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

Inactive Publication Date: 2007-07-25
HARBIN ENG UNIV
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  • Summary
  • Abstract
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  • Application Information

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Problems solved by technology

However, such arrangement of propellers destroys the continuity of the underwater robot structure, reduces the structural strength of the underwater robot, and makes the underwater robot have to increase the structural scale (such as the thickness of the pressure shell), and the weight ratio of the propeller is large. interior layout is limited
In addition, although this kind of underwater robot can complete up and down, left and right, and forward and backward motions in situ, it still cannot roll, pitch, and azimuth torsion motions, and its maneuverability and flexibility are still limited.
[0005] At present, some underwater robots are equipped with a single-axis thruster with a variable propeller pitch angle on both sides of the head and tail. This kind of underwater robot is based on the above-mentioned several underwater robots, although it solves the problem of being unable to complete pitching and pitching. The defect of azimuth torsion, but it is still unable to make the underwater robot complete the rolling motion
This kind of propeller uses the irreversible lateral force generated by the periodic change of the blade of the single-axis propeller to realize several kinds of motions except the rolling motion, which greatly reduces the transmission efficiency and propulsion efficiency of the underwater robot.
In addition, the mechanical structure of this underwater robot is complex and difficult to manufacture.

Method used

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  • Turning, rotating propeller of underwater robot with six degrees of freedom
  • Turning, rotating propeller of underwater robot with six degrees of freedom
  • Turning, rotating propeller of underwater robot with six degrees of freedom

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Embodiment

[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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Abstract

A propeller with direction-changeable rotating shaft for 6-freedom underwater robot is composed of supporting frame and 3 motors including one propulsion motor, which are connected to said supporting frame via relative connection unit. Installing said propeller to the head and tail of a robot respectively can realize 6 freedoms.

Description

(1) Technical field [0001] The invention relates to an underwater propulsion device, in particular to a propulsion device capable of enabling an underwater robot to realize six-degree-of-freedom omnidirectional motion by using three rotating shafts. (2) Background technology [0002] In marine development and marine engineering, because underwater robots perform various complex tasks, it should have good maneuverability. At the same time, with the in-depth development of ocean development, the diving depth of underwater robots continues to increase, the composition of underwater robots tends to be larger, the total weight increases, the overall scale becomes larger, and there are more restrictions on use. Therefore, the miniaturization and light weight of underwater robots has become increasingly important. [0003] Under normal circumstances, underwater robots rely on the cooperation of single-axis propellers and rudder fins to change their own motion posture. The single-...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63G8/16B63H5/08
Inventor 刘胜李冰兰海郑秀丽葛亚明
Owner HARBIN ENG UNIV
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