Vector propeller and underwater robot

Abstract

The invention discloses a vector propeller and an underwater robot. The vector propeller comprises a propelling assembly, a direction adjusting assembly and a fixing assembly. The direction adjusting assembly comprises a first driving device and an angle output shaft capable of being driven by the first driving device, the angle output shaft comprises a first shaft part and a second shaft part which are connected, and the axial directions of the first shaft part and the second shaft part are different; the fixing assembly is configured to fix the direction adjusting assembly. According to the vector thruster, by arranging the angle output shaft driven by the first driving device, the two freedom degrees of pitching and heading can be adjusted, rapid adjustment of a thrusting structure is achieved, and the effect of vector thrust is achieved.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to a vector thruster and an underwater robot. Background Art

[0002] The observation and detection of the seabed ocean is one of the important ways of ocean exploration and research. The observation and detection of the seabed environment is of great significance for marine scientific discovery, seabed resource exploration, global climate change research, marine archaeology, and detection of seabed military targets.

[0003] Autonomous Underwater Vehicle (AUV) can achieve cable-free movement, and its range of motion is not limited by the umbilical cable, so it can conduct large-scale ocean observation and detection. For operations in complex seabed environments, AUVs require vector propulsion mechanisms to achieve agile movement of seabed AUVs. Summary of the invention

[0004] At least one embodiment of the present disclosure provides a vector thruster, which includes a propulsion component, a direction adjustment component and a fixing component; the direction adjustment component includes a first drive device and an angle output shaft that can be driven by the first drive device, wherein the angle output shaft includes a first shaft portion and a second shaft portion connected to each other, and the axial directions of the first shaft portion and the second shaft portion are different; the fixing component is configured to fix the direction adjustment component.

[0005] For example, in the vector thruster provided in at least one embodiment of the present disclosure, the direction adjustment assembly also includes a first cabin, the first drive device and at least part of the first shaft portion are arranged inside the first cabin, the first shaft portion is connected to the first drive device, and the second shaft portion is arranged outside the first cabin.

[0006] For example, in the vector thruster provided in at least one embodiment of the present disclosure, the first driving device includes a first stator and a first rotor, the first stator is located in the first cabin, and the first rotor is located on a side of the first stator away from the first cabin, wherein the first shaft portion is located on a side of the first rotor away from the first cabin, and is fixedly connected to the first rotor at least circumferentially.

[0007] For example, in the vector thruster provided in at least one embodiment of the present disclosure, the angle formed by the axial direction of the first shaft portion and the axial direction of the second shaft portion is 10 degrees to 30 degrees.

[0008] For example, in the vector thruster provided in at least one embodiment of the present disclosure, the fixing assembly includes a first mounting portion and a second mounting portion; the first mounting portion is configured to mount the first cabin, and the second mounting portion is configured to mount the second shaft portion.

[0009] For example, in the vector thruster provided in at least one embodiment of the present disclosure, the first mounting part includes a fixed part and a sliding part; the fixed part includes a first spherical contact surface, the sliding part is fixed to the first cabin, and includes a second spherical contact surface, wherein the second spherical contact surface is slidably connected to the first spherical contact surface.

[0010] For example, in the vector thruster provided in at least one embodiment of the present disclosure, the inner surface of the fixed part is the first spherical contact surface, the outer surface of the sliding part is the second spherical contact surface, and at least a portion of the sliding part is accommodated in the fixed part.

[0011] For example, in the vector thruster provided in at least one embodiment of the present disclosure, the direction adjustment assembly also includes a brake, which includes an axis connection portion and an actuator portion; the axis connection portion is circumferentially fixed to the first axis portion, and the actuator portion is configured to controllably stop the rotation of the axis connection portion.

[0012] For example, in the vector thruster provided in at least one embodiment of the present disclosure, the brake is an electromagnetic brake. In a first state of the electromagnetic brake, the shaft connecting part and the actuating part are spaced apart, and the shaft connecting part can rotate in a controlled manner. In a second state of the electromagnetic brake, the shaft connecting part and the actuating part are frictionally connected to stop the rotation of the shaft connecting part.

[0013] For example, in the vector thruster provided in at least one embodiment of the present disclosure, the propulsion assembly includes a second cabin, a second drive device and a propulsion structure; the second drive device is disposed inside the second cabin, includes a linear output shaft, and the propulsion structure is connected to the linear output shaft and is disposed outside the second cabin.

[0014] For example, in the vector thruster provided in at least one embodiment of the present disclosure, the second cabin is fixedly connected to the first cabin to form a whole.

[0015] For example, in the vector thruster provided in at least one embodiment of the present disclosure, the axis of the linear output shaft and the axis of the first shaft portion are located on the same straight line.

[0016] For example, in the vector thruster provided in at least one embodiment of the present disclosure, an electrical interface is provided on one of the first cabin and the second cabin, and the first drive device and the second drive device are both electrically connected to the electrical interface so as to be electrically connected to an external device through the electrical interface.

[0017] For example, in the vector thruster provided in at least one embodiment of the present disclosure, the propulsion structure includes a propeller, the propeller includes a central portion and a plurality of blades connected to the central portion, each of the plurality of blades includes a first end connected to the central portion and a second end opposite to the first end, and the second end is inclined toward a side away from the first cabin.

[0018] At least one embodiment of the present disclosure provides an underwater robot, which includes a shell and a vector thruster provided in an embodiment of the present disclosure. The shell includes a head and a tail that are opposite to each other, and the vector thruster is located at the tail.

[0019] For example, in the underwater robot provided in at least one embodiment of the present disclosure, the axial direction of the shell is the same as the axial direction of the second shaft portion.

[0020] For example, in the underwater robot provided in at least one embodiment of the present disclosure, the tail portion has a shell opening, and the propulsion structure of the vector thruster is arranged outside the shell through the shell opening and can be controlled to rotate within the shell opening.

[0021] For example, the underwater robot provided by at least one embodiment of the present disclosure further includes: a buoyancy adjustment device, which is arranged in the shell and close to the vector thruster and is configured to adjust buoyancy. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present disclosure, but are not intended to limit the present disclosure.

[0023] Figure 1 A top view of a vector thruster provided in at least one embodiment of the present disclosure; Figure 2 A front view of a vector thruster provided for at least one embodiment of the present disclosure; Figure 3 for Figure 2 Schematic diagram of the cross section of the vector thruster along line AA; Figure 4 An axial schematic diagram of the angular output shaft of a vector thruster provided in at least one embodiment of the present disclosure; Figure 5 A side view of a fixing assembly of a vector thruster provided in at least one embodiment of the present disclosure; Figure 6 Shows Figure 5 A right side view of the fixed assembly in FIG. Figure 7 A top view of a direction adjustment assembly of a vector thruster provided in at least one embodiment of the present disclosure; Figure 8 Shows Figure 7 A left side view of the direction adjustment assembly in FIG. Fig. 9 Shows Figure 8 A cross-sectional view of the direction adjustment assembly along line BB; Fig.10 A side view of a propulsion assembly of a vector thruster provided for at least one embodiment of the present disclosure; Fig.11 Shows Fig.10 A left side view of the propulsion assembly in FIG. Fig.12 Shows Fig.11 A cross-sectional view of the propulsion assembly along line CC; Fig.13 A rear view of an underwater robot provided by at least one embodiment of the present disclosure; Fig.14 for Fig.13 Schematic diagram of the cross section of the underwater robot along the DD line; Figures 15A-15D A schematic diagram of a propulsion structure of an underwater robot provided by at least one embodiment of the present disclosure rotating to different positions; Figures 16A-16D A schematic diagram of an underwater robot provided by at least one embodiment of the present disclosure in a first posture; Figure 17A-Figure 17C A schematic diagram of an underwater robot provided by at least one embodiment of the present disclosure in a second posture; Figures 18A-18D A schematic diagram of an underwater robot in a third posture provided by at least one embodiment of the present disclosure; and Figure 19A-Figure 19C A schematic diagram of an underwater robot provided in at least one embodiment of the present disclosure in a fourth posture. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0025] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0026] For the vector thrusters of underwater robots, the traditional technology is to set up a dual-degree-of-freedom structure similar to a universal joint, and use two linear motion mechanisms or transmission mechanisms such as gears and conveyor belts to adjust the direction of the propeller, so as to change the pitch and yaw motion postures of the underwater robot. However, such structures inevitably have the defects of being complicated and heavy, and the tail weight is too large, which is not suitable for small underwater robots.

[0027] For example, in some embodiments, the vector thruster uses dual motors / dual motor screws / dual hydraulic cylinders / single motor plus clutch and transmission mechanism to adjust dual degrees of freedom. This solution inevitably has the defects of being complicated and heavy, as well as problems such as excessive tail weight.

[0028] For example, in some embodiments, a rudder is provided on the fuselage of the underwater robot, and the rudder is used for steering and pitching. However, the rudder will destroy the streamline of the fuselage and increase the navigation resistance.

[0029] For example, in some embodiments, a propeller fairing is embedded in the rudder of the underwater robot. Although this solution can avoid water resistance to a certain extent, it is not suitable for underwater robots that can travel at high speeds.

[0030] At least one embodiment of the present disclosure provides a vector thruster, which includes a propulsion component, a direction adjustment component and a fixing component; the direction adjustment component includes a first drive device and an angle output shaft that can be driven by the first drive device, wherein the angle output shaft includes a first shaft portion and a second shaft portion that are connected, and the axial directions of the first shaft portion and the second shaft portion are different; the fixing component is configured as a fixed direction adjustment component.

[0031] The above-mentioned vector thruster provided by the embodiment of the present disclosure can adjust the two degrees of freedom of pitch and heading by setting an angle output shaft driven by the first driving device, realizing the propulsion structure, such as the rapid adjustment of the propeller angle, to achieve the effect of vector thrust; it solves the defects of the traditional vector thruster being complicated and heavy, and realizes a lightweight, modular and economical design. In addition, the above-mentioned vector thruster can better adapt to small underwater robots and gliders, and can also adapt to large underwater robots, and has a wider range of applications.

[0032] At least one embodiment of the present disclosure provides an underwater robot, which includes a shell and a vector thruster provided in the embodiment of the present disclosure. The shell includes a head and a tail relative to each other, and the vector thruster is located at the tail.

[0033] Compared with an underwater robot with a rudder on the fuselage, the underwater robot provided by the embodiment of the present disclosure and including the above-mentioned vector thruster can achieve pitch, rise, left turn and right turn while moving forward, omitting the setting of structures such as angle rudders, optimizing its streamline and reducing navigation resistance.

[0034] The vector thruster and underwater robot provided by the embodiments of the present disclosure are described below through several specific embodiments.

[0035] At least one embodiment of the present disclosure provides a vector thruster. Figure 1 shows a top view of the vector thruster, Figure 2 shows a front view of the vector thruster, Figure 3 Shows Figure 2 The cross-sectional diagram of the vector thruster along the AA line is shown in Figure 1-Figure 3 As shown, the vector thruster includes a propulsion assembly 100 , a direction adjustment assembly 200 and a fixing assembly 300 .

[0036] like Figure 3 As shown, the direction adjustment component 200 includes a first drive device D1 and an angle output shaft 203 that can be driven by the first drive device D1, the angle output shaft 203 includes a first shaft portion 2031 and a second shaft portion 2032 connected to each other, and the axial directions of the first shaft portion 2031 and the second shaft portion 2032 are different; the fixing component 300 is configured to fix the direction adjustment component 200.

[0037] Therefore, when the first drive device D1 drives the angle output shaft 203, for example, when the first shaft portion 2031 rotates, due to the different axial directions of the first shaft portion 2031 and the second shaft portion 2032, the first shaft portion 2031 can rotate, for example, around the axis of the second shaft portion 2032 when the axial direction of the second shaft portion 2032 is fixed, so that the two degrees of freedom of pitch and heading can be adjusted, thereby realizing the propulsion structure 105, such as rapid adjustment of the propeller angle, to achieve the effect of vector thrust.

[0038] For example, in some embodiments, the first shaft portion 2031 and the second shaft portion 2032 are an integral structure. Figure 4 The axial direction of the first shaft portion 2031 is Z1, and the axial direction of the second shaft portion 2032 is Z2. The direction Z1 is different from the direction Z2. For example, the angle a formed by the direction Z1 and the direction Z2 is 10 degrees to 30 degrees, such as 10 degrees, 15 degrees, 20 degrees, 25 degrees or 30 degrees, etc. In this way, sufficient vector thrust can be achieved and the structural arrangement space can be saved.

[0039] For example, in some embodiments, the diameter of the first shaft portion 2031 is greater than the diameter of the second shaft portion 2032. For example, in the direction from the first shaft portion 2031 to the second shaft portion 2032, the diameter of the angle output shaft 203 decreases in a step-like manner, thereby facilitating the angle output shaft 203 to be clamped at the step, which is beneficial for the stable installation of the angle output shaft 203.

[0040] For example, in some embodiments, Figure 3 As shown, the direction adjustment component 200 also includes a first cabin 204, and the first drive device D1 and at least part of the first shaft portion 2031 are arranged in the first cabin 204. The first shaft portion 2031 is connected to the first drive device D1, for example, fixedly connected, so as to be driven to rotate by the first drive device D1, and the second shaft portion 2032 is arranged outside the first cabin 204, for example, axially fixed by the fixing component 300, so that when the first shaft portion 2031 is driven to rotate, it can rotate around the axis of the second shaft portion 2032.

[0041] For example, in some embodiments, Figure 3As shown, the first driving device D1 includes a first stator 201 and a first rotor 202, the first stator 201 is located in the first cabin 204, the first rotor 202 is located on the side of the first stator 201 away from the first cabin 204, that is, located on the inner side of the first stator 201, and the first shaft portion 2031 is located on the side of the first rotor 202 away from the first cabin 204, that is, located on the inner side of the first rotor 202, and is fixedly connected to the first rotor 202 at least circumferentially, for example, fixed by bonding, so as to be driven to rotate by the first rotor 202. For example, when the first driving device D1 is powered on, the first rotor 202 rotates relative to the first stator 201, thereby driving the first shaft portion 2031 to rotate.

[0042] Therefore, the first driving device D1 is implemented as a single swing motor, which can adjust the two degrees of freedom of pitch and heading through the angle output shaft 203 only through a single rotation drive, and the structural setting and driving method are simpler.

[0043] For example, in some embodiments, Figure 3 As shown, the fixing assembly 300 includes a first mounting portion 301 and a second mounting portion 302; the first mounting portion 301 is configured to mount the first cabin 204, and the second mounting portion 302 is configured to mount the second shaft portion 2032. Thus, the fixing assembly 300 fixes the propulsion assembly 100 and the direction adjustment assembly 200.

[0044] For example, Figure 5 shows a side view of the fixing assembly 300, Figure 6 Shows Figure 5 In some embodiments, the fixing assembly 300 is combined with Figure 3 as well as Figure 5-Figure 6 The first mounting portion 301 includes a fixed portion 3011 and a sliding portion 3012; the fixed portion 3011 includes a first spherical contact surface 3011A, the sliding portion 3012 is fixed to the first cabin 204, and includes a second spherical contact surface 3012A, and the second spherical contact surface 3012A is slidably connected to the first spherical contact surface 3011A.

[0045] Thus, when the first shaft portion 2031 is driven to rotate by the first driving device D1, the first cabin 204 drives the sliding portion 3012 to perform spherical sliding in the fixed portion 3011, so as to achieve rotation around the axis of the second shaft portion 2032, thereby adjusting the two degrees of freedom of pitch and heading. When the sliding portion 3012 slides in the fixed portion 3011, since the sliding surfaces are the first spherical contact surface 3011A and the second spherical contact surface 3012A, the spherical sliding that can be achieved is more flexible and can adapt to the rotation of the first cabin 204 in different directions, such as 360-degree rotation.

[0046] For example, in some embodiments, the inner surface of the fixed part 3011 is a first spherical contact surface 3011A, the outer surface of the sliding part 3012 is a second spherical contact surface 3012A, at least a portion of the sliding part 3012 is accommodated in the fixed part 3011, and performs spherical sliding / rotation in the fixed part 3011, thereby improving the rotation stability of the first cabin 204.

[0047] For example, in some embodiments, in combination Figure 3 as well as Figure 5-Figure 6 The first mounting portion 301 can be implemented as a spherical bearing seat, such as a water-lubricated spherical bearing seat, to achieve smoother relative rotation in an underwater environment; the second mounting portion 302 can be implemented as an angular contact bearing to facilitate smooth rotation.

[0048] For example, in some embodiments, Figure 5-Figure 6 As shown, the fixing assembly 300 may also include structures such as a circlip 303, a screw 304 (such as a cylindrical head screw), a fixing plate 305, and a screw 306 (such as a cylindrical head screw). During installation, the first cabin 204 is embedded in the fixing portion 3011 of the first mounting portion 301, and the angle output shaft 203 is embedded in the second mounting portion 302, such as an angular contact bearing. The circlip 303 is used to axially limit the angle output shaft 203. The fixing plate 305 is a connecting fixture used to fix the fixing assembly 300. The screw 304 is used to fix the first mounting portion 301, and the screw 306 is used to fix the second mounting portion 302, such as an angular contact bearing. This improves the structural stability of the fixing assembly 300.

[0049] For example, Figure 7 A top view of the direction adjustment assembly 200 is shown. Figure 8 Shows Figure 7 A left side view of the direction adjustment assembly 200, Fig. 9 Shows Figure 8 A cross-sectional view of the direction adjustment assembly 200 along line BB in some embodiments, such as Fig. 9 As shown, the direction adjustment assembly 200 may further include a brake 207, which includes an axis connection portion 2071 and an actuating portion 2072; the axis connection portion 2071 is circumferentially fixed to the first axis portion 1031, so that when the first axis portion 1031 rotates, the axis connection portion 2071 can be driven to rotate, and the actuating portion 2072 is configured to controllably stop the rotation of the axis connection portion 2071, thereby controlling the first axis portion 1031 to stop rotating, so as to fix the angle output shaft 203 at a desired angle.

[0050] For example, in some embodiments, the brake 207 is an electromagnetic brake. In the first state of the electromagnetic brake, such as the power-on state, the shaft connection part 2071 and the actuator part 2072 are spaced apart, and the shaft connection part 2071 can be controlled to rotate, for example, driven to rotate by the first shaft part 1031; in the second state of the electromagnetic brake 207, such as the power-off state, the shaft connection part 2071 and the actuator part 2072 are frictionally connected to stop the rotation of the shaft connection part 2071, and then stop the rotation of the first shaft part 1031, so as to fix the angle output shaft 203 at a desired angle. In this way, whether the angle output shaft 203 rotates can be controlled by whether the electromagnetic brake is powered on.

[0051] For example, Fig.10 shows a side view of the propulsion assembly 100, Fig.11 Shows Fig.10 A left side view of the propulsion assembly 100 in FIG. Fig.12 Shows Fig.11 A cross-sectional view of the propulsion assembly 100 along line CC in FIG. Figure 3 and Figure 10-12 As shown, the propulsion assembly 100 includes a second cabin 104, a second drive device D2 and a propulsion structure 105; the second drive device D2 is arranged in the second cabin 104, and includes a linear output shaft 103, the propulsion structure 105 is connected to the linear output shaft 103 to be driven to rotate by the linear output shaft 103, and the propulsion structure 105 is arranged outside the second cabin 104 to provide thrust in an underwater environment.

[0052] For example, in some embodiments, reference Figure 3 The second cabin 104 is fixedly connected to the first cabin 204 to form a whole. For example, the second cabin 104 and the first cabin 204 have substantially the same shape, size (such as diameter), etc., so that after the second cabin 104 is fixedly connected to the first cabin 204, the whole has a smooth surface to improve the integration of the structure.

[0053] For example, in some embodiments, reference Figure 3 The axis of the linear output shaft 103 is on the same straight line as the axis of the first shaft portion 1031. Therefore, when the first shaft portion 1031 of the angle output shaft 203 is driven to rotate, the propulsion structure 105 can be rotated to various angles around the axis of the second shaft portion 2032 to adjust the pitch and heading.

[0054] For example, in some embodiments, an electrical interface 216 is disposed on one of the first pod 204 and the second pod 104, and the first drive device D1 and the second drive device D2 are both electrically connected to the electrical interface 216 to be electrically connected to an external device through the same electrical interface 216. Figure 3and Fig. 9 It is shown that an electrical interface 216, such as a watertight connector, is provided on the first cabin 204. The first drive device D1 and the second drive device D2 and other structures in the first cabin 204 and the second cabin 104 that need to be electrically connected can be connected to external devices through the electrical interface 216 to achieve power supply and communication connection. The above arrangement can simplify the electrical connection structure, improve the structural integration, reduce the number of electrical interfaces on the cabin, and reduce the risk of water leakage and electric leakage.

[0055] For example, in some embodiments, Figure 10-12 As shown, the propulsion structure 105 includes a propeller, which includes a central portion 1051 and a plurality of blades 1052 connected to the central portion 1051, each of the plurality of blades 1052 includes a first end 1052A connected to the central portion 1051 and a second end 1052B opposite to the first end 1052A, and the second end 1052B is inclined toward a side away from the first cabin 204. The backward tilt design of the blade 1052 helps to increase the distance between the second end 1052B and the second cabin 104, reduce resistance, improve propulsion efficiency, optimize propulsion performance, improve fuel economy, and reduce costs; in addition, the backward tilt design of the blade 1052 can also reduce vibration and noise, and improve safety.

[0056] For example, in some embodiments, Figure 3 and Figure 10-12 As shown, the propulsion assembly 100 may also include a key 106, a cap nut 107, a spring washer 108, a flat washer 109, a Gly ring 110, a hole elastic retaining ring 111, a deep groove ball bearing 112, an elastic retaining ring 113, a hexagon socket countersunk screw 114 and a deep groove ball bearing 115 and other structures.

[0057] For example, the second drive device D2 includes a second stator 101 and a second rotor 102, and the second rotor 102 is fixed to the linear output shaft 103, for example, by bonding, so that when the second rotor 102 is driven to rotate, the linear output shaft 103 rotates accordingly. For example, the propulsion structure 105 is circumferentially fixed to the linear output shaft 103 using a key 106 so as to be driven to rotate by the linear output shaft 103. For example, the cap nut 107, the spring washer 108 and the flat washer 109 axially fix the propulsion structure 105, and the Gly ring 110 can ensure the sealing. For example, two deep groove ball bearings 112 are embedded in the second cabin 104, and the holes are limited by elastic retaining rings 111; the propulsion motor rotating shaft 103 also penetrates a deep groove ball bearing 115, and the elastic retaining ring 113 limits it. Thereby, the structural stability of the propulsion assembly 100 is improved.

[0058] For example, refer to Figure 7-Figure 9In some embodiments, the direction adjustment assembly 200 may also include a bearing seat 205, a connecting flange 206, a deep groove ball bearing 208, a sealing ring 209, an elastic washer 210, a screw 211 (e.g., a cylindrical head screw), an elastic retaining ring 212 for the shaft, an elastic retaining ring 213 for the hole, a grid ring 214, and a screw 215 (e.g., a countersunk screw) and other structures.

[0059] For example, a groove is provided on the connecting flange 206, and a sealing ring 209, such as an O-ring, is provided in the groove. The connecting flange 206 can be embedded in the second cabin 104 of the propulsion assembly 100 to form a seal; the linear output shaft 103 of the propulsion assembly 100 and its deep groove ball bearing 115 can be inserted into the bearing hole of the connecting flange 206 to achieve connection. For example, a hole is also reserved in the inner ring of the connecting flange 206, and the power supply line and signal line of the second drive device D2 can enter the first cabin 204 through this hole and be connected to the watertight connector 216 for power supply and communication.

[0060] For example, the Gly ring 214 can be embedded in the groove of the angle output shaft 203 and form a seal with the first cabin 204; the deep groove ball bearing 208 is embedded in the first cabin 204, and the hole is limited by an elastic retaining ring 213. Fig. 9 During installation, the angle output shaft 203 can be installed into the first cabin 204 from the right side, and its oblique axis angle and size can pass through the installation hole without affecting the installation. The brake 207 is set at one end of the angle output shaft 203. Fig. 9 At the right end, that is, the end close to the propulsion assembly 100, when the angle output shaft 203 is adjusted to the preset angle, the brake 207 can be powered off, and the brake 207 locks the angle output shaft 203 so that the angle output shaft 203 no longer moves, which is a power-off brake.

[0061] In summary, the vector thruster provided in the embodiment of the present disclosure can use a single swing motor (that is, a driving device that only drives rotation) to drive the angle output shaft to rotate to adjust the two degrees of freedom of pitch and heading, thereby realizing the lightweight, economical and modularization of the vector thruster. The vector thruster can better adapt to small underwater robots and gliders, and can also adapt to large underwater robots, with a wider range of adaptability.

[0062] At least one embodiment of the present disclosure further provides an underwater robot, Fig.13 shows a rear view of the underwater robot, Fig.14 for Fig.13 The cross-sectional diagram of the underwater robot along the DD line is shown in Fig.13 and Fig.14As shown, the underwater robot includes a shell 10 and a vector thruster 20 provided in an embodiment of the present disclosure. The shell 10 has a head 10A and a tail 10B relative to each other. The vector thruster 20 is located at the tail 10B to adjust pitch and navigation.

[0063] For example, the housing 10 includes a front housing 11 and a rear housing 12 connected to each other as one body, so as to facilitate assembly. For example, the front housing 11 and the rear housing 12 have substantially the same shape and size (e.g., diameter), thereby forming an integrated housing 10 to improve the streamline of the housing 10 and reduce the sailing resistance. For example, in some examples, the housing 10 may be made of metal or alloy material.

[0064] For example, in some embodiments, the axial direction of the housing 10 is the same as the axial direction of the second shaft portion 1032, for example Fig.14 Thus, the vector thruster 20 can rotate at the tail 10B to adjust the direction.

[0065] For example, in some embodiments, the tail portion has a shell opening 13, and the propulsion structure 105 of the vector thruster 20 is arranged outside the shell 10 through the shell opening 13, and can be controlled (for example, controlled by the first drive device D1) to rotate in the shell opening 13, for example, it can rotate 360°.

[0066] For example, the propulsion structure 105 can rotate under the drive of the second drive device D2, and simultaneously revolve under the drive of the first drive device D1 of the direction adjustment assembly 200, for example, 360 degrees, thereby achieving vector thrust. Figures 15A-15D Schematic diagram showing the propulsion structure 105 rotating to different positions in the housing opening 13, Figures 15A-15D Four typical morphologies are shown, observed from the tail 10B, Figures 15A-15D The rotation angles of the propulsion structure 105 upward, rightward, downward and leftward are respectively shown, which are used to adjust different headings, and will be described in detail later.

[0067] For example, in some embodiments, Fig.13 and Fig.14 As shown, the underwater robot may further include a buoyancy adjustment device 30, which is disposed in the housing 10 and close to the vector thruster 20, that is, close to the tail 10B, and is configured to adjust the buoyancy. For example, in some examples, the buoyancy adjustment device 30 includes a cavity and an adjustment mechanism for adjusting the size of the cavity, such as a piston, and the piston changes the size of the cavity to change the displacement volume, thereby changing the buoyancy provided, and assisting the underwater robot in horizontal navigation.

[0068] Below, taking the propulsion structure 105 being adjusted to the upward, rightward, downward and leftward angles as an example, four exemplary postures of the underwater robot are analyzed in detail in conjunction with the accompanying drawings. Other postures can be obtained by analyzing these four exemplary postures.

[0069] For example, Figure 16A-16C The first posture of the underwater robot, namely the bow-up posture, is shown.

[0070] First, if Fig.16A As shown, when observing from the tail 10B of the underwater robot, the propulsion structure 105 is adjusted to an upward angle, and the underwater robot is subjected to a thrust F2 when it is started. At the same time, the underwater robot is also subjected to a buoyancy F1 and a gravity G; Fig. 16B As shown in , according to the law of force translation, the force on the center of gravity of the underwater robot is F2, torque M0 and gravity G, and there is also buoyancy F1 at the center of buoyancy; Fig. 16C As shown in FIG. 1 , the underwater robot starts to move and tilts its bow upward, and reaches a state of equilibrium under the self-stabilizing torque generated by gravity and buoyancy and the water resistance F. The underwater robot moves with its bow upward, and this posture is very suitable for the zigzag trajectory navigation of the underwater glider; as shown in FIG. Fig.16D As shown, the tail of the underwater robot is provided with a buoyancy regulating device 30, which can provide increased buoyancy F3, so that the posture of the underwater robot is adjusted to a horizontal state to achieve a balanced state, and the underwater robot can move in a straight line to reduce navigation resistance.

[0071] For example, Figure 17A-Figure 17C The second posture of the underwater robot is shown, that is, the right turn posture.

[0072] First, if Fig.17A As shown in FIG. 1 , when observed from a top view, the propulsion structure 105 is adjusted to a right angle, and the underwater robot is subjected to a thrust F4 when it is started; Fig. 17B As shown, according to the law of translation of force, the force on the center of gravity of the underwater robot is thrust F4, torque M0 and gravity, and the buoyancy of the underwater robot is also present at the center of buoyancy; Fig. 17C As shown, under the action of the water resistance F and the above-mentioned forces, the underwater robot starts to move and turn right, for example, by an angle α1.

[0073] For example, Figures 18A-18C The third posture of the underwater robot, namely the bow-down posture, is shown.

[0074] First, if Fig.18A As shown, when observing from the tail 10B of the underwater robot, the propulsion structure 105 is adjusted to a downward angle, and the underwater robot is subjected to a thrust F2 when it is started. At the same time, the underwater robot is also subjected to a buoyancy F1 and a gravity G; Fig.18BAs shown in , according to the law of force translation, the force on the center of gravity of the underwater robot is F2, torque M0 and gravity G, and there is also buoyancy F1 at the center of buoyancy; Fig. 18C As shown in FIG. 1 , the underwater robot starts to move and pitches forward, and reaches a state of equilibrium under the self-stabilizing torque generated by gravity and buoyancy and the water resistance F, and the underwater robot moves forward with its bow pitched forward; Fig.18D As shown, the tail of the underwater robot is provided with a buoyancy regulating device 30, which can provide increased buoyancy F5, so that the posture of the underwater robot is adjusted to a horizontal state to achieve a balanced state, and the underwater robot can move in a straight line to reduce navigation resistance.

[0075] For example, Figure 19A-Figure 19C The fourth posture of the underwater robot, namely the left turn posture, is shown.

[0076] First, if Fig.19A As shown in FIG. 1 , when viewed from a top view, the propulsion structure 105 is adjusted to a left angle, and the underwater robot is subjected to a thrust F4 when it is started; Fig.19B As shown, according to the law of translation of force, the force on the center of gravity of the underwater robot is thrust F4, torque M0 and gravity, and the buoyancy of the underwater robot is also present at the center of buoyancy; Fig.19C As shown, under the action of the water resistance F and the above-mentioned forces, the underwater robot starts to move and turns left, for example, by an angle α2.

[0077] It can be seen that the underwater robot equipped with the above-mentioned vector thruster provided by the embodiment of the present disclosure can be provided with vector thrust in different directions, and can adjust the direction to achieve pitch, tilt, left turn, and right turn while moving forward; the underwater robot can be better equipped with a buoyancy adjustment device to achieve straight-line movement of the underwater robot to reduce forward resistance. Compared with an underwater robot with a rudder on the fuselage, the underwater robot provided by the embodiment of the present disclosure removes the angle rudder, optimizes its streamline, and reduces navigation resistance.

[0078] There are a few points to note: (1) The drawings of the embodiments of the present disclosure only relate to the structures related to the embodiments of the present disclosure. Other structures may refer to the general design.

[0079] (2) For the sake of clarity, in the drawings used to describe the embodiments of the present disclosure, the thickness of layers or regions is enlarged or reduced, that is, these drawings are not drawn according to the actual scale.

[0080] (3) In the absence of conflict, the embodiments of the present disclosure and the features therein may be combined with each other to obtain new embodiments.

[0081] The above are only specific implementations of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and the protection scope of the present disclosure shall be based on the protection scope of the claims.

Claims

1. A vector thruster, comprising: Propulsion components, A direction adjustment assembly, comprising a first drive device and an angular output shaft capable of being driven by the first drive device, wherein the angular output shaft comprises a first shaft portion and a second shaft portion connected to each other, the first shaft portion and the second shaft portion have different axial directions, and A fixing component is configured to fix the direction adjustment component.

2. The vector thruster according to claim 1, wherein: The direction adjustment assembly further includes a first cabin, the first drive device and at least part of the first shaft portion are disposed in the first cabin, and the first shaft portion is connected to the first drive device. The second shaft portion is disposed outside the first housing.

3. The vector thruster according to claim 2, wherein: The first driving device comprises: A first stator is located in the first cabin, and a first rotor, located at a side of the first stator away from the first cabin, The first shaft portion is located at a side of the first rotor away from the first nacelle and is fixedly connected to the first rotor at least in a circumferential direction.

4. The vector thruster according to any one of claims 1 to 3, wherein: An angle formed by the axial direction of the first shaft portion and the axial direction of the second shaft portion is 10 degrees to 30 degrees.

5. The vector thruster according to any one of claims 1 to 3, wherein: The fixing assembly comprises: a first mounting portion configured to mount the first cabin, and The second mounting portion is configured to mount the second shaft portion.

6. The vector thruster according to claim 5, wherein: The first mounting portion comprises: The fixing portion includes a first spherical contact surface, and A sliding portion, fixed to the first cabin, comprising a second spherical contact surface, Wherein, the second spherical contact surface is slidably connected to the first spherical contact surface.

7. The vector thruster according to claim 6, wherein: The inner surface of the fixed part is the first spherical contact surface, the outer surface of the sliding part is the second spherical contact surface, and at least a part of the sliding part is accommodated in the fixed part.

8. The vector thruster according to any one of claims 1 to 3, wherein: The direction adjustment assembly also includes a brake, and the brake includes: a shaft connecting portion circumferentially fixed to the first shaft portion, and The actuating portion is configured to stop the rotation of the shaft connecting portion in a controlled manner.

9. The vector thruster according to claim 8, wherein: The brake is an electromagnetic brake. In the first state of the electromagnetic brake, the shaft connection part is spaced apart from the actuating part, and the shaft connection part can be controlled to rotate. In the second state of the electromagnetic brake, the shaft connection portion is frictionally connected to the actuating portion to stop the rotation of the shaft connection portion.

10. The vector thruster according to any one of claims 1 to 3, wherein: The propulsion assembly comprises: The second cabin, A second drive device is disposed in the second cabin and includes a linear output shaft, and The propulsion structure is connected to the linear output shaft and is arranged outside the second cabin.

11. The vector thruster according to claim 10, wherein: The second cabin body is fixedly connected to the first cabin body to form a whole.

12. The vector thruster according to claim 10, wherein: The axis of the linear output shaft is located on the same straight line as the axis of the first shaft portion.

13. The vector thruster according to claim 11, wherein: An electrical interface is provided on one of the first cabin and the second cabin, The first driving device and the second driving device are both electrically connected to the electrical interface to be electrically connected to an external device through the electrical interface.

14. The vector thruster according to claim 10, wherein: The propulsion structure includes a propeller, the propeller includes a central portion and a plurality of blades connected to the central portion, each of the plurality of blades includes a first end connected to the central portion and a second end opposite to the first end, The second end is inclined toward a side away from the first cabin.

15. An underwater robot comprising: a housing including a head portion and a tail portion, and The vector thruster according to any one of claims 1 to 14 is located at the tail.

16. The underwater robot according to claim 15, wherein: An axial direction of the housing is identical to an axial direction of the second shaft portion.

17. The underwater robot according to claim 15, wherein: The tail portion has a housing opening, The propulsion structure of the vector thruster is arranged outside the shell through the shell opening and can be controlled to rotate within the shell opening.

18. The underwater robot according to claim 15, further comprising: The buoyancy regulating device is arranged in the shell and close to the vector thruster, and is configured to adjust the buoyancy.

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