Integrated omnidirectional vector propulsion device of underwater robot

Abstract

The utility model relates to the technical field of underwater vector propulsion, and discloses an integrated omni-directional vector propulsion device of an underwater robot, which comprises a bearing base inserted into the underwater robot, a propeller driving piece is arranged on one side of the bearing base, a swing arm is arranged at the end part of the bearing base, a swing adjusting assembly is arranged on the swing arm, and the propeller driving piece is connected with the swing adjusting assembly. The swing adjusting assembly is arranged at the end, away from the bearing base, of the swing arm. The swing arm can rotate at one end of the bearing base so as to drive the propeller driving part to rotate with the bearing base as the center, and the swing adjusting assembly can drive the propeller driving part to rotate, so that the propeller driving part deviates from the axis of the bearing base by a certain angle; therefore, the propeller driving part can revolve by taking the bearing base as the center, so that the underwater robot can realize flexible and accurate omni-directional vector propulsion.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater vector propulsion, in particular to an integrated omnidirectional vector propulsion device of an underwater robot. Background Art

[0002] With the continuous increase in ocean exploration and development activities, underwater robots are being used more and more widely in the fields of marine resource exploration, environmental monitoring, underwater rescue, etc.

[0003] Current underwater robots usually use multiple propulsion devices in their propulsion systems to achieve multi-directional movement and precise positioning.

[0004] Traditional propulsion devices have complex structures and are limited in achieving precise control and flexibility, especially when dealing with narrow or complex underwater environments. In order to solve the above problems, we propose an integrated omnidirectional vector propulsion device for underwater robots. Utility Model Content

[0005] The purpose of the utility model is to provide an integrated omnidirectional vector propulsion device for an underwater robot, so as to solve the problem that the traditional propulsion device has a complex structure and is limited in achieving precise control and flexibility when dealing with narrow or complex underwater environments.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an integrated omnidirectional vector propulsion device of an underwater robot, comprising a bearing base inserted into the underwater robot, a propeller driving member for providing driving force is provided on one side of the bearing base, and the characteristics are: a swing arm is rotatably provided at the end of the bearing base, a swing adjustment component for adjusting the center position of the propeller driving member is provided at the free end of the swing arm, an angle adjustment component for driving the propeller driving member to rotate is provided on the propeller driving member, and the angle adjustment component is rotatably connected to the swing adjustment component;

[0007] When the underwater robot moves straight, the propeller driving member is coaxial with the bearing base.

[0008] When the underwater robot turns, the swing adjustment assembly drives the center position of the propeller driving member to deviate from the axis of the supporting base.

[0009] According to the above technical solution, the angle adjustment component includes a rotating connecting member connected to the swing adjustment component, a second driving member is provided at one rotating end of the rotating connecting member, a rotating connecting rod connected to the second driving member is provided at the other rotating end of the rotating connecting member, and the rotating connecting rod is fixedly connected to the propeller driving member; when the axis of the propeller driving member is perpendicular to the axis of the supporting base, the propeller driving member is used to control the lifting and lowering operation of the underwater robot.

[0010] According to the above technical solution, when the propeller driving member is away from the axis of the supporting base, the propeller driving member is used to control the underwater robot to roll.

[0011] According to the above technical solution, the rotating connecting member includes a mounting plate fixedly connected to the second driving member, and the bottom of the mounting plate is rotatably connected to a rotating chassis connected to the swing adjustment assembly.

[0012] According to the above technical solution, the rotating connecting member includes a mounting plate, and the side wall of the mounting plate is rotatably connected to a rotating base fixedly connected to the rotating connecting rod.

[0013] According to the above technical solution, one end of the rotating connecting rod is fixedly connected to a tray fixedly connected to the propeller driving member, and a reinforcing rib is also fixedly connected between the tray and the propeller driving member.

[0014] According to the above technical solution, the swing adjustment assembly includes a mounting platform, the mounting platform is fixedly connected to the swing arm, and a first driving member for driving the propeller driving member to swing is arranged in the mounting platform.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] The utility model can rotate at one end of the bearing base through the swing arm, thereby driving the swing adjustment component and the angle adjustment component to rotate, so that the propeller drive can rotate around the bearing base, and the swing adjustment component can drive the propeller drive to rotate, so that the propeller drive and the axis of the bearing base deviate at a certain angle, so that the propeller drive revolves around the bearing base, thereby enabling the underwater robot to achieve flexible and accurate omnidirectional vector propulsion. This steering function enables the robot to freely change the direction of movement in a complex and changeable underwater environment and adapt to various complex task requirements.

[0017] The utility model is provided with an angle adjustment component. When the axis of the propeller driving member is perpendicular to the axis of the supporting base, that is, the second driving member drives the rotating connecting rod to rotate 90 degrees, the propeller driving member 2 can control the end of the underwater robot away from the vector propulsion device to quickly pitch up or down, thereby further improving the flexible directional movement of the underwater robot.

[0018] The utility model is provided with an angle adjustment component and a swing adjustment component. When the propeller driving component is driven by the swing adjustment component to rotate 180 degrees from the initial position, that is, the propeller driving component is away from the axis of the bearing base, and the axis of the propeller driving component is perpendicular to the axis of the bearing base, the propeller driving component can control the underwater robot to roll. This unique function enables the underwater robot to cope with various complex underwater posture adjustment requirements, greatly enhancing its adaptability in narrow or complex underwater environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a top view of the overall structure of the omnidirectional vector propulsion device of the utility model;

[0020] Figure 2 This is an axial view of the overall structure of the omnidirectional vector propulsion device of the utility model;

[0021] Figure 3 This is a side view of the overall structure of the omnidirectional vector propulsion device of the utility model;

[0022] Figure 4 It is a partial schematic diagram of the omnidirectional vector propulsion device of the utility model;

[0023] Figure 5 It is a schematic diagram of the rotary connecting member of the utility model.

[0024] In the figure:

[0025] 1. Bearing base; 2. Propeller drive member; 3. Swing arm; 4. Swing adjustment assembly; 41. Mounting table; 42. First drive member; 5. Angle adjustment assembly; 51. Rotating connection member; 511. Mounting plate; 512. Rotating chassis; 513. Rotating base; 52. Second drive member; 53. Rotating connecting rod; 54. Reinforcing ribs; 55. Tray. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] See also Figure 1-5The utility model provides a technical solution for an integrated omnidirectional vector propulsion device of an underwater robot: it includes a bearing base 1 inserted into the underwater robot. The bearing base 1 is used as the basic support structure of the entire vector propulsion and is firmly embedded in the underwater robot, providing a solid foundation for subsequent power transmission and motion control. The bearing base 1 plays a key role in stabilizing support and connecting other components. A propeller drive 2 for providing a strong driving force is arranged on one side of the bearing base 1. The propeller drive can generate a strong thrust and provide sufficient power support for the movement of the underwater robot.

[0028] A motor is provided in the bearing base 1, and a swing arm 3 connected to the motor output shaft is rotatably provided at the end of the bearing base 1. The swing arm 3 plays a key connection and adjustment role in the entire propulsion device. A swing adjustment component 4 for adjusting the center position of the propeller drive member 2 is provided on the swing arm 3, wherein the swing adjustment component 4 is arranged at one end of the swing arm 3 away from the bearing base 1;

[0029] When the propeller drive 2 is coaxial with the supporting base 1, the underwater robot can move smoothly and efficiently along a straight line. This straight-moving state ensures that the robot can maintain stability and accuracy in mission scenarios that require straight-line movement.

[0030] When the propeller drive member 2 is driven to rotate by the swing adjustment component 4, so that the propeller drive member 2 and the bearing base 1 are not on the same axis, the swing adjustment component 4 can be driven to rotate as the motor drives the swing arm 3 to rotate, thereby driving the propeller drive member 2 to revolve around the bearing base 1, so that the underwater robot can achieve flexible and accurate omnidirectional vector propulsion. This steering function enables the robot to change the direction of movement freely in a complex and changeable underwater environment and adapt to various complex task requirements.

[0031] At the same time, an angle adjustment component 5 for driving the propeller driving component 2 to rotate as a whole is also provided on the propeller driving component. The propeller driving component 2 is provided with an angle adjustment component 5 for driving the propeller driving component 2 to rotate. This angle adjustment component and the swing adjustment component realize a flexible rotation connection, so that the propeller driving component can adjust the angle in multiple dimensions, so that the water robot can meet the complex underwater environment.

[0032] Specifically, the angle adjustment component 5 includes a rotating connection member 51 connected to the swing adjustment component 4, and a second driving member 52 is provided at one rotating end of the rotating connection member 51, and a rotating connection rod 53 connected to the second driving member 52 is provided at the other rotating end of the rotating connection member 51. Through the setting of the rotating connection member 51, the swing adjustment component 4 and the angle adjustment component 5 as well as the angle adjustment component 5 itself can be flexibly rotated without affecting each other.

[0033] The rotating connecting rod 53 is fixedly connected to the propeller driving member 2. The initial position of the propeller driving member 2 is that the propeller driving member 2 is parallel to the swing arm 3, and the propeller driving member 2 is coaxial with the supporting base 1. The rotating connecting rod 53 is an L-shaped square rod. The horizontal rod of the L-shaped square rod is parallel to the swing arm 3, and the vertical rod of the L-shaped square rod is perpendicular to the swing arm 3. The propeller driving member 2 is fixed to the end of the vertical rod. When the axis of the propeller driving member 2 is perpendicular to the axis of the supporting base 1, that is, the second driving member 52 drives the rotating connecting rod 53 to rotate 90 degrees, the propeller driving member 2 can control the end of the underwater robot away from the vector propulsion device to quickly pitch up or down, further improving the flexible directional movement of the underwater robot.

[0034] Furthermore, when the second driving member 52 drives the rotating connecting rod 53 to rotate 90 degrees, and the swing adjustment component 4 drives the rotating connecting member 51 to rotate 180 degrees, that is, when the propeller driving member 2 is away from the axis of the supporting base 1, the axis of the propeller driving member 2 is perpendicular to the axis of the supporting base 1. At this time, the propeller driving member 2 can control the underwater robot to roll. This unique function enables the underwater robot to cope with various complex underwater posture adjustment requirements, greatly enhancing its adaptability in narrow or complex underwater environments.

[0035] Specifically, the rotating connecting member 51 includes a mounting plate 511 fixedly connected to the second driving member 52, and the bottom of the mounting plate 511 is rotatably connected to a rotating chassis 512 fixedly connected to the mounting platform 41 of the swing adjustment assembly 4. After the mounting platform 41 and the mounting plate 511 are fixed together, the swing adjustment assembly 4 can drive the mounting plate 511 to rotate, thereby rotating the angle adjustment assembly 5 as a whole. Moreover, this rotating chassis adopts high-performance bearings and sealing designs, which can maintain stable rotation for a long time in harsh underwater environments.

[0036] Specifically, the rotating connecting member 51 includes a mounting plate 511, and the side wall of the mounting plate 511 is rotatably connected to a rotating base 513 fixedly connected to the rotating connecting rod 53. The output end of the second driving member 52 is fixedly connected to the rotating base 513. The output end of the second driving member 52 can drive the rotating connecting rod 53 to rotate, and then drive the rotating connecting rod 53 to rotate, so as to achieve the angle adjustment of the output direction of the propeller driving member 2. This rotating base 513 also adopts high-precision manufacturing technology and high-quality materials to ensure that it can still maintain stable performance under frequent rotation and load.

[0037] Specifically, one end of the rotating connecting rod 53 is firmly connected to a tray 55 fixed to the propeller drive member 2. The tray 55 can withstand the huge torque and impact force generated by the propeller drive member 2 during operation. A reinforcing rib 54 is also fixed between the tray 55 and the propeller drive member 2, which further enhances the strength and stability of the connection part and effectively prevents structural deformation or damage that may occur during high-intensity operations.

[0038] It is worth mentioning that the swing adjustment assembly 4 includes a mounting platform 41, which is fixedly connected to the swing arm 3. The mounting platform and the swing arm 3 are integrally formed to ensure the integrity and stability of the structure. Inside the mounting platform 41, a first driving member 42 is provided specifically for driving the propeller driving member 2 to swing. The first driving member can accurately control the swing angle of the propeller driving member, thereby realizing accurate adjustment of the steering angle of the underwater robot.

[0039] In the description of the present invention, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0040] In addition, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second", "third" and "fourth" may explicitly or implicitly include at least one of such features.

[0041] In the present utility model, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the utility model according to the specific circumstances.

[0042] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An integrated omnidirectional vector propulsion device for an underwater robot, comprising a bearing base (1) inserted into the underwater robot, a propeller driving member (2) for providing driving force is provided on one side of the bearing base (1), and is characterized in that: A swing arm (3) is rotatably provided at the end of the bearing base (1); a swing adjustment assembly (4) for adjusting the center position of the propeller driving member (2) is provided at the free end of the swing arm (3); an angle adjustment assembly (5) for driving the propeller driving member (2) to rotate is provided on the propeller driving member (2); the angle adjustment assembly (5) is rotatably connected to the swing adjustment assembly (4); When the underwater robot moves straight, the propeller driving member (2) is coaxial with the supporting base (1); When the underwater robot turns, the swing adjustment component (4) drives the center position of the propeller drive member (2) to deviate from the axis of the supporting base (1).

2. The integrated omnidirectional vector propulsion device of an underwater robot according to claim 1, characterized in that: The angle adjustment component (5) comprises a rotating connection member (51) connected to the swing adjustment component (4); a second driving member (52) is provided at one rotating end of the rotating connection member (51); a rotating connection rod (53) connected to the second driving member (52) is provided at the other rotating end of the rotating connection member (51); and the rotating connection rod (53) is fixedly connected to the propeller driving member (2).

3. The integrated omnidirectional vector propulsion device of an underwater robot according to claim 2, characterized in that: When the propeller driving component (2) is away from the axis of the supporting base (1), the propeller driving component (2) is used to control the underwater robot to roll.

4. The integrated omnidirectional vector propulsion device of an underwater robot according to claim 2, characterized in that: The rotating connecting member (51) comprises a mounting plate (511) fixedly connected to the second driving member (52), and the bottom of the mounting plate (511) is rotatably connected to a rotating chassis (512) connected to the swing adjustment assembly (4).

5. The integrated omnidirectional vector propulsion device of an underwater robot according to claim 2, characterized in that: The rotating connecting member (51) comprises a mounting plate (511), and a side wall of the mounting plate (511) is rotatably connected to a rotating base (513) fixedly connected to the rotating connecting rod (53).

6. The integrated omnidirectional vector propulsion device of an underwater robot according to claim 2, characterized in that: One end of the rotating connecting rod (53) is fixedly connected to a tray (55) fixedly connected to the propeller driving component (2), and a reinforcing rib (54) is also fixedly connected between the tray (55) and the propeller driving component (2).

7. The integrated omnidirectional vector propulsion device of an underwater robot according to claim 1, characterized in that: The swing adjustment assembly (4) comprises a mounting platform (41), the mounting platform (41) is fixedly connected to the swing arm (3), and a first driving member (42) for driving the propeller driving member (2) to swing is arranged inside the mounting platform (41).

Images