Foldable propeller device used for a hybrid-drive underwater robot

Abstract

The invention belongs to the field of underwater robots, and particularly relates to a folding propeller device for a hybrid-drive underwater robot. The device includes an after-body flow guide cover, a motor, a coupler, a propeller shaft, a propeller hub and propeller blades; the motor is installed in the after-body flow guide cover, the output end of the motor is connected with one end of the propeller shaft through the coupler and drives the propeller shaft to rotate, and the other end of the propeller shaft penetrates through the after-body flow guide cover and is connected with the propeller hub.; a plurality of propeller blade shafts are installed on the propeller hub, the propeller blade shafts are rotatably connected with the propeller blades, each propeller blade shaft is provided with a torsion spring in a sleeving mode, and the two ends of each torsion spring are connected with the propeller hub and the corresponding propeller blade respectively; the propeller blades are driven by the propeller blade shafts to rotate along with the propeller hub and are spread through centrifugal force, push force is thus produced, and the spread and rotating-stopping propeller blades returns to the original position through the torsion springs. The device has the advantages of being high in reliability, compact in mechanical structure, simple in motion mode, light, low in cost, safe in transportation, easy to assemble and maintain and the like.

Description

technical field [0001] The invention belongs to the field of underwater robots, in particular to a foldable screw propeller device for a hybrid driving underwater robot. Background technique [0002] The hybrid driving underwater robot is a new type of underwater robot that integrates the driving method of the underwater glider and the driving method of the autonomous underwater robot. When the hybrid-driven underwater robot glides in the driving mode of an underwater glider, the buoyancy adjustment system and pitch adjustment system with very low energy consumption on the vehicle body are used to adjust the total buoyancy of the system and the pitch attitude of the vehicle body to provide driving force to save on-board energy. When the hybrid drive underwater robot is propelled by the autonomous underwater robot, the thrust generated by the rotation of the propeller in its propulsion system is used as the driving force, so that it can sail quickly and accurately. When the...

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