An underwater screw propulsion mechanism

Abstract

The application provides an underwater screw propulsion mechanism, which comprises a head module, a power transmission module and a tail module, wherein the head module comprises a driving mechanism; the tail module comprises a tail mechanism, an internal gear and a swing mechanism; the first end of the swing mechanism is in transmission connection with the driving mechanism through the power transmission module; the second end of the swing mechanism is connected with the tail mechanism; the internal gear is arranged on the power transmission module; the application further comprises a cycloid module, which comprises a first driving gear and a cycloid output shaft; the first driving gear is arranged on the swing mechanism and is in mesh with the internal gear; the first end of the cycloid output shaft is eccentrically connected with the first driving gear; and the second end of the cycloid output shaft is connected with the swing mechanism. The underwater screw propulsion mechanism improves the efficiency of the underwater robot, realizes a more realistic bionic effect, improves the working efficiency and reliability of the underwater robot in a liquid with high viscosity, and has strong practicability.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, and in particular to an underwater spiral propulsion mechanism. Background Technology

[0002] Currently, most underwater robots use propellers as their propulsion system. However, a unidirectional propeller can only generate thrust in one direction and of variable magnitude, making it unsuitable for use in complex water conditions. Therefore, some underwater robot research focuses on fish-like fin flapping propulsion and propeller propulsion. This method has high propulsion efficiency and speed in low-viscosity liquids, but its propulsion speed and efficiency are not high in high-viscosity liquids.

[0003] Mucus is a widely distributed liquid in nature, and many chemical products and raw materials are also high-viscosity liquids with low Reynolds numbers. The demand for inspecting and imaging pipelines transporting high-viscosity fluids is significant, thus necessitating the development of an underwater helical propulsion mechanism to address the problems existing in current underwater robots. Summary of the Invention

[0004] This invention provides an underwater helical propulsion mechanism to overcome the shortcomings of existing biomimetic propulsion mechanisms in high-viscosity liquids, achieving oscillating helical propulsion at the tail. This underwater helical propulsion mechanism is flexible, efficient, and highly practical.

[0005] This invention provides an underwater helical propulsion mechanism, comprising:

[0006] The head module includes: a drive mechanism;

[0007] The power transmission module and the tail module are provided. The tail module includes a tail mechanism, an internal gear, and a swing mechanism. The first end of the swing mechanism is connected to the drive mechanism via the power transmission module, the second end of the swing mechanism is connected to the tail mechanism, and the internal gear is mounted on the power transmission module.

[0008] The cycloidal module includes: a first drive gear and a cycloidal output shaft. The first drive gear is disposed on the oscillating mechanism and meshes with the internal gear. The first end of the cycloidal output shaft is eccentrically connected to the first drive gear, and the second end of the cycloidal output shaft is connected to the oscillating mechanism.

[0009] According to the present invention, an underwater spiral propulsion mechanism is provided, wherein the swing mechanism includes: a swing shaft, a node control plate, and a drive base;

[0010] The first end of the drive seat is connected to the drive mechanism via the power transmission module, and the second end of the drive seat is connected to the node control plate via the swing shaft. The drive seat is provided with the first drive gear. The node control plate and the drive seat are connected to the tail mechanism. The node control plate is connected to the second end of the cycloidal output shaft.

[0011] According to the present invention, an underwater spiral propulsion mechanism is provided, wherein the swinging mechanism further includes: a tail fixing member;

[0012] The drive base is provided with a first mounting hole, and the tail fixing member passes through the first mounting hole and is connected to the power transmission module. The node control board is provided with a second mounting hole, and the tail mechanism passes through the second mounting hole and is connected to the tail fixing member.

[0013] According to the present invention, an underwater spiral propulsion mechanism is provided, wherein a plurality of first drive gears are arranged sequentially along its circumference on the drive base, wherein the cycloidal output shaft is connected to one of the first drive gears.

[0014] According to the present invention, an underwater spiral propulsion mechanism is provided, wherein the swing mechanism further includes: a first universal joint and a second universal joint;

[0015] The first end of the swing shaft is connected to the drive seat through the first universal joint, and the second end of the swing shaft is connected to the node control board through the second universal joint.

[0016] According to an underwater spiral propulsion mechanism provided by the present invention, the head module further includes: a motor mounting plate, a plug mounting cover, a plug body, a plug mounting base, and a motor drive shaft;

[0017] The drive mechanism is located in the motor mounting plate. The output shaft of the drive mechanism passes through the plug mounting cover, the plug body and the plug mounting seat and is connected to the motor drive shaft. The motor drive shaft is connected to the first end of the swing mechanism through the power transmission module.

[0018] According to the present invention, an underwater spiral propulsion mechanism is provided, wherein the power transmission module includes: an output shaft gear, a secondary gear set, and a second drive gear;

[0019] The drive mechanism is sequentially connected to the second drive gear via the output shaft gear and the auxiliary gear set.

[0020] According to the underwater propulsion mechanism provided by the present invention, the power transmission module further includes: a transition plate;

[0021] The transition plate is provided with a bearing, and the first end face of the transition plate is provided with the output shaft gear rotatably connected thereto. The second end face of the transition plate is provided with the second drive gear rotatably connected thereto. The auxiliary gear set passes through the bearing, one end of the auxiliary gear set is drivenly connected to the output shaft gear, and the other end of the auxiliary gear set is drivenly connected to the second drive gear.

[0022] According to the present invention, an underwater spiral propulsion mechanism is provided, wherein the secondary gear set includes: a first secondary gear, a secondary gear fixed shaft, and a second secondary gear;

[0023] The auxiliary gear fixed shaft passes through the bearing. One end of the auxiliary gear fixed shaft is connected to the output shaft gear through the first auxiliary gear, and the other end of the auxiliary gear fixed shaft is connected to the second drive gear through the second auxiliary gear.

[0024] According to an underwater propulsion mechanism provided by the present invention, the auxiliary gear set is provided with multiple gears, and the second auxiliary gear in each auxiliary gear set meshes with the second drive gear along the circumferential direction of the second drive gear, wherein the first auxiliary gear in at least one auxiliary gear set meshes with the output shaft gear.

[0025] This invention provides an underwater helical propulsion mechanism comprising a head module, a power transmission module, a tail module, and a cycloidal module. The head module includes a drive mechanism that transmits power to the power transmission module, which in turn transmits power to the tail module via gear transmission. The tail module includes a tail mechanism, an internal gear, and a oscillating mechanism. The cycloidal module includes a first drive gear and a cycloidal output shaft. One end of the cycloidal output shaft is eccentrically connected to the first drive gear, and the other end is connected to the oscillating mechanism. As the tail mechanism rotates, it oscillates under the influence of the first drive gear and the cycloidal output shaft, achieving helical propulsion. This underwater helical propulsion mechanism achieves a more realistic biomimetic effect, improves the efficiency and reliability of underwater robots in high-viscosity liquids, and has strong practicality. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the overall structure of the underwater spiral propulsion mechanism provided by the present invention;

[0028] Figure 2 This is a schematic diagram of the head module structure of the underwater spiral propulsion mechanism provided by the present invention;

[0029] Figure 3 This is a schematic diagram of the power transmission module structure of the underwater spiral propulsion mechanism provided by the present invention;

[0030] Figure 4 This is a schematic diagram of the tail module and cycloidal module of the underwater spiral propulsion mechanism provided by the present invention.

[0031] Figure label:

[0032] 1. Head module; 11. Drive mechanism; 12. Motor mounting plate; 13. Plug mounting cover; 14. Plug body; 15. Plug mounting base; 16. Motor drive shaft;

[0033] 2. Power transmission module; 21. Output shaft gear; 22. Secondary gear set; 221. First secondary gear; 222. Secondary gear fixed shaft; 223. Secondary gear; 23. Secondary drive gear; 24. Transition plate;

[0034] 3. Tail-end module; 31. Tail-end mechanism; 32. Internal gear; 33. Swing mechanism; 331. Swing shaft; 332. Node control plate; 3321. Second mounting hole; 333. Drive seat; 3331. First mounting hole; 334. Tail-end fixing component; 335. First universal joint; 336. Second universal joint;

[0035] 4. Cycloidal module; 41. First drive gear; 42. Cycloidal output shaft. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0037] In this invention, the terms "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0038] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0039] The following is combined Figures 1-4 This invention describes an underwater spiral propulsion mechanism provided in an embodiment of the invention.

[0040] This invention provides an underwater helical propulsion mechanism, such as... Figure 1 As shown, it includes a head module 1, a power transmission module 2, a tail module 3, and a cycloidal module 4.

[0041] The head module 1 includes a drive mechanism 11, specifically a motor, which provides power to the underwater propulsion mechanism. The power transmission module 2 uses gear transmission to transmit the power provided by the head module 1 to the tail module 3. The tail module 3 includes a tail mechanism 31, an internal gear 32, and a oscillating mechanism 33. The tail module 3 prevents the gears in the power transmission module 2 from moving axially. The first end of the oscillating mechanism 33 is connected to the drive mechanism 11 via the power transmission module 2, and the second end of the oscillating mechanism 33 is connected to the tail mechanism 31. The internal gear 32 is mounted on the power transmission module 2. The cycloidal module 4 includes a first drive gear 41 and a cycloidal output shaft 42. The first drive gear 41 is mounted on the oscillating mechanism 33 and meshes with the internal gear 32. The first end of the cycloidal output shaft 42 is eccentrically connected to the first drive gear 41, and the second end of the cycloidal output shaft 42 is connected to the oscillating mechanism 33.

[0042] In the operation of the underwater propulsion mechanism provided in this embodiment, the drive mechanism 11 transmits power to the power transmission module 2, and the power transmission module 2 transmits power to the swing mechanism 33 through gear transmission, so that the swing mechanism 33 and the first drive gear 41 rotate in the inner gear 32. During this process, the first drive gear 41 revolves around the swing mechanism 33 under the restriction of the inner gear 32, and the first drive gear 41 rotates on its own axis. Since the first drive gear 41 is eccentrically connected to the cycloidal output shaft 42, during the rotation of the first drive gear 41, the cycloidal output shaft 42 gives the swing mechanism 33 a swing signal (oscillation signal), so that the swing mechanism 33 can swing in coordination with the tail mechanism 31 to realize the propulsion of the entire underwater propulsion mechanism.

[0043] This invention provides an underwater spiral propulsion mechanism comprising a head module 1, a power transmission module 2, a tail module 3, and a cycloidal module 4. The head module 1 includes a drive mechanism 11 that transmits power to the power transmission module 2. The power transmission module 2 then transmits power to the tail module 3 via gear transmission. The tail module 3 includes a tail mechanism 31, an internal gear 32, and a oscillating mechanism 33. The cycloidal module 4 includes a first drive gear 41 and a cycloidal output shaft 42. One end of the cycloidal output shaft 42 is eccentrically connected to the first drive gear 41, and the other end is connected to the oscillating mechanism 33. As the tail mechanism 31 rotates, it oscillates due to the first drive gear 41 and the cycloidal output shaft 42, thus achieving spiral propulsion. This underwater spiral propulsion mechanism achieves a more realistic biomimetic effect, improves the efficiency and reliability of underwater robots in high-viscosity liquids, and has strong practicality.

[0044] An underwater spiral propulsion mechanism provided by the present invention, such as Figure 4 As shown, the swing mechanism 33 includes a swing shaft 331, a node control plate 332, and a drive seat 333. Specifically, in this embodiment of the invention, three swing shafts 331 are provided. The first end of the drive seat 333 is connected to the drive mechanism 11 via the power transmission module 2 to provide power to the swing mechanism 33. The second end of the drive seat 333 is connected to the node control plate 332 via the swing shafts 331 to transmit power to the node control plate 332, thereby driving the node control plate 332 to rotate. A first drive gear 41 is provided on the drive seat 333. The node control plate 332 and the drive seat 333 are connected to the tail mechanism 31, and the node control plate 332 is connected to the second end of the cycloidal output shaft 42. The cycloidal output shaft 42 is perpendicular to the surface of the first drive gear 41, and the center of the cycloidal output shaft 42 is located on the pitch circle of the first drive gear 41.

[0045] In this embodiment, during operation, the power transmission module 2 provides power to the drive seat 333 via gear transmission. The drive seat 333 begins to rotate, causing the oscillating shaft 331 and the node control plate 332 to rotate coaxially. The node control plate 332 is connected to the drive seat 333 and the tail mechanism 31. The coaxial rotation of the drive seat 333 and the node control plate 332 simultaneously drives the tail mechanism 31 to rotate. The drive seat 333 is equipped with a first drive gear 41. During the rotation of the first drive gear 41, since the center of the cycloidal output shaft 42 is located on the pitch circle of the first drive gear 41, the cycloidal output shaft 42 provides an oscillation signal (oscillation signal) to the oscillating mechanism 33. Furthermore, since the node control plate 332 is connected to the cycloidal output shaft 42, the node control plate 332 rotates on its own axis while revolving around the oscillating mechanism 33 under the drive of the cycloidal output shaft 42. This allows the oscillating mechanism 33 to oscillate in coordination with the tail mechanism 31, thus achieving the propulsion of the entire underwater propulsion mechanism.

[0046] An underwater spiral propulsion mechanism provided by the present invention, such as Figure 4 As shown, the swing mechanism 33 also includes a tail fixing member 334, which is used to hold the tail. Specifically, the tail is cylindrical and made of rubber. The diameter of the tail fixing member 334 is larger than the diameter of the tail, making it easy and secure to install the tail. The drive seat 333 has a first mounting hole 3331, the diameter of which is equal to the diameter of the tail fixing member 334. The tail fixing member 334 passes through the first mounting hole 3331 and connects to the power transmission module 2. The node control board 332 has a second mounting hole 3321, through which the tail mechanism 31 connects to the tail fixing member 334.

[0047] In this embodiment, during operation, the drive seat 333 rotates under the drive of the power transmission module 2, the node control plate 332 rotates coaxially with the drive seat 333, and the tail fixing member 334 passes through the first mounting hole 3331 on the drive seat 333 and the second mounting hole 3321 on the node control plate 332. The tail fixing member 334 rotates coaxially with the node control plate 332 and the drive seat 333. Thus, the tail mechanism 31 can rotate around the swing mechanism 33.

[0048] An underwater spiral propulsion mechanism provided by the present invention, such as Figure 4As shown, the drive base 333 is provided with a plurality of first drive gears 41 arranged sequentially along its circumference. In this embodiment of the invention, three first drive gears 41 are specifically provided, which results in more stable operation compared to providing a single first drive gear 41. One of the first drive gears 41 is connected to a cycloidal output shaft 42, which is used to connect to the node control plate 332 and drive the node control plate 332 to oscillate. The first drive gear 41 is bolted to the drive base 333.

[0049] In this embodiment, during operation, the first drive gear 41 is connected to the cycloidal output shaft 42. Therefore, the first drive gear 41 rotates on its own axis while revolving around the swing mechanism 33 along with the drive seat 333. The cycloidal output shaft 42 is connected to the node control plate 332. Driven by the first drive gear 41, the cycloidal output shaft 42 drives the node control plate 332 to rotate on its own axis while revolving around the swing mechanism 33. Since the center of the cycloidal output shaft 42 is located on the pitch circle of the first drive gear 41, and the cycloidal output shaft 42 is connected to the node control plate 332, the cycloidal output shaft 42 provides the node control plate 332 with a swing signal (oscillation signal) during rotation, so that the node control plate 332 can swing in coordination with the tail mechanism 31 to realize the propulsion of the entire underwater propulsion mechanism.

[0050] Furthermore, such as Figure 4 As shown, the swing mechanism 33 also includes a first universal joint 335 and a second universal joint 336. To meet power transmission requirements and accommodate angle changes caused by rotation and swing, the included angle between the swing shaft 331 and the node control plate 332 of the universal joint can vary within a certain range. The first end of the swing shaft 331 is connected to the drive seat 333 via the first universal joint 335, and the second end of the swing shaft 331 is connected to the node control plate 332 via the second universal joint 336. In this embodiment of the invention, a total of six universal joints are provided, with two on each of the three sets of swing shafts 331.

[0051] In the operation of the swing mechanism 33 provided in this embodiment of the invention, the first end of the swing shaft 331 is connected to the drive seat 333 via a first universal joint 335, transmitting power from the drive seat 333 to the swing shaft 331. The swing shaft 331 rotates coaxially with the drive seat 333. The first universal joint 335 is used to adapt to different rotation angles of the swing shaft 331 and the drive seat 333 during rotation. Similarly, the second end of the swing shaft 331 is connected to the node control plate 332 via a second universal joint 336. The swing shaft 331 drives the node control plate 332 to rotate. The second universal joint 336 can be adjusted left and right to adapt to different rotation angles during swing, adjusting the rotation position and rotation angle of the node control plate 332. When the rotation speed is relatively fast during rotation, the universal joint can also be used to balance the vibration caused during rotation.

[0052] An underwater spiral propulsion mechanism provided by the present invention, such as Figure 2 As shown, the head module 1 also includes a motor mounting plate 12, a plug mounting cover 13, a plug body 14, a plug mounting seat 15, and a motor drive shaft 16; the drive mechanism 11 is disposed in the motor mounting plate 12, and the output shaft of the drive mechanism 11 passes through the plug mounting cover 13, the plug body 14, and the plug mounting seat 15 and is connected to the motor drive shaft 16 for transmission. The motor drive shaft 16 is connected to the first end of the swing mechanism 33 for transmission through the power transmission module 2.

[0053] Specifically, the Pan-Plug body 14 is a Pan-Plug sealing ring, a high-performance seal with a U-shaped Teflon core and a special spring. Appropriate spring force combined with system fluid pressure pushes the sealing lip (face) outward, gently pressing it against the sealed metal surface to create an excellent sealing effect. Specifically, the static seal in the head module 1 uses an O-ring seal, while the dynamic seal uses a Pan-Plug seal. The motor drive shaft 16 and the tail fixing component 334 are concentrically arranged.

[0054] In the underwater propulsion mechanism provided in this embodiment, the motor is mounted in the motor mounting plate 12 during operation to reduce vibration caused by motor operation. The plug body 14 is placed in the plug mounting seat 15 to perform dynamic sealing of the head module 1 and output power from the motor, resulting in a better sealing effect. The plug mounting cover 13 is installed on the plug body 14 to further enhance its sealing effect. The motor drive shaft 16 is connected to the power transmission module 2, driving the power transmission module 2 to rotate. In this embodiment, the head module 1 is streamlined to reduce fluid resistance during propulsion.

[0055] An underwater spiral propulsion mechanism provided by the present invention, such as Figure 3As shown, the power transmission module 2 includes an output shaft gear 21, a secondary gear set 22, and a second drive gear 23; the drive mechanism 11 is sequentially connected to the second drive gear 23 via the output shaft gear 21, the secondary gear set 22, and the drive gear 23. The secondary gear set 22 is connected to its fixed shaft via an interference fit, which has the advantages of simple structure, good centering, and high load-bearing capacity.

[0056] During the operation of the power transmission module 2 provided in this embodiment of the invention, the output shaft gear 21 serves as the driving wheel. The driving mechanism 11 drives the output shaft gear 21 to rotate during the movement. The output shaft gear 21 drives the auxiliary gear set 22 to rotate through gear transmission. The auxiliary gear set 22 is connected to the second driving gear 23, which drives the second driving gear 23 to rotate.

[0057] An underwater spiral propulsion mechanism provided by the present invention, such as Figure 3 As shown, the power transmission module 2 also includes a transition plate 24; the transition plate 24 is provided with a bearing, the first end face of the transition plate 24 is provided with an output shaft gear 21 rotatably connected thereto, the second end face of the transition plate 24 is provided with a second drive gear 23 rotatably connected thereto, the auxiliary gear set 22 passes through the bearing, one end of the auxiliary gear set 22 is connected to the output shaft gear 21 in a transmission connection, and the other end of the auxiliary gear set 22 is connected to the second drive gear 23 in a transmission connection.

[0058] During the operation of the power transmission module 2 provided in this embodiment of the invention, the transition plate 24 remains fixed. One end of the transition plate 24 is connected to the output shaft gear 21, which drives the secondary gear set 22 to rotate through gear transmission. The second end of the transition plate 24 is connected to the second drive gear 23, which drives the drive seat 333 to rotate. The transition plate 24 is fixedly connected to the head module 1, and the tail fixing member 334 is fixed to the boss of the transition plate 24 by bolts, ensuring the fixed connection between the tail fixing member 334 and the head module 1, and pressing down the drive seat 333 to prevent it from falling off. There is a certain amount of sliding friction between the two.

[0059] An underwater spiral propulsion mechanism provided by the present invention, such as Figure 3 As shown, the auxiliary gear set 22 includes a first auxiliary gear 221, an auxiliary gear fixed shaft 222, and a second auxiliary gear 223. The auxiliary gear fixed shaft 222 passes through a bearing. One end of the auxiliary gear fixed shaft 222 is connected to the output shaft gear 21 via the first auxiliary gear 221, and the other end of the auxiliary gear fixed shaft 222 is connected to the second drive gear 23 via the second auxiliary gear 223. The first auxiliary gear 221, the auxiliary gear fixed shaft 222, and the second auxiliary gear 223 are assembled together through an interference fit D-shaped hole. The auxiliary gear fixed shaft 222 passes through a bearing on the transition plate 24.

[0060] During the operation of the power transmission module 2 provided in this embodiment of the invention, the output shaft gear 21 rotates, driving the first auxiliary gear 221 to rotate. The first auxiliary gear 221 is connected to the auxiliary gear fixed shaft 222. As the first auxiliary gear 221 rotates, the auxiliary gear fixed shaft 222 drives the second auxiliary gear 223 to rotate. During the rotation of the second auxiliary gear 223, the second drive gear 223 drives the second drive gear 23 to rotate. Since the drive seat 333 is mounted on the second drive gear 23, when the second drive gear 23 rotates, it drives the drive seat 333 to rotate, thereby driving the tail mechanism 31 to rotate.

[0061] According to the present invention, an underwater propulsion mechanism is provided, wherein multiple auxiliary gear sets 22 are provided. In this embodiment, four sets of auxiliary gear sets 22 are provided, and the four sets of auxiliary gear sets 22 are symmetrically distributed, making the propulsion mechanism more stable during operation. The second auxiliary gear 223 in each auxiliary gear set 22 meshes with the second drive gear 23 along the circumference of the second drive gear 23, wherein the first auxiliary gear 221 in at least one auxiliary gear set 22 meshes with the output shaft gear 21.

[0062] Preferably, when the four sets of auxiliary gear groups 22 output power simultaneously, the output shaft gear 21 drives the first auxiliary gear 221 in the first set of auxiliary gear groups 22 to rotate during its rotation. The first auxiliary gear 221 is connected to the auxiliary gear fixed shaft 222, and the auxiliary gear fixed shaft 222 drives the second auxiliary gear 223 to rotate as the first auxiliary gear 221 rotates. The second auxiliary gear 223 drives the second drive gear 23 to rotate during its rotation. Correspondingly, the other three sets of auxiliary gear groups 22 have the same motion process as the first set of auxiliary gear groups 22. Since the drive seat 333 is mounted on the second drive gear 23, when the second drive gear 23 rotates, it drives the drive seat 333 to rotate, thereby driving the tail mechanism 31 to rotate.

[0063] The device embodiments described above are merely illustrative, and some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An underwater spiral propulsion mechanism, characterized in that, include: The head module includes: a drive mechanism; The power transmission module and the tail module are provided. The tail module includes a tail mechanism, an internal gear, and a swing mechanism. The swing mechanism includes a swing shaft, a node control plate, and a drive seat. The first end of the swing mechanism is connected to the drive mechanism through the power transmission module, and the second end of the swing mechanism is connected to the tail mechanism. The internal gear is mounted on the power transmission module. A cycloidal module includes: a first drive gear and a cycloidal output shaft. The first drive gear is disposed on the oscillating mechanism and meshes with the internal gear. A first end of the cycloidal output shaft is eccentrically connected to the first drive gear, and a second end of the cycloidal output shaft is connected to the oscillating mechanism. The first end of the drive seat is connected to the drive mechanism via the power transmission module, and the second end of the drive seat is connected to the node control plate via the swing shaft. The drive seat is provided with the first drive gear. The node control plate and the drive seat are connected to the tail mechanism. The node control plate is connected to the second end of the cycloidal output shaft. The drive mechanism transmits power to the power transmission module, and the power transmission module transmits power to the swing mechanism via gear transmission, so that the swing mechanism and the first drive gear rotate in the internal gear.

2. The underwater spiral propulsion mechanism according to claim 1, characterized in that, The swing mechanism further includes: a tail fixing member; The drive base is provided with a first mounting hole, and the tail fixing member passes through the first mounting hole and is connected to the power transmission module. The node control board is provided with a second mounting hole, and the tail mechanism passes through the second mounting hole and is connected to the tail fixing member.

3. The underwater spiral propulsion mechanism according to claim 1, characterized in that, The drive base is provided with a plurality of first drive gears arranged sequentially along its circumference, wherein the cycloidal output shaft is connected to one of the first drive gears.

4. The underwater spiral propulsion mechanism according to claim 1, characterized in that, The swing mechanism further includes: a first universal joint and a second universal joint; The first end of the swing shaft is connected to the drive seat through the first universal joint, and the second end of the swing shaft is connected to the node control board through the second universal joint.

5. The underwater propulsion mechanism according to any one of claims 1-4, characterized in that, The head module also includes: a motor mounting plate, a plug mounting cover, a plug body, a plug mounting base, and a motor drive shaft; The drive mechanism is located in the motor mounting plate. The output shaft of the drive mechanism passes through the plug mounting cover, the plug body and the plug mounting seat and is connected to the motor drive shaft. The motor drive shaft is connected to the first end of the swing mechanism through the power transmission module.

6. The underwater propulsion mechanism according to any one of claims 1-4, characterized in that, The power transmission module includes: an output shaft gear, a secondary gear set, and a second drive gear. The drive mechanism is sequentially connected to the second drive gear via the output shaft gear and the auxiliary gear set.

7. The underwater spiral propulsion mechanism according to claim 6, characterized in that, The power transmission module also includes: a transition plate; The transition plate is provided with a bearing, and the first end face of the transition plate is provided with the output shaft gear rotatably connected thereto. The second end face of the transition plate is provided with the second drive gear rotatably connected thereto. The auxiliary gear set passes through the bearing, one end of the auxiliary gear set is drivenly connected to the output shaft gear, and the other end of the auxiliary gear set is drivenly connected to the second drive gear.

8. The underwater spiral propulsion mechanism according to claim 7, characterized in that, The auxiliary gear set includes: a first auxiliary gear, a fixed shaft for the auxiliary gear, and a second auxiliary gear; The auxiliary gear fixed shaft passes through the bearing. One end of the auxiliary gear fixed shaft is connected to the output shaft gear through the first auxiliary gear, and the other end of the auxiliary gear fixed shaft is connected to the second drive gear through the second auxiliary gear.

9. The underwater spiral propulsion mechanism according to claim 8, characterized in that, The auxiliary gear set is provided in multiple ways, and the second auxiliary gear in each auxiliary gear set meshes with the second drive gear along the circumferential direction of the second drive gear, wherein the first auxiliary gear in at least one of the auxiliary gear sets meshes with the output shaft gear.

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