Leg-arm-paddle composite underwater robot

Patent metadata

Field	Value
Publication number	US-2020398958-A1
Application number	US-202016826327-A
Country	US
Kind code	A1
Filing date	Mar 23, 2020
Priority date	Jun 18, 2019
Publication date	Dec 24, 2020
Grant date	—

Abstract

A leg-arm-paddle underwater robot is provided in the present invention, which includes: a frame, an operating mechanism, a traveling mechanism, and a propulsion mechanism. The traveling mechanism is adapted to enable the leg-arm-paddle composite underwater robot to travel. The propulsion mechanism is adapted to enable the leg-arm-paddle composite underwater robot to float in water. The operating mechanism includes a first robot arm, a second robot arm, and a first mounting base, wherein the first mounting base is detachably connected to the frame. Both the first robot arm and the second robot arm are rotatably connected to the first mounting base, and rotation centers of the first robot arm and the second robot arm are the same. The operating mechanism of the leg-arm-paddle composite underwater robot has a compact structure and a large working range. The leg-arm-paddle composite underwater robot has reduced volume, enhanced operation capability, wide applicability, and strong practicability.

First claim

What is claimed is:

1 . A leg-arm-paddle composite underwater robot, comprising:
a frame ( 1 ), an operating mechanism ( 2 ), a traveling mechanism ( 3 ) and a propulsion mechanism ( 4 ); wherein the traveling mechanism ( 3 ) is adapted to enable the leg-arm-paddle composite underwater robot to travel; wherein the propulsion mechanism ( 4 ) is adapted to enable the leg-arm-paddle composite underwater robot to float in water; wherein the operating mechanism ( 2 ) comprises a first robot arm ( 210 ), a second robot arm ( 220 ), and a first mounting base ( 230 ), wherein the first mounting base ( 230 ) is detachably connected to the frame ( 1 ), both the first robot arm ( 210 ) and the second robot arm ( 220 ) are rotatably connected to the first mounting base ( 230 ), and rotation centers of the first robot arm ( 210 ) and the second robot arm ( 220 ) are the same.

2 . The leg-arm-paddle composite underwater robot according to claim 1 , wherein the first robot arm ( 210 ) comprises a first base ( 211 ), the second robot arm ( 220 ) comprises a second base ( 221 ), both the first base ( 211 ) and the second base ( 221 ) are rotatably connected to the first mounting base ( 230 ), and rotation centers of the first base ( 211 ) and the second base ( 221 ) are the same.

3 . The leg-arm-paddle composite underwater robot according to claim 2 , wherein the first mounting base ( 230 ) comprises a first mounting shaft ( 231 ), the first base ( 211 ) comprises a first cylinder ( 2111 ), an inner wall of the first cylinder ( 2111 ) is rotatably connected to the first mounting shaft ( 231 ), and the second base ( 221 ) is rotatably connected to an outer wall of the first cylinder ( 2111 ).

4 . The leg-arm-paddle composite underwater robot according to claim 2 , wherein both the first robot arm ( 210 ) and the second robot arm ( 220 ) comprise a plurality of arms, and at least one of the plurality of arms of the first robot arm ( 210 ) has the same rotation surface as the arm of the second robot ram ( 220 ) so as to be suitable for realizing embracing operations.

5 . The leg-arm-paddle composite underwater robot according to claim 1 , wherein a clamping manipulator is disposed at one end of the first robot ram ( 210 ), and a cage manipulator is disposed at one end of the second robot arm ( 220 ).

6 . The leg-arm-paddle composite underwater robot according to claim 1 , wherein the traveling mechanism ( 3 ) comprises a plurality of traveling foot ( 310 ), and the traveling foot ( 310 ) comprise a first rotation base ( 311 ), a first leg ( 313 ), a second leg ( 314 ), a tenth driver ( 315 ), and an eleventh driver ( 316 ); both the tenth driver ( 315 ) and the eleventh driver ( 316 ) are mounted on the first rotation base ( 311 ) for being suitable for driving the first leg ( 313 ) and the second leg ( 314 ).

7 . The leg-arm-paddle composite underwater robot according to claim 6 , wherein the traveling foot ( 310 ) further comprise a first driving shaft ( 318 ), and both the first driving shaft ( 318 ) and the first leg ( 313 ) are rotatably connected to the first rotation base ( 311 ); the second leg ( 314 ) is rotatably connected to one end of the first leg ( 313 ) away from the first rotation base ( 311 ), the first driving shaft ( 318 ) is connected to a rotation shaft of the second leg ( 314 ) through a transmission assembly ( 317 ), and the eleventh driver ( 316 ) controls rotation of the second leg ( 314 ) by driving the first driving shaft ( 318 ).

8 . The leg-arm-paddle composite underwater robot according to claim 7 , wherein rotation centers of the first driving shaft ( 318 ) and the first leg ( 313 ) are the same.

9 . The leg-arm-paddle composite underwater robot according to claim 1 , wherein the propulsion mechanism ( 4 ) comprises at least eight spiral propellers; wherein at least four of the spiral propellers are disposed obliquely in a propelling direction, and at least four of the spiral propellers are disposed obliquely in a direction opposite to the propelling direction, the propelling direction comprising an upward direction, a downward direction, a leftward direction, a rightward direction, a forward direction, and a backward direction.

10 . The leg-arm-paddle composite underwater robot according to claim 7 , wherein the first leg ( 313 ) is provided with a third receiving portion for being suitable for receiving the second leg ( 314 ).

11 . The leg-arm-paddle composite underwater robot according to claim 1 , wherein the frame ( 1 ) is provided with a first receiving portion and a second receiving portion; the first receiving portion is suitable for receiving the operating mechanism ( 2 ); and the second receiving portion is suitable for receiving the traveling mechanism ( 3 ).

Assignees

• Harbin Inst Technology

Inventors

• Gao Haibo
• Ding Liang
• Bi Xiuwen
• Liu Yiqun
• Zhang Jingming
• Ge Liyuan
• Deng Zongquan
• Yu Haitao

Classifications

• B63G8/14

  Control of attitude or depth (of torpedoes F42B19/00) · CPC title

• B63G2008/005

  remotely controlled · CPC title

• B63H19/08

  by direct engagement with water-bed or ground · CPC title

• B63G8/001

  Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations (self-propelled or direction controlled diving chambers with mechanical link to a base B63C11/42) · CPC title

• B25J9/0087

  Dual arms (double SCARA arms B25J9/043) · CPC title