The invention relates to the field of underwater robots, in particular to a deformable autonomous underwater robot. The robot comprises a main body module, side wing modules, an operation module, a propelling module and extension driving devices. The two side wing modules are symmetrically arranged on two sides of the main body module, the extension driving devices are arranged on two sides of themain body module, the side wing modules are driven to open or close through the extension driving devices on the corresponding sides; the operation module is arranged at the front end of the main body module, and the propelling module is arranged at the rear end of the main body module; each extension driving device comprises a driving motor, a transmission shaft, a bevel gear set, a lead screw,a nut sliding block and a supporting rod; the transmission shaft is driven by the driving motor to rotate, the lower end of each lead screw is perpendicularly connected with the transmission shaft through the bevel gear set, the nut sliding block is arranged on the lead screw, one end of each supporting rod is hinged to the nut sliding block on the corresponding lead screw, and the other end of the supporting rod is hinged to the side wing module. The side wing modules on the two sides can be unfolded or folded into a streamline shape according to needs and can be separated from a mother shipto carry out large-range detection operation and point selection autonomous sampling operation.

    本发明涉及水下机器人领域,具体地说是一种可变形自主水下机器人,包括主体模块、侧翼模块、作业模块、推进模块和伸展驱动装置,两个侧翼模块对称设于主体模块两侧,在主体模块两侧均设有伸展驱动装置,且所述侧翼模块通过对应侧的伸展驱动装置驱动张合,在主体模块前端设有作业模块,在主体模块后端设有推进模块;伸展驱动装置包括驱动电机、传动轴、锥齿轮组、丝杠、丝母滑块和支撑杆,传动轴通过驱动电机驱动转动,丝杠下端均通过锥齿轮组与所述传动轴垂直连接,丝杠上设有丝母滑块,且支撑杆一端与对应丝杠上的丝母滑块铰接,另一端与侧翼模块铰接。本发明两侧侧翼模块可根据需要展开或收纳成流线型,可以脱离母船进行大范围探测作业和选点自主采样作业。


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    Titel :

    Deformable autonomous underwater robot


    Weitere Titelangaben:

    可变形自主水下机器人


    Beteiligte:
    CHEN ZHONG (Autor:in) / XU HUIXI (Autor:in) / YIN YUAN (Autor:in) / WANG YIQUN (Autor:in) / SHI KAI (Autor:in)

    Erscheinungsdatum :

    2020-05-12


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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