Novel six-propulsion underwater vehicle

Abstract

The utility model discloses a novel six-propulsion underwater vehicle which comprises a vehicle body of a cylindrical structure. The connecting support structures are arranged on the two sides of the machine body respectively; the first propeller, the second propeller, the third propeller, the fourth propeller, the fifth propeller and the sixth propeller are arranged on the connecting support structure, and the first propeller, the second propeller, the third propeller, the fourth propeller, the fifth propeller and the sixth propeller are spatially arranged at an angle by taking the machine body as the center; a mechanical clamping jaw arm is arranged at the end, close to the advancing direction, of the machine body. An existing propelling system is changed, the traditional ROV layout is broken through, the six propellers are arranged in a novel mode, and when the aircraft is propelled, the better movement performance and stability are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of vehicles, and particularly relates to a new type of six-propeller underwater vehicle. Background Art

[0002] The vehicle is connected to a host computer located on the shore through a communication cable extending from inside the hardware compartment, so as to receive instructions from the host computer. When the instructions are received, the processor inside the vehicle identifies the instructions and controls the propellers to control the movement of the vehicle underwater.

[0003] However, the propulsion system of existing vehicles generally adopts a traditional ROV layout, and there are deficiencies in motion performance and stability. Content of the Utility Model

[0004] The purpose of the utility model is to provide a new type of six-propeller underwater vehicle, which changes the existing propulsion system to break through the traditional ROV layout. The six propellers adopt a new layout, and have better motion performance and stability when the vehicle is propelled.

[0005] To achieve the above purpose, the utility model provides the following technical solution: a new type of six-propeller underwater vehicle, including: a body, the body has a cylindrical structure; and connection bracket structures respectively arranged on both sides of the body; a first propeller, a second propeller, a third propeller, a fourth propeller, a fifth propeller and a sixth propeller arranged on the connection bracket structures, and the first propeller, the second propeller, the third propeller, the fourth propeller, the fifth propeller and the sixth propeller are arranged in a ° spatial layout with the center of the body as the center; a mechanical gripper arm is arranged at the end of the body close to the forward direction for underwater grasping and salvaging objects; and an illumination probe assembly is arranged on the body for underwater illumination and image acquisition.

[0006] Preferably, the first propeller, the second propeller and the third propeller are in a group, the fourth propeller, the fifth propeller and the sixth propeller are in another group, and are symmetrically distributed.

[0007] Preferably, the connection bracket structure includes a mounting part arranged on the body, the mounting part is assembled with a connecting part through bolts, and the bottom plate of the connecting part is connected with an extension frame for mounting the first propeller, the second propeller, the third propeller, the fourth propeller, the fifth propeller and the sixth propeller at different angles.

[0008] Preferably, the mechanical gripper arm includes an extension part fixed to the bottom of the body, a support arm is installed on the extension part through bolts, a connecting part is arranged at the end of the support arm far away from the extension part, and a gripper assembly is installed on the connecting part.

[0009] Preferably, the jaw assembly includes a fitting mounted at the front end of the connecting member, two mutually openable and closable jaws mounted on the fitting, and transmission teeth meshing with each other at the ends of the jaws. It also includes a servo motor provided on the connecting member for driving one of the jaws to deflect.

[0010] Preferably, the lighting probe assembly includes a connecting seat provided at the top of the body, a lighting seat provided on the connecting seat, an imaging module mounted on the lighting seat, and a lighting lamp provided at the front end of the lighting seat for underwater lighting.

[0011] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0012] The present utility model changes the existing propulsion system to break through the traditional ROV layout. The six propellers adopt a new layout. The first propeller, the second propeller, the third propeller, the fourth propeller, the fifth propeller, and the sixth propeller are spatially arranged at ° around the center of the body. When the vehicle is propelled, it has better motion performance and stability. Under the combined action of the mechanical jaw arm and the lighting probe assembly, the task requirements of underwater operation can be achieved by combining the vehicle with mechanical movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a three-dimensional structural schematic diagram of the present utility model;

[0014] Figure 2 is Figure 1 the second perspective three-dimensional structural schematic diagram of

[0015] Figure 3 is Figure 1 the front view structural schematic diagram of

[0016] Figure 4 is Figure 1 the bottom view structural schematic diagram of

[0017] Figure 5 is Figure 1 the third perspective three-dimensional structural schematic diagram of

[0018] Figure 6 is Figure 1 the side view structural schematic diagram of

[0019] In the figure: 111, body; 112, mounting member;

[0020] 211, connecting member; 212, extension frame;

[0021] 311, first propeller; 312, second propeller; 313, third propeller; 314, fourth propeller; 315, fifth propeller; 316, sixth propeller;

[0022] 411. Camera module; 412. Connecting seat; 413. Lighting seat;

[0023] 511. Clamping arm; 512. Transmission gear; 513. Fitting; 514. Adapter; 515. Servo; 516. Extension; 517. Support arm. Detailed implementation

[0024] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it should not be construed as a limitation of the present utility model. The following will introduce each embodiment of the present utility model in detail with reference to the drawings. Embodiment 1

[0025] Please refer to Figures 1 to 6 , the present utility model preferably provides a technical solution: a new type of six-propulsion underwater vehicle, including: a body 111, the body 111 having a cylindrical structure; and connecting bracket structures respectively provided on both sides of the body 111; a first propeller 311, a second propeller 312, a third propeller 313, a fourth propeller 314, a fifth propeller 315, and a sixth propeller 316 provided on the connecting bracket structures, the first propeller 311, the second propeller 312, the third propeller 313, the fourth propeller 314, the fifth propeller 315, and the sixth propeller 316 having a 45° spatial layout centered on the body 111; a mechanical gripper arm provided at the end of the body 111 close to the forward direction for underwater grasping and salvaging objects; and a lighting probe assembly provided on the body 111 for underwater lighting and image acquisition.

[0026] Furthermore, the first propeller 311, the second propeller 312, and the third propeller 313 are a group, and the fourth propeller 314, the fifth propeller 315, and the sixth propeller 316 are another group, and they are symmetrically distributed. The first propeller 311, the second propeller 312, and the third propeller 313 are a group, and the fourth propeller 314, the fifth propeller 315, and the sixth propeller 316 are existing mature technologies. They are devices that convert the rotational power of the engine into propulsion force by the rotation of the propeller blades in air or water. There can be two or more blades connected to the hub, and the back side of the blade is a helical surface or a propeller similar to a helical surface.

[0027] In this application, six groups of propellers in different orientations are designed on the body 111, such as Figure 1As shown, they are the first propeller 311, the second propeller 312, the third propeller 313, the fourth propeller 314, the fifth propeller 315, and the sixth propeller 316 in sequence. This setting changes the existing propulsion system to break through the traditional ROV layout. The six propellers adopt a new layout. Specifically, as Figure 1 , 4 shown, the first propeller 311, the second propeller 312, the third propeller 313, the fourth propeller 314, the fifth propeller 315, and the sixth propeller 316 are spatially arranged at 45° around the center of the fuselage 111. Preferably, with the XYZ coordinate system as the center, six groups of propeller positions are set to correspond to 1, -1, 11, 1, 11, 0, -1 (1, 0, -1) (-1, -1, -1) (1, -1, -1) in sequence. In this way, the six propellers are spatially distributed at 45° around the fuselage 111. When the vehicle is propelled, it has better motion performance and stability, and with the combined action of the mechanical gripper arm and the lighting probe assembly, the task requirements of underwater operation can be achieved by combining the vehicle's mechanical movement.

[0028] Furthermore, the connection bracket structure includes a mounting part 112 provided on the fuselage 111. The mounting part 112 is assembled with a connecting part 211 through bolts. The bottom plate of the connecting part 211 is connected with an extension frame 212 for mounting the first propeller 311, the second propeller 312, the third propeller 313, the fourth propeller 314, the fifth propeller 315, and the sixth propeller 316 at different angles.

[0029] Through the provided connection bracket structure, it can serve as the extension wing of the fuselage 111 to install multiple propellers to realize the assembly process of the above six propellers. Embodiment 2

[0030] As another implementation manner of the present utility model, the mechanical gripper arm includes an extension part 516 fixed to the bottom of the fuselage 111. A support arm 517 is installed on the extension part 516 through bolts. An adapter 514 is provided at the end of the support arm 517 away from the extension part 516, and a gripper assembly is installed on the adapter 514.

[0031] Furthermore, the gripper assembly includes a fitting 513 installed at the front end of the adapter 514, two mutually openable and closable gripper arms 511 installed on the fitting 513, and transmission teeth 512 meshing with each other at the ends of the gripper arms 511. It also includes a servo motor 515 provided on the adapter 514 for driving one of the gripper arms 511 to deflect.

[0032] In this embodiment, a mechanical gripper arm is further provided at the front end of the body 111. When it works, the servo 515 is used as the driving force, and under the action of two meshing transmission gears 512, the two gripper arms 511 are driven to open and close, and the gripping process can be completed.

[0033] Furthermore, the lighting probe assembly includes a connecting seat 412 provided on the top of the body 111. A lighting seat 413 is provided on the connecting seat 412. A camera module 411 is installed on the lighting seat 413, and a lighting lamp is provided at the front end of the lighting seat 413 for underwater lighting.

[0034] With the further provided lighting probe assembly, as Figure 1 shown, the camera module 411 and the lighting lamp are further provided on the body 111, and the underwater environment can be obtained in real time so that the vehicle can perform underwater tasks.

[0035] In the present utility model, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection; it can be directly connected, or indirectly connected through an intermediate medium. Among them, there are various ways of detachable installation. For example, it can be in a way of cooperation between plugging and buckling, or in a way of bolt connection, etc.

[0036] The above embodiments' specific description of the present utility model is only for further illustration of the present utility model, and cannot be understood as a limitation on the protection scope of the present utility model. Any non-essential improvements and adjustments made by those skilled in the art based on the content of the above utility model fall within the protection scope of the present utility model.

Claims

1. A novel six-propulsion underwater vehicle, characterized in that, Including: A body (111), the body (111) having a cylindrical structure; And connection bracket structures respectively provided on both sides of the body (111); A first propeller (311), a second propeller (312), a third propeller (313), a fourth propeller (314), a fifth propeller (315), and a sixth propeller (316) provided on the connection bracket structure, the first propeller (311), the second propeller (312), the third propeller (313), the fourth propeller (314), the fifth propeller (315), and the sixth propeller (316) having a 45° spatial layout centered on the body (111); An end of the body (111) close to the forward direction is provided with a mechanical gripper arm for underwater grasping and salvaging objects; and an illumination probe assembly provided on the body (111) for underwater illumination and image acquisition.

2. The novel six-propulsion underwater vehicle according to claim 1, wherein: The first propeller (311), the second propeller (312), and the third propeller (313) are a group, and the fourth propeller (314), the fifth propeller (315), and the sixth propeller (316) are another group, and are symmetrically distributed.

3. A novel six-propulsion underwater vehicle according to claim 1, characterized in that: The connection bracket structure includes a mounting member (112) provided on the body (111), the mounting member (112) being bolted with a connecting member (211), and the bottom plate of the connecting member (211) being connected with an extension frame (212) for mounting the first propeller (311), the second propeller (312), the third propeller (313), the fourth propeller (314), the fifth propeller (315), and the sixth propeller (316) at different angles.

4. A novel six-propulsion underwater vehicle according to claim 1, characterized in that: The mechanical gripper arm includes an extension member (516) fixed to the bottom of the body (111), a support arm (517) being bolted on the extension member (516), an end of the support arm (517) away from the extension member (516) being provided with an adapter (514), and a gripper assembly being mounted on the adapter (514).

5. A novel six-propulsion underwater vehicle according to claim 4, characterized in that: The gripper assembly includes a fitting (513) mounted at the front end of the adapter (514), two mutually openable and closable gripper arms (511) mounted on the fitting (513), transmission teeth (512) meshing with each other at the ends of the gripper arms (511), and a servo motor (515) provided on the adapter (514) for driving one of the gripper arms (511) to deflect.

6. A novel six-propulsion underwater vehicle according to claim 1, characterized in that: The illumination probe assembly includes a connection base (412) provided on the top of the body (111), an illumination base (413) being provided on the connection base (412), a camera module (411) being mounted on the illumination base (413), and an illumination lamp provided at the front end of the illumination base (413) for underwater illumination.

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