Propeller for underwater robot

Abstract

The utility model relates to the technical field of propellers for robots, and discloses a propeller for an underwater robot, which comprises an underwater robot body, both sides of the rear end of the underwater robot body are provided with mounting cavities, propellers are mounted in the mounting cavities, the rear ends of the propellers are fixedly provided with protective covers, and the protective covers are fixedly connected with the underwater robot body. Fixing seats are rotatably connected to the rear ends of the two sides of the outer wall of the propeller, rotating rods are rotatably connected to the rear ends of the inner walls of the two fixing seats, first connecting rods are arranged at the rear ends of the rotating rods, and second connecting rods are arranged at the adjacent positions of the rear ends of the first connecting rods; the outer wall of the second connecting rod is fixedly connected with a second connecting brush, and the outer wall of the first connecting rod is fixedly connected with a first connecting brush. According to the cleaning device, the first connecting hairbrush and the second connecting hairbrush are attached to the curved surface and the edge of the protective cover, so that the hairbrushes make circular motion on the basis of swinging, and the outer surface of the protective cover is cleaned in a full covering mode.

Description

Technical Field

[0001] This utility model relates to the field of robot propulsion technology, and in particular to a propulsion device for underwater robots. Background Technology

[0002] As the core power unit of underwater robots, the thrusters not only provide the thrust required for movement, but also play a key role in controlling the direction and attitude of travel. Their performance directly affects the robot's maneuverability, stability and operational capabilities. However, traditional thrusters have long relied on regular manual operation for cleaning and maintenance of the outer protective shell, which has problems such as high cost of manual intervention, high risk of underwater operation, and response lag due to fixed maintenance cycle. They are difficult to adapt to the needs of robots to operate autonomously for a long time in complex environments.

[0003] Therefore, those skilled in the art have provided a thruster for underwater robots to solve the problems mentioned in the background art. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a thruster for underwater robots. The underwater robot body can periodically start a servo motor to drive a rotating rod fixedly connected to it to rotate on the inner wall of the fixed base. Through the flexible transmission of the universal joint, the first connecting rod is driven to rotate. The first connecting rod then links the second connecting rod through the universal joint. Furthermore, through the symmetrically distributed universal joint structure, the first connecting rod and the rotating rod on the other side are driven, so that the first connecting brush on the two first connecting rods and the second connecting brush on the second connecting rod form a cross-shaped oscillation trajectory, which conforms to the curved surface and edge of the protective cover. This allows the brushes to perform a circular motion on top of the oscillation, thus cleaning the outer surface of the protective cover comprehensively.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] An underwater robot thruster includes an underwater robot body. The underwater robot body has mounting cavities on both sides of its rear end. The thruster is installed inside the mounting cavity. A protective cover is fixedly installed on the rear end of the thruster. Fixed seats are rotatably connected to the rear ends of both sides of the outer wall of the thruster. Rotating rods are rotatably connected to the rear ends of the inner walls of the two fixed seats.

[0007] Each of the rotating rods has a first connecting rod at its rear end, and a second connecting rod is provided adjacent to the rear end of each of the first connecting rods. A second connecting brush is fixedly connected to the outer wall of the second connecting rod, and a first connecting brush is fixedly connected to the outer wall of each of the first connecting rods. A universal joint is provided between each of the rotating rods, the first connecting rods, and the second connecting rods.

[0008] Through the above technical solution, the underwater robot body can periodically start the servo motor to drive the rotating rod fixedly connected to it to rotate on the inner wall of the fixed seat. Through the flexible transmission of the universal joint, the first connecting rod is driven to rotate. The first connecting rod is then linked to the second connecting rod through the universal joint. In turn, through the symmetrically distributed universal joint structure, the first connecting rod and the rotating rod on the other side are driven, so that the first connecting brush and the second connecting brush combine oscillation with circular motion to clean the outer surface of the protective cover. This design does not require frequent manual intervention and is suitable for scenarios that work in complex underwater environments for a long time. It can reduce manual maintenance costs and operational risks.

[0009] Furthermore, synchronous motors are fixedly connected to the rear ends of the inner walls on both sides of the thruster, and the output ends of the synchronous motors pass through the thruster and are fixedly connected to the corresponding fixed bases.

[0010] Through the above technical solution, the synchronous motor can stably drive the fixed base to rotate, ensuring the synchronicity of the rotation of the fixed bases on both sides, thereby driving the components installed on the fixed base to perform circumferential motion, and performing comprehensive rotational cleaning of the protective cover, improving the cleaning coverage and efficiency.

[0011] Furthermore, there are two first connecting rods and one second connecting rod, and the universal joints fix the rotating rod, the first connecting rod and the second connecting rod together;

[0012] Through the above technical solution, this structural layout and connection method allows the rotation of the rotating rod to be flexibly transmitted to the first connecting rod and the second connecting rod through the universal joint, forming a complex and effective motion combination that can more effectively remove stubborn attached debris.

[0013] Furthermore, a servo motor is fixedly connected to the inner wall of one side of the fixed base, and the output end of the servo motor passes through the inner wall of one side of the fixed base and is fixedly connected to the front end of one side of the rotating rod.

[0014] Through the above technical solution, the servo motor can control the rotation of the rotating rod, providing power to the entire cleaning mechanism. Its control performance can adjust the rotation speed, direction and rotation angle of the rotating rod according to actual needs, thereby changing the oscillation frequency and amplitude of the first connecting brush and the second connecting brush to adapt to different levels of pollution and different shapes and structures of the protective cover.

[0015] Furthermore, the surfaces of both the first connecting brush and the second connecting brush are in contact with the surface of the protective cover.

[0016] The above technical solution ensures that the first and second connecting brushes are in full contact with the protective cover during movement, allowing the bristles on the brushes to directly act on the debris on the surface of the protective cover, thus improving the cleaning effect.

[0017] Furthermore, hinge plates are hinged to both sides of the middle part of the outer wall of the underwater robot body, and the lower end of the hinge plates is located inside the mounting cavity;

[0018] Through the above technical solution, the hinge plate is connected to the robot body through the hinge point and can be flipped up and outward around the hinge axis, allowing direct maintenance of the thrusters and related components inside the mounting cavity.

[0019] This utility model has the following beneficial effects:

[0020] This invention proposes a thruster for underwater robots. The underwater robot body can periodically start a servo motor to drive a rotating rod fixedly connected to it to rotate on the inner wall of the fixed base. Through the flexible transmission of the universal joint, the first connecting rod is driven to rotate. The first connecting rod is then linked to the second connecting rod through the universal joint. Furthermore, through the symmetrically distributed universal joint structure, the first connecting rod and the rotating rod on the other side are driven, so that the first connecting brush on the two first connecting rods and the second connecting brush on the second connecting rod form a "cross-shaped swing" trajectory, conforming to the curved surface and edge of the protective cover. At the same time, the synchronous motors on both sides start synchronously, driving the entire fixed base to rotate around the thruster axis, so that the brushes combine swinging and circular motion to comprehensively clean the outer surface of the protective cover. This design does not require frequent manual intervention and is suitable for scenarios that work in complex underwater environments for a long time, which can reduce manual maintenance costs and operational risks. Attached Figure Description

[0021] Figure 1 This is an isometric view of a thruster for an underwater robot proposed in this utility model;

[0022] Figure 2 This is a side view of a thruster for an underwater robot proposed in this utility model;

[0023] Figure 3 This is a partial structural diagram of a thruster for an underwater robot proposed in this utility model;

[0024] Figure 4 This is a partial exploded view of the structure of a thruster for an underwater robot proposed in this utility model;

[0025] Figure 5 This is an exploded view of a partial structural component of a thruster for an underwater robot proposed in this utility model.

[0026] Legend:

[0027] 1. Underwater robot body; 2. Hinge plate; 3. Thruster; 31. Protective cover; 32. Mounting base; 33. Synchronous motor; 34. Rotating rod; 35. Servo motor; 36. First connecting rod; 37. Universal joint; 38. Second connecting rod; 39. First connecting brush; 40. Second connecting brush; 4. Mounting cavity. Detailed Implementation

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of specific embodiments. Obviously, the described specific embodiments are only a part of the specific embodiments of the present invention, and not all of them. Based on the specific embodiments of the present invention, all other specific embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Reference Figure 1-5 One specific embodiment provided by this utility model:

[0030] An underwater robot thruster includes an underwater robot body 1. The underwater robot body 1 has mounting cavities 4 on both sides of its rear end. A thruster 3 is installed inside the mounting cavity 4. A protective cover 31 is fixedly installed on the rear end of the thruster 3. Fixed seats 32 are rotatably connected to the rear ends of both sides of the outer wall of the thruster 3. Rotating rods 34 are rotatably connected to the rear ends of the inner walls of the two fixed seats 32.

[0031] Each of the rotating rods 34 has a first connecting rod 36 at its rear end, and a second connecting rod 38 is provided at the adjacent rear end of each of the first connecting rods 36. A second connecting brush 40 is fixedly connected to the outer wall of the second connecting rod 38, and a first connecting brush 39 is fixedly connected to the outer wall of each of the first connecting rods 36. A universal joint 37 is provided between the rotating rod 34, the first connecting rod 36, and the second connecting rod 38.

[0032] The underwater robot body 1 can periodically start the servo motor 35 to drive the rotating rod 34, which is fixedly connected to it, to rotate on the inner wall of the fixed base 32. Through the flexible transmission of the universal joint 37, the first connecting rod 36 is driven to rotate. The first connecting rod 36 then links the second connecting rod 38 through the universal joint 37. In turn, through the symmetrically distributed universal joint 37 structure, the first connecting rod 36 and the rotating rod 34 on the other side are driven, so that the first connecting brush 39 and the second connecting brush 40 perform oscillation and circular motion, which comprehensively cleans the outer surface of the protective cover 31. This design does not require frequent manual intervention and is suitable for scenarios that work in complex underwater environments for a long time, which can reduce manual maintenance costs and operational risks.

[0033] Synchronous motors 33 are fixedly connected to the rear ends of the inner walls on both sides of the thruster 3. The output ends of the synchronous motors 33 pass through the thruster 3 and are fixedly connected to the corresponding fixed seats 32. The synchronous motors 33 can stably drive the fixed seats 32 to rotate, ensuring the synchronicity of the rotation of the fixed seats 32 on both sides, thereby driving the components installed on the fixed seats 32 to perform circumferential motion, and performing comprehensive rotational cleaning of the protective cover 31, improving the cleaning coverage and efficiency.

[0034] There are two first connecting rods 36 and one second connecting rod 38. Universal joints 37 fix the rotating rod 34, the first connecting rod 36 and the second connecting rod 38 together. This structural layout and connection method allows the rotation of the rotating rod 34 to be flexibly transmitted to the first connecting rod 36 and the second connecting rod 38 through the universal joint 37, forming a complex and effective motion combination that can more effectively remove stubborn attached debris.

[0035] A servo motor 35 is fixedly connected to the inner wall of one side of the fixed base 32. The output end of the servo motor 35 passes through the inner wall of one side of the fixed base 32 and is fixedly connected to the front end of one side of the rotating rod 34. The servo motor 35 can control the rotation of the rotating rod 34 and provide power for the entire cleaning mechanism. Its control performance can adjust the speed, direction and rotation angle of the rotating rod 34 according to actual needs, thereby changing the oscillation frequency and amplitude of the first connecting brush 39 and the second connecting brush 40 to adapt to different levels of pollution and different shapes and structures of the protective cover 31.

[0036] The surfaces of the first connecting brush 39 and the second connecting brush 40 are both in contact with the surface of the protective cover 31, ensuring that the first connecting brush 39 and the second connecting brush 40 are in full contact with the protective cover 31 during movement, so that the bristles on the brushes directly act on the debris on the surface of the protective cover 31, improving the cleaning effect. The two sides of the middle of the outer wall of the underwater robot body 1 are hinged to the hinge plate 2. The lower end of the hinge plate 2 is located inside the mounting cavity 4. The hinge plate 2 is connected to the underwater robot body 1 through the hinge point and can be flipped up and outward around the hinge axis, so that the thruster 3 and related components inside the mounting cavity 4 can be directly maintained.

[0037] Working principle: After the underwater robot's thruster 3 has been used for a long time, dust will accumulate on its outer protective cover 31. At this time, the underwater robot body 1 can periodically start the servo motor 35. The motor drives the rotating rod 34 fixed to it to rotate. The rotating rod 34 causes the first connecting rod 36 fixed to it to rotate through the universal joint 37. The first connecting rod 36 then drives the second connecting rod 38 to rotate through the universal joint 37. The second connecting rod 38 then causes another first connecting rod 36 to rotate through the universal joint 37. This first connecting rod 36 then causes another rotating rod 34 to rotate through the universal joint 37. Both rotating rods 34 rotate on the inner wall of their corresponding fixed seats 32. As the rotating rods 34 rotate, the first connecting brush 39 on the first connecting rod 36 and the second connecting brush 40 on the second connecting rod 38 also rotate. Then, two synchronous motors 33 are started synchronously. These two synchronous motors 33 drive the corresponding fixed seats 32 to rotate together, thereby cleaning the protective cover 31.

[0038] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0039] Finally, it should be noted that in the description of this utility model, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In addition, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0040] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing specific embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A thruster for an underwater robot, comprising an underwater robot body (1), characterized in that: The underwater robot body (1) has mounting cavities (4) on both sides of its rear end. A thruster (3) is installed inside the mounting cavity (4). A protective cover (31) is fixedly installed at the rear end of the thruster (3). Fixed seats (32) are rotatably connected to the rear ends of both sides of the outer wall of the thruster (3). Rotating rods (34) are rotatably connected to the rear ends of the inner walls of the two fixed seats (32). Each of the rotating rods (34) has a first connecting rod (36) at its rear end, and a second connecting rod (38) is provided adjacent to the rear end of each of the first connecting rods (36). A second connecting brush (40) is fixedly connected to the outer wall of the second connecting rod (38), and a first connecting brush (39) is fixedly connected to the outer wall of each of the first connecting rods (36). A universal joint (37) is provided between each of the rotating rods (34), the first connecting rods (36), and the second connecting rods (38).

2. The underwater robot thruster according to claim 1, characterized in that: Synchronous motors (33) are fixedly connected to the rear ends of the inner walls on both sides of the thruster (3). The output ends of the synchronous motors (33) pass through the thruster (3) and are fixedly connected to the corresponding fixed seats (32).

3. The underwater robot thruster according to claim 1, characterized in that: There are two first connecting rods (36) and one second connecting rod (38). The universal joint (37) fixes the rotating rod (34), the first connecting rod (36) and the second connecting rod (38) together.

4. The underwater robot thruster according to claim 1, characterized in that: A servo motor (35) is fixedly connected to the inner wall of the fixed base (32) on one side. The output end of the servo motor (35) passes through the inner wall of the fixed base (32) on one side and is fixedly connected to the front end of the rotating rod (34) on one side.

5. A thruster for an underwater robot according to claim 1, characterized in that: The surfaces of the first connecting brush (39) and the second connecting brush (40) are both in contact with the surface of the protective cover (31).

6. A thruster for an underwater robot according to claim 1, characterized in that: The underwater robot body (1) has hinge plates (2) hinged to both sides of the middle part of the outer wall, and the lower end of the hinge plates (2) is located inside the mounting cavity (4).

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