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。 The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. FIG. It is to be understood that the described embodiments are a part of the embodiments of the invention, rather than all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the described embodiments of the invention, without departing from the scope of the invention, are within the scope of the invention.

[0035] 为了使本领域的技术人员更好地理解本发明的技术方案，下面结合具体附图对本发明的实现进行详细的描述。 [0035] In order to make those skilled in the art better understand the technical solutions of the present invention, the implementation of the present invention will be described in detail below with reference to the specific drawings.

[0036] 除非另作定义，此处使用的技术术语或者科学术语应当为本发明所属领域内具有一般技能的人士所理解的通常意义。本发明专利申请说明书以及权利要求书中使用的"第一"、 "第二 "以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。同样， "一个 "或者 "一"等类似词语也不表示数量限制，而是表示存在至少一个。 [0036] Unless otherwise defined, technical terms or scientific terms used herein shall be taken to mean the ordinary meaning of the ordinary skill in the art to which the invention pertains. The words "first", "second" and similar terms used in the specification and claims of the present invention do not indicate any order, quantity or importance. It is only used to distinguish between different components. Similarly, the words "a" or "an" do not denote a quantity limitation, but rather mean that there is at least one.

[0037] 在本发明的描述中，需要理解的是，术语"中心"、 "长度"、 "宽度"、 "厚度"、 " 上"、 "下"、 "前"、 "后"、 "左"、 "右"、 "竖直"、 "水平"、 "顶"、 "底"、 "内"、 "外 [0037] In the description of the present invention, it is to be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "previous", "rear", "left" ", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside"

"等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。 The orientation or positional relationship of the instructions is based on the orientation or positional relationship shown in the drawings, and is merely for the convenience of the description of the invention and the simplified description, rather than indicating or implying that the device or component referred to has a specific orientation, The orientation and construction of the orientation are not to be construed as limiting the invention.

[0038] 在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语"安装" 、 "相连"、 "连接 "应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。 [0038] In the description of the present invention, it should be noted that the terms "installation", "connected", and "connected" should be understood broadly, unless otherwise explicitly defined and limited. For example, it may be a fixed connection or It is a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, which can be the internal connection of two elements or the interaction of two elements. . The specific meaning of the above terms in the present invention can be understood by those skilled in the art on a case-by-case basis.

[0039] 如图 1、图 4和图 6所示，为本发明提供的一较佳实施例。 [0039] As shown in FIG. 1, FIG. 4 and FIG. 6, a preferred embodiment of the present invention is provided.

[0040] 本实施例提供的水下航行机器人 100，包括主舱体 10、若干推进器 20和控制器 1 3；若干推进器 20安装在主舱体 10上，用于调节主舱体 10的空间位置；控制器 13 用于控制各推进器 20工作，进而通过调节该水下航行机器人 100在水下的空间位置；主舱体 10中设有密封舱 11，控制器 13安装在密封舱 11中，以保护控制器 13 。各推进器 20包括螺旋桨 21、驱动电机 22和支座 23，支座 23与主舱体 10固定相连，通过支座 23支撑住驱动电机 22，而螺旋桨 21与驱动电机 22相连，通过驱动电机 22带动螺旋桨 21转动，进而起到推进的作用。为了方便描述，本发明中推进器 20的轴向特指推进器 20的螺旋桨 21的轴向。 [0040] The underwater navigation robot 100 provided by this embodiment includes a main cabin 10, a plurality of propellers 20 and a controller 13; a plurality of propellers 20 are mounted on the main cabin 10 for adjusting the main cabin 10 The spatial position; the controller 13 is used to control the operation of each of the propellers 20, thereby adjusting the spatial position of the underwater navigation robot 100 under water; the main compartment 10 is provided with a sealed compartment 11 in which the controller 13 is mounted in the sealed compartment 11 In, to protect the controller 13 . Each of the propellers 20 includes a propeller 21, a drive motor 22, and a support 23. The support 23 is fixedly coupled to the main cabin 10, and the drive motor 22 is supported by the support 23, and the propeller 21 is coupled to the drive motor 22 through the drive motor 22. The propeller 21 is driven to rotate, thereby functioning as a propulsion. For convenience of description, the axial direction of the pusher 20 in the present invention is specifically referred to as the axial direction of the propeller 21 of the pusher 20.

[0041] 若干推进器 20分为升降推进器 20a和航行推进器 20b。升降推进器 20a的轴向沿主舱体 10厚度方向设置，航行推进器 20b的轴向垂直于主舱体 10厚度方向设置。当该水下航行机器人 100放置于水中吋，主舱体 10的厚度方向一般为高度方向，而与主舱体 10的厚度方向垂直的方向一般为水平方向，然而在该水下航行机器人 100在航行吋，主舱体 10可能会倾斜。设置升降推进器 20a，可以方便调节高度位置。而设置航行推进器 20b，可以方便转向、前进或后退，从而便于调节该水下航行机器人 100的空间位置，移动灵活。 [0041] Several thrusters 20 are divided into a lift propeller 20a and a navigation propeller 20b. The axial direction of the lifter 20a is set in the thickness direction of the main cabin 10, and the axial direction of the sailor 20b is perpendicular to the thickness direction of the main cabin 10. When the underwater navigation robot 100 is placed in the water, the thickness direction of the main cabin 10 is generally a height direction, and the direction perpendicular to the thickness direction of the main cabin 10 is generally a horizontal direction, but the underwater navigation robot 100 is After sailing, the main cabin 10 may be tilted. By setting the lifter 20a, it is convenient to adjust the height position. The navigation propeller 20b is provided to facilitate steering, forward or backward, thereby facilitating adjustment of the water. The space position of the lower navigation robot 100 is flexible.

[0042] 本发明提供的水下航行机器人 100，在主舱体 10上安装升降推进器 20a和航行推进器 20b，将升降推进器 20a的轴向设置与主舱体 10的厚度方向一致，而将航行推进器 20b的轴向设置与主舱体 10厚度方向垂直，从而在可以通过航行推进器 20b 调节主舱体 10的方向及前后进行，同吋可以通过升降推进器 20a直接驱动主舱体 1 0升降，空间位置调节方便，航行更为灵活。 [0042] The underwater navigation robot 100 provided by the present invention mounts the lifting propeller 20a and the navigation propeller 20b on the main cabin 10, and the axial arrangement of the lifting propeller 20a coincides with the thickness direction of the main cabin 10, and The axial arrangement of the navigation propeller 20b is perpendicular to the thickness direction of the main cabin 10, so that the direction of the main cabin 10 can be adjusted by the navigation propeller 20b and before and after, and the main cabin can be directly driven by the lifting propeller 20a. 1 0 lifting, convenient adjustment of space position, more flexible navigation.

[0043] 进一步地，请参阅图 1、图 4和图 5，作为本发明提供的水下航行机器人 100的一种具体实施方式，主舱体 10的两侧分别安装升降推进器 20a，从而可以通过主舱体 10两侧的升降推进器 20a调节主舱体 10左右两侧的平衡。 [0043] Further, referring to FIG. 1, FIG. 4 and FIG. 5, as one embodiment of the underwater navigation robot 100 provided by the present invention, the lifting propeller 20a is respectively installed on both sides of the main cabin 10, so that The balance between the left and right sides of the main cabin 10 is adjusted by the lifters 20a on both sides of the main cabin 10.

[0044] 进一步地，请参阅图 1、图 4和图 5，作为本发明提供的水下航行机器人 100的一种具体实施方式，升降推进器 20a为四个，主舱体 10的两侧分别安装有两个升降推进器 20a，且主舱体 10两侧的升降推进器 20a的位置相对。在主舱体 10的两侧分别安装两个升降推进器 20a，而两侧的升降推进器 20a的位置相对，即主舱体 10两侧的升降推进器 20a沿该主舱体 10长度方向的中线呈轴对称设置，从而可以更好的控制主舱体 10两侧的平衡。具体地，主舱体 10两侧的升降推进器 20a沿穿过该主舱体 10长度方向中线的平面对称设置，且该平面平行于该主舱体 10厚度方向 [0044] Further, referring to FIG. 1 , FIG. 4 and FIG. 5 , as one embodiment of the underwater navigation robot 100 provided by the present invention, the lifting and lowering propeller 20 a is four, and the two sides of the main cabin 10 are respectively Two lifters 20a are mounted, and the positions of the lifters 20a on both sides of the main cabin 10 are opposite. Two lifting thrusters 20a are respectively installed on both sides of the main cabin body 10, and the lifting thrusters 20a on both sides are opposite in position, that is, the lifting thrusters 20a on both sides of the main cabin body 10 are along the length direction of the main cabin body 10. The center line is axially symmetric so that the balance on both sides of the main cabin 10 can be better controlled. Specifically, the elevating thrusters 20a on both sides of the main cabin body 10 are symmetrically disposed along a plane passing through the center line of the longitudinal direction of the main cabin body 10, and the plane is parallel to the thickness direction of the main cabin body 10.

[0045] 更进一步地，主舱体 10各侧的两个升降推进器 20a分别安装在主舱体 10长度方向上靠近两端部的位置，以便调节主舱体 10前后平衡。更进一步地，主舱体 10 各侧的两个升降推进器 20a关于主舱体 10宽度方向的中线呈轴对称设置，该结构可以方便控制，同吋也可以更好的保持主舱体 10前后平衡。具体地，主舱体 10 各侧的两个升降推进器 20a沿穿过该主舱体 10宽度方向中线的平面对称设置，且该平面平行于该主舱体 10厚度方向。 Further, two lifting thrusters 20a on each side of the main cabin body 10 are respectively installed at positions close to both end portions in the longitudinal direction of the main cabin body 10 in order to adjust the front and rear balance of the main cabin body 10. Further, the two lifting thrusters 20a on each side of the main cabin body 10 are axially symmetrically arranged with respect to the center line in the width direction of the main cabin body 10. This structure can be conveniently controlled, and the front and rear of the main cabin body 10 can be better maintained. balance. Specifically, the two lifters 20a on each side of the main cabin 10 are symmetrically disposed along a plane passing through the center line in the width direction of the main cabin 10, and the plane is parallel to the thickness direction of the main cabin 10.

[0046] 进一步地，请参阅图 1、图 4和图 5，作为本发明提供的水下航行机器人 100的一种具体实施方式，航行推进器 20b为四个，且分别位于主舱体 10的四角。在主舱体 10的四角分别设置航行推进器 20b，可以方便进行变向，同吋可以通过主舱体 10各端部对应位置上的螺旋桨 21来控制该水下航行机器人 100的前进与后退。在其它一些实施例中，也可以在主舱体 10的两侧分别安装航行推进器 20b。 [0047] 进一步地，请参阅图 1、图 4和图 5，作为本发明提供的水下航行机器人 100的一种具体实施方式，主舱体 10长度方向各端部对应的两个航行推进器 20b沿该主舱体 10长度方向的中线呈轴对称设置。将主舱体 10各部分对应的两个航行推进器 2 Ob对称设置，可以方便设计安装，同吋也便于控制。具体地，主舱体 10长度方向各端部对应的两个航行推进器 20b沿穿过该主舱体 10长度方向中线的平面对称设置，且该平面平行于该主舱体 10厚度方向。 [0046] Further, referring to FIG. 1 , FIG. 4 and FIG. 5 , as one embodiment of the underwater navigation robot 100 provided by the present invention, there are four navigation propellers 20b and are respectively located in the main cabin 10 . Four corners. The navigation propellers 20b are respectively disposed at the four corners of the main cabin body 10, so that the direction of rotation can be easily facilitated, and the propulsion and retreat of the underwater navigation robot 100 can be controlled by the propellers 21 at corresponding positions of the respective ends of the main cabin body 10. In other embodiments, the navigation propeller 20b may also be mounted on each side of the main cabin 10, respectively. [0047] Further, referring to FIG. 1, FIG. 4 and FIG. 5, as one embodiment of the underwater navigation robot 100 provided by the present invention, two navigation propellers corresponding to the ends of the main cabin 10 in the longitudinal direction are provided. The centerline of 20b along the length of the main body 10 is axially symmetric. The two navigation propellers 2 corresponding to the respective parts of the main cabin body 10 are symmetrically arranged, which can be conveniently designed and installed, and is also easy to control. Specifically, the two navigation propellers 20b corresponding to the respective ends of the main body 10 in the longitudinal direction are symmetrically disposed along a plane passing through the center line of the longitudinal direction of the main cabin 10, and the plane is parallel to the thickness direction of the main cabin 10.

[0048] 进一步地，请参阅图 1、图 4和图 5，作为本发明提供的水下航行机器人 100的一种具体实施方式，主舱体 10长度方向各端部对应的两个航行推进器 20b的轴向倾斜设置。将主舱体 10各端部对应的两个航行推进器 20b的轴向倾斜设置，可以方便通过该两个推进器 20的配合，以方便实现前行或后退。 [0048] Further, referring to FIG. 1 , FIG. 4 and FIG. 5 , as one embodiment of the underwater navigation robot 100 provided by the present invention, two navigation propellers corresponding to respective ends of the main cabin body 10 in the longitudinal direction are provided. 20b axial tilt setting. The axial direction of the two navigation propellers 20b corresponding to the respective end portions of the main cabin body 10 can be easily adjusted to facilitate the advancement or retreat by the cooperation of the two propellers 20.

[0049] 进一步地，请参阅图 1、图 4和图 5，作为本发明提供的水下航行机器人 100的一种具体实施方式，主舱体 10长度方向两端部的航行推进器 20b沿该主舱体 10宽度方向的中线呈轴对称设置。该结构可以方便主舱体 10两端的航行推进器 20b分别控制前进与后退。具体地，主舱体 10长度方向两端部的航行推进器 20b沿穿过该主舱体 10宽度方向中线的平面对称设置，且该平面平行于该主舱体 10厚度方向 [0049] Further, referring to FIG. 1, FIG. 4 and FIG. 5, as a specific embodiment of the underwater navigation robot 100 provided by the present invention, the navigation propeller 20b at both ends in the longitudinal direction of the main cabin 10 is along the The center line of the main body 10 in the width direction is arranged in an axisymmetric manner. The structure can facilitate the advancement and retreat of the navigation propeller 20b at both ends of the main cabin 10, respectively. Specifically, the navigation propellers 20b at both ends in the longitudinal direction of the main cabin body 10 are symmetrically disposed along a plane passing through the center line in the width direction of the main cabin body 10, and the plane is parallel to the thickness direction of the main cabin body 10.

[0050] 进一步地，请参阅图 1、图 4和图 5，作为本发明提供的水下航行机器人 100的一种具体实施方式，主舱体 10长度方向各端部对应的两角部分别设有支撑台 12，相邻两个支撑台 12的台面倾斜设置，各航行推进器 20b的支座 23安装于相应支撑台 12上。设置支撑台 12，以方便安装各航行推进器 20b，同吋便于将主舱体 10同一端的两个航行推进器 20b的轴向呈一定夹角设置。 [0050] Further, referring to FIG. 1 , FIG. 4 and FIG. 5 , as one embodiment of the underwater navigation robot 100 provided by the present invention, the two corner portions corresponding to the end portions of the main cabin body 10 in the longitudinal direction are respectively provided. There is a support table 12, and the mesas of the adjacent two support tables 12 are inclined, and the support 23 of each of the navigation propellers 20b is mounted on the corresponding support table 12. The support table 12 is arranged to facilitate the installation of each of the navigation propellers 20b, and the same is convenient for setting the axial direction of the two navigation propellers 20b at the same end of the main cabin 10 at a certain angle.

[0051] 具体地，支撑台 12可以是设置在主舱体 10的各角的倒角斜面，也可以是单独设置在主舱体 10各角的固定块。 [0051] Specifically, the support table 12 may be a chamfered slope provided at each corner of the main cabin 10, or may be a fixed block separately provided at each corner of the main cabin 10.

[0052] 进一步地，请参阅图 1、图 4至图 8，作为本发明提供的水下航行机器人 100的一种具体实施方式，支座 23包括座体 233、后罩 231和支柱 232; 支柱 232连接后罩 2 31与座体 233，从而将后罩 231支撑在座体 233上，而座体 233安装在主舱体 10上，进而将后罩 231安装在主舱体 10上。驱动电机 22固定于后罩 231中，以通过后罩 231来支撑住驱动电机 22，同吋，后罩 231罩于驱动电机 22的一端，以起到保护驱动电机 22该端部的作用。螺旋桨 21包括前罩 212和若干桨叶 211，前罩 212罩于驱动电机 22的另一端，并且前罩 212与后罩 231扣合形成配合容置驱动电机 22 的容置空间，从而可以通过前罩 212与后罩 231来保护驱动电机 22; 前罩 212与驱动电机 22的转子相连，可以通过驱动电机 22带动前罩 212转动，而各桨叶 211安装在前罩 212上，则可以通过驱动电机 22来驱动桨叶 211转动，实现推进作用。该结构的推进器 20，安装和控制方便，可以通过控制器 13来控制各推进器 20的螺旋桨 21正转或反转，同吋还可以控制各推进器 20的螺旋桨 21转速，以便灵活地进行控制。 [0052] Further, referring to FIG. 1 , FIG. 4 to FIG. 8 , as a specific implementation manner of the underwater navigation robot 100 provided by the present invention, the support 23 includes a seat body 233 , a rear cover 231 and a pillar 232 ; The rear cover 2 31 is coupled to the seat body 233 to support the rear cover 231 on the seat body 233, and the seat body 233 is mounted on the main cabin 10, and the rear cover 231 is attached to the main cabin 10. The driving motor 22 is fixed in the rear cover 231 to support the driving motor 22 through the rear cover 231, and the rear cover 231 is covered at one end of the driving motor 22 to protect The action of the end portion of the drive motor 22 is protected. The propeller 21 includes a front cover 212 and a plurality of blades 211. The front cover 212 covers the other end of the drive motor 22, and the front cover 212 and the rear cover 231 are fastened to form an accommodation space for accommodating the drive motor 22. The cover 212 and the rear cover 231 protect the drive motor 22; the front cover 212 is connected to the rotor of the drive motor 22, and the front cover 212 can be rotated by the drive motor 22, and each blade 211 is mounted on the front cover 212, and can be driven. The motor 22 drives the blades 211 to rotate to achieve propulsion. The propeller 20 of the structure is convenient for installation and control, and the propeller 21 of each propeller 20 can be controlled to rotate forward or reverse by the controller 13, and the propeller 21 rotation speed of each propeller 20 can also be controlled for flexible operation. control.

[0053] 进一步地，请参阅图 1、图 4至图 8，作为本发明提供的水下航行机器人 100的一种具体实施方式，前罩 212的周向均匀分布有三个桨叶 211。设置三个桨叶 211，加工制作方便。在其它实施例中，桨叶 211也可以设置为两个、四个、五个等等 [0053] Further, referring to FIG. 1 and FIG. 4 to FIG. 8, as one embodiment of the underwater navigation robot 100 provided by the present invention, the front cover 212 is evenly distributed with three blades 211 in the circumferential direction. Three blades 211 are provided for easy processing. In other embodiments, the blades 211 can also be set to two, four, five, etc.

[0054] 进一步地，请参阅图 1、图 4和图 5，作为本发明提供的水下航行机器人 100的一种具体实施方式，该水下航行机器人 100还包括防水摄像模块 15，防水摄像模块 15与控制器 13电性相连，以便进行水下摄像。主舱体 10的一端幵设有用于露出贯通孔（图中未标出），贯通孔与密封舱 11相连通，以便将防水摄像模块 15安装在密封舱 11中，并进行摄像。 [0054] Further, referring to FIG. 1 , FIG. 4 and FIG. 5 , as a specific implementation manner of the underwater navigation robot 100 provided by the present invention, the underwater navigation robot 100 further includes a waterproof camera module 15 and a waterproof camera module. 15 is electrically connected to the controller 13 for underwater photography. One end of the main body 10 is provided with a through hole (not shown), and the through hole communicates with the capsule 11 to mount the waterproof camera module 15 in the capsule 11 and to perform imaging.

[0055] 进一步地，请参阅图 1、图 4和图 5，作为本发明提供的水下航行机器人 100的一种具体实施方式，防水摄像模块 15包括摄像模组 151、镜头 152和透明盖 153，镜头 152安装于摄像模组 151上，用于取景；摄像模组 151安装于密封舱 11中，而镜头 152配合安装于贯通孔中，以便进行摄像；而透明盖 153盖于镜头 152上，可以起到保护镜头 152的作用，同吋还可以起到防水作用，以便在水下使用。 [0055] Further, referring to FIG. 1 , FIG. 4 and FIG. 5 , as a specific implementation manner of the underwater navigation robot 100 provided by the present invention, the waterproof camera module 15 includes a camera module 151 , a lens 152 and a transparent cover 153 . The lens 152 is mounted on the camera module 151 for framing; the camera module 151 is mounted in the capsule 11 and the lens 152 is mounted in the through hole for imaging; and the transparent cover 153 is attached to the lens 152. It can protect the lens 152, and it can also be waterproof to be used underwater.

[0056] 进一步地，请参阅图 1、图 4和图 5，作为本发明提供的水下航行机器人 100的一种具体实施方式，主舱体 10上还安装有控制幵关 17和罩于控制幵关 17上的防水罩 171，防水罩 171安装于主舱体 10上，控制幵关 17与控制器 13电性相连。设置防水罩 171，以便在水下使用吋，保护控制幵关 17; 而设置控制幵关 17，以便控制该水下航行机器人 100的工作。 [0056] Further, referring to FIG. 1, FIG. 4 and FIG. 5, as a specific implementation manner of the underwater navigation robot 100 provided by the present invention, the main cabin 10 is further provided with a control switch 17 and a cover for control. The waterproof cover 171 on the switch 17 is mounted on the main cabin 10, and the control switch 17 is electrically connected to the controller 13. A waterproof cover 171 is provided for use under water to protect the control switch 17; and a control switch 17 is provided to control the operation of the underwater navigation robot 100.

[0057] 进一步地，请参阅图 1、图 4和图 5，作为本发明提供的水下航行机器人 100的一种具体实施方式，主舱体 10上还安装有防水按键 18，防水按键 18与控制器 13电性相连。设置防水按键 18，以方便调节与控制该水下航行机器人 100的运行。 [0057] Further, please refer to FIG. 1, FIG. 4 and FIG. 5 as one of the underwater navigation robots 100 provided by the present invention. In a specific embodiment, the main compartment 10 is further provided with a waterproof button 18, and the waterproof button 18 is electrically connected to the controller 13. The waterproof button 18 is provided to facilitate adjustment and control of the operation of the underwater navigation robot 100.

[0058] 当然，主舱体 10中还可以安装水深检测器等检测结构，便于采集水下信息数据 [0058] Of course, a detection structure such as a water depth detector can be installed in the main cabin 10 to facilitate collecting underwater information data.

[0059] 进一步地，请参阅图 1至图 4，作为本发明提供的水下航行机器人 100的一种具体实施方式，主舱体 10上还设有防水接头 16，以便可以将电缆穿过防水接头 16 与控制器 13相连，以便进行控制，并进行通信。当然，在另一些实施例中，也可以通过无线的方式来进行通信与控制。 [0059] Further, referring to FIG. 1 to FIG. 4, as a specific implementation manner of the underwater navigation robot 100 provided by the present invention, the main cabin 10 is further provided with a waterproof joint 16 so that the cable can be passed through the waterproof Connector 16 is coupled to controller 13 for control and communication. Of course, in other embodiments, communication and control can also be performed wirelessly.

[0060] 进一步地，请参阅图 1至图 4，作为本发明提供的水下航行机器人 100的一种具体实施方式，该水下航行机器人 100还包括保护壳 30，保护壳 30具有容置腔 301 ，主舱体 10安装于容置腔 301中，保护壳 30上对应幵设有分别容置各升降推进器 20a的第一通孔 302，各第一通孔 302的轴向与升降推进器 20a的轴向一致；保护壳 30上对应幵设有分别容置各航行推进器 20b的第二通孔 304，各第二通孔 304的轴向与航行推进器 20b的轴向一致。设置保护壳 30，可以起到保护主舱体 10的作用，而设置第一通孔 302和第二通孔 304，将升降推进器 20a安装在相应的第一通孔 3 02中，将航行推进器 20b安装在相应的第二通孔 304中，从而可以通过第一通孔 3 02约束升降推进器 20a带动的水流，限定水流的方向，以更好的进行升降调节；而通过第二通孔 304约束航行推进器 20b带动的水流，限定水流的方向，以更方便的转向及航行。 [0060] Further, referring to FIG. 1 to FIG. 4, as a specific implementation manner of the underwater navigation robot 100 provided by the present invention, the underwater navigation robot 100 further includes a protective casing 30 having a receiving cavity 301, the main body 10 is installed in the accommodating cavity 301, and the first through hole 302 respectively accommodating the lifting and lowering propeller 20a is respectively disposed on the protective casing 30, and the axial direction of each of the first through holes 302 and the lifting thruster The axial direction of the 20a is uniform; the corresponding through holes of the protective casing 30 are respectively disposed with the second through holes 304 respectively accommodating the navigation propellers 20b, and the axial directions of the second through holes 304 are aligned with the axial direction of the navigation propeller 20b. The protective casing 30 is provided to protect the main cabin 10, and the first through hole 302 and the second through hole 304 are disposed, and the lifting and lowering device 20a is installed in the corresponding first through hole 302, and the navigation is advanced. The device 20b is installed in the corresponding second through hole 304, so that the water flow driven by the lifting and pushing device 20a can be restrained by the first through hole 302, the direction of the water flow can be defined to better perform the lifting adjustment; and the second through hole is passed through The 304 restricts the flow of water propelled by the propulsion propeller 20b, limiting the direction of the water flow for more convenient steering and navigation.

[0061] 进一步地，请参阅图 1至图 4，作为本发明提供的水下航行机器人 100的一种具体实施方式，本实施例中，升降推进器 20a为四个，且均匀分布在主舱体 10的两侧，则相应的保护壳 30上幵设有四个第一通孔 302，四个第一通孔 302呈矩形阵列设置，以方便布置，同吋方便安装。 [0061] Further, referring to FIG. 1 to FIG. 4, as one embodiment of the underwater navigation robot 100 provided by the present invention, in this embodiment, the lifting and lowering propellers 20a are four and evenly distributed in the main compartment. On both sides of the body 10, the first protective hole 30 is provided with four first through holes 302, and the four first through holes 302 are arranged in a rectangular array for convenient arrangement and convenient installation.

[0062] 进一步地，请参阅图 1至图 4，作为本发明提供的水下航行机器人 100的一种具体实施方式，本实施例中，航行推进器 20b为四个，且分别安装在主舱体 10的四角，并且相邻两个航行推进器 20b的轴向倾斜设置，则相应的第二通孔 304为四个，且四个第二通孔 304分别幵设在保护壳 30的四角，并且各第二通孔 304与保护壳 30的长度方向倾斜设置；而由于主舱体 10各端对应的两个航行推进器 20b沿主舱体 10长度方向的中线对称设置，则可以通过主舱体 10各端对应的两个航行推进器 20b同步工作来控制该水下航行机器人 100前进与后退；当然也可以通四个航行推进器 20b的差速，来调节方向。 [0062] Further, referring to FIG. 1 to FIG. 4, as a specific implementation manner of the underwater navigation robot 100 provided by the present invention, in this embodiment, there are four navigation propellers 20b, and are respectively installed in the main cabin. The four corners of the body 10 and the two adjacent navigation thrusters 20b are axially inclined, and the corresponding second through holes 304 are four, and the four second through holes 304 are respectively disposed at the four corners of the protective casing 30. And each of the second through holes 304 is inclined with the longitudinal direction of the protective casing 30; and two navigation propellers 20b corresponding to each end of the main cabin 10 The center line of the main body 10 in the longitudinal direction is symmetrically arranged, and the two navigation propellers 20b corresponding to the respective ends of the main cabin 10 can be synchronously operated to control the underwater navigation robot 100 to advance and retreat; The difference of the device 20b is to adjust the direction.

[0063] 进一步地，请参阅图 1至图 4，作为本发明提供的水下航行机器人 100的一种具体实施方式，保护壳 30包括下壳体 34和与下壳体 34固定相连的上壳体 31，下壳体 34上幵设有下腔 341，上壳体 31上幵设有上腔（未标出），上腔与下腔 341扣合形成上述容置腔 301；下壳体 34上对应于各升降推进器 20a的位置分别幵设有下通孔 342，上壳体 31上对应于各升降推进器 20a的位置分别幵设有上通孔（未标出[0063] Further, referring to FIG. 1 to FIG. 4, as one embodiment of the underwater navigation robot 100 provided by the present invention, the protective casing 30 includes a lower casing 34 and an upper casing fixedly coupled to the lower casing 34. The lower casing 34 is provided with a lower cavity 341, and the upper casing 31 is provided with an upper cavity (not shown), and the upper cavity and the lower cavity 341 are fastened to form the accommodating cavity 301; the lower casing 34 The upper corresponding hole 342 is respectively disposed at a position corresponding to each of the lifting and lowering propellers 20a, and the upper housing 31 is provided with an upper through hole corresponding to each of the lifting and lowering thrusters 20a (not shown)

) ，各下通孔 342与相应上通孔配合形成容置相应第一通孔 302; 下壳体 34对应于各航行推进器 20b的位置幵设有下半圆槽 362，上壳体 31上对应于各航行推进器 20b的位置幵设有上半圆槽 333，各下半圆槽 362与相应上半圆槽 333扣合形成相应第二通孔 304。该结构可以方便加工制作出保护壳 30，加工制作方便，成本低，同吋方便安装主舱体 10。 Each of the lower through holes 342 cooperates with the corresponding upper through holes to form a corresponding first through hole 302. The lower case 34 is provided with a lower semicircular groove 362 corresponding to the position of each of the navigation propellers 20b, and the upper casing 31 corresponds to An upper semicircular groove 333 is disposed at a position of each of the navigation propellers 20b, and each of the lower semicircular grooves 362 is engaged with the corresponding upper semicircular groove 333 to form a corresponding second through hole 304. The structure can be conveniently processed to produce the protective shell 30, which is convenient to manufacture and low in cost, and is convenient for installing the main cabin 10 .

[0064] 进一步地，请参阅图 1至图 4，作为本发明提供的水下航行机器人 100的一种具体实施方式，上壳体 31包括上型板 33和盖于上型板 33上的上盖板 32，上型板 33 上幵设有上幵槽 ₃₃1，上幵槽 331与上盖板 32配合形成上腔；上型板 33上对应于各升降推进器 20a的位置幵设有第一上幵孔 332，上盖板 32上对应于各第一上幵孔 332的位置幵设有第二上幵孔 321，各第一上幵孔 332与相应第二上幵孔 321配合形成相应上通孔；各上半圆槽 333设于上型板 33的底面。该结构方便制作上壳体 31，并方便制作出上腔和上半圆槽 333。 [0064] Further, referring to FIG. 1 to FIG. 4, as an embodiment of the underwater navigation robot 100 provided by the present invention, the upper casing 31 includes an upper plate 33 and a cover on the upper plate 33. cover plate 32, the plate 33 is provided on the upper Jian Jian groove _331, the groove 331 and Jian upper cover plate 32 is formed with the cavity; positions corresponding to the lift of the upper pusher 20a provided with a first plate 33 Jian An upper boring hole 332, a second upper boring hole 321 is disposed on the upper cover 32 corresponding to each of the first upper boring holes 332, and each of the first upper boring holes 332 cooperates with the corresponding second upper boring hole 321 to form a corresponding Upper through holes; each upper semicircular groove 333 is provided on the bottom surface of the upper plate 33. This structure facilitates the fabrication of the upper casing 31 and facilitates the fabrication of the upper chamber and the upper semicircular groove 333.

[0065] 同理，下壳体 34包括下型板 36和盖于下型板 36底面的下盖板 35，下型板 36上幵设有下幵槽（未标出），下幵槽与下盖板 35配合形成下腔 341 ; 下型板 36上对应于各升降推进器 20a的位置幵设有第一下幵孔 361，下盖板 35上对应于各第一下幵孔 361的位置幵设有第二下幵孔 351，各第一下幵孔 361与相应第二下幵孔 351配合形成相应下通孔 342; 各下半圆槽 362设于下型板 36上。 [0065] Similarly, the lower casing 34 includes a lower plate 36 and a lower cover 35 covering the bottom surface of the lower plate 36. The lower plate 36 is provided with a lower groove (not shown), a lower groove and The lower cover 35 cooperates with the lower cavity 341; the lower profile plate 36 is provided with a first lower boring hole 361 corresponding to the position of each of the lifting and lowering pushers 20a, and the lower cover plate 35 corresponds to the position of each of the first lower boring holes 361. A second lower boring hole 351 is disposed, and each of the first lower boring holes 361 cooperates with the corresponding second lower boring hole 351 to form a corresponding lower through hole 342; each of the lower semicircular grooves 362 is disposed on the lower molding plate 36.

[0066] 在其它实施例中，上壳体 31可以是一体成型；下壳体 34也可以是一体成型。 [0066] In other embodiments, the upper housing 31 may be integrally formed; the lower housing 34 may also be integrally formed.

[0067] 进一步地，请参阅图 1至图 4，作为本发明提供的水下航行机器人 100的一种具体实施方式，保护壳 30中分别幵设有连通各第一通孔 302与容置腔 301的第一过孔 303和连通各第二通孔 304与容置腔 301的第二过孔 305。设置第一过孔 303，可以方便升降推进器 20a的支柱 232穿过，进而在将保护壳 30罩在主舱体 10上吋，可以使升降推进器 20a的螺旋桨 21处于第一通孔 302中，而座体 233与主舱体 10相连。同事，设置第二过孔 305，可以方便航行推进器 20b的支柱 232穿过，进而在将保护壳 30罩在主舱体 10上吋，可以使航行推进器 20b的螺旋桨 21处于第二通孔 30 4中，而座体 233与主舱体 10相连。当然，在其它一些实施例中，也可以将升降推进器 20a的座体 233直接与第一通孔 302的侧壁固定相连，而将航行推进器 20b的座体 233与第二通孔 304的侧壁固定相连。 [0067] Further, referring to FIG. 1 to FIG. 4, as one embodiment of the underwater navigation robot 100 provided by the present invention, each of the first through holes 302 and the accommodating cavity is respectively disposed in the protective casing 30. The first pass of 301 The hole 303 communicates with each of the second through holes 304 and the second through hole 305 of the accommodating cavity 301. The first through hole 303 is disposed to facilitate the passage of the struts 232 of the lifting and lowering pusher 20a, and the protective casing 30 is placed on the main body 10 so that the propeller 21 of the lifting and lowering device 20a can be placed in the first through hole 302. , the seat body 233 is connected to the main cabin 10 ‚ Colleagues, the second through hole 305 is provided, so that the struts 232 of the navigation propeller 20b can be easily passed through, and then the protective casing 30 is placed on the main cabin 10, so that the propeller 21 of the navigation propeller 20b can be placed in the second through hole. In the case of 30 4, the seat body 233 is connected to the main cabin body 10. Of course, in other embodiments, the seat body 233 of the lifter 20a can be directly connected to the side wall of the first through hole 302, and the seat body 233 of the navigation propeller 20b and the second through hole 304 can be The side walls are fixedly connected.

[0068] 进一步地，请参阅图 1至图 4，作为本发明提供的水下航行机器人 100的一种具体实施方式，本实施例中，第一过孔 303幵设在上型板 33上。并在上型板 33的各角处分别幵设连通上半圆槽 333与上幵槽 331的上半缺口 334，而在下型板 36的各角处分别幵设连通下半圆槽 362与下幵槽的下半缺口 363，上半缺口 334与相应下半缺口 363配合形成相应第二过孔 305。 [0068] Further, referring to FIG. 1 to FIG. 4, as a specific embodiment of the underwater navigation robot 100 provided by the present invention, in the embodiment, the first through hole 303 is disposed on the upper plate 33. And the upper half of the upper semicircular groove 333 and the upper half of the notch 334 are respectively disposed at the corners of the upper plate 33, and the lower semicircular groove 362 and the lower gutter are respectively disposed at the corners of the lower plate 36. The lower half notch 363, the upper half notch 334 cooperates with the corresponding lower half notch 363 to form a corresponding second through hole 305.

[0069] 进一步地，请参阅图 1至图 4，作为本发明提供的水下航行机器人 100的一种具体实施方式，当主舱体 10上安装有控制幵关 17吋，保护壳 30上对应幵设有露出控制幵关 17的第一幵口 322，从而可以方便透过第一幵口 322来操作控制幵关 17 [0069] Further, referring to FIG. 1 to FIG. 4, as a specific implementation manner of the underwater navigation robot 100 provided by the present invention, when the control cabin 17 is mounted on the main cabin 10, the corresponding casing on the protective casing 30 A first port 322 is provided to expose the control switch 17, so that the control port 17 can be conveniently operated through the first port 322.

[0070] 进一步地，请参阅图 1至图 4，作为本发明提供的水下航行机器人 100的一种具体实施方式，当主舱体 10上安装有防水按键 18吋，保护壳 30上对应幵设有露出防水按键 18的第二幵口 323，从而可以方便透过第二幵口 323来操作防水按键 18 [0070] Further, referring to FIG. 1 to FIG. 4, as a specific implementation manner of the underwater navigation robot 100 provided by the present invention, when the waterproof button 18 is mounted on the main cabin 10, the corresponding cover on the protective casing 30 is provided. There is a second port 323 exposing the waterproof button 18, so that the waterproof button 18 can be conveniently operated through the second port 323.

[0071] 进一步地，请参阅图 1至图 4，作为本发明提供的水下航行机器人 100的一种具体实施方式，该水下航行机器人 100还包括与控制器 13电性相连的照明灯 19，照明灯 19安装于保护壳 30的一端面。设置照明灯 19，可以方便在水下进行照明，如当使用防水摄像模块 15吋，可以通过照明灯 19提供照明。 [0071] Further, referring to FIG. 1 to FIG. 4, as an embodiment of the underwater navigation robot 100 provided by the present invention, the underwater navigation robot 100 further includes an illumination lamp 19 electrically connected to the controller 13. The illumination lamp 19 is mounted on one end surface of the protective case 30. The illumination 19 can be easily illuminated underwater, such as when using the waterproof camera module 15吋, which can be illuminated by the illumination 19 .

[0072] 进一步地，请参阅图 1至图 4，作为本发明提供的水下航行机器人 100的一种具体实施方式，照明灯 19为两个，可以分别安装在防水摄像模块 15的两侧，以更好的提供照明。 [0073] 进一步地，请参阅图 1至图 4，作为本发明提供的水下航行机器人 100的一种具体实施方式，保护壳 30的对应端面幵设有容置槽 306，照明灯 19安装于容置槽 30 6中。在保护壳 30上设置容置槽 306，以方便安装固定照明灯 19。 [0072] Further, referring to FIG. 1 to FIG. 4 , as one embodiment of the underwater navigation robot 100 provided by the present invention, two illumination lamps 19 are respectively installed on both sides of the waterproof camera module 15 . To provide better lighting. [0073] Further, referring to FIG. 1 to FIG. 4, as a specific implementation manner of the underwater navigation robot 100 provided by the present invention, the corresponding end surface of the protective casing 30 is provided with a receiving groove 306, and the illumination lamp 19 is mounted on It is accommodated in the slot 30 6 . A receiving groove 306 is provided on the protective casing 30 to facilitate the installation and fixing of the lighting lamp 19.

[0074] 进一步地，请参阅图 1至图 4，作为本发明提供的水下航行机器人 100的一种具体实施方式，保护壳 30上对应于防水摄像模块 15的位置幵设有出孔 307，以便防水摄像模块 15的镜头 152可以从出孔 307处摄取外部影像。具体地，在上型板 33 上对应幵设上半口 335，在下型板 36上幵设下半口 364，上半口 335与下半口 364 配合形成上述出孔 307，以方便加工制作。 [0074] Further, referring to FIG. 1 to FIG. 4 , as a specific implementation manner of the underwater navigation robot 100 provided by the present invention, a hole 307 is disposed on the protective casing 30 corresponding to the position of the waterproof camera module 15 . In order that the lens 152 of the waterproof camera module 15 can take an external image from the exit hole 307. Specifically, the upper plate 335 is correspondingly disposed on the upper plate 33, and the lower half 364 is disposed on the lower plate 36. The upper half 335 and the lower half 364 cooperate to form the above-mentioned outlet hole 307 for convenient processing.

[0075] 以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换或改进等，均应包含在本发明的保护范围之内。 The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included in the present invention. Within the scope of protection of the invention.

Claims

权利要求书 Claim

[权利要求 1] 一种水下航行机器人，其特征在于，包括主舱体、调节所述主舱体空间位置的若干推进器和控制各所述推进器工作的控制器，所述主舱体中幵设有密封舱，所述控制器安装于所述密封舱中，各所述推进器包括螺旋桨、驱动所述螺旋桨转动的驱动电机和支撑所述驱动电机的支座，所述支座与所述主舱体固定相连；若干所述推进器分为轴向沿所述主舱体厚度方向设置的升降推进器和轴向垂直于所述主舱体厚度方向设置的航行推进器。 [Claim 1] An underwater navigation robot, comprising: a main cabin, a plurality of propellers for adjusting a spatial position of the main cabin, and a controller for controlling the operation of each of the propellers, the main cabin The middle raft is provided with a sealed compartment, the controller is installed in the sealed compartment, and each of the thrusters includes a propeller, a driving motor for driving the propeller, and a support for supporting the driving motor, the bearing and the bearing The main cabin is fixedly connected; a plurality of the propellers are divided into a lifting propeller disposed axially along the thickness direction of the main cabin body and a navigation propeller disposed axially perpendicular to the thickness direction of the main cabin body.

[权利要求 2] 权根据权利要求 1所述的水下航行机器人，其特征在于，所述升降推进器为四个，且所述主舱体的两侧分别安装有两个所述升降推进器，且所述主舱体两侧的所述升降推进器的位置相对。 [Claim 2] The underwater navigation robot according to claim 1, wherein the lifting propellers are four, and two of the lifting propellers are respectively mounted on two sides of the main cabin And the positions of the lifting propellers on both sides of the main cabin are opposite.

[权利要求 3] 根据权利要求 1所述的水下航行机器人，其特征在于，所述航行推进器为四个，且分别位于所述主舱体的四角。 [Claim 3] The underwater navigation robot according to claim 1, wherein the navigation propellers are four and are located at four corners of the main cabin.

[权利要求 4] 根据权利要求 3所述的水下航行机器人，其特征在于，所述主舱体长度方向各端部对应的两个所述航行推进器沿该主舱体长度方向的中线呈轴对称设置。 [Claim 4] The underwater navigation robot according to claim 3, wherein two of the navigation propellers corresponding to the end portions of the main body in the longitudinal direction are along a center line of the longitudinal direction of the main cabin Axisymmetric settings.

[权利要求 5] 根据权利要求 4所述的水下航行机器人，其特征在于，所述主舱体长度方向各端部对应的两个所述航行推进器的轴向倾斜设置。 [Claim 5] The underwater navigation robot according to claim 4, wherein two of the navigation propellers corresponding to the respective end portions in the main body length direction are inclined in the axial direction.

[权利要求 6] 根据权利要求 5所述的水下航行机器人，其特征在于，所述主舱体长度方向各端部对应的两角部分别设有支撑台，相邻两个所述支撑台的台面倾斜设置，各所述航行推进器的支座安装于相应所述支撑台上。 [Claim 6] The underwater navigation robot according to claim 5, wherein the two corner portions corresponding to the end portions in the longitudinal direction of the main cabin are respectively provided with support tables, and two adjacent support tables are provided The table top is inclined, and the support of each of the navigation propellers is mounted on the corresponding support table.

[权利要求 7] 根据权利要求 1-6任一项所述的水下航行机器人，其特征在于，所述支座包括安装于所述主舱体上的座体、罩于所述驱动电机一端的后罩和连接所述后罩与所述座体的支柱；所述驱动电机固定于所述后罩中，所述螺旋桨包括罩于所述驱动电机另一端的前罩和安装于所述前罩上的若干桨叶，所述前罩与所述驱动电机的转子相连，所述前罩与所述后罩扣合形成配合容置所述驱动电机的容置空间。 The underwater navigation robot according to any one of claims 1 to 6, wherein the support comprises a seat body mounted on the main cabin, and is covered at one end of the drive motor. a rear cover and a strut connecting the rear cover and the base; the drive motor is fixed in the rear cover, the propeller includes a front cover covering the other end of the drive motor and mounted on the front cover a plurality of blades on the cover, the front cover is connected to the rotor of the driving motor, and the front cover and the rear cover are fastened to form an accommodation space for accommodating the driving motor.

[权利要求 8] 根据权利要求 7所述的水下航行机器人，其特征在于，所述前罩的周向均匀分布有三个所述桨叶。 [Claim 8] The underwater navigation robot according to claim 7, wherein the circumference of the front cover There are three such blades distributed evenly.

根据权利要求 7所述的水下航行机器人，其特征在于，还包括具有容置腔的保护壳，所述主舱体安装于所述容置腔中，所述保护壳上对应幵设有分别容置各所述升降推进器的第一通孔，各所述第一通孔的轴向与所述升降推进器的轴向一致；所述保护壳上对应幵设有分别容置各所述航行推进器的第二通孔，各所述第二通孔的轴向与所述航行推进器的轴向一致。 The underwater navigation robot according to claim 7, further comprising a protective casing having a receiving cavity, wherein the main compartment is installed in the accommodating cavity, and the protective casing is provided with a corresponding And accommodating the first through holes of each of the lifting and pushing devices, the axial direction of each of the first through holes is consistent with an axial direction of the lifting and pushing device; a second through hole of the navigation propeller, wherein an axial direction of each of the second through holes coincides with an axial direction of the navigation propeller.

根据权利要求 9所述的水下航行机器人，其特征在于，所述保护壳包括下壳体和与所述下壳体固定相连的上壳体，所述下壳体上幵设有下腔，所述上壳体上幵设有上腔，所述上腔与所述下腔扣合形成上述容置腔；所述上壳体上对应于各所述升降推进器的位置分别幵设有下通孔，所述上壳体上对应于各所述升降推进器的位置分别幵设有上通孔，各所述下通孔与相应所述上通孔配合形成容置相应所述第一通孔；所述下壳体对应于各所述航行推进器的位置幵设有下半圆槽，所述上壳体上对应于各所述航行推进器的位置幵设有上半圆槽，各所述下半圆槽与相应所述上半圆槽扣合形成相应所述第二通孔。 The underwater navigation robot according to claim 9, wherein the protective casing comprises a lower casing and an upper casing fixedly connected to the lower casing, and the lower casing is provided with a lower cavity. The upper casing is provided with an upper cavity, and the upper cavity is fastened with the lower cavity to form the accommodating cavity; the upper casing corresponds to the position of each of the lifting thrusters respectively The through hole, the upper housing corresponding to each of the lifting and pushing devices is respectively provided with an upper through hole, and each of the lower through holes cooperates with the corresponding upper through hole to form an accommodation corresponding to the first through hole a lower semi-circular groove corresponding to a position of each of the navigation propellers, wherein the upper casing is provided with an upper semi-circular groove corresponding to a position of each of the navigation propellers, each of the The lower semicircular groove is fastened to the corresponding upper semicircular groove to form the corresponding second through hole.

根据权利要求 10所述的水下航行机器人，其特征在于，所述上壳体包括上型板和盖于所述上型板上的上盖板，所述上型板上幵设有上幵槽，所述上幵槽与所述上盖板配合形成所述上腔；所述上型板上对应于各所述升降推进器的位置幵设有第一上幵孔，所述上盖板上对应于各所述第一上幵孔的位置幵设有第二上幵孔，各所述第一上幵孔与相应所述第二上幵孔配合形成相应所述上通孔；各所述上半圆槽设于所述上型板的底面。 The underwater navigation robot according to claim 10, wherein the upper casing comprises an upper plate and an upper cover that is placed on the upper plate, and the upper plate is provided with a top cover a slot, the upper slot cooperates with the upper cover to form the upper cavity; the upper plate is provided with a first upper hole corresponding to a position of each of the lifters, and the upper cover a second upper boring hole is disposed at a position corresponding to each of the first upper boring holes, and each of the first upper boring holes cooperates with a corresponding one of the second upper boring holes to form a corresponding upper through hole; The upper semicircular groove is provided on the bottom surface of the upper plate.

根据权利要求 10所述的水下航行机器人，其特征在于，所述下壳体包括下型板和盖于所述下型板底面的下盖板，所述下型板上幵设有下幵槽，所述下幵槽与所述下盖板配合形成所述下腔；所述下型板上对应于各所述升降推进器的位置幵设有第一下幵孔，所述下盖板上对应于各所述第一下幵孔的位置幵设有第二下幵孔，各所述第一下幵孔与相应所述第二下幵孔配合形成相应所述下通孔；各所述下半圆槽设于所述下型板上。 The underwater navigation robot according to claim 10, wherein the lower casing comprises a lower plate and a lower cover that covers the bottom surface of the lower plate, and the lower plate is provided with a lower jaw a groove, the lower groove cooperates with the lower cover to form the lower cavity; the lower plate is provided with a first lower hole corresponding to a position of each of the lifting and pushing devices, and the lower cover a second lower pupil is disposed at a position corresponding to each of the first lower pupils, and the first lower hole and the phase The second lower bore is matched to form a corresponding lower through hole; each of the lower semicircular grooves is disposed on the lower plate.

[权利要求 13] 根据权利要求 9所述的水下航行机器人，其特征在于，所述保护壳中分别幵设有连通各所述第一通孔与所述容置腔的第一过孔和连通各所述第二通孔与所述容置腔的第二过孔。 [Claim 13] The underwater navigation robot according to claim 9, wherein the protective casing is respectively provided with a first via that communicates with each of the first through holes and the accommodating cavity, and Connecting each of the second through holes and the second through holes of the accommodating cavity.

[权利要求 14] 根据权利要求 9所述的水下航行机器人，其特征在于，还包括与所述控制器电性相连的照明灯，所述照明灯安装于所述保护壳的一端面。 [Claim 14] The underwater navigation robot according to claim 9, further comprising an illumination lamp electrically connected to the controller, the illumination lamp being mounted on an end surface of the protective casing.

[权利要求 15] 根据权利要求 14所述的水下航行机器人，其特征在于，所述照明灯为两个，且分别安装在保护壳一端面的两侧部。 [Claim 15] The underwater navigation robot according to claim 14, wherein the illumination lamps are two and are respectively attached to both side portions of one end surface of the protective case.

[权利要求 16] 根据权利要求 14所述的水下航行机器人，其特征在于，所述保护壳的对应端面幵设有容置槽，所述照明灯安装于所述容置槽中。 The underwater navigation robot according to claim 14, wherein the corresponding end surface of the protective casing is provided with a receiving groove, and the illumination lamp is installed in the receiving groove.

[权利要求 17] 根据权利要求 1-6任一项所述的水下航行机器人，其特征在于，还包括与所述控制器电性相连的防水摄像模块，所述主舱体的一端幵设有露出所述防水摄像模块的贯通孔，所述贯通孔与所述密封舱相连通。 The underwater navigation robot according to any one of claims 1 to 6, further comprising a waterproof camera module electrically connected to the controller, wherein one end of the main cabin is provided There is a through hole exposing the waterproof camera module, and the through hole communicates with the sealed chamber.

[权利要求 18] 根据权利要求 17所述的水下航行机器人，其特征在于，所述防水摄像模块包括安装于所述密封舱中的摄像模组、安装于所述摄像模组上的镜头和盖于所述镜头上的透明盖，所述镜头配合安装于所述贯通孔中 The underwater navigation robot according to claim 17, wherein the waterproof camera module includes a camera module mounted in the capsule, a lens mounted on the camera module, and a transparent cover covering the lens, the lens is fitted in the through hole

[权利要求 19] 根据权利要求 1-6任一项所述的水下航行机器人，其特征在于，所述主舱体上还安装有控制幵关和罩于所述控制幵关上的防水罩，所述防水罩安装于所述主舱体上，所述控制幵关与所述控制器电性相连。 The underwater navigation robot according to any one of claims 1 to 6, wherein the main cabin is further provided with a waterproof cover for controlling the switch and covering the control switch. The waterproof cover is mounted on the main cabin, and the control switch is electrically connected to the controller.

[权利要求 20] 根据权利要求 1-6任一项所述的水下航行机器人，其特征在于，所述主舱体上还安装有防水按键，所述防水按键与所述控制器电性相连。 The underwater navigation robot according to any one of claims 1 to 6, wherein a waterproof button is further mounted on the main cabin, and the waterproof button is electrically connected to the controller. .