CN218751332U - Hydraulic propulsion system and underwater robot - Google Patents

Abstract

The utility model provides a hydraulic pressure propulsion system and underwater robot, including organism, hydraulic system main part and propeller, be equipped with the lug on the propeller, seted up the jack on the lug, be equipped with on the tie-beam body and be used for holding the breach that the lug passes through, bolt and dog threaded connection to in inserting the jack, screw thread knob and dog threaded connection are equipped with the spout along length direction on the tie-beam body, and the dog is arranged in the spout, and on perpendicular to tie-beam body length direction's direction with tie-beam body elastic connection. The utility model discloses a hydraulic propulsion system passes through hydraulic system main part drive propeller to, the assembly and the dismantlement of propeller and organism can be realized to the spout dog design of the lug that is equipped with and tie-beam body on the propeller, have improved dismouting efficiency, the hydraulic propulsion system's of being convenient for maintenance and repair.

Description

Hydraulic propulsion system and underwater robot

Technical Field

The utility model relates to an underwater robot technical field particularly, relates to a hydraulic propulsion system and underwater robot.

Background

An underwater robot is one of important equipment in the fields of ocean engineering and the like, and compared with an electric propulsion system adopted by a small underwater robot, a large underwater robot usually adopts a hydraulic propulsion system to meet the requirement of high power. Hydraulic propulsion system is because the reliability is relatively poor, need regularly maintain and overhaul, consequently need carry out the dismouting with hydraulic propulsion system's such as propeller spare part, realizes dismantling the connection between propeller and other spare parts through a plurality of fasteners usually among the prior art, but in order to connect firmly, the quantity of fastener is usually more, has the lower problem of efficiency in the dismouting in-process.

SUMMERY OF THE UTILITY MODEL

The utility model provides a problem be: how to improve the disassembly and assembly efficiency of the hydraulic propulsion system.

In order to solve the problem, the utility model provides a hydraulic propulsion system, including organism, hydraulic system main part and propeller, the organism includes interconnect's organism body and tie-beam, the hydraulic system main part install in on the organism body, and with the propeller drive is connected, be equipped with the lug on the propeller, the jack has been seted up on the lug, the tie-beam includes tie-beam body, dog, bolt and screw thread knob, be equipped with on the tie-beam body and be used for holding the breach that the lug passes through, the bolt with dog threaded connection, and be used for inserting in the jack, the screw thread knob with dog threaded connection, be equipped with the spout along length direction on the tie-beam body, the dog is located in the spout, and in the perpendicular to in tie-beam body length direction's direction with tie-beam body elastic connection, the lug is used for sliding in the spout, the breach with the spout intercommunication.

Optionally, the hydraulic propulsion system according to the claim, wherein the two end faces of the protrusion along the length direction of the connection beam body are respectively a first inclined face and a second inclined face which are symmetrically arranged, the two end faces of the stopper along the length direction of the connection beam body are respectively a third inclined face and a fourth inclined face which are symmetrically arranged, the orientations of the second inclined face and the fourth inclined face are opposite, and the orientations of the first inclined face and the third inclined face are opposite.

Optionally, the hydraulic system main body includes a driving member, an oil tank, a thruster hydraulic control element, a first oil path, a second oil path, a first valve, and a second valve, the driving member is connected to the oil tank and used for driving hydraulic oil to circulate, the driving member is connected to the first oil path, the first valve and the second valve are disposed on the first oil path, one end of the first oil path, which is far away from the driving member, is communicated with the second oil path, the thruster hydraulic control element is disposed on the second oil path and connected to the thruster, one end of the second oil path, which is far away from the first oil path, is communicated with the oil tank, the first valve is an overflow valve, and the second valve is a one-way valve.

Optionally, the drive member is a hydraulic motor driven by an ac motor.

Optionally, the thrusters comprise a first thruster arranged towards the horizontal direction and a second thruster arranged towards the vertical direction.

Optionally, the hydraulic control system further comprises a third oil path, a fourth oil path, a mechanical arm hydraulic control element, an auxiliary tool and an auxiliary tool hydraulic control element, wherein the second oil path, the third oil path and the fourth oil path are connected in parallel, the mechanical arm hydraulic control element is arranged on the third oil path, the auxiliary tool hydraulic control element is arranged on the fourth oil path, the mechanical arm hydraulic control element is connected with the mechanical arm, and the auxiliary tool hydraulic control element is connected with the auxiliary tool.

Optionally, the hydraulic control system further comprises a control system, a boost converter, a buck converter, an ac-to-dc power supply, a first branch and a second branch, the boost converter connected to an external power supply is respectively disposed on the first branch and the second branch, the first branch is connected to the driving member, the second branch is connected to the buck converter, the buck converter is connected to the control system through the ac-to-dc power supply, and the control system is configured to control the propeller hydraulic control element, the mechanical arm hydraulic control element and the auxiliary tool hydraulic control element.

Optionally, the oil tank, the first valve, the second valve, the auxiliary tool and the auxiliary tool hydraulic control element are connected by hard pipes, the oil inlet and the oil outlet of the driving member are connected by corrugated pipes, and the thruster is connected with the thruster hydraulic control element and the mechanical arm is connected with the mechanical arm hydraulic control element by hoses.

Optionally, the number of the first propellers is four, the first propellers are symmetrically arranged on the machine body in pairs, and the forward direction of each first propeller faces the inner side of the machine body and forms an included angle of 30 degrees with the advancing direction.

The utility model also provides an underwater robot, include as above hydraulic propulsion system.

The hydraulic propulsion system of the utility model drives the propeller through the hydraulic system main body arranged on the machine body, realizes the hydraulic control of the propeller, and further realizes the motion control of the whole underwater robot; the lug arranged on the propeller can enter the chute of the connecting beam body through the notch, the lug is positioned on one side of the stop block in the length direction of the connecting beam body at the moment, then the stop block is moved in the direction vertical to the length direction of the connecting beam body through manual pressing or other modes, so that the lug can slide in the chute until the lug is positioned on the other side of the stop block in the length direction of the connecting beam body, the stop block is reset due to elastic connection with the connecting beam body at the moment, then the threaded knob is screwed to enable the bolt to be inserted into the jack, the assembling and position locking of the propeller are realized, and on the contrary, the propeller can be disassembled, so that the maintenance and overhaul of a hydraulic propulsion system are facilitated; compare in the mode that adopts a plurality of fasteners to be connected propeller and organism, the utility model discloses can not adopt other fasteners, perhaps only adopt a small amount of fasteners, can realize the dismouting between propeller and the organism, dismouting efficiency is higher, existing efficiency that does benefit to hydraulic propulsion system maintenance, has guaranteed the connection steadiness after the propeller assembly again.

The utility model discloses an underwater robot has foretell hydraulic propulsion system's all beneficial effects, no longer gives unnecessary details here.

Drawings

Fig. 1 is a schematic partial sectional structure view of a connection beam according to an embodiment of the present invention;

fig. 2 is a rear view schematic structural diagram of a propeller according to an embodiment of the present invention;

fig. 3 is a schematic layout view of a propeller according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a hydraulic propulsion system according to an embodiment of the present invention.

Description of reference numerals:

1. a body; 110. a machine body; 120. a connecting beam; 121. a connecting beam body; 1211. a notch; 122. a stopper; 1221. a third inclined plane; 1222. a fourth slope; 123. a bolt; 124. a threaded knob; 2. a drive member; 3. an oil tank; 4. a propeller; 41. a first propeller; 42. a second propeller; 43. a bump; 431. a first inclined plane; 432. a second inclined plane; 5. a propeller hydraulic control element; 6. a first oil passage; 7. a second oil passage; 8. a first valve; 9. a second valve; 10. a third oil passage; 11. a fourth oil passage; 12. a mechanical arm; 13. a robotic arm hydraulic control element; 14. an auxiliary tool; 15. an auxiliary tool hydraulic control element; 16. a boost converter; 17. a buck converter; 18. an AC to DC power supply; 19. a first branch; 20. a second branch.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.

In the coordinate system XYZ provided herein, the X axis represents the right direction in the forward direction, the X axis represents the left direction in the reverse direction, the Y axis represents the rear direction in the forward direction, the Y axis represents the front direction in the reverse direction, the Z axis represents the upper direction in the forward direction, and the Z axis represents the lower direction in the reverse direction. Also, it is noted that the terms "first," "second," and the like in the description and claims of the present invention and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or otherwise described herein.

An embodiment of the utility model provides a hydraulic propulsion system, including organism 1, hydraulic system main part and propeller 4, organism 1 includes interconnect's organism body 110 and tie-beam 120, the hydraulic system main part install in organism body 110 is last, and with the drive of propeller 4 is connected, be equipped with lug 43 on the propeller 4, the jack has been seted up on the lug 43, tie-beam 120 includes tie-beam body 121, dog 122, bolt 123 and thread knob 124, be equipped with on the tie-beam body 121 and be used for holding the breach 1211 that lug 43 passes through, bolt 123 with dog 122 threaded connection, and be used for inserting in the jack, thread knob 124 with dog 122 threaded connection, be equipped with the spout on the tie-beam body 121 along length direction, dog 122 is located in the spout, and at the perpendicular to in tie-beam body 121 length direction's direction with tie-beam body 121 elastic connection, lug 43 is used for slide in the spout, breach 1211 with the spout intercommunication.

Specifically, the hydraulic system main body can adopt related hydraulic control elements and the like in the prior art to drive the propeller 4, and parts such as corresponding pipelines and the like of the hydraulic system main body can be installed and fixed on the machine body 1, and with reference to fig. 1 to 2, the steps for assembling the propeller 4 are described as follows, the upper end and the lower end (namely, the two ends in the positive and negative directions of the Z axis in the figure) of the propeller 4 are provided with convex blocks 43, the convex blocks 43 are provided with jacks along the X axis in the figure, the connecting beam body 121 can adopt a hollow rectangular beam, the hollow part of the connecting beam body is a sliding chute, the connecting beam body 121 is provided with a notch 1211 which is matched with the shape of the convex blocks 43, so that the projection 43 can enter the sliding slot of the connecting beam body 121 from the notch 1211, the stopper 122 is moved in a direction perpendicular to the length direction of the connecting beam body 121 (i.e., the direction of the Z axis in the figure) by manual pressing or other means, so that the stopper 122 no longer blocks the movement of the projection 43 in the positive X axis direction in the figure, the projection 43 moves in the positive X axis direction in the figure until the projection 43 is located on one side of the stopper 122 in the positive X axis direction in the figure, and the stopper 122 returns to the original position, in which the pin 123 is just aligned with the insertion hole on the projection 43, and the pin 123 is moved in the positive X axis direction in the figure by screwing the threaded knob 124 and inserted into the insertion hole of the projection 43, thereby achieving the locking of the pusher 4; on the contrary, the specific steps for disassembling the pusher 4 and the movements of the various parts are conceivable and will not be described in detail here.

Referring to fig. 3, in the present embodiment, the body 110 is a frame structure, wherein the connection beam 120 is welded to the body 110, and in order to fix the propeller 4, two connection beams 120 arranged in parallel may be provided, and two bumps 43 are oppositely disposed on the propeller 4, so that the two bumps 43 on the propeller 4 and the two connection beams 120 respectively perform the assembling process of the propeller 4, and thus a more stable connection can be achieved.

The hydraulic propulsion system of the utility model drives the propeller 4 through the hydraulic system main body arranged on the machine body 1, realizes the hydraulic control of the propeller 4, and further realizes the motion control of the whole underwater robot; moreover, the bump 43 arranged on the thruster 4 can enter the sliding slot of the connecting beam body 121 through the notch 1211, at this time, the bump 43 is positioned on one side of the stopper 122 in the length direction of the connecting beam body 121, then the stopper 122 is moved in the direction perpendicular to the length direction of the connecting beam body 121 through manual pressing or other modes, so that the bump 43 slides in the sliding slot until the bump 43 is positioned on the other side of the stopper 122 in the length direction of the connecting beam body 121, at this time, the stopper 122 is reset due to elastic connection with the connecting beam body 121, and then the bolt 123 is inserted into the insertion hole through screwing the thread knob 124, so that the assembly and position locking of the thruster 4 are realized, otherwise, the thruster 4 can be disassembled, and the maintenance and overhaul of the hydraulic propulsion system are facilitated; compare in the mode that adopts a plurality of fasteners to be connected propeller 4 and organism 1, the utility model discloses can not adopt other fasteners, perhaps only adopt a small amount of fasteners, can realize the dismouting between propeller 4 and the organism 1, dismouting efficiency is higher, existing efficiency that does benefit to the maintenance and repair has guaranteed the connection steadiness after propeller 4 assembles again.

Alternatively, two end faces of the protrusion 43 along the length direction of the connecting beam body 121 are respectively a first inclined face 431 and a second inclined face 432, two end faces of the stopper 122 along the length direction of the connecting beam body 121 are respectively a third inclined face 1221 and a fourth inclined face 1222, the orientations of the second inclined face 432 and the fourth inclined face 1222 are opposite, and the orientations of the first inclined face 431 and the third inclined face 1221 are opposite.

Specifically, as shown in fig. 1 and fig. 2, the left end and the right end of the protrusion 43 in the figure are respectively the first inclined surface 431 and the second inclined surface 432, the left end and the right end of the stopper 122 in the figure are respectively the third inclined surface 1221 and the fourth inclined surface 1222, because the first inclined surface 431 and the third inclined surface 1221 are in opposite directions, the protrusion 43 will abut against the stopper 122, so that the stopper 122 moves along the direction of the Z axis in the figure, and further the protrusion 43 moves to the side of the stopper 122 along the positive direction of the X axis in the figure, and is inserted into the insertion hole through the plug 123 to realize locking; accordingly, when the pusher 4 is removed, the bolt 123 is first removed from the socket by the threaded knob 124, and the second inclined surface 432 and the fourth inclined surface 1222 are oppositely oriented, so that the protrusion 43 is moved in the direction opposite to the X-axis direction in the figure, the stopper 122 is moved in the direction of the Z-axis in the figure, and the protrusion 43 of the pusher 4 is moved to the alignment notch 1211, and the pusher 4 is removed.

Thus, the thruster 4 can be mounted on the connecting beam 120 without external force, or detached from the connecting beam 120, which is more beneficial to the maintenance of the hydraulic propulsion system.

Optionally, the hydraulic system main body includes a driving part 2, an oil tank 3, a propeller hydraulic control element 5, a first oil path 6, a second oil path 7, a first valve 8, and a second valve 9, the driving part 2 is connected to the oil tank 3 and is configured to drive hydraulic oil to circulate, the driving part 2 is connected to the first oil path 6, the first valve 8 and the second valve 9 are disposed on the first oil path 6, an end of the first oil path 6, which is far away from the driving part 2, is communicated with the second oil path 7, the propeller hydraulic control element 5 is disposed on the second oil path 7 and is connected to the propeller 4, an end of the second oil path 7, which is far away from the first oil path 6, is communicated with the oil tank 3, the first valve 8 is an overflow valve, and the second valve 9 is a one-way valve.

Specifically, as shown in fig. 4, the driving member 2 drives hydraulic oil to circulate, sufficient hydraulic oil is filled in the oil tank 3, the hydraulic oil enters the second oil path 7 after passing through the first valve 8 and the second valve 9 (i.e., an overflow valve and a check valve) of the first oil path 6, and the hydraulic control element 5 of the propeller (which can adopt a valve body structure in the prior art) receives corresponding instructions, so as to realize the driving control of the propeller, wherein the pressure stability of the whole hydraulic oil path is ensured through the overflow valve, the hydraulic oil is prevented from flowing reversely through the check valve, and the stability of the hydraulic propulsion system is improved.

Alternatively, the drive 2 is a hydraulic motor driven by an ac motor.

In this way, the hydraulic oil can be efficiently pressed into the first oil passage 6, and the hydraulic propulsion system can be efficiently controlled.

Alternatively, the pusher 4 includes a first pusher 41 and a second pusher 42, the first pusher 41 being disposed toward a horizontal direction (i.e., any direction perpendicular to the Z-axis in fig. 3), and the second pusher 42 being disposed toward a vertical direction (i.e., the Z-axis direction in fig. 3).

In this way, the first propeller 41 and the second propeller 42 can drive the underwater robot to move in the horizontal and vertical directions.

Optionally, the hydraulic control device further comprises a third oil path 10, a fourth oil path 11, a mechanical arm 12, a mechanical arm hydraulic control element 13, an auxiliary tool 14 and an auxiliary tool hydraulic control element 15, wherein the second oil path 7, the third oil path 10 and the fourth oil path 11 are connected in parallel, the mechanical arm hydraulic control element 13 is arranged on the third oil path 10, the auxiliary tool hydraulic control element 15 is arranged on the fourth oil path 11, the mechanical arm hydraulic control element 13 is connected with the mechanical arm 12, and the auxiliary tool hydraulic control element 15 is connected with the auxiliary tool 14.

Specifically, referring to fig. 4, the second oil path 7, the third oil path 10 and the fourth oil path 11 are connected in parallel with each other and are connected in series with the first oil path 6, the robot hydraulic control element 13 typically employs a servo valve box and/or a solenoid valve box, the robot 12 typically employs a servo robot arm and/or a switching robot arm, the auxiliary tool hydraulic control element 15 typically employs a tool valve box, and the auxiliary tool 14 typically employs a pan/tilt head equipped with a camera and an underwater light.

In this way, by adding the mechanical arm 12 and the auxiliary tool 14 and performing hydraulic control through the third oil path 10 and the fourth oil path 11, the underwater robot adopting the hydraulic propulsion system has better functionality.

Optionally, the hydraulic control system further includes a control system, a boost converter 16, a buck converter 17, an ac-to-dc power supply 18, a first branch 19 and a second branch 20, the first branch 19 and the second branch 20 are respectively provided with one boost converter 16 connected to an external power supply, the first branch 19 is connected to the driving member 2, the second branch 20 is connected to the buck converter 17, the buck converter 17 is connected to the control system through the ac-to-dc power supply 18, and the control system is configured to control the propeller hydraulic control element 5, the mechanical arm hydraulic control element 13, and the auxiliary tool hydraulic control element 15.

Specifically, as shown in fig. 3, in the second branch 20, the external power supply supplies power to the control system through the step-up converter 16, the step-down converter 17 and the ac-to-dc power supply 18, and thus controls the relevant electrical components of the thruster hydraulic control element 5, the robot hydraulic control element 13 and the auxiliary tool hydraulic control element 15, and in the first branch 19, the external power supply supplies power to the driving member 2 through the step-up converter 16.

Optionally, the oil tank 3, the first valve 8, the second valve 9, the auxiliary tool 14 and the auxiliary tool hydraulic control element 15 are connected by hard pipes, the oil inlet and the oil outlet of the driving member 2 are connected by bellows, and the propeller 4 and the propeller hydraulic control element 5, and the mechanical arm 12 and the mechanical arm hydraulic control element 13 are connected by hoses.

Specifically, the positions of the oil tank 3, the first valve 8, the second valve 9, the auxiliary tool 14 and the auxiliary tool hydraulic control element 15 after assembly are fixed, so that hard pipe connection is adopted, and maintenance is facilitated; the driving part 2 has certain vibration, and in order to ensure reliability, the corresponding oil inlet and oil outlet are connected by adopting corrugated pipes; when the propeller 4 works, certain vibration exists, and the mechanical arm 12 and the mechanical arm hydraulic control element 13 move relatively, so that the connection of a hose is adopted, and the maintenance is convenient.

Optionally, the number of the first propellers 41 is four, the first propellers 41 are symmetrically arranged on the machine body 1 in pairs, and the forward direction of each first propeller 41 faces the inner side of the machine body 1 and forms an included angle of 30 degrees with the advancing direction.

Specifically, as shown in fig. 3, two first propellers 41 are located on the left side of the body 110 (i.e., the side opposite to the X-axis in the drawing, the X-axis can be determined according to the right-hand screw), and the other two first propellers 41 are located on the right side of the body 110 (i.e., the side forward to the X-axis in the drawing) and are arranged symmetrically to the two first propellers 41 on the left side, and the forward direction of the first propeller 41 is arranged at an angle of 30 ° with the advancing direction of the underwater robot and is inclined toward the inner side of the body 1.

In this way, the first propeller 41 can obtain a larger thrust, and at the same time, the turbulence of the propeller of the first propeller 41 caused by other elements can be reduced.

In addition, can set up the compensator between to corresponding liquid accuse component and the device of being controlled to guarantee underwater robot's reliability, and through the liquid level that sets up level sensor detection compensator, guarantee hydraulic system's normal work, so on, can also set up temperature sensor through setting up driving piece 2, set up the scheme of pressure sensor etc. to the oil-out of driving piece 2, realize the monitoring to hydraulic propulsion system, guarantee that each spare part normally works, improve underwater robot's reliability.

The utility model also provides an underwater robot, include as above hydraulic propulsion system.

The utility model discloses an underwater robot has foretell hydraulic propulsion system's all beneficial effects, no longer gives unnecessary details here.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be made by those skilled in the art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to fall within the scope of the present disclosure.

Claims (10)

1. A hydraulic propelling system is characterized by comprising a machine body (1), a hydraulic system main body and a propeller (4), wherein the machine body (1) comprises a machine body (110) and a connecting beam (120) which are connected with each other, the hydraulic system main body is arranged on the machine body (110) and is in driving connection with the propeller (4), a convex block (43) is arranged on the propeller (4), a jack is formed in the convex block (43), the connecting beam (120) comprises a connecting beam body (121), a stop block (122), a bolt (123) and a threaded knob (124), a notch (1211) for accommodating the convex block (43) to pass through is formed in the connecting beam body (121), the bolt (123) is in threaded connection with the stop block (122) and is inserted into the jack, the threaded knob (124) is in threaded connection with the stop block (122), a sliding groove is formed in the connecting beam body (121) along the length direction, the stop block (122) is located in the sliding groove and is in elastic connection with the connecting beam body (1211) in the direction perpendicular to the length direction of the connecting beam body (121), and the convex block (43) is in sliding connection with the notch.

2. The hydraulic propulsion system of claim 1, wherein the two ends of the projection (43) along the length direction of the connecting beam body (121) are respectively a first inclined surface (431) and a second inclined surface (432) which are symmetrically arranged, the two ends of the stop block (122) along the length direction of the connecting beam body (121) are respectively a third inclined surface (1221) and a fourth inclined surface (1222) which are symmetrically arranged, the orientations of the second inclined surface (432) and the fourth inclined surface (1222) are opposite, and the orientations of the first inclined surface (431) and the third inclined surface (1221) are opposite.

3. The hydraulic propulsion system according to claim 1, characterized in that the hydraulic system body comprises a driving member (2), an oil tank (3), a propeller hydraulic control element (5), a first oil path (6), a second oil path (7), a first valve (8) and a second valve (9), the driving member (2) is connected to the oil tank (3) and is used for driving hydraulic oil to circulate, the driving member (2) is connected to the first oil path (6), the first valve (8) and the second valve (9) are arranged on the first oil path (6), one end of the first oil path (6) away from the driving member (2) is communicated to the second oil path (7), the propeller hydraulic control element (5) is arranged on the second oil path (7) and is connected to the propeller (4), one end of the second oil path (7) away from the first oil path (6) is communicated to the oil tank (3), the first valve (8) is an overflow valve, and the second valve (9) is a one-way valve.

4. A hydraulic propulsion system according to claim 3, characterised in that the drive member (2) is an ac motor driven hydraulic motor.

5. A hydraulic propulsion system according to claim 1, characterised in that the thruster (4) comprises a first thruster (41) and a second thruster (42), the first thruster (41) being arranged towards the horizontal direction and the second thruster (42) being arranged towards the vertical direction.

6. The hydraulic propulsion system according to claim 3, further comprising a third oil path (10), a fourth oil path (11), a mechanical arm (12), a mechanical arm hydraulic control element (13), an auxiliary tool (14) and an auxiliary tool hydraulic control element (15), wherein the second oil path (7), the third oil path (10) and the fourth oil path (11) are connected in parallel, the mechanical arm hydraulic control element (13) is disposed on the third oil path (10), the auxiliary tool hydraulic control element (15) is disposed on the fourth oil path (11), the mechanical arm hydraulic control element (13) is connected to the mechanical arm (12), and the auxiliary tool hydraulic control element (15) is connected to the auxiliary tool (14).

7. The hydraulic propulsion system according to claim 6, characterized by further comprising a control system, a boost converter (16), a buck converter (17), an ac-to-dc power supply (18), a first branch (19) and a second branch (20), wherein the first branch (19) and the second branch (20) are each provided with one of the boost converters (16) connected to an external power supply, the first branch (19) is connected to the driving member (2), the second branch (20) is connected to the buck converter (17), the buck converter (17) is connected to the control system through the ac-to-dc power supply (18), and the control system is configured to control the propeller pilot control element (5), the manipulator pilot control element (13) and the auxiliary tool pilot control element (15).

8. The hydraulic propulsion system according to claim 6, characterized in that the oil tank (3), the first valve (8), the second valve (9), the auxiliary tool (14) and the auxiliary tool hydraulic control element (15) are connected by hard pipes, the oil inlet and the oil outlet of the driving member (2) are connected by bellows, and the propeller (4) and the propeller hydraulic control element (5) and the mechanical arm (12) and the mechanical arm hydraulic control element (13) are connected by hoses.

9. Hydraulic propulsion system according to claim 5, characterised in that said first thrusters (41) are four in number, symmetrically arranged two by two on said body (1), each said first thruster (41) being directed towards the inside of said body (1) and being set at an angle of 30 ° with respect to the direction of advance.

10. An underwater robot comprising a hydraulic propulsion system as claimed in any one of claims 1 to 9.

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