Modularized underwater robot vector propulsion mechanism

A technology for underwater robots and vector propulsion, which is applied to propulsion components, ship propulsion, underwater ships, etc., and can solve problems such as complex structures, heavy weight, and small angles

Pending Publication Date: 2019-05-10
SHENYANG AEROSPACE XINGUANG GRP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the vector propulsion mechanism fixes the parts of the vector propulsion on a disk or an annulus as described in CN104029197A or CN201610141582.4, and drives the connecting rod or arc-shaped guide rod to realize th

Method used

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  • Modularized underwater robot vector propulsion mechanism
  • Modularized underwater robot vector propulsion mechanism
  • Modularized underwater robot vector propulsion mechanism

Examples

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Embodiment

[0016] Such as figure 1 As shown, a vector propulsion mechanism of a modular underwater robot includes a propeller propulsion motor 6, a circular rotation module and a swing module, and the propeller propulsion motor 6, a circular rotation module and a swing module are arranged on the same axis; the circular rotation The module includes a circular rotation drive motor 2 and a circular rotation part of the protective shell 3. The swing module includes a swing drive motor 4 and a swing part of the protective shell 5. The circular rotation drive motor rotates circularly in the horizontal direction, and the output shaft 7 of the circular rotation drive motor It is connected with the casing of the swing driving motor to realize the rotation of the swing module; the other end of the casing is connected with the propeller propulsion motor 6, the motor shaft 8 of the swing driving motor is perpendicular to the output shaft 7 of the circular rotation driving motor, and the swing driving...

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Abstract

The invention discloses a modularized underwater robot vector propulsion mechanism. The mechanism is structurally composed of a propeller propulsion motor, a circumferential rotation module and a swing module which are arranged on the same axis. Vectorization of the propulsion mechanism is achieved. Compared with a vector propulsion mechanism of a traditional spherical parallel mechanism, the modularized underwater robot vector propulsion mechanism has the advantages of being modularized, low in fault rate and high in control accuracy.

Description

technical field [0001] The invention relates to a vector propulsion mechanism applied to an underwater robot, in particular to a vector propulsion mechanism of a modular underwater robot, which belongs to the technical field of underwater vehicles. Background technique [0002] At present, most underwater robots use propeller propellers as propulsion devices. A single propeller propeller can only produce a thrust with a variable magnitude and a fixed direction. A propeller propeller is used to generate three-dimensional propulsion force. At present, the vector propulsion mechanism fixes the parts of the vector propulsion on a disk or an annulus as described in CN104029197A or CN201610141582.4, and drives the connecting rod or arc-shaped guide rod to realize the vector operation of the propeller through the rotation of the motor. Although this scheme realizes The vector propulsion of the thruster is achieved, but its angle is small, the structure is complicated, and the weig...

Claims

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Application Information

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IPC IPC(8): B63G8/16B63H5/125B63H23/24
Inventor 杨永庆王宝新许守骏高存强回志姗汤银龙韩冬刘俭佳
Owner SHENYANG AEROSPACE XINGUANG GRP
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