Quad-rotor mini-type underwater vehicle

Abstract

The invention discloses a quad-rotor mini-type underwater vehicle. The quad-rotor mini-type underwater vehicle comprises a vehicle body, four both-way propellers and connecting pieces used for installing the both-way propellers. The quad-rotor mini-type underwater vehicle is characterized in that every two of the four both-way propellers are in one group, the two groups of the both-way propellers are symmetrically arranged on the two sides of the vehicle body respectively, propeller rotating shafts of the both-way propellers are obliquely arranged relative to the horizontal plane, and generated propelling force has the component in the heading direction; and the inclination angles of the propeller rotating shafts of the both-way propellers relative to the horizontal plane are equal, the two both-way propellers in each group are distributed in front of and behind the vehicle body, and the propeller rotating shafts of the both-way propellers are opposite in inclination direction. The quad-rotor mini-type underwater vehicle is reasonable in arrangement, the structure is more stable, movement is more flexible, and the vehicle can directly move in the vertical direction, namely, floating or descending. The overall structure is simple, and miniaturization and microminiaturization are facilitated. Conventional products can be adopted in all modules, special requirements are avoided, the independence of the underwater vehicle is guaranteed, and the beneficial effects of low cost, high stability and the like are achieved.

Description

technical field [0001] The invention relates to an underwater navigation mechanical device, in particular to a four-rotor miniature underwater vehicle. Background technique [0002] With the rapid expansion of population and the scarcity of land resources, all countries have shifted their economic centers to the sea. The ocean covers more than 70% of the land surface and contains a large amount of energy for sustainable human development. How to efficiently and safely utilize underwater resources has become a difficult problem. Compared with conventional underwater vehicles, miniature unmanned underwater vehicles have the characteristics of simple principle, low cost, and easy-to-obtain materials. They are an important tool for river and sea inspection and detection. [0003] At present, the power mode of the micro unmanned underwater vehicle is still a single propeller or double propeller operation, and there are still some areas that need to be improved, such as the stab...

AI Technical Summary

Problems solved by technology

[0005] Although the above-mentioned structure improves the stability of the robot (aircraft) by arranging multiple propellers, in actual use, the propellers of multiple propellers push the water to move smoothly, especially when rising or During the descent process, multiple propellers push the water flow through the propellers to generate multiple traction forces on the fuselage, which affects the operational stability of the fuselage; and when adjusting the direction of action, it is necessary to adjust the angle of the propeller shaft of the propeller, which makes the internal structure complex. Increase manufacturing costs and later maintenance costs

Images