CN106347616A - Deep sea direct current (DC) propeller integrated with controller - Google Patents
Deep sea direct current (DC) propeller integrated with controller Download PDFInfo
- Publication number
- CN106347616A CN106347616A CN201610906552.8A CN201610906552A CN106347616A CN 106347616 A CN106347616 A CN 106347616A CN 201610906552 A CN201610906552 A CN 201610906552A CN 106347616 A CN106347616 A CN 106347616A
- Authority
- CN
- China
- Prior art keywords
- propeller
- end cap
- brushless motor
- direct current
- deep
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/12—Casings or enclosures characterised by the shape, form or construction thereof specially adapted for operating in liquid or gas
- H02K5/132—Submersible electric motors
Abstract
The invention relates to propulsion equipment, in particular to a deep sea direct current (DC) propeller integrated with a controller. The deep sea DC propeller comprises a propeller shell; a cylindrical cavity is arranged in the propeller shell; an outer layer end cover is arranged on the end face of the left side of the propeller shell, and a right side end cover is sealed and fixed on the end face of the right side of the propeller shell; a disc is fixed in the cavity; the cavity is divided into a left side liquid oil cavity and a right side liquid oil cavity by the disc; a brushless DC motor is fixed in the left side liquid oil cavity, and the controller is arranged in the right side liquid oil cavity; the right side end cover is respectively connected with a watertight cable and a compensation hose; the right end of the brushless DC motor is fixedly connected with the disc; the left end of the brushless DC motor is fixedly connected with an installation end cover of the brushless DC motor in a sealing way; the outer layer end cover is arranged at the outer side of the installation end cover of the brushless DC motor; the installation end cover of the brushless DC motor is fixedly connected with the propeller shell in a sealing way; the outer layer end cover is fixedly connected with the installation end cover of the brushless DC motor. The deep sea DC propeller is small in overall dimension, compact in structure, light in weight, high in reliability, easy to manufacture and low in cost.
Description
Technical field
The present invention relates to puopulsion equipment, the deep-sea direct current propeller of especially a kind of integrated manipulator.
Background technology
Propeller is the important component part that there is cable/untethered submersible at deep-sea, by arrangement quantity difference on submersible
Propeller, it is possible to achieve submersible underwater navigation status adjustment.Submersible machine is the angle of rake key in deep-sea, in certain power
Under reduce as much as possible weight and physical dimension for improve submersible endurance play an important role.Patent No.
Zl200810064802.3, the patent of invention of entitled " submersible machine and propeller integrated apparatus " proposes a kind of submersible machine
Structure, but above two submersible machine cannot work at deep-sea.Application No. 200510045851.9, entitled " one kind is under water
The application for a patent for invention of DC brush-less oil-charging motor structure ", and Patent No. zl201110161966.x, entitled " one kind is filled
The patent of invention of oil pressure compensation type deep-sea motor and preparation method thereof " proposes the deep water electricity carrying pressure compensator respectively
Machine, solves the problems, such as that submersible machine works at deep-sea；Patent No. zl201210238945.8, entitled " controller one
The patent of invention of change deep-sea motor " proposes a kind of controller integral deep-sea motor, and solving submersible machine needs extra electron resistance to
The problem of ballasting, but three of the above submersible machine is equipped with pressure compensator cabin or controller cabin, complex structure, and increased water
Lower motor weight, is unfavorable for energy saving, improves benthoscope efficiency.
Content of the invention
It is an object of the invention to solving the above-mentioned problems in the prior art it is proposed that a kind of depth of integrated manipulator
Extra large direct current propeller, its overall dimensions is little, and compact conformation, lightweight, reliability are high, and makes simple, with low cost.
The technical scheme is that a kind of deep-sea direct current propeller of integrated manipulator, including propeller housing, advance
It is cylindrical cavity in device housing, wherein, the left end face of described propeller housing is provided with outer layer end cap, the right side of propeller housing
Side face seal is fixed with right side end cap, is fixed with disk in cavity, and cavity is divided into left side fluid chamber and right side fluid by disk
Chamber, left side fluid intracavity is fixed with DC brushless motor, and right side fluid intracavity is provided with controller, and right side end cap connects watertight respectively
Cable and compensation flexible pipe；
The right-hand member of described DC brushless motor is fixedly connected with disk, the left end of DC brushless motor and DC brushless motor
End cap seal is installed be fixedly connected, the outside that DC brushless motor installs end cap is provided with outer layer end cap, and DC brushless motor is installed
End cap is sealedly and fixedly connected with propeller housing, and outer layer end cap is installed end cap with DC brushless motor and is fixedly connected, brush DC
Rotatory sealing between the output shaft of motor and outer layer end cap.
In the present invention, fixed by several bolts or screw between the annular side of described right side end cap and propeller shell
Connect, the inner side of the annular side of right side end cap and bolt or screw is provided with least one radial direction o type circle seal groove, and o type circle is close
Sealing groove is provided with radial direction o type circle.
Described controller is controller circuit board, and control board is fixed on right-hand end lid.Control board is used for controlling
The rotating speed of Deep-sea vessel processed and direction.
Described watertight cable is quad, and its one end is connected to outside benthoscope, the other end respectively with circuit control
Making sheet and DC brushless motor connect, and provide mains power and control signal by submersible for propeller.
Described one end compensating flexible pipe is arranged in propeller shell body, and its afterbody is provided with dismountable screw plug, passes through
End cap end can add insulation fluid into the cavity of propeller housing.Compensate the fluid of the fluid in flexible pipe and propeller inside the shell
Free exchange can circulate, reach to propeller shell and the pressure compensated purpose of DC brushless motor.
Described disk is provided with three through holes and eight screwed holes, and eight screwed holes include three screwed holes, four screw threads
Hole and a screwed hole, along the circumferencial direction interval setting of disk, three screwed holes are located at adjacent logical for wherein three through holes
Between hole, and three screwed holes are along the circumferencial direction uniform intervals setting of disk, and the inner side of three through holes is provided with four screwed holes
, along the circumferencial direction uniform intervals setting of disk, the inner side of four screwed holes is that the center of disk sets for four screwed holes
There is a screwed hole；The diameter with diameter greater than screwed hole of screwed hole, screwed hole straight with diameter greater than screwed hole
Footpath；Screw thread in the hole is provided with DC brushless motor fixing bolt, and screw thread in the hole is provided with DC brushless motor fixing bolt
, DC brushless motor fixing bolt and DC brushless motor fixing bolt and disk are passed through in the right side of DC brushless motor
It is fixedly connected, bolt in the hole is fixed with cylinder boss.
The left end of described DC brushless motor is provided with DC brushless motor and installs end cap, and is fixed by DC brushless motor
Bolt is installed end cap with DC brushless motor and is fixedly connected, and DC brushless motor fixing bolt is installed with DC brushless motor
The contact surface of end cap is provided with axial o type circle seal groove, is provided with axial o type circle in seal groove.
The annular side that described DC brushless motor installs end cap is fixedly connected with propeller shell by several bolts, directly
The inner side of the annular side and bolt that end-cover axle installed by stream brushless electric machine arranges at least one o type circle seal groove, o type circle seal groove
Inside it is provided with radial direction o type circle.
Described DC brushless motor installs end cap and outer layer end cap is bolted to connection, DC brushless motor installation end
The inner side of the left end face of lid and bolt arranges at least one o type circle seal groove, is provided with axial o type circle in o type circle seal groove.
DC brushless motor is installed end cap and is installed with outer end cover split-type formula, is easily installed rotating seal ring, can effectively prevent work
When environmental liquids enter damage DC brushless motor.
The output shaft of described DC brushless motor overhangs propeller shell, and the external part of output shaft passes through fixing bolt
It is connected with propeller, outer layer end cap is provided with seal groove with the contact surface of output shaft, is provided with rotating seal ring, spiral in seal groove
It is provided with cushion block, cushion block slip cap is on output shaft between oar and outer layer end cap.
Beneficial effects of the present invention:
(1) pass through appropriate design fluid compensation dosage and the controller of selection excellent performance, driver can be made with motor altogether
With being arranged on propeller inside the shell, remove pressure compensator cabin and controller cabin from it is only necessary to a pressure compensation pipe is to deep-water motor
Carry out pressure compensation, a watertight cable is controlled to motor, greatly reduces angle of rake overall dimensions；
(2) propeller screw oar can flexibly be changed, and compact overall structure, lightweight, reliability are high, and make simple, become
This is cheap.
In sum, the present invention is applied to benthoscope, can be the motion of benthoscope and operation offer power, be
Deep-sea scientific research provides technical support.
Brief description
Fig. 1 is the axonometric chart of the present invention；
Fig. 2 is the front view of the present invention；
Fig. 3 is the sectional view of the present invention；
Fig. 4 is the structural representation of disk.
In figure: 1 output shaft；2 propellers；3 fixing bolts；4 cushion blocks；5 fixing bolts；6 axial o type circles；7 fixing spiral shells
Bolt；8 radial direction o type circles；9 DC brushless motors；10 propeller shells；11 DC brushless motor fixing bolts；12 disks；
1201 through holes；1202 screwed holes；1203 screwed holes；1204 screwed holes；13 radial direction o type circles；14 control boards；15
Right side end cap；16 right sides fluid chamber；17 DC brushless motor fixing bolts；18 left sides fluid chamber；19 DC brushless motor peaces
Dress end cap；20 axial o type circles；21 DC brushless motor fixing bolts；22 outer layer end caps；23 rotating seal rings；24 watertights
Cable；25 compensation flexible pipes.
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
As shown in Fig. 2 the deep-sea direct current propeller of described integrated manipulator includes propeller housing 10, propeller housing 10
Left end face be provided with outer layer end cap 22, its its right end face be fixed with right side end cap 15.It is cylindrical empty in propeller housing 10
Chamber, is filled with insulating oil in cavity, be fixed with disk 12 in cavity, and angle of rake cavity is divided into left side fluid chamber 18 by disk 12
With right side fluid chamber 16, in left side fluid chamber 18, it is fixed with DC brushless motor 9, the moment of torsion that DC brushless motor rotates passes to
Propeller-driven propeller moves；Right side is provided with controller in fluid chamber 16, and controller is used for controlling the rotating speed of benthoscope
And direction.
Six screwed holes of the annular side interval setting of described right side end cap 15, between its screwed hole and propeller shell 10
Connected by hexagon socket countersunk flat cap head screw, it is achieved thereby that being fixedly connected between right side end cap 15 and propeller shell 10.It is anti-
Only the fluid of right side fluid intracavity is revealed, the annular side of the right side end cap 15 and inner side of screw hole is provided with two radial direction o type circles
Seal groove, o type circle seal groove is provided with radial direction o type circle 13, thus realizing the static seal to right side fluid chamber 16.Right side fluid chamber
It is provided with controller circuit board 14, control board 14 is bolted on the end cap 15 of right side by two round end crosss in 16.
Right side end cap 15 is provided with two holes, and two holes connect watertight cable 24 respectively and compensate flexible pipe 25, and wherein watertight cable 24 is
Quad, its one end is connected to outside benthoscope, and the other end is connected with circuit control panel 14 and DC brushless motor 9 respectively
Connect, provide mains power and control signal by submersible for propeller.The one end compensating flexible pipe 25 is arranged on propeller housing 10
Interior, its afterbody is provided with dismountable screw plug, can add insulation fluid by end cap end into the cavity of propeller housing 10.
Compensate fluid in fluid and the propeller shell 10 in flexible pipe 25 can free exchange circulation, reach to propeller shell 10 and straight
The stream pressure compensated purpose of brushless electric machine 9.
As shown in figure 4, described disk 12 is provided with three through holes 1201 and eight screwed holes, eight screwed holes include three
1204, four screwed holes 1202 of screwed hole and a screwed hole 1203, wherein three through holes 1201 are along the circumference of disk 12
Direction interval setting, through hole 1201 is used for circulation and the routing electric wires of hydraulic oil.Three screwed holes 1204 are located at adjacent through-holes
Between 1201, and three screwed holes 1204 are along the circumferencial direction uniform intervals setting of disk.The inner side of three through holes 1201 is provided with
Four screwed holes 1202, four screwed holes 1202 are along the circumferencial direction uniform intervals setting of disk.Four screwed holes
1202 inner side is that the center of disk is provided with a screwed hole 1203.Screwed hole 1203 with diameter greater than screwed hole 1204
Diameter, the diameter with diameter greater than screwed hole 1202 of screwed hole 1204.Brush DC electricity is installed in screwed hole 1204
Machine fixing bolt 11, is provided with DC brushless motor fixing bolt 17 in screwed hole 1202, DC brushless motor fixes spiral shell
Bolt 11 and DC brushless motor fixing bolt 17 are round end hexagon socket head cap screw, and direct current is passed through no in the right side of DC brushless motor 9
Brush motor fixing bolt 11 is fixedly connected with disk 12 with DC brushless motor fixing bolt 17, fixing point position difference spiral shell
The dimensions of bolt is different, and because the bolt torque of different size is different, the bolt therefore passing through to arrange different size can prevent
DC brushless motor rotates, and makes the fixed effect between DC brushless motor 9 and disk 12 more preferable.Fixing in bolt hole 1203
Have cylinder boss, cylinder boss limits the degree of freedom of DC brushless motor, make DC brushless motor can only x-axis direction mobile or
Rotate.
The left end of DC brushless motor 9 is provided with DC brushless motor and installs end cap 19, and passes through four DC brushless motors
Fixing bolt 21 is installed end cap 19 with DC brushless motor and is fixedly connected, and DC brushless motor fixing bolt 21 can adopt
Round end hexagon socket head cap screw.The contact surface that DC brushless motor fixing bolt 21 installs end cap 19 with DC brushless motor is provided with
Axial o type circle seal groove, is provided with axial o type circle 20 in seal groove, thus carrying out to DC brushless motor fixing bolt 21
Static seal.DC brushless motor installs six screwed holes of annular side interval setting of end cap 19, and is made by fixing bolt 7
DC brushless motor is installed end cap 19 and is fixedly connected with propeller shell 10, and described fixing bolt 7 can be sunk using interior hexagonal
Head screw.The inner side of annular side and fixing bolt 7 that DC brushless motor installs end cap 19 arranges two o type circle sealings
Groove, is provided with radial direction o type circle 8 in o type circle seal groove, carries out static seal by radial direction o type circle 8 to left side fluid chamber 18.
The outside that DC brushless motor installs end cap 19 is provided with outer layer end cap 22, and DC brushless motor installs a left side for end cap 19
Six screwed holes of side end face interval setting and o type circle seal groove, o type circle seal groove is arranged on the inner side of screwed hole, arranges bolt
The purpose in hole is to be fixedly connected with outer layer end cap 22 by fixing bolt 5.It is provided with axial o type circle 6 in o type circle seal groove, from
And realize carrying out static seal to outer layer end cap.DC brushless motor installs end cap 19 and the outside split type installation of end cap 22, permissible
Effectively prevent environmental liquids during work from entering and damage DC brushless motor.
The output shaft 1 of DC brushless motor overhangs propeller shell, the external part of output shaft 1 pass through fixing bolt 3 with
Propeller 2 connects, and motor output shaft rotates and drives propeller 2 to rotate, thus providing power for angle of rake advance.Outer layer end cap
22 are provided with seal groove with the contact surface of output shaft 1, are provided with rotating seal ring 23 in seal groove, thus to outer layer end cap 22 with defeated
Carry out dynamic sealing between shaft 1.Be provided with cushion block 4 between propeller 2 and outer layer end cap 22, cushion block 4 slip cap on output shaft 1,
The effect play and protect output shaft 1, preventing its deformation.
The work process of the present invention is as described below: outside benthoscope provides mains power for propeller and controls letter
Number, and be connected with control board 14 and DC brushless motor 9 respectively by watertight cable 24, controller is used for controlling deep sea diving
The rotating speed of device and direction, DC brushless motor 9 action, its output shaft 1 rotates, and drives propeller 2 to rotate, thus being angle of rake
Advance and power is provided.Simultaneously in order to pressure supplement is carried out to angle of rake inner chamber, by compensating the external insulation fluid of flexible pipe 25, absolutely
After edge fluid enters in left side fluid chamber 18, hydraulic oil is realized on left side fluid chamber 18 and the right side by the through hole 1201 on disk 12
Flow between side fluid chamber 16.The afterbody compensating flexible pipe 25 is provided with dismountable screw plug, can be to propeller by end cap end
Add insulating oil in the cavity of housing 10.
Claims (10)
1. the deep-sea direct current propeller of a kind of integrated manipulator, including propeller housing (10), propeller housing (10) is interior to be circle
Cylindrical cavity it is characterised in that: the left end face of described propeller housing (10) is provided with outer layer end cap (22), propeller housing
(10) its right end face sealing is fixed with right side end cap (15), is fixed with disk (12), cavity is divided into by disk (12) in cavity
Left side fluid chamber (18) and right side fluid chamber (16), are fixed with DC brushless motor (9), right side fluid in left side fluid chamber (18)
It is provided with controller, right side end cap (15) connects watertight cable (24) respectively and compensates flexible pipe (25) in chamber (16)；
The right-hand member of described DC brushless motor (9) is fixedly connected with disk (12), and the left end of DC brushless motor (9) is with direct current no
Brush motor is installed end cap (19) and is sealedly and fixedly connected, and the outside that DC brushless motor installs end cap (19) is provided with outer layer end cap
(22), DC brushless motor is installed end cap (19) and is sealedly and fixedly connected with propeller housing (10), outer layer end cap (22) and direct current
Brushless electric machine is installed end cap (19) and is fixedly connected, and rotates between the output shaft (1) of DC brushless motor (9) and outer layer end cap (22)
Sealing.
2. integrated manipulator according to claim 1 deep-sea direct current propeller it is characterised in that: described right side end cap
(15) it is fixedly connected by several bolts or screw between annular side and propeller shell (10), the ring of right side end cap (15)
The inner side of shape side and bolt or screw is provided with least one radial direction o type circle seal groove, and o type circle seal groove is provided with radial direction o type circle
ⅱ(13).
3. integrated manipulator according to claim 1 deep-sea direct current propeller it is characterised in that: described controller be control
Device circuit board (14) processed, control board (14) is fixed on right side end cap (15).
4. integrated manipulator according to claim 3 deep-sea direct current propeller it is characterised in that: described watertight cable
(24) it is quad, its one end is connected to outside benthoscope, the other end is respectively with circuit control panel (14) and direct current no
Brush motor (9) connects.
5. integrated manipulator according to claim 1 deep-sea direct current propeller it is characterised in that: described compensation flexible pipe
(25) one end is arranged in propeller housing (10), and its afterbody is provided with dismountable screw plug.
6. integrated manipulator according to claim 1 deep-sea direct current propeller it is characterised in that: on described disk (12)
It is provided with three through holes (1201) and eight screwed holes, eight screwed holes include three screwed holes (1204), four screwed holes
(1202) and one screwed hole (1203), wherein three through holes (1201) along the circumferencial direction interval setting of disk (12), three
Individual screwed hole (1204) is located between adjacent through-holes (1201), and three screwed holes (1204) are uniform along the circumferencial direction of disk
Interval setting, the inner side of three through holes (1201) is provided with four screwed holes (1202), and four screwed holes (1202) are along disk
The setting of circumferencial direction uniform intervals, the inner side of four screwed holes (1202) is that the center of disk is provided with a screwed hole
(1203)；The diameter with diameter greater than screwed hole (1204) of screwed hole (1203), screwed hole (1204) with diameter greater than spiral shell
The diameter of pit (1202)；DC brushless motor fixing bolt (11), screwed hole are installed in screwed hole (1204)
(1202) DC brushless motor fixing bolt (17) is installed in, the right side of DC brushless motor (9) is by brush DC electricity
Machine fixing bolt (11) is fixedly connected with disk (12) with DC brushless motor fixing bolt (17), bolt hole (1203)
Inside it is fixed with cylinder boss.
7. integrated manipulator according to claim 1 deep-sea direct current propeller it is characterised in that: described brush DC electricity
The left end of machine (9) is provided with DC brushless motor and installs end cap (19), and by DC brushless motor fixing bolt (21) with straight
Stream brushless electric machine is installed end cap (19) and is fixedly connected, DC brushless motor fixing bolt (21) and DC brushless motor installation end
The contact surface of lid (19) is provided with axial o type circle seal groove, is provided with axial o type circle (20) in seal groove.
8. integrated manipulator according to claim 1 deep-sea direct current propeller it is characterised in that: described brush DC electricity
The annular side that end cap (19) installed by machine is fixedly connected with propeller shell (10) by several bolts, and DC brushless motor is installed
The inner side of the annular side of end cap (19) and bolt arranges at least one o type circle seal groove, is provided with radial direction o in o type circle seal groove
Type circle (8).
9. integrated manipulator according to claim 1 deep-sea direct current propeller it is characterised in that: described brush DC electricity
End cap (19) installed by machine and outer layer end cap (22) is bolted to connection, and DC brushless motor installs the left-hand end of end cap (19)
The inner side of face and bolt arranges at least one o type circle seal groove, is provided with axial o type circle (6) in o type circle seal groove.
10. integrated manipulator according to claim 1 deep-sea direct current propeller it is characterised in that: described brush DC
The output shaft (1) of motor (9) overhangs propeller shell, and the external part of output shaft (1) passes through fixing bolt (3) and propeller
(2) connect, outer layer end cap (22) is provided with seal groove with the contact surface of output shaft (1), is provided with rotating seal ring in seal groove
(23), it is provided with cushion block (4) between propeller (2) and outer layer end cap (22), cushion block (4) slip cap is on output shaft (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610906552.8A CN106347616A (en) | 2016-10-18 | 2016-10-18 | Deep sea direct current (DC) propeller integrated with controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610906552.8A CN106347616A (en) | 2016-10-18 | 2016-10-18 | Deep sea direct current (DC) propeller integrated with controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106347616A true CN106347616A (en) | 2017-01-25 |
Family
ID=57867073
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610906552.8A Withdrawn CN106347616A (en) | 2016-10-18 | 2016-10-18 | Deep sea direct current (DC) propeller integrated with controller |
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| Country | Link |
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| CN (1) | CN106347616A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018269A (en) * | 2018-09-06 | 2018-12-18 | 中国船舶工业系统工程研究院 | A kind of propulsion device of the full electric drive underwater robot of big depth |
| CN111799922A (en) * | 2020-07-15 | 2020-10-20 | 重庆新登奇机电技术有限公司 | Motor sealing device of underwater robot |
| CN112046719A (en) * | 2020-09-16 | 2020-12-08 | 浙江尤奈特电机有限公司 | Propeller for water |
| CN113443109A (en) * | 2021-07-15 | 2021-09-28 | 哈尔滨工程大学 | Drive arrangement of seabed sonar robot |
| CN113581438A (en) * | 2021-08-27 | 2021-11-02 | 中国船舶科学研究中心 | Integrated deep sea integrated electric propeller |
-
2016
- 2016-10-18 CN CN201610906552.8A patent/CN106347616A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018269A (en) * | 2018-09-06 | 2018-12-18 | 中国船舶工业系统工程研究院 | A kind of propulsion device of the full electric drive underwater robot of big depth |
| CN109018269B (en) * | 2018-09-06 | 2023-12-12 | 中国船舶工业系统工程研究院 | Propelling device of large-depth all-electric-drive underwater robot |
| CN111799922A (en) * | 2020-07-15 | 2020-10-20 | 重庆新登奇机电技术有限公司 | Motor sealing device of underwater robot |
| CN112046719A (en) * | 2020-09-16 | 2020-12-08 | 浙江尤奈特电机有限公司 | Propeller for water |
| CN113443109A (en) * | 2021-07-15 | 2021-09-28 | 哈尔滨工程大学 | Drive arrangement of seabed sonar robot |
| CN113581438A (en) * | 2021-08-27 | 2021-11-02 | 中国船舶科学研究中心 | Integrated deep sea integrated electric propeller |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170125 |
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| WW01 | Invention patent application withdrawn after publication |