An underwater robot thruster

Abstract

The application provides an underwater robot propeller and relates to the technical field of underwater robots, which comprises a body, a supplementary pushing piece fixedly connected to the front end of the body, a propelling piece fixedly connected to the rear end of the body, two groups of the body, and a mounting assembly fixedly connected between the two groups of the body. During underwater operation diving or observation, the supplementary propeller can balance the advancing or retreating movement state of the body, so that the body can be kept in a static state in the front-rear direction by controlling the rotating speeds of the propelling propeller and the supplementary propeller, and the underwater robot can be assisted to keep stable at the observation or underwater operation position, thereby solving the problem that it is difficult to keep the body in a static state for observation.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater robot technical field, especially to a kind of underwater robot propeller. BACKGROUND

[0002] Underwater robot, also called unmanned remote control submersible, is a kind of extreme operation robot working in underwater, underwater environment is harsh and dangerous, and the diving depth of human is limited, so underwater robot has become an important tool for developing ocean, and the diving driving force of underwater robot is realized by propeller.

[0003] However, for the current traditional underwater robot propeller, it is mainly propeller, but the traditional barrel structure propeller causes the body to be difficult to keep position static during diving or observation, so as to observe, the propeller of prior art is difficult to flexibly realize the rotation of the body, and the torque is large, so it is not convenient to adjust the diving direction; when diving or underwater detection cumulative operation does not need to be observed, the function of adjusting the diving direction by rotating angle is not needed, and the propeller is difficult to meet various use requirements; the traditional propeller is difficult to keep the balance of the body, so it is difficult to provide the underwater observation angle of horizontal view; when adjusting the forward speed, the speed regulation is realized by simply relying on propeller, the loss of propeller is large, and it is difficult to realize the forward speed adjustment by other ways in cooperation with propeller. SUMMARY

[0004] Therefore, the present application provides an underwater robot propeller, which has a propelling piece and a supplementary pushing piece, so that the body can keep position static, and the body can assist underwater robot to keep position stable after reaching observation or underwater operation position.

[0005] The present application provides an underwater robot propeller, which specifically comprises a body; a supplementary pushing piece is fixedly connected to the front end of the body, a propelling piece is fixedly connected to the rear end of the body, and the body is provided with two groups; an installation assembly is fixedly connected between the two groups of bodies; a sealing assembly is installed at the connection between the propelling piece and the body; the installation assembly comprises a connecting shaft and a connecting rod, two groups of connecting rods are fixedly welded between the connecting shaft and the connecting rod; a fixed rod is fixedly welded between the two groups of connecting rods, and a support rod is vertically welded to the top surface of the connecting rod; a swing plate is movably connected to the support rod; a driving box is fixedly welded to the fixed rod; a swinging assembly is installed in the driving box; the swinging assembly comprises a pull-down frame, the two ends of the pull-down frame are in the form of round rods, a pull strip is fixedly arranged between the top ends of the round rods, and the round rods penetrate through the swing plate, and the pull strip is located on the top surface of the swing plate.

[0006] Optionally, an internal controller and a sealing ring are arranged on the body, the internal controller is connected to the water surface remote control and monitoring equipment through wireless connection, the internal controller is electrically connected with the propelling piece, and the sealing ring is located at the joint between the body and the supplementary pushing piece.

[0007] Optionally, the inside of the propelling piece is provided with a propelling propeller and a connecting screw rod, the driving rotating shaft of the propelling propeller is located in the inside of the propelling piece, the connecting screw rod penetrates through both ends of the machine body and the outside of the propelling piece, and the connecting screw rod is fixedly connected with the machine body and the propelling piece through a cooperating nut.

[0008] Optionally, the sealing assembly comprises a first sealing ring, a second sealing ring, a third sealing ring and a fourth sealing ring, the first sealing ring is located at the joint between the machine body and the propelling piece, the second sealing ring is located at the inside of the first sealing ring, the third sealing ring is located at the joint between the driving rotating shaft of the propelling propeller and the propelling piece, and the fourth sealing ring is located at the joint between the machine body and the inner controller.

[0009] Optionally, the supplementary propelling piece is provided with a supplementary propeller and a connecting ring, the supplementary propeller is electrically connected to an independent control module and a driving motor in the inside of the supplementary propelling piece, the inside of the supplementary propelling piece is provided with an independent wireless connection module and is wirelessly connected to a water remote control and monitoring device, and the connecting ring is fixedly connected to the front side of the machine body through a bolt assembly.

[0010] Optionally, both ends of the connecting shaft are fixedly connected to the rear side of the outer wall of the machine body, and both ends of the connecting rod are fixedly connected to the front side of the outer wall of the machine body.

[0011] Optionally, the driving box is further provided with a mounting rod, the mounting rod is fixedly welded in the inside of the driving box, and a motor is fixedly installed on the mounting rod.

[0012] Optionally, the swinging assembly further comprises a driving shaft and an upper pushing frame, the driving shaft is coaxially connected with the rotating shaft of the motor in the inside of the driving box, the end of the driving shaft is movably clamped in the inside of the mounting rod, two groups of cams are fixedly welded on the driving shaft, a lower pulling frame is installed on one side of the cam, and an upper pushing frame is installed on the other side of the cam, sealing sleeves are fixedly bonded to the outer walls of the lower pulling frame and the upper pushing frame respectively, the height of the lower pulling frame is higher than that of the upper pushing frame, and the top surface of the upper pushing frame abuts against the bottom surface of the swinging plate. Advantages

[0013] Compared with the conventional propeller, the propeller according to the embodiments of the present application can balance the advancing or retreating movement state of the machine body during the underwater operation diving or observation process by using the supplementary propeller, so that the machine body can be kept in a static state in the front-rear direction by controlling the rotating speeds of the propelling propeller and the supplementary propeller, and the machine body can assist the underwater robot to stabilize the position after reaching the observation or underwater operation position.

[0014] In addition, the supplementary propeller cooperates with the propelling propeller to adjust the direction of the body, so that the body can adjust the advancing direction when the underwater operation is propelled, the supplementary propelling part can be selectively not installed when the underwater robot needs not to keep static position during diving or underwater detection operation, so that the diving operation can be completed by the propelling part, and the device has multiple different use modes and is suitable for different use requirements of underwater operation.

[0015] In addition, the two groups of bodies are fixedly connected as a whole by the connecting shaft and the connecting rod, so that the body moves stably underwater, compared with the traditional barrel propeller, the body can keep relative balance and can provide a relatively horizontal view, which is more suitable for underwater observation operation.

[0016] In addition, the driving shaft is rotated coaxially by the starting motor, so that the swing plate reciprocates, and the propelling part is adjusted to adjust the moving speed in the front and back directions. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings of the embodiments will be briefly introduced below.

[0018] The drawings described in the following description only relate to some embodiments of the present application, and are not a limitation of the present application.

[0019] In the drawings:

[0020] Figure 1 A structure schematic view of a front side view of the body according to the present application is shown.

[0021] Figure 2 A structure schematic view of a right side view of the body according to the present application is shown. Figure 1

[0022] Figure 3 A structure schematic view of a cross-sectional structure of the body according to the present application is shown.

[0023] Figure 4 A structure schematic view of an installation assembly according to the present application is shown.

[0024] Figure 5 A structure schematic view of a cross-sectional structure of a driving box according to the present application is shown.

[0025] Figure 6 A structure schematic view of a swing assembly according to the present application is shown.

[0026] Figure 7 An enlarged structure schematic view of part A in the present application is shown. Figure 3

[0027] LIST OF REFERENCE NUMBERS ​​

[0028] 1, body; 101, inner controller; 102, sealing ring; 2, propelling piece; 201, propelling propeller; 202, connecting screw; 3, sealing assembly; 31, first sealing ring; 32, second sealing ring; 33, third sealing ring; 34, fourth sealing ring; 4, supplementary propelling piece; 401, supplementary propeller; 402, connecting ring; 5, mounting assembly; 51, connecting shaft; 52, connecting rod; 501, connecting rod; 6, swing plate; 601, supporting rod; 7, driving box; 701, fixed rod; 702, mounting rod; 8, swinging assembly; 81, driving shaft; 82, pull-down frame; 83, push-up frame; 801, sealing sleeve. DETAILED DESCRIPTION

[0029] In order to make the purpose, scheme and advantages of the technical scheme of the present application more clear, the technical scheme of the present application will be described clearly and completely below in combination with the drawings of the specific embodiments of the present application. Unless otherwise specified, the terms used herein have the meanings commonly used in the art. The same reference numerals in the drawings represent the same components.

[0030] Embodiment: Please refer to Figures 1 to 7 :

[0031] The present application provides an underwater robot propeller, comprising a body 1; the front end of the body 1 is fixedly connected with a supplementary propelling piece 4, and the rear end of the body 1 is fixedly connected with a propelling piece 2; the body 1 is provided with two groups in total, and the two groups of bodies 1 are fixedly connected with a mounting assembly 5; a sealing assembly 3 is installed at the connection between the propelling piece 2 and the body 1; the mounting assembly 5 comprises a connecting shaft 51 and a connecting rod 52, and two groups of connecting rods 501 are fixedly welded between the connecting shaft 51 and the connecting rod 52; a fixed rod 701 is fixedly welded between the two groups of connecting rods 501, and a supporting rod 601 is vertically welded on the top surface of the connecting rod 501; a swing plate 6 is movably clamped on the supporting rod 601; the fixed rod 701 is fixedly welded with a driving box 7; the driving box 7 is internally provided with a swinging assembly 8; the swinging assembly 8 comprises a pull-down frame 82, the two ends of the pull-down frame 82 are in a round rod structure, a stay is fixedly arranged between the top ends of the round rods, the round rods penetrate through the swing plate 6, and the stay is located on the top surface of the swing plate 6.

[0032] In addition, as shown in the accompanying Figure 1 and the accompanying Figure 3As shown, the supplementary push piece 4 is provided with a supplementary propeller 401 and a connecting ring 402, the supplementary propeller 401 is electrically connected to the independent control module and driving motor inside the supplementary push piece 4, the inside of the supplementary push piece 4 is provided with an independent wireless connection module and is wirelessly connected to the water remote control and monitoring equipment, and the connecting ring 402 is fixedly connected to the front side of the body 1 through a bolt assembly. During underwater operation diving or observation, the supplementary propeller 401 can balance the forward or backward movement state of the body 1, so that the body 1 can be kept static in the front-back direction by controlling the rotation speed of the propelling propeller 201 and the supplementary propeller 401, so that the body 1 can assist the underwater robot to stabilize the position after reaching the observation or underwater operation position, and the supplementary propeller 401 and the propelling propeller 201 can also cooperate with each other to adjust the direction of the body 1, so that the body 1 can adjust the forward direction during underwater operation, and when the underwater robot does not need to keep the position static during diving or underwater detection operation, the supplementary push piece 4 can be selectively not installed, so that the diving operation can be completed by using the propelling piece 2, so that the device has multiple different use modes and is suitable for different use requirements of underwater operation.

[0033] In addition, as shown in the accompanying drawings, Figure 3 As shown, the body 1 is provided with an internal controller 101 and a sealing ring 102, the internal controller 101 is wirelessly connected to the water remote control and monitoring equipment, and the internal controller 101 is electrically connected to the propelling piece 2, the sealing ring 102 is located at the joint between the body 1 and the supplementary push piece 4, and the body 1 can be remotely controlled on water by using the internal controller 101. When the body 1 is connected to the supplementary push piece 4, the sealing ring 102 can play a sealing role at the joint, and when the body 1 is not connected to the supplementary push piece 4, the sealing ring 102 plays a water blocking role.

[0034] In addition, as shown in the accompanying drawings, Figure 4 As shown, the two ends of the connecting shaft 51 are fixedly connected to the rear side of the outer wall of the body 1, and the two ends of the connecting rod 52 are fixedly connected to the front side of the outer wall of the body 1. The connecting shaft 51 and the connecting rod 52 are used to fixedly connect the two groups of bodies 1 into one whole, so that the body 1 moves stably underwater, compared with the traditional barrel type propeller, the body of the body 1 can be kept relatively balanced, a relatively level view angle can be provided, and it is more suitable for underwater observation operation.

[0035] In addition, as shown in the accompanying drawings, Figure 3As shown, the inside of the propelling piece 2 is provided with a propelling propeller 201 and a connecting screw rod 202, the driving rotating shaft of the propelling propeller 201 is located in the inside of the propelling piece 2, the connecting screw rod 202 penetrates through both ends of the body 1 and the outside of the propelling piece 2, the connecting screw rod 202 is fixedly connected with the body 1 and the propelling piece 2 through a cooperating nut, the underwater propelling driving force of the body 1 is provided by the propelling propeller 201, the body 1 and the propelling piece 2 are connected by the connecting screw rod 202, which can improve the pressure resistance of the body 1 to a certain extent, and the connecting screw rod 202 can protect the body 1 shell from impact during the diving of the body 1, thereby playing a protection role.

[0036] In addition, as shown in the accompanying drawings, Figure 5 As shown, the driving box 7 is also provided with a mounting rod 702, the mounting rod 702 is fixedly welded in the inside of the driving box 7, and a motor is fixedly installed on the mounting rod 702, the mounting rod 701 is used to provide installation and stability for the driving box 7, and the mounting rod 702 is used to provide an installation basis for the motor and the swinging assembly 8, and the driving box 7 is lower than the swing plate 6, so that the swing plate 6 has a swinging space during the swinging process and does not affect the swing plate 6.

[0037] In addition, as shown in the accompanying drawings, Figure 6 As shown, the swinging assembly 8 further includes a driving shaft 81 and an upper pushing frame 83, the driving shaft 81 is coaxially connected with the rotating shaft of the motor in the inside of the driving box 7, the end of the driving shaft 81 is movably clamped in the inside of the mounting rod 702, two groups of cams are fixedly welded on the driving shaft 81, a lower pulling frame 82 is installed on one side of the cam, and an upper pushing frame 83 is installed on the other side of the cam, sealing sleeves 801 are fixedly bonded on the outer walls of the lower pulling frame 82 and the upper pushing frame 83 respectively, the height of the lower pulling frame 82 is higher than that of the upper pushing frame 83, and the top surface of the upper pushing frame 83 abuts against the bottom surface of the swing plate 6, when the motor is started, the driving shaft 81 is coaxially driven to rotate, and the swing plate 6 is reciprocatingly swung, so that the moving speed in the forward and backward directions can be adjusted in cooperation with the propelling piece 2.

[0038] In addition, as shown in the accompanying drawings, Figure 7 As shown, the sealing assembly 3 includes a first sealing ring 31, a second sealing ring 32, a third sealing ring 33 and a fourth sealing ring 34, the first sealing ring 31 is located at the joint between the body 1 and the propelling piece 2, the second sealing ring 32 is located at the inside of the first sealing ring 31, the third sealing ring 33 is located at the joint between the driving rotating shaft of the propelling propeller 201 and the propelling piece 2, and the fourth sealing ring 34 is located at the joint between the body 1 and the inner controller 101, the sealing assembly 3 is used to form double dynamic seals between the body 1 and the propelling piece 2, and the radial force borne by the first sealing ring 31 and the second sealing ring 32 is reduced through the connecting screw rod 202, thereby improving the sealing protection strength.

[0039] Specific use and role of the embodiment: in the application, the connecting screw 202 is used to connect the body 1 and the propelling part 2, the first sealing ring 31 is located at the joint of the body 1 and the propelling part 2, and the second sealing ring 32 is located at the inner side of the first sealing ring 31, so that the double dynamic sealing is formed between the body 1 and the propelling part 2, the connecting screw can improve the compression resistance of the body 1 to a certain extent, and meanwhile, the connecting screw 202 can protect the body 1 from being impacted in the process of diving of the body 1, thereby playing a protection role;

[0040] In the process of diving or observation of underwater operation, the supplementary propeller 401 is used to balance the forward or backward movement state of the body 1, so that the body 1 can be kept in the position static state in the front-back direction by controlling the rotating speed of the propelling propeller 201 and the supplementary propeller 401, and the underwater robot can be assisted to keep the position static state after the body 1 reaches the observation or underwater operation position.

[0041] When the motor is started, the driving shaft 81 is rotated coaxially, and the reciprocating movement of the driving shaft 81 can make the swing plate 6 reciprocate, so that the moving speed of the body 1 in the front-back direction can be adjusted by the propelling part 2.

[0042] Finally, it should be noted that, in the description of the position of each component and the cooperation relationship therebetween, one pair of components is usually taken as an example, however, it should be understood by those skilled in the art that such position and cooperation relationship are also applicable to other components or other pairs of components.

[0043] The above is only the exemplary embodiment of the application, and is not used to limit the protection scope of the application, and the protection scope of the application is determined by the appended claims.

Claims

1. An underwater robotic thruster, characterized by, Including body (1), the front end of the body (1) is fixedly connected with a supplementary push piece (4), the rear end of the body (1) is fixedly connected with a pusher (2), the body (1) is provided with two groups, and the two groups of bodies (1) are fixedly connected with a mounting assembly (5); The sealing assembly (3) is installed at the connecting portion between the pusher (2) and the body (1); The mounting assembly (5) includes a connecting shaft (51) and a connecting rod (52), two groups of connecting rods (501) are fixedly welded between the connecting shaft (51) and the connecting rod (52); The connecting rod (501) is fixedly welded with a fixed rod (701) between the two groups, and a support rod (601) is vertically welded on the top surface of the connecting rod (501); The swing plate (6) is movably clamped on the support rod (601); The fixed rod (701) is fixedly welded with a drive box (7); The drive box (7) is internally provided with a swing assembly (8); The swing assembly (8) includes a pull frame (82), the two ends of the pull frame (82) are in the form of a round rod, a stay is fixedly arranged between the top ends of the round rods, the round rods penetrate through the swing plate (6), and the stay is located on the top surface of the swing plate (6); The drive box (7) is also provided with a mounting rod (702), the mounting rod (702) is fixedly welded in the drive box (7), and a motor is fixedly installed on the mounting rod (702); The swing assembly (8) further includes a drive shaft (81) and an upper push frame (83), the drive shaft (81) is coaxially connected with the motor rotating shaft in the drive box (7), the distal end of the drive shaft (81) is movably clamped in the mounting rod (702), two groups of cams are fixedly welded on the drive shaft (81), the pull frame (82) is installed on one side of the cam, the upper push frame (83) is installed on the other side of the cam, sealing sleeves (801) are respectively fixedly bonded on the outer walls of the pull frame (82) and the upper push frame (83), the height of the pull frame (82) is higher than that of the upper push frame (83), and the top surface of the upper push frame (83) abuts against the bottom surface of the swing plate (6).

2. An underwater robotic thruster as claimed in claim 1, characterized in that: The body (1) is provided with an internal controller (101) and a sealing ring (102), the internal controller (101) is connected to a water remote control and monitoring device through wireless connection, and the internal controller (101) is electrically connected with the pusher (2), and the sealing ring (102) is located at the joint between the body (1) and the supplementary push piece (4).

3. An underwater robotic thruster as claimed in claim 2, characterised in that: The inside of the pusher (2) is provided with a propelling propeller (201) and a connecting screw rod (202), the driving rotating shaft of the propelling propeller (201) is located in the inside of the pusher (2), the connecting screw rod (202) penetrates through the two ends of the body (1) and the outside of the pusher (2), and the connecting screw rod (202) is fixedly connected with the body (1) and the pusher (2) through a cooperating nut.

4. An underwater robotic thruster as claimed in claim 3, characterised in that: The sealing assembly (3) comprises a first sealing ring (31), a second sealing ring (32), a third sealing ring (33) and a fourth sealing ring (34), the first sealing ring (31) is located at the joint between the body (1) and the propelling element (2), the second sealing ring (32) is located at the inner side of the first sealing ring (31), the third sealing ring (33) is located at the joint between the driving shaft of the propelling propeller (201) and the propelling element (2), and the fourth sealing ring (34) is located at the joint between the body (1) and the inner controller (101).

5. An underwater robotic thruster as claimed in claim 1, wherein: The supplementary propelling element (4) is provided with a supplementary propeller (401) and a connecting ring (402), the supplementary propeller (401) is electrically connected to the independent control module and the driving motor inside the supplementary propelling element (4), the inside of the supplementary propelling element (4) is provided with an independent wireless connection module and is wirelessly connected to the water remote control and monitoring equipment, and the connecting ring (402) is fixedly connected to the front side of the body (1) through a bolt assembly.

6. An underwater robotic thruster as claimed in claim 1, characterized in that: The both ends of the connecting shaft (51) are fixedly connected to the rear side of the outer wall of the body (1), and the both ends of the connecting rod (52) are fixedly connected to the front side of the outer wall of the body (1).

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