A high-torque propulsion device for an underwater robot
Patent Information
- Application Number
- CN202522318068.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-31
- Publication Date
- 2026-10-09
- Estimated Expiration
- 2035-10-31
AI Technical Summary
通过对接壳与安装盘快速对接机制，实现安装盘与对接壳的快速对准与卡合，通过弧形阻力孔驱动卡接爪同步外扩，完成机械卡接，实现快速安装，替代传统螺栓紧固步骤，简化操作流程，显著缩短安装时间，提升水下作业效率，确保安装盘与对接壳的精准配合，降低人为误差风险。
Smart Images
Figure CN224829569U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of underwater robot technology, specifically to a high-powered propulsion device for an underwater robot. Background Technology
[0002] An underwater robot is an unmanned diving device that can be remotely controlled via cable. It can replace human operation in high-risk, complex, or low-visibility environments. It integrates a pressure-resistant frame, propulsion system, sensors (such as sonar and optical cameras), robotic arm, and AI algorithms. It has environmental perception, data processing, and autonomous decision-making capabilities and is used for deep-sea resource exploration, seabed topography mapping, and marine scientific research. An underwater propulsion device is a device that uses an electric motor to drive a propeller or jet device to generate thrust. It propels underwater equipment to move through reaction force. It includes traditional propeller propulsion, water jet propulsion, pump-jet propulsion, and new magnetohydrodynamic propulsion.
[0003] In underwater operations, underwater thrusters need to be frequently installed on underwater robots or other carrier platforms to perform detection, sampling, or power output tasks. Traditional installation methods generally use bolt / screw penetration fixation, which has the following significant drawbacks: high operational complexity: multiple fasteners need to be screwed in one by one with special tools (such as wrenches and electric screwdrivers), and due to the limited underwater vision and narrow operating space, installation efficiency is very likely to be low. High maintenance costs: Long-term vibration or water flow impact can easily cause the threads to loosen, requiring regular retightening and increasing the maintenance burden; Poor adaptability: Different models of thrusters have large differences in interface size with robots, resulting in low versatility and difficulty in quick adaptation; Significant safety hazards: During underwater operations, bolts that are not fully tightened may come loose due to water pressure fluctuations or external impacts, posing a risk of equipment separation. Utility Model Content
[0004] To address the shortcomings of existing technologies, this invention provides a high-powered propulsion device for underwater robots.
[0005] The above-mentioned technical objective of this utility model is achieved through the following technical solution: A high-powered propulsion device for an underwater robot includes an underwater thruster body. A mounting frame is provided on the top surface of the underwater thruster body, and a docking shell is provided on the top surface of the mounting frame. The docking shell is fixedly installed on the exterior of the underwater robot. An installation assembly is disposed inside the docking shell. The installation assembly includes: an installation plate, which is movably engaged with the interior of the docking shell; a plurality of cross grooves are formed on the outer circular wall of the installation plate; a cross post is slidably connected inside the cross grooves; a locking claw is fixedly installed at the end of the cross post away from the installation plate; a force-bearing column is fixedly installed on the top surface of the cross post; a rotating sleeve is movably sleeved on the outer circular wall of the force-bearing column; a rotating disk is provided on the bottom surface of the installation plate; a plurality of resistance holes are formed on the bottom surface of the rotating disk; the resistance holes correspond to the positions of the rotating sleeves; the rotating sleeves are slidably connected to the resistance holes; and a support shell is fixedly installed on the bottom surface of the installation plate, with the bottom surface of the support shell fixedly installed to the mounting frame.
[0006] To prevent the locking claw from retracting, as a high-powered propulsion device for an underwater robot according to this utility model, preferably, the bottom surface of the locking claw is provided with a locking hole, and several locking posts are fixedly installed on the inner bottom surface of the docking shell, and the locking posts are movably locked with the locking hole.
[0007] To ensure the alignment of the locking hole and the locking post, as a high-powered propulsion device for an underwater robot according to this utility model, preferably, the top surface of the locking claw has two positioning holes, and a number of docking blocks are fixedly installed on the inner circular wall of the docking shell, and the docking blocks are slidably connected to the positioning holes.
[0008] To control the extension and retraction of the locking claw, as a high-powered propulsion device for an underwater robot according to this utility model, preferably, a fixed column is fixedly installed on the top surface of the mounting frame, a connecting sleeve is movably sleeved on the outer circular wall of the fixed column, and passes through the support shell and is fixedly installed with the rotating disk, a rotating sleeve is movably sleeved on the outer circular wall of the connecting sleeve, a plurality of sliding columns are fixedly installed on the inner circular wall of the rotating sleeve, and a plurality of limiting grooves are opened on the outer circular wall of the connecting sleeve, the limiting grooves being slidably connected to the sliding columns.
[0009] To prevent the rotating disk from rotating due to external impact after the rotation operation is completed, as a high-power propulsion device for an underwater robot of this utility model, preferably, the bottom surface of the rotating sleeve is provided with several locking grooves, the outer circular wall of the fixed column is fixedly sleeved with a fixed ring, and the top surface of the fixed ring is fixedly installed with several positioning columns, which are movably locked with the locking grooves.
[0010] To reduce the impact damage to the underwater thruster body underwater, as a high-powered propulsion device for an underwater robot according to this utility model, preferably, a fixed shell is fixedly installed on the top surface of the underwater thruster body, a universal ball cage sleeve is fixedly installed on the inner bottom surface of the fixed shell, a universal ball head is rotatably connected inside the universal ball cage sleeve, a ring spring is wound around the fixed shell and the universal ball cage sleeve, the ring spring is fixedly installed to the universal ball cage sleeve and the fixed shell respectively, and the top surface of the universal ball head is fixedly installed to the bottom surface of the mounting frame.
[0011] In summary, the present invention has the following main advantages: The rapid docking mechanism between the docking shell and the mounting plate enables quick alignment and engagement between them. The arc-shaped resistance hole drives the locking claws to expand synchronously, completing the mechanical engagement and enabling rapid installation. This replaces the traditional bolt tightening steps, simplifies the operation process, significantly shortens the installation time, improves underwater operation efficiency, ensures precise matching between the mounting plate and the docking shell, and reduces the risk of human error.
[0012] The locking mechanism, utilizing the device's own weight, automatically locks the locking pins and pins, forming a mechanical interlock structure that prevents the locking claws from retracting. This locking operation can be completed without additional tools, enhancing connection stability and preventing loosening due to vibration or water flow impact. The ring spring buffer protection mechanism absorbs external impact force by utilizing the elastic deformation of the ring spring, limits the excessive rotation of the universal ball joint, improves the equipment's impact resistance, protects the core transmission components, extends the equipment's service life, reduces the failure rate caused by collisions, ensures the stability of underwater operations, and adapts to complex environments. Attached Figure Description
[0013] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is a schematic diagram of the underwater thruster body structure of this utility model; Figure 3 yes Figure 2 Schematic diagram of the cross-sectional structure at point AA; Figure 4 This is a schematic diagram of the docking shell structure of this utility model; Figure 5 This is a schematic diagram of the rotating disk structure of this utility model; Figure 6 This is a schematic diagram of the support shell structure of this utility model; Figure 7 This is a schematic diagram of the rotating sleeve structure of this utility model; Figure 8 This is a schematic diagram of the fixed shell structure of this utility model.
[0014] Reference numerals: 1. Underwater thruster body; 2. Mounting bracket; 3. Ring spring; 4. Docking shell; 5. Mounting plate; 6. Cross groove; 7. Universal ball joint; 8. Cross post; 9. Clamping claw; 10. Universal ball cage sleeve; 11. Force-bearing column; 12. Rotating sleeve; 13. Rotating disk; 14. Resistance hole; 15. Clamping hole; 16. Clamping post; 17. Positioning hole; 18. Docking block; 19. Support shell; 20. Connecting sleeve; 21. Rotating sleeve; 22. Fixed post; 23. Fixed ring; 24. Positioning post; 25. Limiting groove; 26. Clamping groove; 27. Sliding post; 28. Fixed shell. Detailed Implementation
[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0016] Example: Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 A high-powered propulsion device for an underwater robot includes an underwater thruster body 1. A mounting frame 2 is provided on the top surface of the underwater thruster body 1. A docking shell 4 is provided on the top surface of the mounting frame 2. The docking shell 4 is fixedly installed on the outside of the underwater robot. An installation assembly is provided inside the docking shell 4. The installation assembly includes a mounting plate 5, which is movably engaged inside the docking shell 4. Several cross grooves 6 are formed on the outer circular wall of the mounting plate 5. A cross post 8 is slidably connected inside the cross grooves 6. A locking claw 9 is fixedly installed at the end of the cross post 8 away from the mounting plate 5. A locking claw 9 is fixedly installed on the top surface of the cross post 8. A force-bearing column 11 is movably fitted with a rotating sleeve 12 on its outer circular wall. A rotating disk 13 is provided on the bottom surface of the mounting disk 5. Several resistance holes 14 are opened on the bottom surface of the rotating disk 13. The positions of the several resistance holes 14 correspond to the positions of several rotating sleeves 12. The rotating sleeves 12 are slidably connected to the resistance holes 14. A support shell 19 is fixedly installed on the bottom surface of the mounting disk 5. The bottom surface of the support shell 19 is fixedly installed with the mounting bracket 2. A locking hole 15 is opened on the bottom surface of the locking claw 9. Several locking posts 16 are fixedly installed on the inner bottom surface of the docking shell 4. The locking posts 16 are movably locked with the locking holes 15. Using the pre-set docking shell 4, the operator must first securely install the component onto the underwater robot body. Then, the underwater thruster body 1 is manipulated to drive the connected mounting bracket 2 and mounting plate 5 to move synchronously, allowing the mounting plate 5 to precisely embed itself vertically into the interior space of the docking shell 4 from bottom to top. During this process, rotating the rotating disk 13 clockwise causes the arc-shaped resistance holes 14 on its surface to move in a circular motion. Due to the special arc design of the resistance holes 14, they continuously push against the cooperating rotating sleeve 12 during movement, thereby causing linear displacement of the force-bearing column 11, the cross column 8, and the locking claws 9. At this time, multiple locking claws 9 simultaneously expand outwards, disengaging from the initial position of the mounting plate 5 and penetrating into the predetermined area inside the docking shell 4, ultimately achieving locking. The secure engagement of the claw 9 with the inner wall of the docking shell 4 enables rapid docking of the mounting plate 5 and the docking shell 4. This design significantly simplifies the complex operation process of traditional bolt fixing and greatly improves the installation efficiency of the underwater thruster. Relying on the innovative design of the locking hole 15, after the locking claw 9 is fully inserted into the docking shell 4, the operator releases the supporting force on the underwater thruster body 1. At this time, under the action of the equipment's own gravity, the mounting frame 2, the mounting plate 5, and the locking claw 9 move downward as a whole. Before this, the locking hole 15 has been precisely aligned with the locking post 16. When the downward movement occurs, the locking post 16 smoothly engages with the locking hole 15, forming a mechanical locking structure, which effectively prevents the locking claw 9 from retracting due to external force. This mechanism ensures the stability and reliability of the installation state.
[0017] refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 The top surface of the card claw 9 has two positioning holes 17, and several docking blocks 18 are fixedly installed on the inner circular wall of the docking shell 4. The docking blocks 18 are slidably connected to the positioning holes 17. By setting the positioning hole 17, during the process of placing the installation plate 5 into the docking shell 4, it is necessary to strictly ensure that the positioning hole 17 on the locking claw 9 coincides with the position of the docking block 18. When the installation plate 5 enters the docking shell 4, the docking block 18 needs to pass through the positioning hole 17. This design ensures that after installation, the locking hole 15 and the locking post 16 are always in a precise alignment state, providing a basic guarantee for subsequent locking operations.
[0018] An Reference Figure 2 , Figure 3 , Figure 4 , Figure 6 and Figure 7A fixed column 22 is fixedly installed on the top surface of the mounting frame 2. A connecting sleeve 20 is movably sleeved on the outer circular wall of the fixed column 22 and passes through the support shell 19 and is fixedly installed on the rotating disk 13. A rotating sleeve 21 is movably sleeved on the outer circular wall of the connecting sleeve 20. Several sliding columns 27 are fixedly installed on the inner circular wall of the rotating sleeve 21. Several limiting grooves 25 are opened on the outer circular wall of the connecting sleeve 20. The limiting grooves 25 are slidably connected to the sliding columns 27. Several snap-fit grooves 26 are opened on the bottom surface of the rotating sleeve 21. A fixed ring 23 is fixedly sleeved on the outer circular wall of the fixed column 22. Several positioning columns 24 are fixedly installed on the top surface of the fixed ring 23. The positioning columns 24 are movably snap-fitted with the snap-fit grooves 26. With the help of the rotating sleeve 21 and its operating mechanism, the mounting bracket 2, support shell 19, and mounting plate 5 form a rigid connection. Once the mounting plate 5 is in place, the operator can rotate the rotating sleeve 21 clockwise to drive the sliding column 27 to rotate synchronously. During rotation, the sliding column 27 presses against the inner wall of the limiting groove 25, causing the connecting sleeve 20 and rotating plate 13 to rotate in the same direction, forcing the locking claw 9 to move away from the mounting plate 5 along a straight path, thus extending the locking claw. Conversely, rotating the rotating sleeve 21 counterclockwise causes the locking claw 9 to retract towards the mounting plate 5. This design... The locking claw 9 is given flexible telescopic control capability. Through the limiting design of the fixed ring 23, when it is necessary to rotate the connecting sleeve 20 and the rotating disk 13, the operator can slide the rotating sleeve 21 upward to make the positioning pin 24 disengage from the locking groove 26, thereby releasing the axial restriction on the rotating sleeve 21 and allowing it to rotate freely. After the operation is completed, the rotating sleeve 21 is reset downward to make the positioning pin 24 re-engage into the locking groove 26, locking the position of the rotating sleeve 21 and preventing the rotating disk 13 from rotating unexpectedly due to external impact. This design takes into account both the ease of operation and structural stability.
[0019] refer to Figure 1 , Figure 2 , Figure 3 and Figure 8 A fixed shell 28 is fixedly installed on the top surface of the underwater thruster body 1. A universal ball cage sleeve 10 is fixedly installed on the bottom surface inside the fixed shell 28. A universal ball head 7 is rotatably connected inside the universal ball cage sleeve 10. A ring spring 3 is wound around the fixed shell 28 and the universal ball cage sleeve 10. The ring spring 3 is fixedly installed to the universal ball cage sleeve 10 and the fixed shell 28 respectively. The top surface of the universal ball head 7 is fixedly installed to the bottom surface of the mounting frame 2.
[0020] Through the elastic buffer design of the ring spring 3, combined with the universal joint structure composed of the universal ball cage sleeve 10 and the universal ball head 7, the ring spring 3 continuously applies radial tightening force, strengthens the wrapping force of the universal ball cage sleeve 10 on the universal ball head 7, and appropriately reduces the rotation sensitivity of the universal ball head. When the underwater thruster body 1 encounters external impacts such as aquatic organisms or plants, the fixed shell 28 and the universal ball cage sleeve 10 are deformed under pressure. The ring spring 3 absorbs the impact force through elastic deformation, while limiting the excessive rotation amplitude of the universal ball head 7, thus avoiding structural damage caused by violent collisions.
[0021] Working principle: Please refer to Figures 1-8 As shown, by using the docking shell 4, the operator first fixes the docking shell 4 onto the underwater robot. Then, by moving the underwater thruster body 1, the mounting frame 2 and mounting plate 5 are moved, allowing the mounting plate 5 to be inserted into the docking shell 4 from bottom to top. Then, by rotating the rotating disk 13 clockwise, the position of the resistance hole 14 is made to move in a circular motion. Since the resistance hole 14 is arc-shaped, when the resistance hole 14 moves, its inner wall will push the rotating sleeve 12 and drive the force column 11, the cross column 8 and the locking claw 9 to move in a straight line. At this time, several locking claws 9 move in a straight line away from the position of the mounting plate 5, and then several locking claws 9 will enter the deep interior of the docking shell 4. Then the locking claws 9 will directly lock into the interior of the docking shell 4, thus completing the docking of the mounting plate 5 and the docking shell 4. This facilitates the quick installation of the underwater thruster body 1 and reduces the tedious steps of tightening screws when installing the underwater thruster body 1 on the underwater robot.
[0022] With the locking hole 15 in place, once the locking claw 9 is fully inserted into the docking shell 4, the operator releases the grip. At this point, the weight of the underwater thruster body 1 falling will cause the mounting bracket 2, mounting plate 5, and locking claw 9 to move downwards. Before this, the position of the locking hole 15 is aligned with the locking post 16. When the locking claw 9 moves downwards, the locking post 16 will engage with the inside of the locking hole 15, thereby locking the locking claw 9 and preventing it from retracting.
[0023] With the positioning hole 17 provided, when the operator installs the mounting plate 5 into the docking shell 4, the positioning hole 17 on the locking claw 9 needs to be aligned with the docking block 18. When placing it into the docking shell 4, the docking block 18 should pass through the positioning hole 17. In this way, after the mounting plate 5 and the locking claw 9 are placed into the docking shell 4, it can be ensured that the positions of the locking hole 15 and the locking post 16 are aligned.
[0024] With the rotating sleeve 21 in place, the mounting bracket 2, support shell 19, and mounting plate 5 are fixed together. When the operator places the mounting plate 5 into the docking shell 4, rotating the rotating sleeve 21 clockwise will drive the sliding column 27 to rotate. The sliding column 27 will then press against the inner wall of the limiting groove 25 and drive the connecting sleeve 20 and rotating plate 13 to rotate clockwise. This will allow the locking claw 9 to move in a straight line away from the mounting plate 5. Conversely, rotating the rotating sleeve 21 counterclockwise will drive the connecting sleeve 20 and rotating plate 13 to rotate counterclockwise, which will allow the locking claw 9 to move closer to the mounting plate 5, thus enabling the extension and retraction control of the locking claw 9.
[0025] With the fixed ring 23, when the operator needs to rotate the connecting sleeve 20 and the rotating disk 13, the positioning pin 24 can be separated from the locking groove 26 by sliding the rotating sleeve 21 upward, thereby releasing the restriction on the rotating sleeve 21. At this time, the rotating sleeve 21 can rotate. After the rotation operation is completed, the rotating sleeve 21 can be moved downward to allow the positioning pin 24 to be locked into the inside of the locking groove 26, thereby restricting the rotating sleeve 21 and preventing the rotating disk 13 from rotating due to external impact after the rotation operation is completed.
[0026] By using the ring spring 3, the connection between the universal ball cage sleeve 10 and the universal ball head 7 can form a universal joint. The elastic tightening force of the ring spring 3 can then wrap and tighten the universal ball cage sleeve 10, increasing the clamping force of the universal ball cage sleeve 10 on the universal ball head 7. This reduces the flexibility of the universal ball head 7's rotation. At this time, when the underwater propulsion body 1 is collided with by external forces such as underwater organisms or plants while working underwater, the fixed shell 28 and the universal ball cage sleeve 10 will squeeze the ring spring 3. Thus, the elasticity of the ring spring 3 can be used to deflect the impact force, and the tightened universal ball head 7 and universal ball cage sleeve 10 can prevent excessive rotation.
[0027] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A high-powered propulsion device for an underwater robot, characterized in that, include: The underwater thruster body (1) has a mounting frame (2) on its top surface and a docking shell (4) on its top surface. The docking shell (4) is fixedly installed on the outside of the underwater robot. An installation assembly is disposed inside the docking shell (4). The installation assembly includes: an installation plate (5), which is movably snapped into the interior of the docking shell (4). The outer circular wall of the installation plate (5) has several cross grooves (6). A cross post (8) is slidably connected inside the cross grooves (6). A locking claw (9) is fixedly installed at one end of the cross post (8) away from the installation plate (5). A force-bearing column (11) is fixedly installed on the top surface of the cross post (8). A rotating sleeve (12) is movably fitted onto the outer circular wall of the mounting plate (5). A rotating disk (13) is provided on the bottom surface of the mounting plate (5). A plurality of resistance holes (14) are opened on the bottom surface of the rotating disk (13). The plurality of resistance holes (14) correspond to the positions of the plurality of rotating sleeves (12). The rotating sleeves (12) are slidably connected to the resistance holes (14). A support shell (19) is fixedly installed on the bottom surface of the mounting plate (5). The bottom surface of the support shell (19) is fixedly installed with the mounting bracket (2).
2. The high-powered propulsion device for an underwater robot according to claim 1, characterized in that: The bottom surface of the locking claw (9) is provided with a locking hole (15), and a number of locking posts (16) are fixedly installed on the inner bottom surface of the docking shell (4). The locking posts (16) are movably locked with the locking hole (15).
3. The high-powered propulsion device for an underwater robot according to claim 1, characterized in that: The top surface of the locking claw (9) has two positioning holes (17), and a number of docking blocks (18) are fixedly installed on the inner circular wall of the docking shell (4). The docking blocks (18) are slidably connected to the positioning holes (17).
4. The high-powered propulsion device for an underwater robot according to claim 1, characterized in that: A fixed column (22) is fixedly installed on the top surface of the mounting bracket (2). A connecting sleeve (20) is movably sleeved on the outer circular wall of the fixed column (22) and passes through the support shell (19) and is fixedly installed with the rotating disk (13). A rotating sleeve (21) is movably sleeved on the outer circular wall of the connecting sleeve (20). Several sliding columns (27) are fixedly installed on the inner circular wall of the rotating sleeve (21). Several limiting grooves (25) are opened on the outer circular wall of the connecting sleeve (20). The limiting grooves (25) are slidably connected with the sliding columns (27).
5. A high-powered propulsion device for an underwater robot according to claim 4, characterized in that: The bottom surface of the rotating sleeve (21) is provided with several snap-fit grooves (26), the outer circular wall of the fixed column (22) is fixedly fitted with a fixed ring (23), and the top surface of the fixed ring (23) is fixedly installed with several positioning columns (24), and the positioning columns (24) are movably snapped into the snap-fit grooves (26).
6. The high-powered propulsion device for an underwater robot according to claim 1, characterized in that: A fixed shell (28) is fixedly installed on the top surface of the underwater thruster body (1). A universal ball cage sleeve (10) is fixedly installed on the bottom surface inside the fixed shell (28). A universal ball head (7) is rotatably connected inside the universal ball cage sleeve (10). A ring spring (3) is wound around the fixed shell (28) and the universal ball cage sleeve (10). The ring spring (3) is fixedly installed to the universal ball cage sleeve (10) and the fixed shell (28) respectively. The top surface of the universal ball head (7) is fixedly installed to the bottom surface of the mounting frame (2).