Mechanism capable of adjusting thrust direction of thruster

Abstract

The utility model belongs to the field of underwater robot auxiliary equipment, and particularly relates to a mechanism capable of adjusting the thrust direction of a thruster. A mechanism capable of adjusting the thrust direction of a thruster comprises a mounting frame used for integrally mounting a thruster mounting frame on an underwater robot, an adjusting part used for adjusting the rotating angle of a turnover part, the turnover part used for rotating under driving of the adjusting part so as to synchronously drive the mounting part to rotate, and a mounting part used for mounting the thruster. The adjusting part and the overturning part are both mounted on the mounting frame, the adjusting part is connected with the overturning part, the mounting part is mounted on the overturning part, and a propeller is movably mounted on the mounting part; the utility model provides a mechanism capable of adjusting the thrust direction of a propeller so as to solve the problems that in the prior art, a propeller installation frame is complex in structure, troublesome in disassembly and assembly steps and limited in adjustable angle, and consequently the whole underwater robot moves inflexibly.

Description

Technical Field

[0001] The utility model belongs to the field of underwater robot auxiliary equipment, and in particular relates to a mechanism capable of adjusting the thrust direction of a propeller. Background Art

[0002] Underwater robots (AUVs) are autonomous or remotely controlled unmanned robots capable of performing tasks underwater. They are designed for scientific research, exploration, maintenance, and operations in oceans, lakes, and other bodies of water. Therefore, AUVs must possess excellent underwater stability. To maneuver through the water, AUVs utilize thrusters, which are often secured to the AUV using mounting brackets to facilitate replacement and maintenance.

[0003] Existing thruster mounting frames often only serve to fix the thrusters themselves. Some thruster mounting frames can adjust the angles of the thrusters, but the adjustable angles of these mounting frames are also relatively limited, resulting in inflexible movement of the underwater robot as a whole. In addition, the structure of these mounting frames is often relatively complex, and the disassembly and assembly steps are also relatively cumbersome. Utility Model Content

[0004] In order to overcome the shortcomings of the existing technology, the utility model provides a mechanism that can adjust the thrust direction of the propeller to solve the problems in the existing technology such as the complex structure of the propeller mounting frame, the cumbersome disassembly and assembly steps, and the limited adjustable angle resulting in the inflexible movement of the underwater robot.

[0005] One solution of the present invention provides a mechanism for adjusting the thrust direction of a propeller, comprising:

[0006] A mounting frame, used to mount the thruster mounting frame as a whole on the underwater robot;

[0007] An adjusting member, used for adjusting the rotation angle of the flip member;

[0008] The turning member is used to rotate under the drive of the adjusting member to synchronously drive the mounting member to rotate;

[0009] A mounting piece for mounting a thruster;

[0010] The adjusting member and the flipping member are both mounted on the mounting frame. The adjusting member is connected to the flipping member. The mounting member is mounted on the flipping member. A propeller is movably mounted on the mounting member.

[0011] It should be noted that the underwater robot has a built-in central control system, and the adjustment parts and installation parts are connected to the central control system through cables and other means and are controlled by the central control system.

[0012] It should be noted that the present invention is installed on an underwater robot for use. The specific installation method only requires directly threading the mounting frame onto the underwater robot, without the need to install any additional components.

[0013] In this solution, the flip part is adjusted by the adjusting part to drive the mounting part to rotate, and then drive the propeller on the mounting part to rotate synchronously; compared with the existing propeller mounting frame structure, the utility model adopts a modular design, which has the advantages of simple structure and convenient disassembly and assembly steps. The user only needs to directly connect the mounting frame to the underwater robot through screws and other components, and when disassembly is required, just unscrew the screws and other components without adding or installing other components; in addition, the propeller on the mounting part can also move on the mounting part. Specifically, the propeller can rotate 360° on the mounting part to adjust the direction of the propeller on the mounting part. Such a setting can increase the freedom of the propeller direction, facilitate the change of the overall working posture of the propeller mounting frame underwater, and enable the propeller mounting frame to meet more underwater working posture requirements to provide more efficient, more flexible, and more precise thrust, reduce the power consumption of the propeller, and improve the working efficiency of the propeller.

[0014] In one embodiment, the mounting member is provided with a motor, and an output end of the motor is connected to the propeller.

[0015] In one embodiment, the mounting member includes a fixed mounting member and a movable mounting member.

[0016] In one embodiment, the fixed mounting member is fixedly connected to the flip member.

[0017] In this solution, the fixed mounting member is fixedly connected to the flip member, so that when the flip member rotates, it can directly drive the fixed mounting member to rotate synchronously, and then synchronously drive the movable mounting member to rotate synchronously, so as to directly adjust the position of the movable mounting member.

[0018] In one embodiment, the movable mounting member is movably connected to the fixed mounting member.

[0019] In this solution, the movable connection between the movable mounting part and the fixed mounting part is specifically that the movable mounting part is rotatably connected to the fixed mounting part. Such an arrangement enables the movable mounting part to rotate on the fixed mounting part, thereby driving the propeller to rotate synchronously with the rotation of the movable mounting part, so as to directly adjust the direction position of the propeller; in addition, the movable mounting part can protect the connection part between the propeller and the fixed mounting part, isolate the connection part from the external environment, and avoid rust and the like in a long-term underwater environment.

[0020] In one embodiment, the motor is provided at one end where the fixed mounting member is connected to the movable mounting member, and an output end of the motor is connected to the propeller through the movable mounting member.

[0021] It should be noted that the motor in the mounting part is specifically a servo motor, which is connected to the central control system through cables or the like and is controlled by the central control system.

[0022] In this solution, the central control system can directly control the working state of the servo motor to directly control the servo motor to drive the movable mounting part to rotate, and then directly drive the propeller to rotate synchronously with the rotation of the movable mounting part, thereby realizing the adjustment of the propeller direction, increasing the freedom of the propeller direction, facilitating the change of the propeller's working posture underwater, and enabling the propeller to meet more underwater working posture requirements.

[0023] In one embodiment, the adjusting member includes a telescopic member and a driven member, the telescopic member is mounted on the mounting frame, one end of the driven member is connected to the telescopic member, and the other end of the driven member is connected to the flip member.

[0024] It should be noted that the telescopic member is specifically a component of the same type as a cylinder. The specific type of the cylinder may be a servo cylinder. The servo cylinder is connected to the central control system through cables or the like and is controlled by the central control system.

[0025] In this solution, the central control system can directly control the working state of the servo cylinder to directly control the servo cylinder to drive the follower to move, and then the follower directly drives the flip part to rotate, so as to drive the mounting part to rotate synchronously with the flip part, realize the adjustment of the propeller position, increase the installation freedom of the propeller, facilitate the change of the propeller's working posture underwater, and enable the propeller to meet more underwater working posture requirements.

[0026] In one of the solutions, both the follower and the mounting bracket are provided with limiting holes for connecting the telescopic member, and both the telescopic end and the fixed end of the telescopic member are installed with fasteners, which are installed in the limiting holes.

[0027] In this solution, the telescopic part is specifically a servo cylinder, and the output end of the servo cylinder is the telescopic end of the telescopic part. When the servo cylinder is working, the output end of the servo cylinder extends and drives the follower to move through the fastener. The fastener plays a tightening role in this process, and the fastener on the fixed end plays a tightening role in the connection between the servo cylinder and the mounting frame.

[0028] In one of the solutions, a limiting member for installing the flip member is provided on the mounting frame, and the limiting member and the adjusting member are plugged into and matched with the flip member to limit the flip member.

[0029] It should be noted that the plug-in cooperation between the limiter and the adjusting member and the flip member is used to realize the rotational connection of the flip member in the limiter and the adjusting member. In actual use, other components can be added to enhance the stability of the rotational connection. Specifically, the flip member can be plugged into the follower and the limiter on the adjusting member through the shaft sleeve, and fastened to the limiter by bolts.

[0030] In this solution, the flip member is inserted into the limiting member and the adjusting member, and the flip member and the adjusting member are fixedly connected. The flip member can rotate in the limiting member under the drive of the adjusting member to ensure the stability of the flip member during the rotation process.

[0031] In one embodiment, there are at least two mounting members, and the distance between adjacent mounting members is greater than the diameter of the propeller.

[0032] In this solution, by setting at least two mounting parts on the flip part, the number of propellers loaded on the mounting frame can be increased, and the posture of the propeller on each mounting frame can be set according to actual needs; setting the distance between two adjacent mounting parts to be larger than the diameter of the propeller can facilitate direct control of the rotation of the propeller on the mounting part, so as to directly adjust the direction of the propeller, and ensure that the propeller will not be obstructed by the propeller on the adjacent mounting parts during the adjustment process. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0034] Figure 1 This is a schematic diagram of the overall structure of a mechanism capable of adjusting the thrust direction of a propeller according to the present invention;

[0035] Figure 2 This is a schematic diagram of the overall structure of a mechanism capable of adjusting the thrust direction of a propeller in the present utility model;

[0036] Figure 3 This is another overall structural diagram of a mechanism capable of adjusting the thrust direction of a propeller according to the present invention;

[0037] Figure 4 This is another overall structural diagram of a mechanism capable of adjusting the thrust direction of a propeller according to the present invention;

[0038] Figure 5The present invention is a schematic diagram of one of the connection structures of a mounting frame, an adjusting member and a limiting member in a mechanism capable of adjusting the thrust direction of a propeller.

[0039] Among them, 1. Mounting frame; 2. Adjusting part; 21. Telescopic part; 22. Follower; 23. Fastener; 3. Flipping part; 4. Mounting part; 41. Fixed mounting part; 42. Movable mounting part; 43. Propeller; 5. Limiting part; 6. Bolt; 7. Bushing. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0041] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0042] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0043] Please refer to Figure 1-5 In one embodiment, a mechanism for adjusting the thrust direction of a propeller is provided, comprising:

[0044] Mounting frame 1, used to mount the propeller 43 mounting frame 1 as a whole on the underwater robot;

[0045] Adjusting member 2, used to adjust the rotation angle of flip member 3;

[0046] The flip member 3 is used to rotate under the drive of the adjusting member 2 to synchronously drive the mounting member 4 to rotate;

[0047] Mounting member 4, used for mounting a propeller 43;

[0048] The adjusting member 2 and the flip member 3 are both mounted on the mounting frame 1 . The adjusting member 2 is connected to the flip member 3 . The mounting member 4 is mounted on the flip member 3 . A propeller 43 is movably mounted on the mounting member 4 .

[0049] It should be noted that the underwater robot has a built-in central control system, and the adjustment component 2 and the installation component 4 are connected to the central control system through cables or the like and are controlled by the central control system.

[0050] It should be supplemented that the present invention is installed on an underwater robot for use. The specific installation method only requires directly threading the mounting bracket 1 onto the underwater robot, without the need to install other additional components.

[0051] In this solution, by adjusting the flip member 3 by the adjusting member 2, the flip member 3 can drive the mounting member 4 to rotate, and then drive the propeller 43 on the mounting member 4 to rotate synchronously; compared with the existing propeller 43 mounting frame 1 structure, the utility model adopts a modular design, which has the advantages of simple structure and convenient disassembly and assembly steps. The user only needs to directly connect the mounting frame 1 to the underwater robot through screws and other components, and when disassembly is required, the screws and other components can be directly unscrewed without the need to add or install other components; in addition, the propeller 43 on the mounting member 4 can also move on the mounting member 4. Specifically, the propeller 43 can rotate 360° on the mounting member 4 to adjust the direction of the propeller 43 on the mounting member 4. Such a setting can increase the freedom of the propeller 43 orientation, facilitate the change of the overall working posture of the propeller 43 mounting frame 1 underwater, so that the propeller 43 mounting frame 1 can meet more underwater working posture requirements, so as to provide more efficient and more precise thrust, reduce the power consumption of the propeller 43, and improve the working efficiency of the propeller 43.

[0052] In one embodiment, the mounting member 4 is provided with a motor (not shown), and an output end of the motor (not shown) is connected to the propeller 43 .

[0053] In one embodiment, the mounting member 4 includes a fixed mounting member 41 and a movable mounting member 42 .

[0054] In one solution, the fixed mounting member 41 is fixedly connected to the flip member 3 .

[0055] In this solution, the fixed mounting member 41 is fixedly connected to the flip member 3, so that when the flip member 3 rotates, it can directly drive the fixed mounting member 41 to rotate synchronously, and then synchronously drive the movable mounting member 42 to rotate synchronously, so as to directly adjust the position of the movable mounting member 42.

[0056] In one embodiment, the movable mounting member 42 is movably connected to the fixed mounting member 41 .

[0057] In this solution, the movable mounting member 42 is movably connected to the fixed mounting member 41, specifically, the movable mounting member 42 is rotatably connected to the fixed mounting member 41. Such a setting enables the movable mounting member 42 to rotate on the fixed mounting member 41, thereby driving the propeller 43 to rotate synchronously with the rotation of the movable mounting member 42, so as to directly adjust the direction position of the propeller 43; in addition, the movable mounting member 42 can protect the connection part between the propeller 43 and the fixed mounting member 41, isolate the connection part from the external environment, and avoid rust and the like in a long-term underwater environment.

[0058] In one embodiment, the motor (not shown) is provided at one end where the fixed mounting member 41 is connected to the movable mounting member 42 , and the output end of the motor (not shown) is connected to the propeller 43 through the movable mounting member 42 .

[0059] It should be noted that the motor (not shown) in the mounting member 4 is specifically a servo motor, which is connected to the central control system through a cable or the like and is controlled by the central control system.

[0060] In this solution, the central control system can directly control the working state of the servo motor to directly control the servo motor to drive the movable mounting part 42 to rotate, and then directly drive the propeller 43 to rotate synchronously with the rotation of the movable mounting part 42, thereby realizing the adjustment of the direction of the propeller 43, increasing the degree of freedom of the direction of the propeller 43, facilitating the change of the working posture of the propeller 43 underwater, and enabling the propeller 43 to meet more underwater working posture requirements.

[0061] In one embodiment, the adjusting member 2 includes a telescopic member 21 and a follower 22 . The telescopic member 21 is mounted on the mounting frame 1 . One end of the follower 22 is connected to the telescopic member 21 , and the other end of the follower 22 is connected to the flip member 3 .

[0062] It should be noted that the telescopic member 21 is specifically a component of the same type as a cylinder. The specific type of the cylinder may be a servo cylinder. The servo cylinder is connected to the central control system through a cable or the like and is controlled by the central control system.

[0063] In this solution, the central control system can directly control the working state of the servo cylinder, so as to directly control the servo cylinder to drive the follower 22 to move, and then the follower 22 directly drives the flip part 3 to rotate, so as to drive the mounting part 4 to rotate synchronously with the flip part 3, thereby realizing the adjustment of the position of the propeller 43, increasing the installation freedom of the propeller 43, facilitating the change of the working posture of the propeller 43 underwater, and enabling the propeller 43 to meet more underwater working posture requirements.

[0064] In one solution, the follower 22 and the mounting frame 1 are both provided with limiting holes for connecting the telescopic member 21 , and the telescopic end and the fixed end of the telescopic member 21 are both installed with fasteners 23 , and the fasteners 23 are installed in the limiting holes.

[0065] In this solution, the telescopic member 21 is specifically a servo cylinder, and the output end of the servo cylinder is the telescopic end of the telescopic member 21. When the servo cylinder is working, the output end of the servo cylinder extends and drives the follower 22 to move through the fastener 23. The fastener 23 plays a fastening role in this process, and the fastener 23 on the fixed end plays a fastening role in the connection between the servo cylinder and the mounting frame 1.

[0066] In one of the solutions, a limiting member 5 for installing the flip member 3 is provided on the mounting frame 1 , and the limiting member 5 and the adjusting member 2 are plugged into and matched with the flip member 3 to limit the flip member 3 .

[0067] It should be noted that the plug-in cooperation between the limit member 5 and the adjusting member 2 and the flip member 3 is used to realize the rotational connection of the flip member 3 in the limit member 5 and the adjusting member 2. In actual use, other components can be added to enhance the stability of the rotational connection. Specifically, the flip member 3 can be plugged into the follower 22 on the adjusting member 2 and the limit member 5 through the shaft sleeve 7, and fastened to the limit member 5 by the bolt 6.

[0068] In this solution, the flip member 3 is inserted into the limit member 5 and the adjusting member 2, and the flip member 3 is fixedly connected to the adjusting member 2. The flip member 3 can rotate in the limit member 5 under the drive of the adjusting member 2 to ensure the stability of the flip member 3 during the rotation process.

[0069] In one embodiment, at least two mounting members 4 are provided, and the distance between adjacent mounting members 4 is greater than the diameter of the propeller 43 .

[0070] In this solution, by setting at least two mounting members 4 on the flip member 3, the number of propellers 43 loaded on the mounting frame 1 can be increased, and the posture of the propeller 43 on each mounting frame 1 can be set according to actual needs; setting the distance between two adjacent mounting members 4 to be larger than the diameter of the propeller 43 can facilitate direct control of the rotation of the propeller 43 on the mounting member 4, so as to directly adjust the direction of the propeller 43, and ensure that the propeller 43 will not be obstructed by the propeller 43 on the adjacent mounting member 4 during the adjustment process.

[0071] Specifically, taking the arrangement of two mounting members 4 on the flip member 3 as an example, the installation directions of the two mounting members 4 are perpendicular to each other, and two propellers 43 are respectively provided on the two mounting members 4, that is, the four propellers 43 form a "cross" shape;

[0072] On this basis, the central control system can control the rotation of the servo motor in each mounting part 4 and freely adjust the direction of the propeller 43 on the corresponding mounting part 4 to meet the underwater working posture requirements:

[0073] Example 1

[0074] The two mounting parts 4 are respectively the first mounting part and the second mounting part. The user can control the two propellers 43 on the first mounting part to face the rear of the underwater robot through the central control system, and at the same time control the two propellers 43 on the second mounting part to face the top of the underwater robot. This setting can make the underwater robot move forward and downward.

[0075] Example 2

[0076] The two mounting parts 4 are the first mounting part and the second mounting part respectively. The user can control the two propellers 43 on the first mounting part to face the rear of the underwater robot through the central control system, and at the same time control the two propellers 43 on the second mounting part to face the left of the underwater robot. This setting can make the underwater robot move toward the right front.

[0077] Example 3

[0078] The two mounting parts 4 are the first mounting part and the second mounting part respectively. The user can control the two propellers 43 on the first mounting part to face the rear of the underwater robot through the central control system, and at the same time control the two propellers 43 on the second mounting part to face the rear of the underwater robot. This setting can make the underwater robot move at full speed towards the front.

[0079] The above embodiment is only an illustration of a preferred embodiment in which more than two mounting parts 4 are provided. The user can also freely adjust the position of the mounting part 4 on the flip part 3 and the orientation of each propeller 43 according to the underwater working form requirements and the underwater external force conditions. It should be noted that each propeller 43 is independently connected to the central control system, and the propellers 43 on the mounting part 4 are not uniformly controlled by the mounting part 4 as a whole.

[0080] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention specification and drawings under the utility model concept, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A mechanism capable of adjusting the thrust direction of a propeller, characterized in that: include: A mounting frame (1) is used to mount the propeller (43) mounting frame (1) as a whole on the underwater robot; An adjusting member (2) for adjusting the rotation angle of the flip member (3); The turning member (3) is used to rotate under the drive of the adjusting member (2) to synchronously drive the mounting member (4) to rotate; A mounting member (4) for mounting a propeller (43); The adjusting member (2) and the flip member (3) are both mounted on the mounting frame (1); the adjusting member (2) is connected to the flip member (3); the mounting member (4) is mounted on the flip member (3); and a propeller (43) is movably mounted on the mounting member (4).

2. A mechanism capable of adjusting the thrust direction of a propeller according to claim 1, characterized in that: The mounting member (4) is provided with a motor, and the output end of the motor is connected to the propeller (43).

3. A mechanism capable of adjusting the thrust direction of a propeller according to claim 2, characterized in that: The mounting member (4) comprises a fixed mounting member (41) and a movable mounting member (42).

4. A mechanism capable of adjusting the thrust direction of a propeller according to claim 3, characterized in that: The fixed mounting member (41) is fixedly connected to the flip member (3).

5. The mechanism for adjusting the thrust direction of a propeller according to claim 3, characterized in that: The movable mounting member (42) is movably connected to the fixed mounting member (41).

6. The mechanism for adjusting the thrust direction of a propeller according to claim 3, characterized in that: The motor is arranged at one end where the fixed mounting member (41) is connected to the movable mounting member (42), and the output end of the motor is connected to the propeller (43) through the movable mounting member (42).

7. The mechanism for adjusting the thrust direction of a propeller according to claim 1, characterized in that: The adjusting member (2) comprises a telescopic member (21) and a driven member (22); the telescopic member (21) is mounted on the mounting frame (1); one end of the driven member (22) is connected to the telescopic member (21); and the other end of the driven member (22) is connected to the flip member (3).

8. The mechanism for adjusting the thrust direction of a propeller according to claim 7, characterized in that: The follower (22) and the mounting frame (1) are both provided with a limiting hole for connecting the telescopic member (21); the telescopic end and the fixed end of the telescopic member (21) are both provided with a fastener (23); and the fastener (23) is installed in the limiting hole.

9. The mechanism for adjusting the thrust direction of a propeller according to claim 1, wherein: The mounting frame (1) is provided with a limiting member (5) for installing the flip member (3); the limiting member (5) and the adjusting member (2) are both plug-fitted with the flip member (3) and limit the flip member (3).

10. The mechanism capable of adjusting the thrust direction of a propeller according to claim 1, characterized in that: At least two mounting members (4) are provided.

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