CN207442654U - brushless motor, underwater propeller and underwater robot - Google Patents

Abstract

The utility model provides brushless motor, underwater propeller and underwater robot, including stator assembly and rotor assembly, stator module includes end cap, stator core, stator winding and the circuit board on end cap, rotor assembly includes shaft, rotor case and magnet, stator winding and circuit board electrical connection, circuit board is equipped with external pin, stator module periphery is enclosed with anti-corrosion sealant, and anti-corrosion sealant avoids external pin, shaft is arranged on the stator module through anti-corrosion sealant package, rotor case is sheathed on outside the stator module through anti-corrosion sealant package.By anti-corrosion sealant by stator module and water segregation, stator core and stator winding of the protection packaging inside anti-corrosion sealant to improve waterproof and corrosion resistance, prolong the service life, suitable for underwater operation；There is provided circuit board, and anti-corrosion sealant avoids the external pin on circuit board so that external pin is exposed to outside anti-corrosion sealant, facilitates brushless motor external wire.

Description

Brushless motor, underwater propeller and underwater robot

Technical field

The utility model belongs to underwater equipment field, more specifically, be related to a kind of brushless motor, underwater propeller and Underwater robot.

Background technology

Existing outer rotor brushless motor is included stator assembly and rotor assembly, and stator module includes end cap, on end cap Stator core and the stator winding that is set around on stator core, rotor assembly include being fixed on stator module by bearing Shaft, the rotor case being fixedly arranged in shaft and the magnet on rotor case, rotor case meeting when powering for stator winding It is rotated with shaft, rotary inertia is big, suitable for stable speed operation.But there are following drawbacks for this outer rotor brushless motor：It cannot fit For underwater environment, the copper wire of stator winding is not waterproof, easily by seawater corrosion；Outside the external wire connected on stator winding Leakage, work easy breakage in the seawater；The external wire of leakage hinders current, and the propelling current of equidirectional generated to propeller causes to hinder Power, propulsive efficiency are low；Brushless motor hinders current, causes propulsive efficiency low；It is corrosion-resistant when the bearing of use works under water, Restricted lifetime.

Utility model content

One of the purpose of this utility model is to provide a kind of brushless motor, to solve brushless electricity in the prior art Machine is waterproof, etch-proof technical problem.

To achieve the above object, the technical solution adopted in the utility model is：Brushless motor, including stator module and rotor Component, the stator module include end cap, the stator core on the end cap and are set around on the stator core to determine Sub- winding, the rotor assembly include shaft, the rotor case being fixedly arranged in the shaft and on the rotor cases Magnet, the stator module further include the circuit board on the end cap, the stator winding and the circuit board electrical connection, The circuit board is equipped with external pin, and the stator module periphery is enclosed with anti-corrosion sealant, and the anti-corrosion sealant is kept away The external pin is opened, the shaft is arranged on the stator module through the anti-corrosion sealant package, outside the rotor Valve jacket is arranged on outside the stator module through the anti-corrosion sealant package.

Further, the end cap is equipped with mounting groove and cable-through hole, and the mounting groove is located at the end cap away from described The one side of stator core, described cable-through hole one end are connected with the mounting groove, and the other end is through the end cap close to the stator The one side of iron core, the circuit board are embedded in the mounting groove, and the external pin is located at the circuit board away from described fixed The one side of sub- iron core.

Further, one end and the end cap away from the end cap of the stator core away from the stator core one End is respectively embedded with a corrosion resisting bearing, and the shaft is arranged on two corrosion resisting bearings.

Further, the bottom of the rotor case is equipped with fixed part, and the fixed part is equipped with axis hole, the shaft One end is arranged on the axis hole and is fixedly connected with the fixed part, and the other end of the shaft is pierced by the end cap and with one Locking ring connects, and the locking ring is abutted with the corrosion resisting bearing.

Further, external wire is electrically connected in the external pin, the circuit board is equipped with corrosion resistant sealing Layer, and one end that the adhesive layer covers the external pin and the external wire is connected with the external pin, it is described outer The one end of conducting wire away from the external pin is connect to protrude outside the adhesive layer.

The advantageous effect of brushless motor provided by the utility model is：Compared with prior art, the utility model is brushless Motor carries out integral seal to stator module by anti-corrosion sealant, rotor assembly is arranged on and is sealed through anti-corrosion sealant Stator module on, form external-rotor-type brushless motor, it is simple in structure, can by anti-corrosion sealant by stator module and water every From, stator core and stator winding of the protection packaging inside anti-corrosion sealant, to improve the waterproof of brushless motor and corrosion-resistant Performance improves the service life of brushless motor, suitable for underwater operation；There is provided circuit board, and anti-corrosion sealant avoids electricity External pin on the plate of road so that external pin is exposed to outside anti-corrosion sealant, facilitates brushless motor external wire, in use, only External wire need to be fixed in external pin, then one be connected on sealant pouring and sealing external pin and external wire with external pin End, you can realize brushless motor external circuit waterproof and anti-corrosion, brushless motor modularization, assembling is simply.

The two of the purpose of this utility model are to provide a kind of underwater propeller, in the prior art underwater to solve The motor of propeller is waterproof, etch-proof technical problem.

To achieve the above object, the technical solution adopted in the utility model is：Underwater propeller, including paddle device, together When be additionally provided with foregoing brushless motor, the paddle device is arranged on the rotor case.

Further, the paddle device includes cylinder and blade, and the barrel jacket is arranged on the rotor case, described Blade is arranged on the outside of the cylinder.

Further, the blade is integrally provided on the cylinder.

Further, the cylinder includes hollow cylinder and the cover for being covered on described hollow cylinder one end, the cover Outer surface for hemisphere face, and the hemispherical centre of sphere be located at on the axis of the shaft.

Further, the outer surface of the hollow cylinder is bonded with the inner surface of the rotor case.

Further, the first screw is further included, the cover is equipped with the first counterbore, and the bottom of the rotor case is equipped with First screw hole, one end of first screw through first counterbore and be threadedly coupled with first screw hole and described in locking Paddle device and the rotor case.

Further, flange fixing bracket is further included, the flange fixing bracket is fixedly connected with the end cap.

Further, the flange fixing bracket include supporting rack and on support frame as described above be in hemispherical fixation Frame, the end cap are stretched into the fixed frame and are connected with the fixed frame, the radial outer wall of the end cap and the fixed frame Inner wall fitting.

Further, the second screw is further included, the fixed frame is equipped with the second counterbore, and the end cap is equipped with the second spiral shell Hole, one end of second screw are threadedly coupled through second counterbore and with second screw hole and lock the fixed frame With the end cap.

Further, support frame as described above is equipped with passing channel, and one end of the passing channel is turned on the fixed frame, The other end runs through one side of the support frame as described above away from the fixed frame.

The advantageous effect of underwater propeller provided by the utility model is：Compared with prior art, the utility model water Lower propeller provides thrust power using the foregoing brushless motor with good waterproof, antiseptic property to drive paddle device, The water resistance and antiseptic property of underwater propeller can be improved, and is capable of providing stable thrust power.

The three of the purpose of this utility model are to provide a kind of underwater robot, in the prior art brushless to solve Motor is waterproof, etch-proof technical problem.

To achieve the above object, the technical solution adopted in the utility model is：Underwater robot, including robot body, Foregoing underwater propeller is additionally provided with simultaneously, the flange fixing bracket is connected with robot body.

Further, the robot body includes sealing cabin, and main control module is equipped in the sealing cabin, described close Batten down body is equipped with wall-through device, and the stator winding is electrically connected through the wall-through device with the main control module.

The advantageous effect of underwater robot provided by the utility model is：Compared with prior art, the utility model water Lower robot provides stable thrust power with good waterproof, antiseptic property using foregoing, can improve underwater robot Service life, assembling is simple, and propulsive efficiency is high, reduces the energy loss of brushless motor forward and reverse commutation.

Description of the drawings

It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model Attached drawing is briefly described needed in description, it should be apparent that, the accompanying drawings in the following description is only that this practicality is new Some embodiments of type, for those of ordinary skill in the art, without having to pay creative labor, can be with Other attached drawings are obtained according to these attached drawings.

Fig. 1 is the dimensional structure diagram for the brushless motor that the utility model embodiment provides；

Fig. 2 is the dimensional structure diagram of the underwater propeller for the brushless motor for including Fig. 1；

Fig. 3 is the explosive view of Fig. 2；

Fig. 4 is the diagrammatic cross-section of Fig. 2.

Wherein, each reference numeral in figure：

1- brushless motors；11- stator modules；111- end caps；1111- mounting grooves；1112- cable-through holes；112- stator iron Core；113- circuit boards；12- rotor assembly；121- shafts；122- rotor cases；1221- fixed parts；13- corrosion resisting bearings；14- locks Determine ring；2- paddle devices；21- cylinders；211- hollow cylinders；212- covers；22- blades；The first screws of 3-；4- flanges are fixed Stent；41- supporting racks；411- passing channels；42- fixed frames；The second screws of 5-.

Specific embodiment

In order to which technical problem to be solved in the utility model, technical solution and advantageous effect is more clearly understood, with Lower combination accompanying drawings and embodiments, are further elaborated the utility model.It should be appreciated that specific reality described herein It applies example to be only used to explain the utility model, is not used to limit the utility model.

It should be noted that when element is referred to as " being fixed on " or " being arranged at " another element, it can be directly another On one element or it is connected on another element.When an element is known as " being connected to " another element, it can To be directly to another element or be indirectly connected on another element.

In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance Or the implicit quantity for indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or Implicitly include one or more this feature.

Also referring to Fig. 1 and Fig. 4, now brushless motor provided by the utility model is illustrated.Brushless motor 1, bag Include stator module 11 and rotor assembly 12, stator module 11 include end cap 111, the stator core 112 on end cap 111 and around Stator winding on stator core 112, rotor assembly 12 include shaft 121, the rotor case being fixedly arranged in shaft 121 122 and the magnet on rotor case 122, stator module 11 further includes the circuit board 113 on end cap 111, stator around Group is electrically connected with circuit board 113, and circuit board 113 is equipped with external pin, and 11 periphery of stator module is enclosed with anti-corrosion sealant, And anti-corrosion sealant avoids external pin, shaft 121 is arranged on the stator module 11 through anti-corrosion sealant package, outside rotor Shell 122 is sheathed on outside the stator module 11 through anti-corrosion sealant package.

Brushless motor provided by the utility model, compared with prior art, by anti-corrosion sealant to stator module 11 into Row integral seal, by rotor assembly 12 be arranged on through anti-corrosion sealant sealing stator module 11 on, formed external-rotor-type without Brush motor 1, it is simple in structure, can be by anti-corrosion sealant by stator module 11 and water segregation, protection packaging is in anti-corrosion sealant Internal stator core 112 and stator winding, to improve the waterproof of brushless motor 1 and corrosion resistance, improves brushless motor 1 Service life, suitable for underwater operation；There is provided circuit board 113, and anti-corrosion sealant external drawing of avoiding on circuit board 113 Foot so that external pin is exposed to outside anti-corrosion sealant, facilitates 1 external wire of brushless motor, in use, need to only consolidate external wire Determine onto external pin, then the one end being connected on sealant pouring and sealing external pin and external wire with external pin, you can realize nothing 1 external circuit waterproof of brush motor and anti-corrosion, 1 modularization of brushless motor, assembling are simple.

Wherein, anti-corrosion sealant is the sealant layer with good Corrosion Protection, such as cures shape using thermosetting resin Into sealant layer.It is preferred that anti-corrosion sealant is epoxy resin layer, there is good waterproof, anti-corrosion capability, be conducive to lower Cost.

Further, also referring to Fig. 1 and Fig. 4, a kind of specific reality as brushless motor provided by the utility model Mode is applied, end cap 111 is equipped with mounting groove 1111 and cable-through hole 1112, and mounting groove 1111 is located at end cap 111 away from stator core 112 one side, 1112 one end of cable-through hole are connected with mounting groove 1111, and the other end is through end cap 111 close to the one of stator core 112 Side, circuit board 113 are embedded in mounting groove 1111, and external pin is located at one side of the circuit board 113 away from stator core 112.It is logical Mounting groove 1111 is crossed to be positioned for circuit board 113, the end of stator winding or the conducting wire being electrically connected with stator winding passed through line Hole 1112 can be electrically connected with the circuit board 113 in mounting groove 1111, and assembling is simple, using during brushless motor 1 by external wire It is connected to the laying that 1 supply line of brushless motor can be realized in external pin.

Further, also referring to Fig. 1 and Fig. 4, a kind of specific reality as brushless motor provided by the utility model Mode is applied, the one end of one end and end cap 111 away from stator core 112 of stator core 112 away from end cap 111 is respectively embedded with one Corrosion resisting bearing 13, shaft 121 are arranged on two corrosion resisting bearings 13.It is conveniently assembled on stator core 112 and end cap 111 anti-corrosion Bearing 13, two corrosion resisting bearings 13 support the both ends of shaft 121, increase what rotor case 122 was rotated compared with stator module 11 Stationarity.The concretely graphite bearing of corrosion resisting bearing 13, not only with good waterproof, Corrosion Protection, but also with good resistance to Performance is ground, is conducive to improve the underwater service life of bearing.

Further, also referring to Fig. 1 and Fig. 4, a kind of specific reality as brushless motor provided by the utility model Mode is applied, the bottom of rotor case 122 is equipped with fixed part 1221, and fixed part 1221 is equipped with axis hole, and one end of shaft 121 is worn It being fixedly connected on axis hole and with fixed part 1221, the other end of shaft 121 is pierced by end cap 111 and is connected with a locking ring 14, Locking ring 14 is abutted with corrosion resisting bearing 13.Fixed part 1221 positioned at 122 bottom of rotor case is connected with shaft 121, is conducive to Increase connection reliability between rotor case 122 and shaft 121, locking ring 14 can limit corrosion resisting bearing 13 and shaft 121 Axial float improves the stability of rotation of rotor case 122.

Further, also referring to Fig. 1 and Fig. 4, a kind of specific reality as brushless motor provided by the utility model Mode is applied, external wire is electrically connected in external pin, circuit board 113 is equipped with corrosion resistant adhesive layer, and adhesive layer covers One end that external pin and external wire are connected with external pin, the one end of external wire away from external pin protrude adhesive layer Outside.Adhesive layer is set on circuit board 113, the external pin come on potted circuit plate 113 and is connected to outer in external pin Conducting wire one end is connect, there is good waterproof, antiseptic property, brushless electricity can be realized in the other end connection main control module of external wire The power supply control of machine 1, is easily assembled.

Also referring to Fig. 2 and Fig. 3, now underwater propeller provided by the utility model is illustrated.Underwater propeller, Including paddle device 2, while foregoing brushless motor 1 is additionally provided with, paddle device 2 is arranged on rotor case 122.Had using foregoing Good waterproof, the brushless motor 1 of antiseptic property provide thrust power to drive paddle device, can improve underwater propeller Water resistance and antiseptic property.

Further, also referring to Fig. 2 and Fig. 3, one kind as underwater propeller provided by the utility model is specific Embodiment, paddle device 2 include cylinder 21 and blade 22, and cylinder 21 is sheathed on rotor case 122, and blade 22 is arranged on cylinder 21 outsides.Cylinder 21 is sheathed on rotor case 122, and cylinder 21 is rotated with the rotation of rotor case 122, and then drives paddle Leaf 22, which rotates, provides thrust power, and stress equalization reduces propelling resistance, is conducive to improve propulsion stationarity, improves efficiency.

Further, also referring to Fig. 2 and Fig. 3, one kind as underwater propeller provided by the utility model is specific Embodiment, blade 22 are integrally provided on cylinder 21.Blade 22 is structure as a whole with cylinder 21, disperses convenient for stress, both favorably Stability is promoted in improving, and is conducive to improve the stability of paddle device 2,22 stress of blade is avoided to concentrate and damage.

Further, also referring to Fig. 3 and Fig. 4, one kind as underwater propeller provided by the utility model is specific Embodiment, cylinder 21 include hollow cylinder 211 and the cover 212 for being covered on 211 one end of hollow cylinder, the appearance of cover 212 Face is hemisphere face, and the hemispherical centre of sphere be located at on the axis of shaft 121.The outer surface of cover 212 be hemisphere face, this hemisphere The front end that face is contacted as underwater propeller with water advantageously reduces resistance to water-flow, and propulsive efficiency is high, is conducive to raising and pushes away under water Into the efficiency of device.

Further, also referring to Fig. 3 and Fig. 4, one kind as underwater propeller provided by the utility model is specific Embodiment, the outer surface of hollow cylinder 211 are bonded with the inner surface of rotor case 122.So set, stress collection can be avoided In, be conducive to increase the propulsion stationarity of underwater propeller, the service life of underwater propeller can be extended.

Further, one is asked refering to Fig. 4, a kind of specific embodiment party as underwater propeller provided by the utility model Formula further includes the first screw 3, and cover 212 is equipped with the first counterbore, and the bottom of rotor case 122 is equipped with the first screw hole, the first spiral shell One end of silk 3 is through the first counterbore and is threadedly coupled with the first screw hole and locks paddle device 2 and rotor case 122.Pass through One screw 3 is detachably connected paddle device 2 and rotor case 122, can install or remove paddle device 2 as needed, convenient The maintenance and replacement of paddle device 2；First screw 3 connects the bottom of cover 212 and rotor case 122, simple in structure, facilitates dress Match somebody with somebody, connection is reliable；First screw 3 is arranged in the first counterbore of cover 212, is avoided influencing current, is reduced resistance to water-flow.

Further, also referring to Fig. 2 to 4, a kind of specific reality as underwater propeller provided by the utility model Mode is applied, further includes flange fixing bracket 4, flange fixing bracket 4 is fixedly connected with end cap 111.Flange fixing bracket 4 is set, Facilitate underwater propeller with treating that puopulsion equipment (such as underwater robot) is connected, the end of flange fixing bracket 4 and brushless motor 1 Lid 111 is fixed, not only convenient for assembly, but also avoids that the rotation of rotor case 122 and paddle device 2 is caused to interfere.

Further, referring to Fig. 4, a kind of specific embodiment as underwater propeller provided by the utility model, Flange fixing bracket 4 include supporting rack 41 and on supporting rack 41 in hemispherical fixed frame 42, end cap 111 stretches into fixation It is connected in frame 42 and with fixed frame 42, the radial outer wall of end cap 111 is bonded with the inner wall of fixed frame 42.On the one hand fixed frame 42 rises To the effect of fixed underwater propeller, on the other hand play the role of reducing resistance to water-flow, improve propulsive efficiency.

Further, also referring to Fig. 2 and Fig. 3, one kind as underwater propeller provided by the utility model is specific Embodiment further includes the second screw 5, and fixed frame 42 is equipped with the second counterbore, and end cap 111 is equipped with the second screw hole, the second spiral shell One end of silk 5 is threadedly coupled and be locked frame 42 and end cap 111 through the second counterbore and with the second screw hole.Pass through the second screw 5 are detachably connected fixed frame 42 and end cap 111, can install or remove underwater propeller as needed, facilitate underwater propeller Maintenance and replacement；Second screw, 5 connection end cap 111 and fixed frame 42, simple in structure, convenient for assembly, connection is reliable；Second Screw 5 is arranged in the second counterbore of end cap 111, can be avoided influencing current, be reduced resistance to water-flow.

Further, referring to Fig. 4, a kind of specific embodiment as underwater propeller provided by the utility model, Supporting rack 41 is equipped with passing channel 411, and one end and the fixed frame 42 of passing channel 411 turn on, and the other end runs through supporting rack 41 One side away from fixed frame 42.The external wire of brushless motor 1 is conducive to protect external wire in 411 interior cabling of passing channel, Extend the service life of external wire, do not influence current, reduce resistance to water-flow.

Now underwater robot provided by the utility model is illustrated.Underwater robot including robot body, also wraps Foregoing underwater propeller is included, flange fixing bracket 4 is connected with robot body.There are good waterproof, anti-corrosive properties using foregoing Can underwater propeller thrust power is provided, the service life of underwater robot can be improved, assembling is simple, propulsive efficiency Height reduces the energy loss of 1 forward and reverse of brushless motor commutation.

Further, a kind of specific embodiment as underwater robot provided by the utility model, robot body Including sealing cabin, main control module is equipped in sealing cabin, sealing cabin is equipped with wall-through device, and stator winding wears long wall device It is electrically connected with main control module.The connection of main control module and stator winding is realized by wall-through device, avoids threading on sealing cabin Position water inlet.Specifically, conductive pin is equipped in wall-through device, external wire is electrically connected with conductive pin, and sealed Glue seals, and both facilitates wiring, in turn ensures the water resistance of sealing cabin.

The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model Protection domain within.

Claims (17)

1. brushless motor, including stator assembly and rotor assembly, the stator module includes end cap, determines on the end cap Sub- iron core and the stator winding being set around on the stator core, the rotor assembly include shaft, are fixedly arranged in the shaft Rotor case and the magnet on the rotor case, it is characterised in that：The stator module is further included arranged on the end The circuit board covered, the stator winding and the circuit board electrical connection, the circuit board are equipped with external pin, the stator Component periphery is enclosed with anti-corrosion sealant, and the anti-corrosion sealant avoids the external pin, and the shaft is arranged in through institute On the stator module for stating anti-corrosion sealant package, the rotor case is sheathed on through described in the anti-corrosion sealant package Outside stator module.

2. brushless motor as described in claim 1, it is characterised in that：The end cap is equipped with mounting groove and cable-through hole, described Mounting groove is located at one side of the end cap away from the stator core, and described cable-through hole one end is connected with the mounting groove, another Through the end cap close to the one side of the stator core, the circuit board is embedded in the mounting groove at end, described external to draw Foot is located at one side of the circuit board away from the stator core.

3. brushless motor as described in claim 1, it is characterised in that：The stator core one end and institute away from the end cap It states the one end of end cap away from the stator core and is respectively embedded with a corrosion resisting bearing, the shaft is arranged in two corrosion resisting bearings On.

4. brushless motor as claimed in claim 3, it is characterised in that：The bottom of the rotor case is equipped with fixed part, described Fixed part is equipped with axis hole, and one end of the shaft is arranged on the axis hole and is fixedly connected with the fixed part, described turn The other end of axis is pierced by the end cap and is connected with a locking ring, and the locking ring is abutted with the corrosion resisting bearing.

5. such as the brushless motor any one of claim 1-4, it is characterised in that：It is electrically connected in the external pin outer Connect conducting wire, the circuit board is equipped with corrosion resistant adhesive layer, and the adhesive layer covers the external pin and described external One end that conducting wire is connected with the external pin, the one end of the external wire away from the external pin protrude the adhesive layer Outside.

6. underwater propeller, including paddle device, it is characterised in that：It further includes such as the nothing any one of claim 1-5 Brush motor, the paddle device are arranged on the rotor case.

7. underwater propeller as claimed in claim 6, it is characterised in that：The paddle device includes cylinder and blade, described Barrel jacket is arranged on the rotor case, and the blade is arranged on the outside of the cylinder.

8. underwater propeller as claimed in claim 7, it is characterised in that：The blade is integrally provided on the cylinder.

9. underwater propeller as claimed in claim 7, it is characterised in that：The cylinder includes hollow cylinder and is covered on described The cover of hollow cylinder one end, the outer surface of the cover is hemisphere face, and the hemispherical centre of sphere is located at and the shaft Axis on.

10. underwater propeller as claimed in claim 9, it is characterised in that：The outer surface of the hollow cylinder and the rotor The inner surface fitting of shell.

11. underwater propeller as claimed in claim 9, it is characterised in that：Further include the first screw, the cover is equipped with the One counterbore, the bottom of the rotor case are equipped with the first screw hole, one end of first screw through first counterbore and with First screw hole is threadedly coupled and locks the paddle device and the rotor case.

12. such as the underwater propeller any one of claim 6-11, it is characterised in that：Flange fixing bracket is further included, The flange fixing bracket is fixedly connected with the end cap.

13. underwater propeller as claimed in claim 12, it is characterised in that：The flange fixing bracket includes supporting rack and sets In, in hemispherical fixed frame, the end cap is stretched into the fixed frame and is connected with the fixed frame on support frame as described above, The radial outer wall of the end cap is bonded with the inner wall of the fixed frame.

14. underwater propeller as claimed in claim 13, it is characterised in that：The second screw is further included, is set on the fixed frame Have the second counterbore, the end cap is equipped with the second screw hole, one end of second screw through second counterbore and with it is described Second screw hole is threadedly coupled and locks the fixed frame and the end cap.

15. underwater propeller as claimed in claim 13, it is characterised in that：Support frame as described above is equipped with passing channel, described One end of passing channel is turned on the fixed frame, and the other end runs through one side of the support frame as described above away from the fixed frame.

16. underwater robot, including robot body, it is characterised in that：It further includes underwater as described in claim 12 or 13 Propeller, the flange fixing bracket are connected with robot body.

17. underwater robot as claimed in claim 16, it is characterised in that：The robot body includes sealing cabin, institute It states and main control module is equipped in sealing cabin, the sealing cabin is equipped with wall-through device, and the stator winding is filled through the wall-through It puts and is electrically connected with the main control module.