The invention discloses a four-vector propulsion magnetic detection underwater robot which comprises a shell, a magnetic detection device, a driving mechanism and a sealed cabin, a keel rack is arranged in the shell, the sealed cabin is located in the shell and fixed to the keel rack, and the magnetic detection device and the driving mechanism both penetrate through the shell and are fixedly connected to the keel rack. The driving mechanism comprises four propelling units arranged in a central symmetry structure, each propelling unit comprises a propeller, a transmission device and a steering engine driving device, the steering engine driving devices are fixed to the keel rack, one end of each transmission device is connected with the power output end of the corresponding steering engine driving device, and the other end of each transmission device is connected with the power output end of the corresponding steering engine driving device. The propeller is fixedly installed at the other end of the transmission device and located outside the shell. The robot is flexible in movement, symmetrical in structure and high in expansibility. The problem that self magnetism cannot be corrected when underwater magnetic detection is carried out is solved. And the problem of motion flexibility of the underwater robot is solved.
本发明公开了一种四矢量推进磁探测水下机器人,包括壳体、磁探测装置、驱动机构和密封舱,所述壳体内设置有龙骨机架,所述密封舱位于壳体内,且固定在龙骨机架上,所述磁探测装置和驱动机构均贯穿壳体固定连接至龙骨机架,所述驱动机构包括4组呈中心对称结构设置的推进单元,所述推进单元包括推进器、传动装置和舵机驱动装置,所述舵机驱动装置固定在龙骨机架上,所述传动装置的一端与舵机驱动装置的动力输出端相连接,所述推进器固定安装在传动装置的另一端,所述推进器位于壳体外部。该机器人运动灵活,结构对称,可拓展力强。以解决在水下进行磁探测无法自校正自身磁性的问题。并解决水下机器人运动灵活性的问题。
Four-vector propulsion magnetic detection underwater robot
一种四矢量推进磁探测水下机器人
2023-03-21
Patent
Electronic Resource
Chinese
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