CN215155549U - Detachable underwater thruster incorporating vector propulsion and vane suction cups - Google Patents
Detachable underwater thruster incorporating vector propulsion and vane suction cups Download PDFInfo
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- CN215155549U CN215155549U CN202120567950.8U CN202120567950U CN215155549U CN 215155549 U CN215155549 U CN 215155549U CN 202120567950 U CN202120567950 U CN 202120567950U CN 215155549 U CN215155549 U CN 215155549U
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Abstract
本实用新型公开了一种融合矢量推进和叶片式吸盘的可分离式水下推进器。包括二维矢量推进结构，水下机器人的四个角均安装一个水下灯光，水下机器人前后两端的两侧均固定有一个防水电机架，每个防水电机架中放置一个防水电机，且防水电机的输出轴与各自的防水电机架的一端连接，每个防水电机架的另一端套装在一个螺旋桨的轴上，每个螺旋桨的尾端有一个螺旋桨控制线，螺旋桨控制线与控制仓连接。本实用新型便携灵活，能够满足不同需要以适应不同的场合，且本实用新型的推进器整体结构简单，用最少的螺旋桨可以实现整体多个自由度的实现，有利于实现水下机器人的小型化和轻型化，且本实用新型的整体推动效率较高可以实现机器人的多自由度行进。
The utility model discloses a detachable underwater propeller that integrates vector propulsion and blade suction cups. Including a two-dimensional vector propulsion structure, an underwater light is installed at four corners of the underwater robot, a waterproof motor frame is fixed on both sides of the front and rear ends of the underwater robot, and a waterproof motor is placed in each waterproof motor frame, which is waterproof The output shaft of the motor is connected with one end of the respective waterproof motor frame, the other end of each waterproof motor frame is sleeved on the shaft of a propeller, and the rear end of each propeller has a propeller control line, and the propeller control line is connected with the control compartment. The utility model is portable and flexible, can meet different needs and adapt to different occasions, and the propeller of the utility model has a simple overall structure, and can realize the realization of multiple degrees of freedom as a whole with a minimum number of propellers, which is conducive to realizing the miniaturization of the underwater robot. and light weight, and the overall driving efficiency of the utility model is high, and the multi-degree-of-freedom traveling of the robot can be realized.
Description
Technical Field
The utility model relates to an underwater propulsor, concretely relates to fuse separable underwater propulsor of vector propulsion and vane type sucking disc.
Background
The dam construction in the early stage of China is basically completed in the early stage of the construction of China, most dam bodies of the dams are made of concrete, and as time goes on, the whole concrete structure is greatly damaged due to the impact and continuous erosion of water flow of the dam bodies under water, so that the corresponding requirements in design are difficult to meet, and therefore the dam body maintenance under water becomes important work.
Compared with the method that the underwater robot completes the repair work of the concrete dam body by manual submergence, the underwater robot has higher safety in the aspect and longer cruising performance. However, for underwater maintenance robots, the adjustment of the attitude is a very important part, and especially during the repair process, it is very important for the robot to maintain a proper working angle. Moreover, the general propulsion method also results in an excessively complex structure of the robot, which results in a very large volume and mass of the robot.
At present, robots for underwater dam body maintenance basically realize the adjustment of postures and positions of the robots in water based on the combination of fixed propellers and wheels, and the mode is low in efficiency and can cause the structure of the robots to be complex.
In the aspect of vector propulsion, the existing mode of applying more than six fixed propellers is basically used for realizing the whole freedom degrees of the underwater robot, the mode directly causes the complexity of the whole structure of the robot, the mass and the volume are difficult to be reduced, and the integrally designed robot is very heavy.
Disclosure of Invention
In order to solve the problem that exists among the technical background, the utility model provides a fuse separable underwater propulsor of vector propulsion and vane type sucking disc realizes that underwater robot's position appearance is adjusted and is miniaturized.
The technical scheme of the utility model as follows:
the utility model discloses a two-dimensional vector impels the structure, and two-dimensional vector impels the structure including light, screw, waterproof machine and waterproof machine frame under water, and four angles of underwater robot all install one light under water, and four light mainly used provide the light in the field of vision for the camera of robot under water. Both sides at both ends all are fixed with a waterproof motor frame around the underwater robot, place a waterproof motor in every waterproof motor frame, and the output shaft of waterproof motor is connected with the one end of respective waterproof motor frame, and the other end suit of every waterproof motor frame is epaxial at a screw, and the tail end of every screw has a screw control line, and the screw control line is connected with the control storehouse. The four propellers are arranged on the same plane to form two-dimensional vector propulsion.
The propellers on the two sides of the front end of the underwater robot and the propellers on the two sides of the rear end of the underwater robot are symmetrically arranged. The whole pushing efficiency is high, and the multiple-degree-of-freedom running of the robot can be realized.
When the underwater robot works underwater adherent, the adsorption module is arranged in the lower part of the two-dimensional vector propulsion structure in a centering way, the adsorption module and the two-dimensional vector propulsion structure can be arranged together or can be detached according to working requirements, and the adsorption module and the two-dimensional vector propulsion structure can support the underwater robot to advance adherent on an underwater plane after being arranged together.
The underwater robot is characterized in that the adsorption module comprises a blade type sucker, a traveling wheel and a power supply module, the blade type sucker is arranged at the center of the adsorption module and provides suction force for the underwater robot in the process of driving along the wall, the traveling wheel is arranged on each of the two sides of the front end and the rear end of the adsorption module, the traveling wheel realizes traveling of the underwater robot on an underwater plane, the power supply module is arranged at the lower end of the adsorption module, and the power supply module is electrically connected with the traveling wheel and provides power energy for the traveling wheel.
The traveling wheels on the two sides of the front end of the adsorption module are driving wheels, and the traveling wheels on the two sides of the rear end of the adsorption module are driven wheels.
The rotation of the waterproof motor is used for controlling the rotation of the waterproof motor frame, and further the rotation direction of the propeller is controlled to complete the adjustment of the posture of the underwater robot and the change of the motion direction of the underwater robot. The rotating speed of the propeller is adjusted through the propeller control line, and different driving forces are provided for the underwater robot to move.
Each waterproof motor independently controls each propeller, so that each propeller has one rotation degree of freedom, the propellers provide thrust for the underwater robot in all directions, and the underwater robot moves towards all directions. Because each propeller is independently controlled by each waterproof motor, the waterproof motors can be matched with the four propellers in a differential mode at the same time to realize six integral degrees of freedom of the robot; the floating and sinking of the underwater robot are realized by controlling the rotation directions of respective propellers to be all upward by using waterproof motors.
The four waterproof motors are all fixed on the plane of the chassis of the underwater robot, so that the whole underwater robot has a two-dimensional vector, and the reliability of a two-dimensional vector propulsion structure is ensured. The mass of the chassis of the underwater robot is less than 8kg, the structure of the chassis is compact, the integration level is high, and the underwater robot is beneficial to realizing miniaturization and light weight.
The two-dimensional vector propulsion structure is simple, and the underwater robot can have multiple degrees of freedom underwater by using the least propellers.
The four propellers can realize thrust in all directions on the whole underwater robot under the condition of unified coordination, so that the robot can move in all directions. The combination of the four propellers ensures that the robot has six degrees of freedom underwater, and can realize the function of pivot steering.
The utility model discloses a small-size underwater propulsor based on vector propulsion can be through the angle to the control direct regulation screw of waterproof motor, accomplishes the adjustment of the whole direction of robot and gesture through the different angles of four screws, realizes the control of robot speed of marcing through the regulation of screw rotational speed. The utility model discloses a mutually supporting between four screws and adjusting have guaranteed that the robot is whole can have complete six degrees of freedom.
The utility model has the advantages that:
the utility model discloses it is portable nimble, can satisfy different needs in order to adapt to different occasions, just the utility model discloses a propeller overall structure is simple, can realize the realization of whole a plurality of degrees of freedom with minimum screw, is favorable to realizing the miniaturization and the light-duty of underwater robot, just the utility model discloses a whole efficiency of promoting is higher can realize that the multi freedom of robot is marchd.
Drawings
Fig. 1 is a schematic top view of an underwater propulsion unit according to the present invention;
fig. 2 is a schematic front view of the underwater propeller of the present invention;
fig. 3 is the bottom surface schematic diagram of the detachable chassis of the underwater propeller of the utility model.
In the figure, 1, underwater lamplight; 2. a propeller; 3. a propeller control line; 4. a waterproof motor; 5. a blade-type sucker; 6. a travel wheel; 7. power module, 8 waterproof motor frame.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples, but the embodiments of the present invention are not limited thereto.
In order to more clearly illustrate the technical solution of the present invention, the drawings of the embodiments will be briefly described below.
As shown in fig. 1, the utility model discloses a two-dimensional vector impels the structure, and two-dimensional vector impels the structure including light 1, screw 2, waterproof machine 4 and waterproof machine frame 8 under water, and light 1 under water is all installed at four angles of underwater robot, and four light 1 mainly used under water provide the light in the field of vision for the camera of robot. Both sides at both ends all are fixed with a waterproof motor frame 8 around the underwater robot, place a waterproof motor 4 in every waterproof motor frame 8, and waterproof motor 4's output shaft is connected with respective waterproof motor frame 8's one end, and every waterproof motor frame 8's other end suit is epaxial at a screw 2, and there is a screw control line 3 at the tail end of every screw 2, and screw control line 3 is connected with the control cabin. The four propellers 2 are arranged on the same plane to form two-dimensional vector propulsion.
The propellers 2 on the two sides of the front end of the underwater robot and the propellers 2 on the two sides of the rear end of the underwater robot are symmetrically arranged, so that the overall pushing efficiency is high, and the robot can move in multiple degrees of freedom.
When the underwater robot works underwater adherent, the adsorption module is arranged in the lower part of the two-dimensional vector propulsion structure in a centering way, the adsorption module and the two-dimensional vector propulsion structure can be arranged together or can be detached according to working requirements, and the adsorption module and the two-dimensional vector propulsion structure can support the underwater robot to advance adherent on an underwater plane after being arranged together.
As shown in fig. 2 and 3, the adsorption module includes a blade type suction cup 5, a traveling wheel 6 and a power supply module 7, the blade type suction cup 5 is disposed at the center of the adsorption module, the blade type suction cup 5 provides suction force for the underwater robot during the process of driving along the wall, the traveling wheel 6 is mounted on both sides of the front end and the rear end of the adsorption module, the traveling wheel 6 realizes the traveling of the underwater robot on the underwater plane, the power supply module 7 is mounted at the lower end of the adsorption module, and the power supply module 7 is electrically connected with the traveling wheel 6 to provide power energy for the traveling wheel 6. The travelling wheels 6 on the two sides of the front end of the adsorption module are driving wheels, and the travelling wheels 6 on the two sides of the rear end of the adsorption module are driven wheels.
Each waterproof motor 4 individually controls the respective propeller 2 to enable the respective propeller 2 to have one degree of freedom of rotation, so that the propellers 2 provide thrust for the underwater robot in all directions, and the underwater robot moves towards all directions. Because each waterproof motor 4 controls each propeller 2 independently, the waterproof motors 4 can be matched with the four propellers 2 in a differential mode at the same time to realize six integral degrees of freedom of the robot; the underwater robot floats upwards and sinks downwards by controlling the rotation directions of the propellers 2 to be all upwards by using the waterproof motor 4, and the control cabin controls the rotation speed of the propellers 2 through the propeller control line 3.
The four waterproof motors 4 are all fixed on the plane of the chassis of the underwater robot, so that the whole underwater robot has a two-dimensional vector, and the reliability of a two-dimensional vector propulsion structure is ensured. The mass of the chassis of the underwater robot is less than 8kg, the structure of the chassis is compact, the integration level is high, and the underwater robot is beneficial to realizing miniaturization and light weight.
The two-dimensional vector propulsion structure is simple, and the underwater robot can have multiple degrees of freedom underwater by using the least propellers.
In specific implementation, the rotation of the waterproof motor frame 8 is controlled through the rotation of the waterproof motor 4, and then the rotation direction of the propeller 2 is controlled to complete the adjustment of the posture of the underwater robot and the change of the motion direction of the underwater robot.
The rotating speed of the propeller 2 is adjusted through the propeller control line 3, and different driving forces are provided for the underwater robot to move.
The four propellers are arranged at certain angles with the vertical plane and can provide the forward and backward thrust of the whole robot in the horizontal direction. The four propellers 2 can integrally realize thrust in all directions on the underwater robot under the condition of unified coordination, so that the robot can move in all directions. The combination of the four propellers 2 ensures that the robot has six degrees of freedom underwater, and can realize the function of pivot steering. Because each motor and each propeller are controlled independently, the robot can realize six integral degrees of freedom by matching with four propellers in a simultaneous differential mode. The propellers are controlled to be all upward by the motor when the propeller floats upwards and sinks downwards.
As shown in fig. 1, it is assumed that the propellers 2 can provide thrust when rotating counterclockwise, and rotate clockwise to provide suction, and rotate the propellers to the positions shown in fig. 1, that is, two propellers on both sides of the front end of the underwater robot and the robots on both sides of the rear end of the underwater robot are symmetrically arranged, the waterproof motors 4 on both sides of the front end of the underwater robot are started to control the respective waterproof motor frames 8 to rotate, and further control the respective propellers 2 to rotate clockwise to provide suction for the whole, the waterproof motors 4 on both sides of the rear end of the underwater robot control the respective waterproof motor frames 8 to rotate, and further control the respective propellers 2 to rotate counterclockwise to provide tension for the whole, the two propellers on both sides of the front end of the underwater robot provide suction, and the two propellers on both sides of the rear end of the underwater robot provide tension, so that the whole propeller moves forward. Starting the waterproof motors 4 on the two sides of the front end of the underwater robot to control the waterproof motor frames 8 to rotate, further controlling the directions of the propellers 2 to rotate anticlockwise to provide tension for the whole body, controlling the waterproof motors 4 on the two sides of the rear end of the underwater robot to control the waterproof motor frames 8 to rotate, further controlling the propellers 2 to rotate clockwise to provide suction for the whole body, providing tension for the two propellers on the two sides of the front end of the underwater robot, and providing suction for the two propellers on the two sides of the rear end of the underwater robot, so that the propeller moves backwards; the waterproof motor 4 is used for controlling the direction of the propeller 2, and the control cabin controls the rotating speed of the propeller 2 through the propeller control line 3.
When the whole propeller moves towards other directions, the propeller only needs to be adjusted by the waterproof motor or realized in a differential speed and differential motion mode. The assumption is that the thrust or pull provided by the selected direction of the propeller is related to the particular configuration of the propeller.
The utility model discloses utilize waterproof motor control screw to realize underwater robot moving as a whole and gesture adjustment to combine the vane type sucking disc to realize that the propeller advances in plane under water. The vector propulsion mode of the underwater robot mainly comprises a propeller, a waterproof motor, a lighting facility and a chassis. The adsorption module is of a detachable design and can be installed under the condition that the vehicle needs to run against the wall, a vane type sucker is installed on the adsorption module and used for providing adsorption force in the running process of the vehicle against the wall, and four wheels are installed around the adsorption module to realize running on an underwater plane. The vector propulsion mechanism mainly comprises four propellers controlled by four waterproof motors respectively, the four propellers can simultaneously provide front and back driving in the horizontal direction and control of floating and submerging, and can also provide thrust on the left side and the right side of the whole horizontal direction of the robot. The utility model discloses aim at utilizing minimum space to realize advancing of robot to the adjustment of completion robot gesture that can be steady under water and the gos forward of all directions and retreat.
Claims (5)
1. A separable underwater propeller integrating vector propulsion and blade type suckers is characterized in that: including two-dimensional vector propulsion structure, two-dimensional vector propulsion structure includes light (1) under water, screw (2), waterproof motor (4) and waterproof motor frame (8), light (1) under water is all installed at four angles of underwater robot, waterproof motor frame (8) are all installed to the both sides at both ends around the underwater robot, place one waterproof motor (4) in every waterproof motor frame (8), and the output shaft of waterproof motor (4) is connected with the one end of respective waterproof motor frame (8), the other end suit of every waterproof motor frame (8) is epaxial at one screw (2), the tail end of every screw (2) has one screw control line (3), screw control line (3) are connected with the control cabin.
2. The separable underwater propeller combining vector propulsion and blade suction according to claim 1, wherein: the propellers (2) on the two sides of the front end of the underwater robot and the propellers (2) on the two sides of the rear end of the underwater robot are symmetrically arranged.
3. The separable underwater propeller combining vector propulsion and blade suction according to claim 1, wherein: when the underwater robot works for underwater wall attachment, the adsorption module is arranged at the lower part of the two-dimensional vector propulsion structure in a centering way.
4. The separable underwater propeller combining vector propulsion and blade suction according to claim 3, wherein: the adsorption module comprises a blade type sucker (5), a traveling wheel (6) and a power supply module (7), wherein the blade type sucker (5) is arranged at the center of the adsorption module, the traveling wheel (6) is arranged on the two sides of the front end and the rear end of the adsorption module, the power supply module (7) is arranged at the lower end of the adsorption module, and the power supply module (7) is electrically connected with the traveling wheel (6).
5. The separable underwater propeller combining vector propulsion and blade suction according to claim 4, wherein: the travelling wheels (6) on the two sides of the front end of the adsorption module are driving wheels, and the travelling wheels (6) on the two sides of the rear end of the adsorption module are driven wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120567950.8U CN215155549U (en) | 2021-03-19 | 2021-03-19 | Detachable underwater thruster incorporating vector propulsion and vane suction cups |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120567950.8U CN215155549U (en) | 2021-03-19 | 2021-03-19 | Detachable underwater thruster incorporating vector propulsion and vane suction cups |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116062138A (en) * | 2022-09-08 | 2023-05-05 | 浙江大学 | A modular underwater robot integrating full vector propulsion and automatic center of gravity adjustment |
| WO2024152891A1 (en) * | 2023-01-16 | 2024-07-25 | 深圳鳍源科技有限公司 | Underwater robot |
-
2021
- 2021-03-19 CN CN202120567950.8U patent/CN215155549U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116062138A (en) * | 2022-09-08 | 2023-05-05 | 浙江大学 | A modular underwater robot integrating full vector propulsion and automatic center of gravity adjustment |
| WO2024152891A1 (en) * | 2023-01-16 | 2024-07-25 | 深圳鳍源科技有限公司 | Underwater robot |
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