Turning, rotating propeller of underwater robot with six degrees of freedom
A technology for underwater robots and propellers, which is applied to propulsion components, ship propulsion, underwater ships, etc., can solve the problems of high weight ratio of propellers, increased structural scale, and difficult manufacturing, etc., and achieves high energy transfer efficiency and low cost The effect of increased diving depth and enhanced maneuverability
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[0029] In this embodiment, the propeller of the six-degree-of-freedom underwater robot with variable direction and rotation axis includes the main body of the underwater robot U1 and the main body of the propeller U2. Referring to FIG. 1, the virtual frame in the figure is the main body of the propeller U2. And the propulsion motor U5, the bracket U9 is a hollow spherical crown with slots in the middle, the bracket U9 is connected to the main body of the underwater robot through U3, the relevant lines of the main body of the underwater robot enter U9 through U3, and the motor U8 is fixed in the bracket U9 And connected with U3, the position is shown in Figure 1; the rotation of the motor U8 can make the propeller rotate with U3 as the axis, and the position shown in the figure is the zero point, and the angle range is 0°~360°; the propulsion motor U5 is located on the bracket U9 In the slot, it is connected to the bracket through U4, and the relevant lines from the main body of...
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