Parallel vector propulsion mechanism and underwater robot with this mechanism

A vector propulsion and parallel technology, which is applied in the direction of propulsion engine, ship propulsion, propulsion components, etc., can solve the problems that it is difficult to adapt to the deep-sea heavy pressure environment, and the ratio of self-weight to load is large, so as to achieve compact structure, fast response speed, and easy batch production The effect of production

Inactive Publication Date: 2017-07-14
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The traditional tandem mechanism has a large weight-to-load ratio, and it is difficult to adapt to the deep-sea heavy pressure environment

Method used

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  • Parallel vector propulsion mechanism and underwater robot with this mechanism
  • Parallel vector propulsion mechanism and underwater robot with this mechanism

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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: revolute joint, referred to as R;

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

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

[0025] Helical pair: helical pair, 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 rotatin...

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Abstract

The invention discloses a parallel vector propulsion mechanism and an underwater robot having the same, belonging to the field of underwater vehicles. The parallel vector propulsion mechanism includes a static platform and a moving platform. There are three sets of motion branches between the dynamic and static platforms. One group is the RUHR motion branch, and the other is the RUHU motion branch. The dynamic and static platforms together form a spherical two-degree-of-freedom parallel mechanism; there is also a set of RUC intermediate motion transmission branches between the dynamic and static platforms, which are used to transmit the torque and motion of the main thrust motor to the propeller. Through the motion synthesis of the propeller yaw and the intermediate motion transmission branch chain, the present invention can not only realize the change of various propulsion attitudes of the propeller, but also complete the transmission of the propeller motion. The invention has the characteristics of convenient installation, simple position layout of the branch chain, convenient control, good low-speed steering performance and the like.

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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Patent Type & Authority Patents(China)
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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