Unmanned system flexible transmission variable structure underwater propulsion device

Abstract

The invention relates to the technical field of amphibious robots, in particular to an unmanned system flexible transmission variable structure underwater propulsion device which comprises a vehicle body, a propeller, a propeller lifting mechanism and a flexible transmission mechanism, the propeller is arranged on the propeller lifting mechanism, the vehicle body is provided with an unmanned control system and a land action system, the unmanned control system is connected with the land action system, the flexible transmission mechanism and the propeller, transmission of non-parallel shafts is achieved in the sailing process, the height of the propeller can be remarkably reduced on the premise that the width of the vehicle body is not changed, the height of the propellers can be increased according to actual requirements, the distance between the propellers can be extended outwards, the width of the vehicle body does not need to be increased, and space structure transformation of the propellers is achieved so as to be suitable for running on land or passing through various complex working environments such as pipelines with limited underwater height and narrow areas.

Description

technical field [0001] The invention relates to the technical field of amphibious robots, in particular to a variable-structure underwater propulsion device for flexible transmission of an unmanned system. Background technique [0002] Amphibious robots have both water and land modes of communication. In recent years, they have been increasingly used in a series of tasks that are not suitable for human operations, such as difficult scientific research, emergency rescue missions, and highly dangerous military activities. Existing amphibious robots mostly use propellers to provide power in the water environment, and the arrangement of the propeller system determines the adaptability, passing ability and driving efficiency of the amphibious UAV in the complex water environment. [0003] However, the existing amphibious robots generally adopt a fixed propeller arrangement. In order to improve the stability of the amphibious UAV, its cross section needs to be increased. The thru...

AI Technical Summary

Problems solved by technology

[0003] However, the existing amphibious robots generally adopt a fixed propeller arrangement. In order to improve the stability of the amphibious UAV, its cross section needs to be increased. The efficiency of the propeller is low and the power consumption is large. At present, most propellers cannot change the spatial distribution state according to the external environment and task requirements, so that they cannot pass through narrow areas and have poor environmental adaptability.

For example, Chinese patent 201711018762.4 (publication number: CN107650601 A) proposes a tandem hybrid amphibious robot, which uses water jet propulsion to drive in water, the propulsion space position is fixed, the ability to resist wave disturbance is low, and it cannot be changed according to the environment state, poor ability to adapt to the environment, complex mechanism, and difficult control

There are also some amphibious drones in the prior art, which fine-tune the volume of the propeller by changing the shape of the propeller body. For example, Chinese patent 201710434755.6 (publication number CN 107225924 A) discloses an amphibious robot with integrated wheels and legs and its control method. The water jet propeller is used to drive in the water. There are four propellers in total. The space position of the four propellers is fixed. The width of the propeller is larger than the width of the car body. When driving on land, the resistance is large. The position of the propeller legs is fixed and cannot be folded. , the car body cannot pass through the narrow area

[0004] It can be seen that the cross-domain unmanned system under the existing technology cannot change the space structure of the propeller in real time according to the external driving environment to meet the needs of different work tasks, nor can it be applied to complex and narrow work areas, and cannot adapt to different work environments

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