CN110606182A - Propeller and control system of underwater robot - Google Patents
Propeller and control system of underwater robot Download PDFInfo
- Publication number
- CN110606182A CN110606182A CN201910882154.0A CN201910882154A CN110606182A CN 110606182 A CN110606182 A CN 110606182A CN 201910882154 A CN201910882154 A CN 201910882154A CN 110606182 A CN110606182 A CN 110606182A
- Authority
- CN
- China
- Prior art keywords
- fixed
- propeller
- rotation
- shell
- rotating shaft
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/12—Propulsive elements directly acting on water of rotary type with rotation axis substantially in propulsive direction
- B63H1/14—Propellers
- B63H1/28—Other means for improving propeller efficiency
-
- 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
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
-
- 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
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a propeller of an underwater robot, which relates to the technical field of underwater robots and comprises a main paddle mechanism, a rotating shaft, a shell and spiral blades, wherein the main paddle mechanism is fixed at one end of the rotating shaft and is used for rotating after being driven by the rotating shaft to propel the robot to move, the rotating shaft is arranged in the shell through a bearing support and a rotating bearing, one side of the shell, which is close to the main paddle mechanism, is opened, the spiral blades are fixed outside the rotating shaft, and a plurality of water inlet holes are formed in the outer circumference of the shell, so that the propeller has the beneficial effects that: when the outer rotor rotates, the inner rotor and the outer rotor synchronously rotate through the coupling effect of magnetic force to drive the rotating shaft, so that the synchronous rotation of the auxiliary paddle mechanism, the helical blade and the main paddle mechanism is realized, strong thrust is generated, and the underwater robot can be widely applied to the technical field of underwater robots with thrust requirements.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a propeller and a control system of an underwater robot.
Background
An underwater robot is also called an unmanned remote control submersible vehicle and is a limit operation robot working underwater. Underwater robots have become an important tool for the development of the ocean because of the harsh and dangerous underwater environment and the limited depth of human diving. The unmanned remote control submersible mainly comprises: the cable remote-control submersible is divided into an underwater self-propelled type, a towed type and a type capable of climbing on a seabed structure.
The underwater robot needs the function of a propeller to realize various underwater actions, the propeller has the same function as the propeller, but the propelling force of the existing underwater robot is not strong enough, and the improvement of the cruising ability of the underwater robot is greatly influenced.
Based on this, this application provides a propeller and control system of underwater robot.
Disclosure of Invention
The present invention is directed to a propeller and a control system of an underwater robot to solve the above problems.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a propeller of underwater robot, includes main paddle mechanism, axis of rotation, shell and helical blade, main paddle mechanism fixes the one end at the axis of rotation for rotate after receiving the drive of axis of rotation, impel robot's motion, the axis of rotation passes through bearing bracket and rolling bearing and installs in the shell, and the shell is close to one side opening of main paddle mechanism, and the external fixation of axis of rotation has helical blade, be equipped with a plurality of inlet openings on the outer circumference of shell.
As a still further scheme of the invention: and a bell mouth is fixed at an opening at one side of the shell close to the main paddle mechanism.
As a still further scheme of the invention: the main blade mechanism comprises a shaft sleeve and a plurality of blades, the shaft sleeve is fixed at the end part of the rotating shaft, and the plurality of blades are fixed on the outer circumference of the shaft sleeve at equal intervals.
As a still further scheme of the invention: the opening direction of the water inlet hole faces to the axis direction of the rotating shaft.
As a still further scheme of the invention: the closed end of the shell is fixed with an isolation sleeve, the inner side of the isolation sleeve is provided with an inner magnetic sleeve fixed on the surface of the inner rotor, the inner rotor is fixed on the rotating shaft, the outer side of the isolation sleeve is provided with an outer magnetic sleeve fixed on the surface of the outer rotor, and the rotating speed and the rotating direction of the outer rotor are controlled by a control system.
As a still further scheme of the invention: the outer magnetic sleeve is fixed on the inner wall of the gear sleeve, the gear sleeve is meshed with the driving gear 20, and the driving gear is driven to rotate by the servo motor.
As a still further scheme of the invention: and an auxiliary blade mechanism is also fixed at the end part of the rotating shaft, and the structure of the auxiliary blade mechanism is the same as that of the main blade mechanism.
A control system comprises a steering controller, a rotating speed controller and an upper computer system, wherein the steering controller is used for controlling the rotating direction of an outer rotor, the rotating speed controller is used for controlling the rotating speed of the outer rotor, and the upper computer system is communicated with the steering controller and the rotating speed controller.
As a still further scheme of the invention: and the upper computer system is communicated with the steering controller and the rotating speed controller through a wireless communication module.
Compared with the prior art, the invention has the beneficial effects that: when the outer rotor rotates, the inner rotor and the outer rotor synchronously rotate through the coupling effect of magnetic force to drive the rotating shaft, so that the synchronous rotation of the auxiliary paddle mechanism, the helical blade and the main paddle mechanism is realized, strong thrust is generated, and the underwater robot can be widely applied to the technical field of underwater robots with thrust requirements.
Drawings
Fig. 1 is a schematic structural diagram of a propeller of an underwater robot.
Fig. 2 is a schematic structural diagram of a bell mouth in a propeller of an underwater robot.
Fig. 3 is a schematic structural diagram of a main blade mechanism in a propeller of an underwater robot.
Fig. 4 is a schematic structural diagram of a control system.
In the figure: 1-main blade mechanism, 101-blades, 102-shaft sleeve, 2-rotating shaft, 3-shell, 4-bearing support, 5-rotating bearing, 6-helical blade, 7-spacer sleeve, 8-bearing, 9-outer magnetic sleeve, 10-inner magnetic sleeve, 11-inner rotor, 12-water inlet hole, 13-auxiliary blade mechanism, 14-bell mouth, 15-steering controller, 16-rotating speed controller, 17-wireless communication module, 18-upper computer system, 19-gear sleeve, 20-driving gear, 21-servo motor.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Example 1
Referring to fig. 1 to 3, in an embodiment of the present invention, a propeller of an underwater robot includes a main blade mechanism 1, a rotating shaft 2, a housing 3 and a spiral blade 6, in this embodiment, the main blade mechanism 1 is fixed at one end of the rotating shaft 2 and is configured to rotate after being driven by the rotating shaft 2 to propel a motion of the robot, specifically, the main blade mechanism 1 includes a shaft sleeve 102 and a plurality of blades 101, the shaft sleeve 102 is fixed at an end portion of the rotating shaft 2, preferably, a screw fixing manner is used here to facilitate replacement, the plurality of blades 101 are fixed at equal intervals on an outer circumference of the shaft sleeve 102, the rotating shaft 2 is installed in the housing 3 through a bearing support 4 and a rotating bearing 5, one side of the housing 3 close to the main blade mechanism 1 is open, and the spiral blade 6 is fixed outside the rotating shaft 2 and is driven by the rotating shaft 2 to rotate, can push the water in the shell 3 to main paddle mechanism 1 department, it is preferred, one side opening part that shell 3 is close to main paddle mechanism 1 is fixed with horn mouth 14, in this technical scheme promptly, not only main paddle mechanism 1 has a propulsion function, and helical blade 6 also has a pushing function when rotating, therefore when practical application, it can produce stronger thrust, of course, in the casing 3 is entered into in for the convenience of outside water, be equipped with a plurality of inlet openings 12 on the outer circumference of shell 3, and, the opening direction of inlet opening 12 is towards the axis direction of axis of rotation 2, especially when forward motion, can make things convenient for the entering of rivers more.
Furthermore, the closed end of the outer shell 3 is fixed with an isolation sleeve 7, the inner side of the isolation sleeve 7 is provided with an inner magnetic sleeve 10 fixed on the surface of the inner rotor 11, the inner rotor 11 is fixed on the rotating shaft 2, the outer side of the isolation sleeve 7 is provided with an outer magnetic sleeve 9 fixed on the surface of the outer rotor, when the outer rotor rotates, the inner rotor 11 and the outer rotor synchronously rotate through the coupling effect of magnetic force, the rotating effect of the rotating shaft 2 is realized, the rotating speed and the rotating direction of the outer rotor are controlled by a control system, and the specific structure of the control system is described in detail below.
Certainly, in order to further enhance the pushing effect, an end of the rotating shaft 2 is further fixed with an auxiliary paddle mechanism 13, the structure of the auxiliary paddle mechanism 13 is the same as that of the main paddle mechanism 1, and no redundant description is given here, because the end of the housing 3 close to the auxiliary paddle mechanism 13 is closed and is driven by the rotating shaft 2, the housing can generate a certain pushing force effect, in addition, the outer magnetic sleeve 9 is fixed on the inner wall of the gear sleeve 19, the gear sleeve 19 is meshed with the driving gear 20, the driving gear 20 is driven to rotate by the servo motor 21, when the servo motor 21 is powered on to drive the driving gear 20 to rotate, the outer magnetic sleeve 9 can be driven to rotate through the meshing effect of the teeth, and further, the output of power is realized.
In practical application, when the servo motor 21 is powered on to drive the driving gear 20 to rotate, the outer magnetic sleeve 9 can be driven to rotate through the meshing effect between the teeth, then the inner rotor 11 and the outer rotor synchronously rotate through the coupling effect of magnetic force to drive the rotation of the rotation shaft 2, the auxiliary paddle mechanism 13 rotates at the moment, the disturbance water flow realizes the propelling effect, the helical blades 6 push the water entering the shell 3 from the water inlet hole 12 to the main paddle mechanism 1, then the pushing effect is generated when the main paddle mechanism 1 rotates, and the overall thrust is strong.
Example 2
Referring to fig. 4, in an embodiment of the present invention, a control system includes a steering controller 15, a rotation speed controller 16, and an upper computer system 18, where the steering controller 15 is configured to control a rotation direction of an outer rotor so as to implement operations such as forward and backward movements, and the rotation speed controller 16 is configured to control a rotation speed of the outer rotor so as to control a propulsion speed, and of course, the upper computer system 18 is in communication with the steering controller 15 and the rotation speed controller 16, and preferably, the upper computer system 18 is in communication with the steering controller 15 and the rotation speed controller 16 through a wireless communication module 17, so as to implement wireless control.
In practical application, the upper computer system 18 controls the whole system, when the underwater robot needs to advance, the upper computer system sends instructions to the steering controller 15 and the rotating speed controller 16 through the wireless communication module 17 to the servo motor 21, so that the servo motor 21 drives the inner rotor 11 to rotate according to the set rotating speed and the set rotating direction, the whole propeller can drive the underwater robot to sail according to the set direction and speed, the backward movement is similar to the above, and redundant description is not provided here.
It should be particularly noted that, in the technical scheme, when the servo motor is powered on to drive the driving gear to rotate, the outer magnetic sleeve can be driven to rotate through the meshing action between the teeth, then the inner rotor and the outer rotor synchronously rotate through the coupling action of magnetic force to drive the rotating shaft to rotate, so that the synchronous rotation of the auxiliary blade mechanism, the helical blade and the main blade mechanism is realized, strong thrust is generated, and the servo motor can be widely applied to the technical field of underwater robots with thrust requirements.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (9)
1. The utility model provides a propeller of underwater robot, includes main paddle mechanism (1), axis of rotation (2), shell (3) and helical blade (6), its characterized in that, the one end in axis of rotation (2) is fixed in main paddle mechanism (1) for rotate after the drive that receives axis of rotation (2), impel the motion of robot, install in shell (3) through bearing bracket (4) and rolling bearing (5) axis of rotation (2), one side opening that shell (3) are close to main paddle mechanism (1), and the external fixation of axis of rotation (2) has helical blade (6), be equipped with a plurality of inlet openings (12) on the outer circumference of shell (3).
2. The propeller of an underwater robot as claimed in claim 1, wherein a bell mouth (14) is fixed to the opening of the housing (3) on the side close to the main blade mechanism (1).
3. A propeller for an underwater robot according to claim 1 or 2, wherein the main blade mechanism (1) includes a hub (102) and a plurality of blades (101), the hub (102) is fixed to an end of the rotation shaft (2), and the plurality of blades (101) are fixed to an outer circumference of the hub (102) at equal intervals.
4. A propeller of a underwater robot according to claim 3, wherein the opening direction of the water inlet hole (12) is directed toward the axial direction of the rotation shaft (2).
5. Propeller of an underwater robot according to claim 1, 2 or 4, characterised in that the closed end of the outer shell (3) is fixed with an isolation sleeve (7), that the inner side of the isolation sleeve (7) is provided with an inner magnetic sleeve (10) fixed to the surface of the inner rotor (11), that the inner rotor (11) is fixed to the rotating shaft (2), that the outer side of the isolation sleeve (7) is provided with an outer magnetic sleeve (9) fixed to the surface of the outer rotor, and that the rotation speed and the rotation direction of the outer rotor are controlled by a control system.
6. Propeller for underwater robots, according to claim 5, characterised in that said external sleeve (9) is fixed on the internal wall of a toothed sleeve (19), the toothed sleeve (19) being engaged with a driving gear (20), the driving gear (20) being driven in rotation by a servo motor (21).
7. The propeller of an underwater robot as claimed in claim 5, wherein an auxiliary blade mechanism (13) is further fixed to an end of the rotating shaft (2), and the auxiliary blade mechanism (13) has the same structure as the main blade mechanism (1).
8. A control system, comprising:
a steering controller (15) for controlling the rotational direction of the outer rotor;
a rotational speed controller (16) for controlling the rotational speed of the outer rotor;
and the upper computer system (18) is communicated with the steering controller (15) and the rotating speed controller (16).
9. A control system according to claim 8, characterised in that the upper computer system (18) communicates with the steering controller (15) and the rotational speed controller (16) via a wireless communication module (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910882154.0A CN110606182A (en) | 2019-09-18 | 2019-09-18 | Propeller and control system of underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910882154.0A CN110606182A (en) | 2019-09-18 | 2019-09-18 | Propeller and control system of underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110606182A true CN110606182A (en) | 2019-12-24 |
Family
ID=68892400
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910882154.0A Pending CN110606182A (en) | 2019-09-18 | 2019-09-18 | Propeller and control system of underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110606182A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113022828A (en) * | 2021-04-12 | 2021-06-25 | 白城师范学院 | Propeller of self-adjusting applicable underwater robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201074024Y (en) * | 2007-07-11 | 2008-06-18 | 李曜辰 | Ducted propeller |
| CN201670355U (en) * | 2010-05-11 | 2010-12-15 | 张宏娟 | Spiral auger propeller |
| CN105882955A (en) * | 2014-11-20 | 2016-08-24 | 北京万户空天科技有限公司 | Coaxial and equidirectional multi-rotor-wing helicopter |
| CN107187594A (en) * | 2017-05-09 | 2017-09-22 | 西安交通大学 | All-electric coaxial many Rotor thrust devices and its method of work based on disc type electric machine |
| CN107651149A (en) * | 2016-07-26 | 2018-02-02 | 刘运武 | Suction-discharge type marine propulsion unit |
| CN108847765A (en) * | 2018-08-14 | 2018-11-20 | 青岛海研电子有限公司 | Magnetic coupling propeller and its control method |
| CN109225021A (en) * | 2018-11-15 | 2019-01-18 | 重庆图唯塔食品科技开发有限公司 | The stirring rotator of magnetic drive |
-
2019
- 2019-09-18 CN CN201910882154.0A patent/CN110606182A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201074024Y (en) * | 2007-07-11 | 2008-06-18 | 李曜辰 | Ducted propeller |
| CN201670355U (en) * | 2010-05-11 | 2010-12-15 | 张宏娟 | Spiral auger propeller |
| CN105882955A (en) * | 2014-11-20 | 2016-08-24 | 北京万户空天科技有限公司 | Coaxial and equidirectional multi-rotor-wing helicopter |
| CN107651149A (en) * | 2016-07-26 | 2018-02-02 | 刘运武 | Suction-discharge type marine propulsion unit |
| CN107187594A (en) * | 2017-05-09 | 2017-09-22 | 西安交通大学 | All-electric coaxial many Rotor thrust devices and its method of work based on disc type electric machine |
| CN108847765A (en) * | 2018-08-14 | 2018-11-20 | 青岛海研电子有限公司 | Magnetic coupling propeller and its control method |
| CN109225021A (en) * | 2018-11-15 | 2019-01-18 | 重庆图唯塔食品科技开发有限公司 | The stirring rotator of magnetic drive |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113022828A (en) * | 2021-04-12 | 2021-06-25 | 白城师范学院 | Propeller of self-adjusting applicable underwater robot |
| CN113022828B (en) * | 2021-04-12 | 2022-03-04 | 白城师范学院 | Propeller of self-adjusting applicable underwater robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106945808B (en) | A kind of outboard integrates the propulsion device of motor and rudder | |
| CN207157445U (en) | It is a kind of can the quick rotation of avoidance under water hull | |
| CN109250056A (en) | A kind of submarine navigation device tail vane | |
| CN108001625B (en) | A kind of buoy direction control device and control method | |
| CN110606182A (en) | Propeller and control system of underwater robot | |
| CN207129124U (en) | Propulsion plant and submarine navigation device | |
| US4535714A (en) | Rudder rotor for watercraft and floating equipment | |
| CN110539866B (en) | Combined propeller | |
| KR101245734B1 (en) | Counter rotating azimuth propulsion divice and ship having the same | |
| CN115195981A (en) | Electric pod propulsion device without slip ring and assembly method thereof | |
| CN205652312U (en) | Novel autonomic formula ware of diving under water | |
| CN109649611B (en) | Planetary pump jet propeller | |
| JP2766707B2 (en) | Marine propeller device with idle propeller | |
| CN103935504B (en) | A kind of mechanical brake variable-frequency controls ship steering engine driving device and control method | |
| CN109178271B (en) | Propeller for ship | |
| CN209972752U (en) | Vector propulsion device for spindle shaft vortex blade type ship | |
| CN105857552A (en) | Novel autonomous underwater vehicle | |
| CN108482622B (en) | Autonomous underwater vehicle and its six propellers simultaneously advance mechanism | |
| CN209600767U (en) | A kind of vector propeller of underwater robot | |
| CN107640306B (en) | Marine propulsion device, ship and running control method thereof | |
| CN113581430B (en) | Difunctional deep submersible vehicle propulsion system | |
| JP2013139196A (en) | Propulsion and turning device of radio control boat | |
| SE457165B (en) | STRAALDRIFTSAGGREGAT | |
| CN113086143A (en) | Fan wing propulsion underwater vehicle and navigation method thereof | |
| CN212079500U (en) | Follow current power generation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191224 |
|
| RJ01 | Rejection of invention patent application after publication |