A vector thruster of an underwater robot

A vector propulsion and underwater robot technology, which is applied in ship propulsion, propulsion components, steering and steering with propulsion components, etc., can solve problems such as difficulty in adapting to the deep-sea heavy pressure environment, complex structure and control, and heavy weight of the tandem mechanism. Achieve the effect of light weight, simple structure and flexible swinging action

Active Publication Date: 2020-08-25
SHANDONG UNIV
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Problems solved by technology

However, the traditional serial mechanism is heavy and difficult to adapt to the deep-sea heavy pressure environment. Although the six-degree-of-freedom parallel mechanism can meet the operation requirements in different directions in terms of flexibility and self-weight-load ratio, its working space is small, and its structure and control are more complicated. , it is also difficult to apply to engineering practice

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  • A vector thruster of an underwater robot
  • A vector thruster of an underwater robot
  • A vector thruster of an underwater robot

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[0027] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0028] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof;

[0029] Terminology Explanation Part: Terms such as "installation", "connection", "connection" and "fixation" in ...

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Abstract

The invention discloses a vector propeller of an underwater robot. The vector propeller of the underwater robot comprises a propeller blade changing device, a supporting device and a transmission device. The propeller blade changing device comprises propeller blades, a propeller hub, propeller blade shafts, propeller blade shaft gears, racks and rack fixing platforms; and the propeller blade changing device of the propeller can adjust propeller blade angles according to the change of a water flow speed to guarantee that thrust forces generated by the propeller blades, motor powers and a robotbody well coordinate with each other, and therefore, the propelling efficiency is enhanced. The supporting device comprises a rope fixing ring, a rope, a propeller housing and a pulley; and the pulleysupports the ropes so that the rope is kept in a tensile state. The transmission device comprises a main transmission device and a sub transmission device, wherein the main transmission device consists of a motor, a magnetic coupler, a flexible transmission unit and a hub; and the main transmission device and a sub transmission device are correspondingly used for changing the thrust force and direction of the propeller. By controlling the lengths of three groups of driven ropes, the axis of the propeller can rapidly rotate to a desired swinging angle so as to realize vector propelling.

Description

technical field [0001] The invention relates to the technical field of underwater robots, and is specifically applied to vector propulsion devices of underwater robots. Background technique [0002] At present, most underwater robots use propeller propellers as propulsion devices. A single propeller propeller can only produce propulsive force with variable magnitude and fixed direction. When the robot needs to move in different directions, such as pitch and deflection, it is necessary to install multiple The propeller propeller is used to generate multi-dimensional direction propulsion. Different from general thrusters, in addition to providing forward propulsion, vector thrusters can also generate propulsion in other directions according to the requirements of robot operation tasks, which can greatly improve the steering and positioning capabilities of underwater robots during low-speed navigation. At present, vector propulsion mechanisms are limited to traditional series ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63H3/06B63H25/42
CPCB63H3/06B63H25/42
Inventor 杨富春张悦
Owner SHANDONG UNIV
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