The invention discloses a three-propeller underwater robot based on vector nozzle control. The three-propeller underwater robot comprises a robot body, wherein the robot body comprises a control cabin, a first double-rotor propeller, a second double-rotor propeller, a ternary vector nozzle, a battery cabin, a vector rudder, a steering engine control cabin and a camera; the battery cabin comprises a battery cabin body and a battery module arranged in the battery cabin body, and the control cabin comprises a control cabin body and a control module arranged in the control cabin body; a first double-rotor propeller and a second double-rotor propeller are arranged on the left side and the right side of the control cabin; the steering engine control cabin comprises a steering engine cabin body and a steering engine battery cabin body arranged in the steering engine cabin body; a camera is arranged at the front end of the steering engine battery cabin body and is used for collecting underwater environment information; a ternary vector nozzle is arranged at the rear end of the battery cabin body, and a control cabin is arranged at the rear end of the ternary vector nozzle; a steering engine control cabin is arranged at the rear end of the control cabin; a vector rudder is arranged at the rear end of the steering engine control cabin; one end of the vector rudder is connected with the vector rudder; and the other end of the vector rudder is connected with the control module.

    本发明一种基于矢量喷口控制的三推进器水下机器人,包括机器人本体:机器人本体包括控制舱、第一双转子推进器、第二双转子推进器、三元矢量喷口、电池舱、矢量舵、舵机控制舱和相机;电池舱包括电池舱体和设置在所述电池舱体内的电池模块,控制舱包括控制舱体和设置在所述控制舱体内的控制模块;在控制舱的左右两侧设置有第一双转子推进器、第二双转子推进器;舵机控制舱包括舵机舱体和设置在所述舵机舱体内的舵机电池舱体前端设置有相机用于采集水下环境信息;电池舱体后端设置有三元矢量喷口,三元矢量喷口的后端设置有控制舱;控制舱的后端设置有舵机控制舱;舵机控制舱后端设置有矢量舵;矢量舵一端与矢量舵相连接;所述矢量舵另一端与控制模块相连接。


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    Title :

    Three-propeller underwater robot based on vector nozzle control


    Additional title:

    一种基于矢量喷口控制的三推进器水下机器人


    Contributors:
    XU MINYI (author) / LIAO SHIHAO (author) / MENG ZHAOCHEN (author) / WANG YIWEI (author) / ZHOU PINLIN (author)

    Publication date :

    2024-01-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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