Vector propelling device for underwater robot and underwater robot
By using a universal joint structure consisting of a support, propulsion unit, and drive unit, the problem of large space occupation in underwater robot propulsion devices is solved, achieving a compact design and weight reduction for the propulsion device, resulting in a simple yet effective structure.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-03
- Publication Date
- 2026-03-27
AI Technical Summary
The vector propulsion devices of existing underwater robots occupy a large space, resulting in large overall diameter, long length, and heavy weight of the robot.
It adopts a universal joint structure consisting of a bracket, a propulsion unit, a first drive unit, and a second drive unit. The universal joint is driven to rotate by the telescopic movement of the first drive unit and the second drive unit, and the propulsion unit is adjusted to a preset angle to achieve the propulsion of the propulsion unit in all directions.
The length and diameter of the vector propulsion device have been reduced, the weight in air and water has been decreased, and the structure is simple.
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Figure CN121734641A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of underwater robots, in particular to a vector propulsion device for an underwater robot and the underwater robot. BACKGROUND
[0002] At present, the vector propulsion device of the underwater robot mainly adopts two steering gears or push rods to directly push the maximum diameter position of the tail propeller universal joint, and then realize the arbitrary angle change of the tail propeller. However, the present inventors find that the use of this technology will occupy the space of the overall diameter of the underwater robot and increase the overall length, thereby causing the problems of heavy weight, long length, large diameter and heavy weight in water of the underwater robot.
[0003] The contents of the part of the background art are only the known technology of the discloser, and do not necessarily represent the prior art in the field. SUMMARY
[0004] According to an aspect of the present application, the present application provides a vector propulsion device for an underwater robot, which comprises a support, a propulsion part, a first driving part and a second driving part. The first end of the support is annular, the second end of the support is annular, and the first end of the support is fixedly connected with the second end of the support through a side bar; the tail of the propulsion part is rotatably connected with the first end of the support through a first universal joint; the first end of the first driving part is rotatably connected with the tail of the propulsion part through a second universal joint, and the second end of the first driving part is rotatably connected with the second end of the support through a third universal joint; the second driving part is arranged in parallel with the first driving part, the first end of the second driving part is rotatably connected with the tail of the propulsion part through a fourth universal joint, and the second end of the second driving part is rotatably connected with the second end of the support through a fifth universal joint; the first driving part and the second driving part are in telescopic movement to drive the corresponding universal joints to rotate, so as to adjust the propulsion part to a preset angle.
[0005] According to some embodiments of the present application, the first universal joint comprises an inner ring, a first bearing assembly, a second bearing assembly, an outer ring, a third bearing assembly and a fourth bearing assembly. The inner ring surrounds the tail of the propeller; the first end of the first bearing assembly is fixedly connected with the inner ring, and the second end of the first bearing assembly is rotatably connected with the tail of the propelling part; the second bearing assembly is oppositely arranged with the first bearing assembly, the first end of the second bearing assembly is fixedly connected with the inner ring, and the second end of the second bearing assembly is rotatably connected with the tail of the propelling part; the outer ring is coaxially arranged with the inner ring and surrounds the outer periphery of the inner ring, the inner wall of the outer ring and the outer wall of the inner ring have a gap, and the outer ring is fixedly connected with the first end of the support; the first end of the third bearing assembly is fixedly connected with the outer ring, and the second end of the third bearing assembly is rotatably connected with the tail of the propelling part; the fourth bearing assembly is oppositely arranged with the third bearing assembly, the first end of the fourth bearing assembly is fixedly connected with the outer ring, and the second end of the fourth bearing assembly is rotatably connected with the tail of the propelling part.
[0006] According to some embodiments of the present application, the second universal joint comprises a first sub-bearing, a first cross shaft, a first pin and a first adapter sleeve. The first end of the first sub-bearing is fixedly connected with the tail of the propelling part; the two ends of the first cross shaft are respectively fixedly connected with the second ends of the first sub-bearing; the first pin is vertically arranged with the first cross shaft, and the first pin is rotatably connected with the first cross shaft; the first end of the first adapter sleeve is fixedly connected with the first end of the first driving part, and the second end of the first adapter sleeve is respectively fixedly connected with the two ends of the first pin.
[0007] According to some embodiments of the present application, the third universal joint comprises a first upper bearing, a second cross shaft and a first lower bearing. The first end of the first upper bearing is fixedly connected with the second end of the first driving part; the first end of the second cross shaft is rotatably connected with the second end of the first upper bearing; the first end of the first lower bearing is rotatably connected with the second end of the second cross shaft, and the second end of the first lower bearing is fixedly connected with the second end of the support.
[0008] According to some embodiments of the present application, the fourth universal joint comprises a second sub-bearing, a third cross shaft, a second pin and a second adapter sleeve. The first end of the second sub-bearing is fixedly connected with the tail of the propelling part; the two ends of the third cross shaft are respectively fixedly connected with the second ends of the second sub-bearing; the second pin is vertically arranged with the third cross shaft, and the second pin is rotatably connected with the third cross shaft; the first end of the second adapter sleeve is fixedly connected with the first end of the second driving part, and the second end of the second adapter sleeve is respectively fixedly connected with the two ends of the second pin.
[0009] According to some embodiments of the present application, the fifth universal joint comprises a second upper bearing, a fourth cross shaft and a second lower bearing. The first end of the second upper bearing is fixedly connected with the second end of the second driving part; the first end of the fourth cross shaft is rotatably connected with the second end of the second upper bearing; the first end of the second lower bearing is rotatably connected with the second end of the fourth cross shaft, and the second end of the second lower bearing is fixedly connected with the second end of the support.
[0010] According to some embodiments of the present application, the first driving part is a first push rod motor; the screw end of the first push rod motor is rotatably connected with the tail of the propulsion part through the second universal joint, and the tail end of the first push rod motor is rotatably connected with the second end of the support through the third universal joint.
[0011] According to some embodiments of the present application, the second driving part is a second push rod motor; the screw end of the second push rod motor is rotatably connected with the tail of the propulsion part through the fourth universal joint, and the tail end of the second push rod motor is rotatably connected with the second end of the support through the fifth universal joint.
[0012] According to some embodiments of the present application, the vector propulsion device further comprises a buoyancy part, which is fixedly connected with the side pole of the support.
[0013] According to some embodiments of the present application, the cross-sectional area of the first end of the support is smaller than the cross-sectional area of the second end of the support.
[0014] According to an aspect of the present application, the present application provides an underwater robot comprising the vector propulsion device as described above.
[0015] The technical solution of the present application can drive the first universal joint, the second universal joint, the third universal joint, the fourth universal joint and the fifth universal joint to rotate correspondingly through the first driving part and the second driving part, so as to drive the propulsion part to adjust to a preset angle, thereby realizing the propulsion of the universal angle of the propulsion part.
[0016] The technical solution of the present application can reduce the length and diameter of the vector propulsion device, and reduce the air weight and the water weight through the arrangement of the first universal joint, the second universal joint, the third universal joint, the fourth universal joint and the fifth universal joint. The vector propulsion device of the present application has a simple structure. BRIEF DESCRIPTION OF DRAWINGS
[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.
[0018] Figure 1Fig. 1 shows a structural schematic diagram of a vector propulsion device according to an embodiment of the present application; Figure 2 Fig. 2 shows another structural schematic diagram of a vector propulsion device according to an embodiment of the present application; Figure 3 Fig. 3 shows a structural schematic diagram of a first universal joint according to an embodiment of the present application; Figure 4 Fig. 4 shows another structural schematic diagram of a first universal joint according to an embodiment of the present application; Figure 5 Fig. 5 shows a structural schematic diagram of a second universal joint according to an embodiment of the present application; Figure 6 Fig. 6 shows another structural schematic diagram of a second universal joint according to an embodiment of the present application; Figure 7 Fig. 7 shows a structural schematic diagram of a third universal joint according to an embodiment of the present application; Figure 8 Fig. 8 shows another structural schematic diagram of a third universal joint according to an embodiment of the present application; Figure 9 Fig. 9 shows a structural schematic diagram of a tail of a propulsion part according to an embodiment of the present application; Figure 10 Fig. 10 shows a schematic diagram of upward rotation of a tail of a propulsion part according to an embodiment of the present application; Figure 11 Fig. 11 shows a schematic diagram of downward rotation of a tail of a propulsion part according to an embodiment of the present application; Figure 12 Fig. 12 shows a schematic diagram of rightward rotation of a tail of a propulsion part according to an embodiment of the present application; Figure 13 Fig. 13 shows a schematic diagram of leftward rotation of a tail of a propulsion part according to an embodiment of the present application; Figure 14 Fig. 14 shows a schematic diagram of a rotation operation process of a propulsion part according to an embodiment of the present application.
[0019] Fig. 15 shows a label explanation. 100, vector propulsion device.
[0020] 110, support; 120, propulsion part; 130, first driving part; 140, second driving part; 150, first universal joint; 160, second universal joint; 170, third universal joint; 180, fourth universal joint; 190, fifth universal joint; 111, buoyancy part.
[0021] 121, first supporting point; 122, second supporting point.
[0022] 112, clasp; 113, support frame; 114, gasket.
[0023] 131, first push rod motor; 141, second push rod motor.
[0024] 151, inner ring; 152, first bearing assembly; 153, second bearing assembly; 154, outer ring; 155, third bearing assembly; 156, fourth bearing assembly.
[0025] 161, first sub-bearing; 162, first cross shaft; 163, first pin; 164, first adapter sleeve.
[0026] 171, first upper bearing; 172, second cross shaft; 173, first lower bearing. DETAILED DESCRIPTION
[0027] Example embodiments now will be described more fully hereinafter with reference to the accompanying drawings. Example embodiments, however, can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the several views.
[0028] The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the embodiments of the disclosure can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In these instances, well-known structures, methods, devices, implementations, materials, and operations are not shown or described in detail.
[0029] In addition, the terms "comprise / comprising" and "include / including" when used in this specification and in the following claims are intended to specify the presence of stated features, integers, steps, components, or sections but do not preclude the presence or addition of one or more other features, integers, steps, components, sections, articles, materials, or groups thereof.
[0030] The terms "first", "second", and the like, in the description and in the claims of the present application are used for distinguishing between similar objects talking about the ordinal number and thus do not imply or create any specific order or sequence.
[0031] The technical solutions in the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of, but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of the present application.
[0032] According to an aspect of the present application, the present application provides a vector propulsion device 100 for an underwater robot. Referring to Figure 1 and Figure 2 , the vector propulsion device 100 comprises a bracket 110, a propulsion part 120, a first driving part 130 and a second driving part 140.
[0033] According to an example embodiment, the first end of the bracket 110 is annular, the second end of the bracket 110 is annular, and the first end of the bracket 110 is fixedly connected to the second end of the bracket 110 through a side pole. The first end of the bracket 110 and the second end of the bracket 110 can be coaxially arranged. The side pole can be provided in plurality, and the plurality of side poles can be arranged at intervals. The first end of the bracket 110 can be connected to the side pole by screwing or welding. The second end of the bracket 110 can be connected to the side pole by screwing or welding.
[0034] Referring to Figure 1 and Figure 2 , the tail of the propulsion part 120 is rotatably connected to the first end of the bracket 110 through a first universal joint 150. For example, the propulsion part 120 can be a propeller. The tail of the propeller is annular structure, and the first universal joint 150 can be annular universal joint structure. The tail of the propulsion part 120 can be coaxially arranged with the first end of the bracket 110.
[0035] According to an example embodiment, the first end of the first driving part 130 is rotatably connected to the tail of the propulsion part 120 through a second universal joint 160, and the second end of the first driving part 130 is rotatably connected to the second end of the bracket 110 through a third universal joint 170 (not shown in Figure 1 and Figure 2 ).
[0036] For example, the first driving part 130 can be a push rod motor. The first end of the first driving part 130 can be telescopic. In the case of telescopic movement of the first end of the first driving part 130, the forced rotation of the first universal joint 150, the second universal joint 160 and the third universal joint 170 driven by the first driving part 130 can adjust the rotation of the tail of the propulsion part 120.
[0037] The second driving part 140 is arranged in parallel with the first driving part 130, the first end of the second driving part 140 is rotatably connected to the tail of the propulsion part 120 through a fourth universal joint 180, and the second end of the second driving part 140 is rotatably connected to the second end of the bracket 110 through a fifth universal joint 190. For example, the second drive unit 140 can be a push rod motor. The first end of the second drive unit 140 can extend or retract. When the first end of the second drive unit 140 extends or retracts, it drives the first universal joint 150, the fourth universal joint 180 and the fifth universal joint 190 to rotate under force, thereby adjusting the rotation of the tail of the propulsion unit 120.
[0038] The first drive unit 130 and the second drive unit 140 extend and retract to drive the corresponding universal joints to rotate, thereby adjusting the propulsion unit 120 to a preset angle.
[0039] According to the example embodiment, the preset angle can be the target adjustment angle of the propulsion unit 120. The first drive unit 130 and the second drive unit 140 extend and retract to drive the corresponding universal joints to rotate, so that the tail of the propulsion unit 120 can rotate around the first end point as a fulcrum. The first end point can be the intersection of the axis of the first end of the bracket 110 and the tail of the propulsion unit 120.
[0040] The rotation angle can be the angle between the axis of the tail of the rotating propulsion part 120 and the axis of the first end of the bracket 110. The rotation angle can be adjusted according to the length of the bracket 110, the radius of the first end of the bracket 110, etc. For example, the maximum rotation angle can be 60°.
[0041] For example, when the first end of the first drive unit 130 retracts, the force drives the first universal joint 150, the second universal joint 160, and the third universal joint 170 to rotate, thereby adjusting the rotation of the tail end of the propulsion unit 120. When the first end of the second drive unit 140 retracts, the force drives the first universal joint 150, the fourth universal joint 180, and the fifth universal joint 190 to rotate, thereby adjusting the rotation of the tail end of the propulsion unit 120.
[0042] When the first end of the first drive unit 130 and the first end of the second drive unit 140 move together in a telescopic motion, the corresponding universal joint is driven to rotate, thereby driving the propulsion unit 120 to rotate to a preset angle with the first end point as the fulcrum.
[0043] Through the above embodiments, the technical solution of this application can drive the first universal joint, the second universal joint, the third universal joint, the fourth universal joint and the fifth universal joint to rotate accordingly through the first driving part and the second driving part, thereby driving the propulsion part to adjust to a preset angle, thereby realizing the propulsion of the propulsion part at the universal angle.
[0044] The technical solution of this application can reduce the length and diameter of the vector propulsion device by setting up a first, second, third, fourth, and fifth universal joint, and also reduce the weight in air and water. The vector propulsion device of this application has a simple structure.
[0045] Optionally, seeFigure 3 and Figure 4 The first universal joint 150 includes an inner ring 151, a first bearing assembly 152, a second bearing assembly 153, an outer ring 154, a third bearing assembly 155, and a fourth bearing assembly 156.
[0046] According to an example embodiment, the inner ring 151 surrounds the tail of the thruster, and the inner ring 151 may be coaxially arranged with the tail of the thruster.
[0047] The first end of the first bearing assembly 152 is fixedly connected to the inner ring 151, and the second end of the first bearing assembly 152 is rotatably connected to the tail of the propulsion unit 120. The first bearing assembly 152 may include a bearing and a cross shaft. The bearing of the first bearing assembly 152 is fixedly connected to the tail of the propulsion unit through a circular hole, the first end of the cross shaft of the first bearing assembly 152 is rotatably connected to the bearing of the first bearing assembly 152, and the second end of the cross shaft of the first bearing assembly 152 is fixedly connected to the inner ring 151.
[0048] The second bearing assembly 153 is disposed opposite to the first bearing assembly 152. The first end of the second bearing assembly 153 is fixedly connected to the inner ring 151, and the second end of the second bearing assembly 153 is rotatably connected to the tail of the propulsion section 120. The second bearing assembly 153 may include a bearing and a cross shaft. The mechanism of the second bearing assembly 153 is the same as that of the first bearing assembly 152, and will not be described again here. This arrangement allows the inner ring 151 to rotate while the second ends of the first bearing assembly 152 and the second end of the second bearing assembly 153 rotate relative to the tail of the propulsion section 120.
[0049] The outer ring 154 is coaxially arranged with the inner ring 151 and surrounds the outer circumference of the inner ring 151. There is a gap between the inner wall of the outer ring 154 and the outer wall of the inner ring 151. The outer ring 154 is fixedly connected to the first end of the bracket 110. The outer ring 154 can be fixedly connected to the first end of the bracket 110 by screws.
[0050] The first end of the third bearing assembly 155 is fixedly connected to the outer ring 154, and the second end of the third bearing assembly 155 is rotatably connected to the tail of the propulsion section 120.
[0051] The fourth bearing assembly 156 is disposed opposite to the third bearing assembly 155. The first end of the fourth bearing assembly 156 is fixedly connected to the outer ring 154, and the second end of the fourth bearing assembly 156 is rotatably connected to the tail of the propulsion part 120.
[0052] The third bearing assembly 155 may include a bearing and a cross shaft. The bearing of the third bearing assembly 155 is fixedly connected to the tail of the thruster through a circular hole. The first end of the cross shaft of the third bearing assembly 155 passes through the inner ring 151 and is rotatably connected to the bearing of the third bearing assembly 155. The second end of the cross shaft of the third bearing assembly 155 is fixedly connected to the outer ring 154. The fourth bearing assembly 156 may include a bearing and a cross shaft. The structure of the fourth bearing assembly 156 is the same as that of the third bearing assembly 155, and will not be described again here.
[0053] Through the above embodiments, the technical solution of this application can rotatably connect the tail of the thruster to the first end of the bracket through the first universal joint.
[0054] Optionally, see Figure 5 and Figure 6 The second universal joint 160 includes a first sub-bearing 161, a first cross shaft 162, a first pin 163, and a first adapter sleeve 164.
[0055] The first end of the first sub-bearing 161 is fixedly connected to the tail end of the propulsion section 120. For example, see Figure 9 The first end of the first sub-bearing 161 can be fixed to the first fulcrum 121 at the tail of the propulsion section 120.
[0056] Both ends of the first cross shaft 162 are fixedly connected to the second end of the first sub-bearing 161. Both ends of the first cross shaft 162 can be fixedly connected to the second end of the first sub-bearing 161 by means of snap rings 112.
[0057] The first pin 163 is perpendicular to the first cross shaft 162 and is rotatably connected to the first cross shaft 162. The first end of the first adapter sleeve 164 is fixedly connected to the first end of the first drive unit 130, and the second end of the first adapter sleeve 164 is fixedly connected to both ends of the first pin 163. Both ends of the first pin 163 can be fixedly connected to the second end of the first adapter sleeve 164 via a snap ring 112.
[0058] For example, when the first end of the first drive unit 130 performs a telescopic movement, it drives the first bearing sleeve to telescopically move, and under the action of the first cross shaft 162, the first bearing sleeve and the first sub-bearing 161 can rotate.
[0059] Optional, participate Figure 7 and Figure 8 The third universal joint 170 includes a first upper bearing 171, a second cross shaft 172, and a first lower bearing 173.
[0060] The first end of the first upper bearing 171 is fixedly connected to the second end of the first drive unit 130. For example, the second end of the first drive unit 130 may be fixedly provided with a first adapter port. After the first adapter port is inserted into the central groove of the first upper bearing 171, the first end of the first upper bearing 171 and the first adapter port are fixed by a pin, thereby achieving a fixed connection between the first end of the first upper bearing 171 and the second end of the first drive unit 130.
[0061] The first end of the second cross shaft 172 is rotatably connected to the second end of the first upper bearing 171. The first end of the first lower bearing 173 is rotatably connected to the second end of the second cross shaft 172, and the second end of the first lower bearing 173 is fixedly connected to the second end of the bracket 110.
[0062] For example, a support frame 113 can be fixedly mounted on the second end of the bracket 110, and the second ends of the first upper bearing 171 and the first lower bearing 173 can both be fixedly connected to the support frame 113. The second end of the first lower bearing 173 can be fixedly connected to the support frame 113 via a snap ring 112 and a washer 114.
[0063] Through the above embodiments, when the first end of the first drive unit performs a telescopic movement, the position of the second end of the first drive unit is adjusted accordingly, and the first upper bearing and the first lower bearing can rotate under the action of the second cross shaft.
[0064] Optionally, the fourth universal joint 180 includes a second sub-bearing, a third cross pin, a second pin, and a second adapter sleeve. The structure of the fourth universal joint 180 can be the same as that of the second universal joint 160.
[0065] The first end of the second sub-bearing is fixedly connected to the tail end of the propulsion section 120. For example, see Figure 9 The first end of the second sub-bearing can be fixed to the second fulcrum 122 at the tail of the propulsion section 120.
[0066] Both ends of the third cross shaft are fixedly connected to the second end of the second sub-bearing. Both ends of the third cross shaft can be fixedly connected to the second end of the second sub-bearing via snap rings 112.
[0067] The second pin is perpendicular to the third cross shaft, and the second pin and the third cross shaft are rotatably connected.
[0068] The first end of the second adapter sleeve is fixedly connected to the first end of the second drive unit 140, and the second end of the second adapter sleeve is fixedly connected to both ends of the second pin respectively. Both ends of the second pin can be fixedly connected to the second end of the second adapter sleeve by means of a snap ring 112.
[0069] For example, when the first end of the second drive unit 140 performs a telescopic movement, it drives the second bearing sleeve to telescopically move, and under the action of the third cross shaft, the second bearing sleeve and the second sub-bearing can rotate.
[0070] Optionally, the fifth universal joint 190 includes a second upper bearing, a fourth cross shaft, and a second lower bearing. The structure of the fifth universal joint 190 can be the same as that of the third universal joint 170.
[0071] The first end of the second upper bearing is fixedly connected to the second end of the second drive unit 140. For example, a second adapter port can be fixedly provided at the second end of the second drive unit 140. After the second adapter port is inserted into the central groove of the second upper bearing, the first end of the second upper bearing and the second adapter port are fixed by a pin, thereby achieving a fixed connection between the first end of the second upper bearing and the second end of the second drive unit 140.
[0072] The first end of the fourth cross shaft is rotatably connected to the second end of the second upper bearing. The first end of the second lower bearing is rotatably connected to the second end of the fourth cross shaft, and the second end of the second lower bearing is fixedly connected to the second end of the bracket 110.
[0073] For example, a support frame 113 can be fixedly mounted on the second end of the bracket 110, and the second end of the second upper bearing and the second end of the second lower bearing can be fixedly connected to the support frame 113. The second end of the second lower bearing can be fixedly connected to the support frame 113 by a snap ring 112.
[0074] Through the above embodiments, when the first end of the second drive unit performs telescopic movement, the position of the second end of the second drive unit is adjusted accordingly, and the second upper bearing and the second lower bearing can rotate under the action of the fourth cross shaft.
[0075] Optionally, the first drive unit 130 can be a first push rod motor 131. The lead screw end of the first push rod motor 131 is rotatably connected to the tail end of the push unit 120 through a second universal joint 160, and the tail end of the first push rod motor 131 is rotatably connected to the second end of the bracket 110 through a third universal joint 170.
[0076] For example, the tail end of the housing of the first push rod motor 131 can be connected to the third universal joint 170. A drive motor is installed inside the housing of the first push rod motor 131. The first end of the lead screw of the first push rod motor 131 is fixedly connected to the drive motor, and the second end of the lead screw of the first push rod motor 131 is fixedly connected to the second universal joint 160 (first adapter sleeve 164). The drive motor can drive the lead screw to perform telescopic movement. When the lead screw of the first push rod motor 131 performs telescopic movement, it drives the first bearing sleeve to telescopically move, and under the action of the first cross shaft 162, the first bearing sleeve and the first sub-bearing 161 can rotate.
[0077] Optionally, the second drive unit 140 can be a second push rod motor 141. The lead screw end of the second push rod motor 141 is rotatably connected to the tail end of the push unit 120 through a fourth universal joint 180, and the tail end of the second push rod motor 141 is rotatably connected to the second end of the bracket 110 through a fifth universal joint 190.
[0078] For example, the tail end of the housing of the second push rod motor 141 can be connected to the fifth universal joint 190. A drive motor is installed inside the housing of the second push rod motor 141. The first end of the lead screw of the second push rod motor 141 is fixedly connected to the drive motor, and the second end of the lead screw is fixedly connected to the fourth universal joint 180 (second adapter sleeve). The drive motor can drive the lead screw to perform telescopic movement. When the lead screw of the second push rod motor 141 performs telescopic movement, it drives the second bearing sleeve to telescopically move, and under the action of the third cross shaft, the second bearing sleeve and the second sub-bearing can rotate.
[0079] The first push rod motor 131 and the second push rod motor 141 can adjust the rotation direction of the tail of the propulsion section 120 through the coordination of their telescopic movements. For example, see... Figure 10 When the first push rod motor 131 can extend, and the second push rod motor 141 extends, the tail of the push part 120 can rotate upward.
[0080] See Figure 11 When the first push rod motor 131 retracts, the tail of the push part 120 can rotate downwards.
[0081] See Figure 12 When the first push rod motor 131 can extend and the second push rod motor 141 can retract, the tail of the push part 120 can rotate to the right.
[0082] See Figure 13 When the first push rod motor 131 can retract and the second push rod motor 141 can extend, the tail of the push part 120 can rotate to the left.
[0083] By adjusting the extension and retraction lengths of the first push rod motor 131 and the second push rod motor 141, different rotation directions of the propulsion unit 120 can be adjusted (not only the up, down, left, and right directions). Figures 11-13 (For illustration only) and the rotation angle in that rotation direction.
[0084] For example, the rotation direction of the propulsion unit 120 is described using a first plane perpendicular to the axis of the first end of the support 110 as an example. See also Figure 14Direction X is the horizontal direction within the first plane, and direction Y is the vertical direction within the first plane. The center point of the propulsion unit 120 is located at the intersection of directions X and Y (i.e., the center of the circle).
[0085] 1. The first push rod motor 131 retracts to its shortest position, the second push rod motor 141 extends, and the center point of the propulsion unit 120 moves from the center of the circle in the positive direction X and into the first quadrant. During this process, the second push rod motor 141 continues to extend, and the first push rod motor 131 also extends, and the propulsion unit 120 moves from the first quadrant to the positive direction Y.
[0086] 2. The propulsion unit 120 starts to run in the positive direction Y. The first push rod motor 131 extends and the second push rod motor 141 retracts. The propulsion unit 120 starts to run in the second quadrant until it reaches the negative direction X.
[0087] 3. The propulsion unit 120 starts operating from the negative direction of X. The first push rod motor 131 extends further, and the second push rod motor 141 extends, and the propulsion unit 120 begins to move towards the third quadrant. During this process, the first push rod motor 131 retracts, and the second push rod motor 141 retracts, until it reaches the negative direction of Y.
[0088] 4. The propulsion unit 120 starts running from the negative direction of Y. The first push rod motor 131 retracts and the second push rod motor 141 extends. The propulsion unit 120 starts running towards the fourth quadrant until it reaches the positive direction of X.
[0089] The lead screw extension length of the first and second push rod motors provided in this application is shorter than that of similar technologies. If other similar technologies are used, the lead screw extension length is approximately 23.74 mm, while the lead screw extension length of the first and second push rod motors of this application is approximately 9.68 mm. The shortened lead screw length reduces the overall length of the first and second push rod motors, thereby reducing their weight in air.
[0090] Optionally, see Figure 1 The vector propulsion device 100 also includes a buoyancy section 111. The buoyancy section 111 is fixedly connected to the side bars of the support 110. The buoyancy section 111 can be made of buoyancy material, which can reduce the underwater weight of the vector propulsion device 100. The volume of the buoyancy material can be set according to user needs. For example, the buoyancy material can fill half the volume of the side wall of the support 110.
[0091] Optionally, the cross-sectional area of the first end of the bracket 110 is smaller than the cross-sectional area of the second end of the bracket 110. This configuration allows the hull of the underwater robot housing the vector propulsion device to be streamlined.
[0092] According to one aspect of this application, an underwater robot is provided, including the vector propulsion device as described above.
[0093] Finally, it should be noted that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions of the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.
Claims
1. A vector propulsion device for an underwater robot, characterized in that, The vector propulsion device includes: The bracket has a first ring-shaped end and a second ring-shaped end, and the first and second ends of the bracket are fixedly connected by a side bar. The propulsion unit has its tail end rotatably connected to the first end of the bracket via a first universal joint; A first drive unit, the first end of which is rotatably connected to the tail of the propulsion unit via a second universal joint, and the second end of which is rotatably connected to the second end of the bracket via a third universal joint; The second drive unit is arranged parallel to the first drive unit. The first end of the second drive unit is rotatably connected to the tail end of the propulsion unit through a fourth universal joint, and the second end of the second drive unit is rotatably connected to the second end of the bracket through a fifth universal joint. The first drive unit and the second drive unit extend and retract to drive the corresponding universal joint to rotate, thereby adjusting the propulsion unit to a preset angle.
2. The vector propulsion device according to claim 1, characterized in that, The first universal joint includes: Inner ring, surrounding the tail of the thruster; A first bearing assembly, wherein a first end of the first bearing assembly is fixedly connected to the inner ring, and a second end of the first bearing assembly is rotatably connected to the tail of the propulsion part; The second bearing assembly is disposed opposite to the first bearing assembly. The first end of the second bearing assembly is fixedly connected to the inner ring, and the second end of the second bearing assembly is rotatably connected to the tail of the propulsion part. An outer ring is coaxially arranged with the inner ring and surrounds the outer periphery of the inner ring. There is a gap between the inner wall of the outer ring and the outer wall of the inner ring. The outer ring is fixedly connected to the first end of the bracket. The third bearing assembly has a first end fixedly connected to the outer ring and a second end rotatably connected to the tail of the propulsion part. A fourth bearing assembly is disposed opposite to the third bearing assembly. The first end of the fourth bearing assembly is fixedly connected to the outer ring, and the second end of the fourth bearing assembly is rotatably connected to the tail of the propulsion part.
3. The vector propulsion device according to claim 2, characterized in that, The second universal joint includes: The first sub-bearing, the first end of which is fixedly connected to the tail of the propulsion unit; The first cross shaft is fixedly connected at both ends to the second end of the first sub-bearing; The first pin is perpendicular to the first cross shaft, and the first pin is rotatably connected to the first cross shaft; The first adapter sleeve has its first end fixedly connected to the first end of the first drive unit, and its second end fixedly connected to both ends of the first pin.
4. The vector propulsion device according to claim 1, characterized in that, The third universal joint includes: A first upper bearing, the first end of which is fixedly connected to the second end of the first drive unit; The second cross shaft, the first end of the second cross shaft is rotatably connected to the second end of the first upper bearing; The first lower bearing has a first end rotatably connected to the second end of the second cross shaft, and the second end of the first lower bearing is fixedly connected to the second end of the bracket.
5. The vector propulsion device according to claim 2, characterized in that, The fourth universal joint includes: The second sub-bearing, the first end of which is fixedly connected to the tail of the propulsion unit; The third cross shaft is fixedly connected to the second end of the second sub-bearing at both ends; The second pin is perpendicular to the third cross shaft, and the second pin is rotatably connected to the third cross shaft; The second adapter sleeve has its first end fixedly connected to the first end of the second drive unit, and its second end fixedly connected to both ends of the second pin.
6. The vector propulsion device according to claim 1, characterized in that, The fifth universal joint includes: The second upper bearing has its first end fixedly connected to the second end of the second drive unit. The fourth cross shaft, the first end of which is rotatably connected to the second end of the second upper bearing; The second lower bearing has its first end rotatably connected to the second end of the fourth cross shaft, and its second end is fixedly connected to the second end of the bracket.
7. The vector propulsion device according to claim 1, characterized in that, The first drive unit is a first push rod motor; The lead screw end of the first push rod motor is rotatably connected to the tail end of the propulsion unit via the second universal joint, and the tail end of the first push rod motor is rotatably connected to the second end of the bracket via the third universal joint.
8. The vector propulsion device according to claim 1, characterized in that, The second drive unit is a second push rod motor; The lead screw end of the second push rod motor is rotatably connected to the tail end of the propulsion unit through the fourth universal joint, and the tail end of the second push rod motor is rotatably connected to the second end of the bracket through the fifth universal joint.
9. The vector propulsion device according to claim 1, characterized in that, The vector propulsion device also includes: The buoyancy component is fixedly connected to the side bar of the bracket.
10. The vector propulsion device according to claim 1, characterized in that, The cross-sectional area of the first end of the bracket is smaller than the cross-sectional area of the second end of the bracket.
11. An underwater robot, characterized in that, Includes the vector propulsion device as described in any one of claims 1-10.