The invention provides an underwater robot, which aims at solving the problem that the deflection range of an existing propeller is relatively small, the underwater robot comprises a ship body and the propeller, the propeller comprises a base frame, a first input mechanism, a second input mechanism, a middle connecting mechanism, an output mechanism and a propeller device, and the base frame is fixedly connected with the ship body; the first input mechanism is rotationally connected with the base frame, the rotary axis a is parallel to the height direction of the ship body, the second input mechanism is rotationally connected with the base frame, the rotary axis b is parallel to the width direction of the ship body, the middle connecting mechanism is rotationally connected with the second input mechanism, and the rotary axis c is perpendicular to the axis b. The output mechanism is rotationally connected with the middle connecting mechanism, the rotary axis d is perpendicular to the axis c, the output mechanism is rotationally connected with the second input mechanism, the rotary axis e is perpendicular to the axis a, the axis d is perpendicular to the axis e, the axes a, b, c, d and e intersect at one point, and the rotary axis of the propeller is perpendicular to the axis e. The propeller is large in deflection range, good in decoupling performance and convenient to control.

    本发明的目的是针对现有推进器偏转范围相对较小的问题,提供一种水下机器人,包括船体和推进器,推进器包括基架、输入机构一、输入机构二、中间连接机构、输出机构、螺旋桨装置,基架与船体固接,输入机构一与基架转动连接且转动轴线a平行于船体的高度方向,输入机构二与基架转动连接且转动轴线b平行于船体的宽度方向,中间连接机构与输入机构二转动连接且转动轴线c垂直于轴线b,输出机构与中间连接机构转动连接且转动轴线d垂直于轴线c,输出机构与输入机构二转动连接且转动轴线e垂直于轴线a,轴线d垂直于轴线e,轴线a、b、c、d、e相交于一点,螺旋桨的旋转轴线垂直于轴线e,本发明推进器的偏转范围大,解耦性好便于进行控制。


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    Title :

    Underwater robot


    Additional title:

    一种水下机器人


    Contributors:
    ZHANG LIANG (author) / LI SHUZHEN (author) / JI SHENGJUN (author) / SHI LEI (author) / WANG SHAOLONG (author) / CAO PANPAN (author)

    Publication date :

    2021-11-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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