An underwater robot propulsion device for narrow space detection
By designing an underwater robot propulsion device for detection of narrow spaces, multi-directional protection is provided using components such as swing plates and protective plates, the problem of underwater robot propulsion device being easily damaged in narrow spaces and ensuring the normal progress of inspection work .
Patent Information
- Application Number
- CN202411658327.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-20
- Publication Date
- 2025-02-18
- Estimated Expiration
- 2044-11-20
AI Technical Summary
When an underwater robot conducts inspection in a narrow space, the propulsion device is prone to collide with the stones on the inner wall of the space, and the falling rocks above are prone to smash the propulsion device, resulting in damage and detection work.
An underwater robot propulsion device for detection of narrow spaces is designed, including a thruster housing, swing plate, protective plate, ring plate, guide plate, tooth ring and gear parts. Through the design and layout of these components, the propulsion is achieved. The multi-directional protection of the instrument can prevent falling rocks from colliding with the inner walls of narrow spaces.
It effectively protects the propeller, avoids damage to the inner walls and falling rocks in the narrow space, and ensures the normal detection of the underwater robot.
Smart Images
Figure CN119142497B_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of underwater robot propulsion, and in particular to an underwater robot propulsion device used for narrow space detection. Background Art
[0002] Underwater robots can be divided into manned submersibles and unmanned submersibles according to whether they are manned or not. Unmanned submersibles are further divided into remotely operated underwater robots (ROVs) with cables and autonomous underwater robots (AUVs) with the latter being able to independently complete complex tasks with their own intelligent systems.
[0003] When an underwater robot is operating underwater, a propulsion device needs to be installed to provide power for the underwater robot and control the direction of movement of the underwater robot. A propeller is arranged inside the propulsion device. By controlling the rotation of the propeller, water flows, which facilitates the movement of the underwater robot. When the underwater robot is performing detection work in the water in a narrow space, the propulsion device in the narrow space is prone to collide with stones on the inner wall of the space, and when the underwater robot moves downward, falling rocks from above are prone to hit the propulsion device, causing damage to the propeller and affecting the normal detection work of the underwater robot. Summary of the invention
[0004] 1. Technical issues to be resolved
[0005] In view of the deficiencies in the prior art, the present invention provides an underwater robot propulsion device for narrow space detection, which solves the problem that when the underwater robot is performing detection in a narrow space, falling rocks on the inner wall of the space collide with the propulsion device and damage the propulsion device.
[0006] (II) Technical solution
[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: an underwater robot propulsion device for narrow space detection, comprising a thruster housing, a rotating rod is rotatably connected to the inner side of the thruster housing, a propeller is fixedly connected to the outer end of the rotating rod, a water inlet is provided on the left side of the thruster housing, water outlets are provided on both the front and rear sides of the thruster housing, a protection unit is provided on the left side of the thruster housing, a fixing rod is fixedly connected to the right side of the thruster housing, an underwater robot mounting plate is fixedly connected to the right end of the fixing rod, a mounting hole is provided on the outer side of the underwater robot mounting plate, and a driving motor is fixedly connected to the right side of the thruster housing;
[0008] The protection unit includes a circular ring plate, which is fixedly connected to the left side of the propeller housing, and a plurality of guide plates are slidably connected to the outer side of the circular ring plate, a plurality of guide plates are fixedly connected to a rotating block 1 on the left side of the plurality of guide plates, a swing plate is rotatably connected to the outer side of the rotating block 1, a fixed plate and a rotating block 2 are fixedly connected to the left side of the swing plate, and a plurality of fixed plates are fixedly connected to a protective plate on the left side, a control plate is rotatably connected to the outer side of the rotating block 2, a rotating block 3 is rotatably connected to the outer side of the control plate close to one end of the propeller housing, and a control ring is fixedly connected to the right side of the rotating block 3, a sliding groove is provided on the outer side of the propeller housing, a moving block is slidably connected to the inner side of the sliding groove, a moving block is fixedly connected to a moving ring on the outer side of the moving block, a guide groove is provided on the outer side of the moving ring, a guide block is slidably connected to the inner side of the guide groove, and a gear ring is fixedly connected to the outer side of the guide block.
[0009] Preferably, a connecting block is fixedly connected between the gear ring and the control ring, the guide groove is arranged in a circular ring structure, and the connecting block is arranged in an L-shaped structure.
[0010] Preferably, a top block is fixedly connected to the outer side of the thruster housing, a control rod is rotatably connected to the left side of the top block, a gear part is fixedly connected to the left end of the control rod, and a motor is fixedly connected to the right side of the top block, and the output end of the motor is fixedly connected to the outer end of the control rod.
[0011] Preferably, the gear member is meshingly connected to the gear ring.
[0012] The front end of the second rotating shaft is fixedly connected to a slider, and the outer side of the slider is slidably connected to a square frame. The lower side of the slider is fixedly connected to a swing block, and the swing block is rotatably connected to the side plate. The upper side of the square frame is fixedly connected to a control block, and the front side of the control block is rotatably connected to the rotating shaft second. The front end of the rotating shaft second is fixedly connected to the slider second, and the outer side of the slider second is slidably connected to a U-shaped block. The upper side of the U-shaped block is fixedly connected to a reciprocating plate, and the front side of the side plate is fixedly connected to a stabilizing block, and the reciprocating plate and the movable ring are fixedly connected to an L-shaped plate.
[0013] Preferably, the reciprocating plate is slidably connected to the stabilizing block.
[0014] Preferably, the bevel gear one is meshingly connected with the bevel gear two.
[0015] Preferably, a protective cover is fixedly connected to the outer side of the thruster housing, and the protective cover and protective plate are both made of rubber material.
[0016] (III) Beneficial effects
[0017] The present invention provides an underwater robot propulsion device for narrow space detection. It has the following beneficial effects:
[0018] 1. By providing a propeller housing, a swing plate, a protective plate, a circular ring plate, a guide plate, a gear ring and a gear part, it is convenient to control the protective plates on multiple fixed plates to rotate in the water inlet hole of the propeller, so that multiple protective plates can protect the propeller of the underwater robot, avoiding damage to the propeller by the inner wall of a narrow space and falling rocks, thereby affecting the propulsion of the underwater robot.
[0019] 2. By setting a moving ring, a side plate, a square frame, a rotating plate, a reciprocating plate and an L-shaped plate, the moving ring is controlled to move horizontally repeatedly, which is convenient for controlling the protective plate on the fixed plate to swing repeatedly, so as to push away the falling rocks and prevent the thruster from being damaged by the falling rocks, thereby increasing the protective effect on the thruster. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 It is the overall three-dimensional structure diagram of the present invention;
[0021] Figure 2 It is a cross-sectional three-dimensional structural diagram of the present invention;
[0022] Figure 3 This is a three-dimensional structural diagram of the present invention without the protective cover;
[0023] Figure 4 for Figure 3 The enlarged view of point A in the middle;
[0024] Figure 5 It is a cross-sectional three-dimensional structural diagram of the protection unit in the present invention;
[0025] Figure 6 for Figure 5 The enlarged view of point B in the middle;
[0026] Figure 7 It is a partial three-dimensional structural diagram of the protection unit in the present invention;
[0027] Figure 8 for Figure 7 Enlarged view of point C in the middle.
[0028] Among them, 1. thruster housing; 2. drive motor; 3. fixing rod; 4. underwater robot mounting plate; 5. mounting hole; 6. protective cover; 7. protective unit; 701. circular ring plate; 702. guide plate; 703. rotating block 1; 704. swing plate; 705. fixing plate; 706. protective plate; 707. rotating block 2; 708. control plate; 709. rotating block 3; 710. control ring; 711. slide groove; 712. moving block; 713. moving ring; 714. guide groove; 715. guide block; 716. gear ring; 717. connecting block ; 718, top block; 719, control rod; 720, gear part; 721, motor; 722, side plate; 723, bevel gear one; 724, bevel gear two; 725, connecting rod; 726, rotating plate; 727, rotating shaft one; 728, slider one; 729, square frame; 730, swing block; 731, control block; 732, rotating shaft two; 733, slider two; 734, U-shaped block; 735, reciprocating plate; 736, stabilizing block; 737, L-shaped plate; 8, water inlet hole; 9, water outlet hole; 10, rotating rod; 11, propeller. DETAILED DESCRIPTION
[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0030] Embodiment 1: Figure 1 - Figure 6As shown, an underwater robot propulsion device for narrow space detection includes a propeller housing 1, a rotating rod 10 is rotatably connected to the inner side of the propeller housing 1, a propeller 11 is fixedly connected to the outer end of the rotating rod 10, a water inlet hole 8 is opened on the left side of the propeller housing 1, and water outlet holes 9 are opened on the front and rear sides of the propeller housing 1. A protection unit 7 is arranged on the left side of the propeller housing 1, a fixing rod 3 is fixedly connected to the right side of the propeller housing 1, and an underwater robot mounting plate 4 is fixedly connected to the right end of the fixing rod 3. The outer side of the underwater robot mounting plate 4 is opened with a mounting hole 5, and the right side of the propeller housing 1 is fixedly connected to There is a driving motor 2, and a protective cover 6 is fixedly connected to the outer side of the thruster housing 1. The protective cover 6 and the protective plate 706 are both made of rubber material. The rubber protective cover 6 and the protective plate 706 are convenient for protecting the thruster. When the underwater robot is detecting in a narrow space, the thruster is first installed together with the underwater robot through the underwater robot mounting plate 4 and the mounting hole 5, and the driving motor 2 is started. The driving motor 2 drives the rotating rod 10 to rotate, and the rotating rod 10 drives the propeller 11 to rotate, and cooperates with the water inlet hole 8 and the water outlet hole 9 to provide power for the underwater robot and facilitate underwater detection.
[0031] The protection unit 7 includes a circular plate 701, which is fixedly connected to the left side of the thruster housing 1. A plurality of guide plates 702 are slidably connected to the outer side of the circular plate 701. A rotating block 703 is fixedly connected to the left side of the plurality of guide plates 702. A swing plate 704 is rotatably connected to the outer side of the rotating block 703. A fixed plate 705 and a rotating block 707 are fixedly connected to the left side of the swing plate 704. A protection plate 706 is fixedly connected to the left side of the plurality of fixed plates 705. A control plate 708 is rotatably connected to the outer side of the rotating block 707. The control plate 708 is close to the thruster. The outer side of one end of the propeller housing 1 is rotatably connected with a rotating block 3 709, and the right side of the rotating block 3 709 is fixedly connected with a control ring 710. A sliding groove 711 is provided on the outer side of the propeller housing 1, and a moving block 712 is slidably connected to the inner side of the sliding groove 711. The outer side of the moving block 712 is fixedly connected with a moving ring 713, and a guide groove 714 is provided on the outer side of the moving ring 713. A guide block 715 is slidably connected to the inner side of the guide groove 714. The outer side of the guide block 715 is fixedly connected with a gear ring 716, and a connecting block 717 is fixedly connected between the gear ring 716 and the control ring 710. The guide groove 714 is a circular ring structure, the connecting block 717 is an L-shaped structure, the outer side of the propeller housing 1 is fixedly connected with a top block 718, the left side of the top block 718 is rotatably connected with a control rod 719, the left end of the control rod 719 is fixedly connected with a gear member 720, and the right side of the top block 718 is fixedly connected with a motor 721, the output end of the motor 721 is fixedly connected to the outer end of the control rod 719, and the gear member 720 is meshed with the gear ring 716. When in use, the motor 721 is started, and the motor 721 drives the control rod 719 to rotate, and the control The control rod 719 drives the gear part 720 to rotate, the gear part 720 drives the gear ring 716 to rotate, the gear ring 716 drives the connecting block 717 to rotate, the connecting block 717 drives the control ring 710 to rotate, the control ring 710 drives the control plate 708 to rotate, the control plate 708 drives the swing plate 704 to rotate, the swing plate 704 drives the fixed plate 705 to rotate, the fixed plate 705 drives the protective plate 706 to rotate, so that multiple protective plates 706 rotate, which makes it convenient for the protective plates 706 to protect against falling rocks, avoid the propeller from being damaged by falling rocks, and increase the protection effect of the propeller.
[0032] Embodiment 2: Figure 1 - Figure 8As shown, an underwater robot propulsion device for narrow space detection includes a propeller housing 1, a rotating rod 10 is rotatably connected to the inner side of the propeller housing 1, a propeller 11 is fixedly connected to the outer end of the rotating rod 10, a water inlet hole 8 is opened on the left side of the propeller housing 1, and water outlet holes 9 are opened on the front and rear sides of the propeller housing 1. A protection unit 7 is arranged on the left side of the propeller housing 1, a fixing rod 3 is fixedly connected to the right side of the propeller housing 1, and an underwater robot mounting plate 4 is fixedly connected to the right end of the fixing rod 3. The outer side of the underwater robot mounting plate 4 is opened with a mounting hole 5, and the right side of the propeller housing 1 is fixedly connected to There is a driving motor 2, and a protective cover 6 is fixedly connected to the outer side of the thruster housing 1. The protective cover 6 and the protective plate 706 are both made of rubber material. The rubber protective cover 6 and the protective plate 706 are convenient for protecting the thruster. When the underwater robot is detecting in a narrow space, the thruster is first installed together with the underwater robot through the underwater robot mounting plate 4 and the mounting hole 5, and the driving motor 2 is started. The driving motor 2 drives the rotating rod 10 to rotate, and the rotating rod 10 drives the propeller 11 to rotate, and cooperates with the water inlet hole 8 and the water outlet hole 9 to provide power for the underwater robot and facilitate underwater detection.
[0033] The protection unit 7 includes a circular plate 701, which is fixedly connected to the left side of the thruster housing 1. A plurality of guide plates 702 are slidably connected to the outer side of the circular plate 701. A rotating block 703 is fixedly connected to the left side of the plurality of guide plates 702. A swing plate 704 is rotatably connected to the outer side of the rotating block 703. A fixed plate 705 and a rotating block 707 are fixedly connected to the left side of the swing plate 704. A protection plate 706 is fixedly connected to the left side of the plurality of fixed plates 705. A control plate 708 is rotatably connected to the outer side of the rotating block 707. The control plate 708 is close to the thruster. The outer side of one end of the propeller housing 1 is rotatably connected with a rotating block 3 709, and the right side of the rotating block 3 709 is fixedly connected with a control ring 710. A sliding groove 711 is provided on the outer side of the propeller housing 1, and a moving block 712 is slidably connected to the inner side of the sliding groove 711. The outer side of the moving block 712 is fixedly connected with a moving ring 713, and a guide groove 714 is provided on the outer side of the moving ring 713. A guide block 715 is slidably connected to the inner side of the guide groove 714. The outer side of the guide block 715 is fixedly connected with a gear ring 716, and a connecting block 717 is fixedly connected between the gear ring 716 and the control ring 710. The guide groove 714 is a circular ring structure, the connecting block 717 is an L-shaped structure, the outer side of the propeller housing 1 is fixedly connected with a top block 718, the left side of the top block 718 is rotatably connected with a control rod 719, the left end of the control rod 719 is fixedly connected with a gear member 720, and the right side of the top block 718 is fixedly connected with a motor 721, the output end of the motor 721 is fixedly connected to the outer end of the control rod 719, and the gear member 720 is meshed with the gear ring 716. When in use, the motor 721 is started, and the motor 721 drives the control rod 719 to rotate, and the control The control rod 719 drives the gear part 720 to rotate, the gear part 720 drives the gear ring 716 to rotate, the gear ring 716 drives the connecting block 717 to rotate, the connecting block 717 drives the control ring 710 to rotate, the control ring 710 drives the control plate 708 to rotate, the control plate 708 drives the swing plate 704 to rotate, the swing plate 704 drives the fixed plate 705 to rotate, the fixed plate 705 drives the protective plate 706 to rotate, so that multiple protective plates 706 rotate, which makes it convenient for the protective plates 706 to protect against falling rocks, avoid the propeller from being damaged by falling rocks, and increase the protection effect of the propeller.
[0034] The front side of the top block 718 is fixedly connected to the side plate 722, and the front side of the side plate 722 is rotatably connected to the connecting rod 725. The rear end of the connecting rod 725 passes through the rear side of the side plate 722 and is fixedly connected to the bevel gear 2 724. The outer side of the control rod 719 is fixedly connected to the bevel gear 1 723. The front end of the connecting rod 725 is fixedly connected to the rotating plate 726. The front side of the rotating plate 726 is rotatably connected to the rotating shaft 1 727. The front end of the rotating shaft 1 727 is fixedly connected to the slider 1 728. The outer side of the slider 1 728 is slidably connected to the square frame 729. The lower side of the square frame 729 is fixedly connected to the swing block 730. The swing block 730 is connected to the side plate 7 22 is rotatably connected, a control block 731 is fixedly connected to the upper side of the square frame 729, a rotating shaft 2 732 is rotatably connected to the front side of the control block 731, a slider 2 733 is fixedly connected to the front end of the rotating shaft 2 732, a U-shaped block 734 is slidably connected to the outer side of the slider 2 733, a reciprocating plate 735 is fixedly connected to the upper side of the U-shaped block 734, a stabilizing block 736 is fixedly connected to the front side of the side plate 722, an L-shaped plate 737 is fixedly connected between the reciprocating plate 735 and the moving ring 713, the reciprocating plate 735 is slidably connected to the stabilizing block 736, the bevel gear 1 723 is meshed with the bevel gear 2 724, and the gear member 720 is connected to the gear ring 71 6 sliding connection, the length of the tooth block of the gear ring 716 is longer than the length of the gear member 720, and at the same time, the control rod 719 drives the bevel gear 1 723 to rotate, the bevel gear 1 723 drives the bevel gear 2 724 to rotate, the bevel gear 2 724 drives the connecting rod 725 to rotate, the connecting rod 725 drives the rotating plate 726 to rotate, the rotating plate 726 drives the slider 1 728 on the rotating shaft 1 727 to slide inside the square frame 729, so that the square frame 729 drives the swing block 730 to swing repeatedly, the square frame 729 drives the control block 731 to swing repeatedly, the control block 731 drives the slider 2 733 to slide inside the U-shaped block 734, and the U-shaped block 734 drives The reciprocating plate 735 moves back and forth repeatedly, the reciprocating plate 735 drives the L-shaped plate 737 to move, the L-shaped plate 737 drives the moving ring 713 to move, the moving ring 713 drives the gear ring 716 to move, the gear ring 716 drives the control ring 710 to move back and forth repeatedly, the control ring 710 drives the control plate 708 to rotate, and since the multiple control plates 708 are arranged in a circle, the control plate 708 drives the swing plate 704 to rotate repeatedly, the swing plate 704 drives the fixed plate 705 to rotate, and the fixed plate 705 drives the protective plate 706 to swing repeatedly, which makes it convenient for the protective plate 706 to push away falling rocks, reduce the damage of falling rocks to the propeller, and avoid damage to the propeller.
[0035] Working principle: When in use, the propeller is conveniently installed on the underwater robot through the underwater robot mounting plate 4 and the mounting hole 5, and then the driving motor 2 is started to control the propeller 11 to rotate, so as to provide power for the underwater robot, and then the motor 721 is started, and the motor 721 drives the gear part 720 to rotate. Under the action of the gear ring 716, the connecting block 717 and the control ring 710, it is convenient to control the protection plate 706 on the multiple fixing plates 705 to rotate, so that the rotating protection plate 706 protects the propeller to prevent the falling rocks and the inner wall of the narrow space from colliding with the propeller and causing damage to the propeller. At the same time, the motor 721 It drives the control rod 719 to rotate. Under the action of bevel gear 1 723 and bevel gear 2 724, it is convenient to control the rotation of connecting rod 725. Under the action of rotating plate 726, square frame 729, swing block 730, U-shaped block 734 and control block 731, it is convenient to control the reciprocating plate 735 to move left and right repeatedly. Under the action of L-shaped plate 737 and movable ring 713, it is convenient to make the control ring 710 move left and right repeatedly. Under the action of control plate 708, swing plate 704 and fixed plate 705, it is convenient to control the repeated swing of protective plate 706, so that protective plate 706 can push away fallen rocks and increase the protection effect on the thruster.
[0036] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. An underwater robot propulsion device for narrow space detection, comprising a propeller housing (1), the inner side of the propeller housing (1) is rotatably connected to a rotating rod (10), the outer end of the rotating rod (10) is fixedly connected to a propeller (11), the left side of the propeller housing (1) is provided with a water inlet (8), and the front and rear sides of the propeller housing (1) are both provided with water outlets (9), characterized in that: A protection unit (7) is provided on the left side of the thruster housing (1); a fixing rod (3) is fixedly connected to the right side of the thruster housing (1); an underwater robot mounting plate (4) is fixedly connected to the right end of the fixing rod (3); a mounting hole (5) is provided on the outer side of the underwater robot mounting plate (4); and a driving motor (2) is fixedly connected to the right side of the thruster housing (1); The protection unit (7) comprises a circular plate (701), wherein the circular plate (701) is fixedly connected to the left side of the thruster housing (1), a plurality of guide plates (702) are slidably connected to the outer side of the circular plate (701), a plurality of guide plates (702) are fixedly connected to the left side of a rotating block 1 (703), a swing plate (704) is rotatably connected to the outer side of the rotating block 1 (703), a fixed plate (705) and a rotating block 2 (707) are fixedly connected to the left side of the swing plate (704), a protection plate (706) is fixedly connected to the left side of each of the plurality of fixed plates (705), and a control plate (706) is rotatably connected to the outer side of the rotating block 2 (707). 8), the control plate (708) is rotatably connected to a rotating block three (709) on the outer side close to one end of the propeller housing (1), the right side of the rotating block three (709) is fixedly connected to a control ring (710), the outer side of the propeller housing (1) is provided with a slide groove (711), the inner side of the slide groove (711) is slidably connected to a moving block (712), the outer side of the moving block (712) is fixedly connected to a moving ring (713), the outer side of the moving ring (713) is provided with a guide groove (714), the inner side of the guide groove (714) is slidably connected to a guide block (715), and the outer side of the guide block (715) is fixedly connected to a gear ring (716); A connecting block (717) is fixedly connected between the gear ring (716) and the control ring (710); the guide groove (714) is provided in a circular ring structure; and the connecting block (717) is provided in an L-shaped structure; A top block (718) is fixedly connected to the outer side of the thruster housing (1); a control rod (719) is rotatably connected to the left side of the top block (718); a gear member (720) is fixedly connected to the left end of the control rod (719); a motor (721) is fixedly connected to the right side of the top block (718); an output end of the motor (721) is fixedly connected to the outer end of the control rod (719); and the gear member (720) is meshingly connected to the gear ring (716).
2. The underwater robot propulsion device for narrow space detection according to claim 1, characterized in that: The front side of the top block (718) is fixedly connected to a side plate (722), the front side of the side plate (722) is rotatably connected to a connecting rod (725), the rear end of the connecting rod (725) passes through the rear side of the side plate (722) and is fixedly connected to a bevel gear 2 (724), the outer side of the control rod (719) is fixedly connected to a bevel gear 1 (723), the front end of the connecting rod (725) is fixedly connected to a rotating plate (726), the front side of the rotating plate (726) is rotatably connected to a rotating shaft 1 (727), the front end of the rotating shaft 1 (727) is fixedly connected to a slider 1 (728), the outer side of the slider 1 (728) is slidably connected to a square frame (729), and the square frame (729) A swing block (730) is fixedly connected to the lower side of the square frame (729), and the swing block (730) is rotatably connected to the side plate (722). A control block (731) is fixedly connected to the upper side of the square frame (729). A second rotating shaft (732) is rotatably connected to the front side of the control block (731). A second sliding block (733) is fixedly connected to the front end of the second rotating shaft (732). A U-shaped block (734) is slidably connected to the outer side of the second sliding block (733). A reciprocating plate (735) is fixedly connected to the upper side of the U-shaped block (734). A stabilizing block (736) is fixedly connected to the front side of the side plate (722). An L-shaped plate (737) is fixedly connected between the reciprocating plate (735) and the movable ring (713).
3. The underwater robot propulsion device for narrow space detection according to claim 2, characterized in that: The reciprocating plate (735) is slidably connected to the stabilizing block (736).
4. The underwater robot propulsion device for narrow space detection according to claim 2, characterized in that: The bevel gear 1 (723) is meshedly connected with the bevel gear 2 (724).
5. The underwater robot propulsion device for narrow space detection according to claim 1, characterized in that: A protective cover (6) is fixedly connected to the outer side of the thruster housing (1); the protective cover (6) and the protective plate (706) are both made of rubber material.
Citation Information
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