Underwater robot propulsion system

Abstract

The invention discloses an underwater robot propulsion system. The underwater robot propulsion system comprises two horizontal propulsion modules and two inclined propulsion modules, wherein the two horizontal propulsion modules are symmetrically arranged on the two sides of a robot main cabin in parallel; the two inclined propulsion modules are embedded into the two sides of the middle part of the robot main cabin in the form of V shape in a crossed way within a plane vertical to the axis of the robot main cabin; the horizontal propulsion modules and the inclined propulsion modules all use propeller propulsion modules; the propeller propulsion modules comprise motors and sealed cabins; output shafts of the motors are connected with driven shafts through disc type magnet couplings; and propellers are mounted on the driven shafts. According to the invention, motion capacity of 5 degrees of freedom can be provided to a robot and the flexibility of the robot is improved; as the propeller propulsion modules use the disc type magnet couplings, the axial length of the system can be effectively reduced so that the structure of the underwater robot propulsion system is compact and stable and the underwater robot propulsion system is convenient to machine.

Description

technical field [0001] The invention relates to an underwater propulsion system, in particular to an underwater robot propulsion system. Background technique [0002] At present, the underwater robot propulsion system mostly adopts a combination of horizontal propulsion (x direction) and vertical propulsion (y direction) devices. This arrangement only has components in two directions, and cannot directly realize the third direction. movement, or difficulty achieving it. At present, the more advanced structural forms of the existing magnetically coupled horizontal propulsion devices and vertical propulsion devices are: the magnetic joint arrangement adopts a hub structure, please refer to the Chinese patent document CN101508335A, "Underwater Propeller Propeller" published on August 19, 2009 propulsion module and underwater vehicle incorporating the module". Among them, the magnetic coupling of the propulsion module adopts a hub-type structure, the axial length is long, the ...

AI Technical Summary

Problems solved by technology

Among them, the magnetic coupling of the propulsion module adopts a hub structure, the axial length is long, the cantilever of the inner and outer hubs is long, the stability is not good, the coaxiality is high, and the machining accuracy is high, and, because the magnetic coupling The elongated magnet is used, and the inner hub is a thin-walled structure, which makes it difficult to process the inner hub

Images