Parallel type vectored propulsion mechanism and underwater robot provided with same

A vector propulsion and parallel technology, applied in propulsion engine, ship propulsion, propulsion components, etc., can solve the problems of difficulty in adapting to the deep-sea heavy pressure environment, large self-weight-load ratio, etc., and achieve compact structure, fast response speed, and easy batching The effect of production

Inactive Publication Date: 2016-05-11
SHANDONG UNIV
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Problems solved by technology

The traditional tandem mechanism has a large weight-to-load ratio, an

Method used

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  • Parallel type vectored propulsion mechanism and underwater robot provided with same
  • Parallel type vectored propulsion mechanism and underwater robot provided with same

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Embodiment Construction

[0020] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0021] Glossary:

[0022] Revolute joint: revolutejoint, referred to as R;

[0023] Universal joint pair: universaljoint, referred to as U;

[0024] Cylinder pair: cylinderpair, referred to as C;

[0025] Helical pair: helicalpair, referred to as H;

[0026] The combinations of exercise pairs involved in the present invention include: RUHR, RUHU, and RUC.

[0027] On the one hand, the present invention provides a parallel vector propulsion mechanism, such as Figure 1-2 As shown, including static platform 10 and dynamic platform 2, wherein:

[0028] The static platform 10 is disc-shaped, and the dynamic platform 2 is hollow cylindrical;

[0029] Between the static platform 10 and the moving platform 2, there are sequentially arranged a first rotati...

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Abstract

The invention discloses a parallel type vectored propulsion mechanism and an underwater robot provided with the same and belongs to the field of underwater navigation vehicles. The parallel type vectored propulsion mechanism comprises a static platform and a dynamic platform, three motion branch chains are arranged between the dynamic platform and the static platform, the first one is an RUHR motion branch chain, the second one is an RUHU motion branch chain, and the RUHR motion branch chain, the RUHU motion branch chain, the dynamic platform and the static platform jointly form a spherical two-freedom-degree parallel mechanism; an RUC middle motion and transfer branch chain is further arranged between the dynamic platform and the static platform and used for transferring torque and motion of a main propulsion motor to a propeller. According to the parallel type vectored propulsion mechanism and the underwater robot provided with the same, through deflection of the propeller and motion synthesis of the middle motion and transfer branch chain, change of multiple types of postures of the propeller can be achieved, and transfer of motion of the propeller can be further achieved. The parallel type vectored propulsion mechanism and the underwater robot provided with the same have the advantages that the parallel type vectored propulsion mechanism is convenient to install, convenient to control and good in low-speed steering performance, and the branch chains are simple in layout,.

Description

technical field [0001] The invention relates to the field of underwater vehicles, in particular to a parallel vector propulsion mechanism and an underwater robot with the mechanism. Background technique [0002] The ocean accounts for about 71% of the earth's surface area, and is rich in mineral resources and marine biological resources. The development of mobile and flexible underwater robots has important practical significance for promoting the development of marine resource detection technology. The propeller propeller is the key device to ensure the maneuverable and flexible operation of the underwater robot. A single propeller propeller can only produce a propulsion force with a variable size and a fixed direction (along the direction of the rotation axis). When the robot needs to conduct maneuvering movements in different directions, Such as pitching and deflection, it is necessary to install multiple propeller propellers to generate multi-dimensional attitude propuls...

Claims

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Application Information

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IPC IPC(8): B63C11/52B63H21/17B63H23/02
CPCB63C11/52B63H21/17B63H23/02
Inventor 陈原赵兴宇于飞贾德凯高军
Owner SHANDONG UNIV
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