CN100406345C - Under water robot structure - Google Patents
Under water robot structure Download PDFInfo
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- CN100406345C CN100406345C CNB200410082862XA CN200410082862A CN100406345C CN 100406345 C CN100406345 C CN 100406345C CN B200410082862X A CNB200410082862X A CN B200410082862XA CN 200410082862 A CN200410082862 A CN 200410082862A CN 100406345 C CN100406345 C CN 100406345C
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Abstract
The present invention discloses an underwater robot structure for airborne equipment with the functions of recombination and flexible arrangement, more specifically a modularization structure which is in a streamline shape; a drain module is positioned at the utmost front end of the streamline shape and a propeller module is positioned at the tail end of the streamline shape; a middle transition part arranged between the drain module and the propeller module comprises a standard load barn and a course regulation module, wherein the standard load barn and the course regulation module are in modularization composite structures, and are positioned between the drain module and the propeller module, which forms a complete underwater robot. Each module is in interchangeability proportion, and the arrangement form of each module can be optionally recombined out of turn, and the number of the module can be increased and decreased. Having the characteristics of high efficiency, fast recombination, facility, good invisibility, low cost, good versatility, portability, function variety, high safety, etc., the present invention is suitable for territorial resource, environment enquiry, national defence safety, marine engineering and related aquatic product industries.
Description
Technical field
The present invention relates to under-water robot, realize specifically that under-water robot can be recombinated and the under-water robot structure of function such as flexible configuration airborne equipment, it is applicable to marine territory resource and environmental surveys, national defense safety, ocean engineering and relevant aquatic products industry etc.
Background technology
Along with development of technology such as material, automatic guidance, underwater sound communication, computing machine, underwater navigation and the energy, under-water robot is tending towards low cost, miniaturization and multifunction, at present, but under-water robot at regroup, there is very big development space aspects such as functional module flexible configuration; On structure, under-water robot can be divided into framed structure and spar structures two classes, wherein:
The framed structure under-water robot becomes body by frame set, configuration feature load, buoyancy material and actuator on body; It is in water, and described buoyancy material provides lift force for it, and described actuator makes it produce motion, and described functional load is in order to finish appointed function; Whole framework is drawn together in one deck covering, makes under-water robot shape linear flow smooth.Because conduit destroys the fluid layer around the body water easily,, its energy consumption increase, efficient are reduced so this structure has increased the viscous resistance of under-water robot; Simultaneously, because displacement or increase and decrease functional module can be to destroying the integraty of under-water robot body, so can only be each bar under-water robot customization one cover framework, therefore the interchangeability of this structure is low, the cost height.
The pontoon type under-water robot is mainly formed the under-water robot body by floating drum, and its functional load is packed in the floating drum and provided lift force by floating drum for it.It is divided into and radially reaches two kinds of axial array, the under-water robot of radial array be with the floating drum axially parallel be arranged on the fixed frame; This structure is not suitable for replacing equally and changes functional load; The under-water robot of axial array is arranged the floating drum axle center on the same straight line and is utilized screw thread pair to connect into an integral body; This structure makes each module will operate one by one when installation and removal, and program is loaded down with trivial details, can not solution of emergent event.
Summary of the invention
The invention provides and a kind ofly can realize that under-water robot is recombinated fast, flexibly functional configuration, efficient height and the low under-water robot structure of cost.
Technical solution of the present invention is as follows:
Be specially modular construction, its profile is streamline contour, the drainage module is positioned at streamline contour foremost, propeller module is positioned at the streamline contour afterbody, have the middle transition part between drainage module and the propeller module, middle transition partly comprises standard termination cabin, course adjusting module, and wherein: standard termination cabin and course adjusting module are modularization composite structure, between drainage module and propeller module, constitute complete under-water robot;
The course adjusting module comprises rudder seal chamber, rudder drive coupling, rudder, sealing flange, rudder stock, double output shaft motor, bearing, wherein: rudder is connected with the rudder drive coupling by the rudder stock that passes rudder seal chamber sidewall, and be installed in the double output shaft motor that is arranged in the rudder seal chamber and become one, sealing flange and bearing installation are on rudder stock; Two course adjusting modules robot radial direction under water are arranged to X type or ten types;
Propeller module comprises that stern connects cabin, underwater electrical connector, pressure compensator, buoyancy material, screw propeller, sealing flange, stern sealing member, transmission shaft, stern drive coupling, single shaft motor, oil-filled cabin, transition rings, bearing, wherein: oil-filled cabin is a ∏ type cavity cylinder, its underpart is a tubular structure, tube peripheral hardware radiating gill; Establish buoyancy material between radiating gill, pressure compensator is installed in the cavity of buoyancy material and the intracavity inter-connection by oil pipe and oil-filled cabin; Inside, oil-filled cabin is equipped with the single shaft motor, and the single shaft motor is installed on the stern sealing member, and links to each other with transmission shaft by connected stern drive coupling, and transmission shaft passes the stern sealing member and the sealing flange that are plugged in lower surface, oil-filled cabin and is connected with screw propeller; Bearing is on transmission shaft.
Standard termination of the present invention cabin is installed between the adjusting module of course, or is installed between course adjusting module and course adjusting module and drainage module and/or course adjusting module and the propeller module;
Standard termination of the present invention cabin also can be combined into the middle transition part by connector and course adjusting module, between drainage module and propeller module; The standard termination cabin is installed between the adjusting module of course by connector, or is installed between course adjusting module and course adjusting module and drainage module and/or course adjusting module and the propeller module;
Wherein: standard termination cabin, connector and course adjusting module be robot axially can arbitrarily assemble out of turn under water; The quantity of standard termination cabin and connector also can increase or reduce.
Described drainage module is a U type cavity, and its head is hemispherical cavity, and the column side wall bottom is provided with through hole; Connector is a column structure; Its middle part is a cavity, establishes radially boss at the cartridge outer surface middle part, and its cylinder two ends outside face is established tapped bore and seal groove; Tapped bore does not penetrate the connector sidewall in the connector, and places between two seal grooves;
The standard termination cabin is the cavity cylinder, its length apparent load and deciding; The two ends in standard termination cabin are provided with through hole; The end face inwall in standard termination cabin is established chamfering;
Course adjusting module centered rudder seal chamber is the cavity cylinder of two ends symmetry, the middle part evagination of cylinder, and establish two coaxial stepped holes, outer surface portion is established tapped bore and seal groove at the cylinder two ends of rudder seal chamber, tapped bore places between two seal grooves, and its degree of depth does not penetrate rudder seal chamber sidewall;
The sealing member of stern described in the propeller module has trapezoidal swivel base, in trapezoidal swivel upper surface one hollow cylinder is set, and the base upper surface is provided with tapped bore and seal groove, and seal groove is positioned at the tapped bore outside; The top of hollow cylinder is a flange, and its sidewall is provided with through hole; Trapezoidal swivel base bottom surface is provided with stepped hole and tapped bore; Described tapped bore does not all penetrate the stern sealing member;
Sealing flange described in course adjusting module or the propeller module is the tower structure of hollow, and the stepped hole on its external form and rudder seal chamber or the stern sealing member sidewall adapts, and its bottom surface is distributed with through hole; Seal groove is established at its inner chamber and outside cylinder middle part respectively; Sealing flange and bearing installation are on rudder stock or transmission shaft, and between the boss of the boss of circlip and rudder stock or circlip and transmission shaft;
Establish seal ring between sealing flange and the transmission shaft in the propeller module, stern connects between cabin and the oil-filled cabin establishes seal ring; Be provided with seal ring between sealing flange and the rudder seal chamber in the adjusting module of course;
The propeller module centre bearer is on the transmission shaft and place between sealing flange and the circlip; Stern connects the cabin and is installed together by bolt and transition rings and oil-filled cabin.
The present invention has following advantage:
1. functional configuration is flexible.
Cooperate because the radial dimension of each module has interchangeability, so they are axially can the phase double replacement and arbitrarily increase or reduce functional cabin root module.
2. but regroup is good.
Each module is installed as one by screw thread pair; When changing module, as long as throw off the fixedly screw of adjacent block, must be according to other module of order removal, operating sequence is simple, quick.
3. efficient height.
The disturbance in flow field to external world when the streamline profile of under-water robot has reduced its motion has reduced the viscous resistance of extraneous flow field to its body; Simultaneously, compare with many oars propulsion mode, the single-blade propulsion mode has also reduced the loss of magnetic field to electric current.
4. cost is low.
Part parts in propeller module and course adjusting module were made by metallic material, other most of parts all can carry out injection molding by non-metallic material and process, thereby can cut down finished cost; Because having interchangeability, the radial dimension of each module cooperates, thereby can batch manufacturing or purchase the tubing of selling on the market and carry out trace and handle the back use.
5. maneuverability, easy to carry.
Each module removal on the whole in transportation transports separately, has increased the manoevreability of under-water robot.
Description of drawings
Fig. 1-1 is under-water robot modular construction embodiment 1 cutaway view.
Fig. 1-2 is under-water robot modular construction embodiment 2 cutaway views.
Fig. 1-3 is under-water robot modular construction embodiment 3 cutaway views.
Fig. 2 is that the A of Fig. 1-1 is to view.
Fig. 3 is a drainage module cutaway view among Fig. 1-1.
Fig. 4 is a connector cutaway view among Fig. 1-1.
Fig. 5 is a standard load cabin cutaway view among Fig. 1-1.
Fig. 6 is an adjusting module cutaway view in course among Fig. 1-1.
Fig. 7 is a sealing flange cutaway view in course adjusting module and the propeller module.
Fig. 8 connects cutaway view for Fig. 6 centered rudder seal chamber.
Fig. 9 is a propeller module cutaway view among Fig. 1.
Figure 10 is that stern connects the cabin cutaway view among Fig. 9.
Figure 11 is that the B of Figure 10 is to view (about A-A line of centers symmetry).
Figure 12 is a stern sealing member cutaway view among Fig. 9.
Figure 13 is an oil-filled cabin cutaway view among Fig. 9.
Figure 14 is that the C of Figure 13 is to view (about B-B line of centers symmetry).
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in further detail.
Embodiment 1
This device is made up of drainage module 1, connector 3, standard termination cabin 2, two course adjusting modules 28, propeller module 29, and its profile is streamline contour (as Figure 1-1); Drainage module 1 is positioned at streamline contour foremost, as the bow of under-water robot; Propeller module 29 is positioned at the streamline contour afterbody, as the stern of under-water robot; Two course adjusting modules 28 are provided with the top (wherein: rudder stock 19 is vertical or arranged in a crossed manner with rudder stock 19 in another course adjusting module 28 in the course adjusting module 28) that stern in the bottom that is installed in drainage module 1 and the propeller module 29 connects cabin 7 respectively.After being connected by connector 3, one group of standard termination cabin 2 is installed between the course adjusting module 28, as streamline contour middle transition part; A course adjusting module 28 is connected with propeller module 29, and another course adjusting module 28 is connected with drainage module 1 by bolt, becomes a complete under-water robot;
Specifically being connected in the present embodiment 1: by the through hole of drainage module 1 and the tapped bore of course adjusting module 28 centered rudder seal chambers 4 drainage module 1 and course adjusting module 28 are installed as one with screw; Seal ring 21 in rudder seal chamber 4 seal grooves places between drainage module 1 and the course adjusting module 28 and with their gap and seals; One end in standard termination cabin 2 also is connected by the other end of screw with rudder seal chamber 4; The other end in standard termination cabin 2 is connected with connector 3 by screw, and connector 3 expands other one section connector 3 and two segment standard load cabins 2 again; 2 install course adjusting modules 28 near an end of sterns in the standard termination cabin, and rudder stock 19 wherein is vertical with rudder stock 19 in the course adjusting module 28 of bow; The other end of rudder seal chamber 4 connects cabin 7 by stern and is connected with propeller module 29; So drainage module 1, connector 3, standard termination cabin 2, course adjusting module 28, propeller module 29 become one.Wherein:
Drainage module 1 is a U type cavity, and shown in Fig. 1-1,2,3, its head is hemispherical cavity; Along the bottom surface direction of hemispherical body, the edge in its bottom surface is provided with a cavity cylinder, and the bottom edge of damaged surface and hemispherical body is tangent; The column side wall bottom is provided with through hole; The sidewall of drainage module 1 can be made different structure (for example digging a hole, paste annex etc.) as required and place sensor even load equipment.During robot advanced process under water, the hemispherical body of drainage module 1 can guide current to form well-regulated fluid layer; This fluid layer reduces the resistance of under-water robot in the process of advancing attached to the under-water robot surface.
Described rudder stock 19 is integrated with rudder 6, has the groove that is used to place circlip 22 on it.
Described sealing flange 12 is the tower structure of hollow, and the stepped hole on its external form and rudder seal chamber 4 or stern sealing member 13 sidewalls adapts, and shown in Fig. 1-1,6,7, its bottom surface is distributed with through hole; Seal groove is established at its inner chamber and outside cylinder middle part respectively, and the edge of its top cylinder raises up and matches with bearing 23 cycle surfaces along the cylinder direction.
Described rudder seal chamber 4 is the cavity cylinder of two ends symmetry, and shown in Fig. 1-1,6,8, the middle part evagination of cylinder sets up two coaxial stepped holes separately at lug boss, centerline hole and rudder seal chamber 4 axis normal; Outside face is established tapped bore and seal groove at the cylinder two ends of rudder seal chamber 4, and tapped bore places between two seal grooves, and its degree of depth does not penetrate rudder seal chamber 4 sidewalls.
Stern connects cabin 7 and is installed together with oil-filled cabin 17 by bolt and transition rings 18, and stern connects between cabin 7 and the oil-filled cabin 17 establishes seal ring 21.Oil-filled cabin 17 is a ∏ type cavity cylinder, and its underpart is a tubular structure, tube peripheral hardware radiating gill 26; Establish buoyancy material 10 between radiating gill 26, pressure compensator 9 is installed in the cavity of buoyancy material 10 and by the intracavity inter-connection of oil pipe 24 with oil-filled cabin 17; 17 inside, oil-filled cabin are equipped with single shaft motor 16, single shaft motor 16 is installed on the stern sealing member 13, and link to each other with transmission shaft 14 by connected stern drive coupling 15, transmission shaft 14 passes the stern sealing member 13 and the sealing flange 12 that are plugged in 17 lower surfaces, oil-filled cabin and is connected with screw propeller 11, establishes seal ring 21 between sealing flange 12 and the transmission shaft 14; Away from the end face of screw propeller 11 bearing 23 is installed at sealing flange 12, bearing 23 is on the transmission shaft 14 and place between sealing flange 12 and the circlip 22; Stern connects 7 bottoms, cabin and establishes through hole.
The oil-filled cabin 17 that radiating gill 26 is installed be one by U type gap 32 bolt togethers on the edge separately, be positioned at the seal ring 21 that stern connects cabin 7 lower surfaces and under the effect of bolt pretightening, produce deformation, sealed oil-filled cabin 17 and be connected gap between the cabin 7 with stern; Transition rings 18 is installed in buoyancy material 10 and is connected between the cabin 7 with stern and places outside the oil-filled cabin 17; The bottom face radial dimension in oil-filled cabin 17 is established groove 31 less than the under-water robot overall radial dimension above the end face that U type gap 32 is arranged; Transition rings 18 is installed in the outside of the groove 31 and buoyancy material 10 end faces in oil-filled cabin 17, covered the gap between stern connection cabin 7 and the oil-filled cabin 17, make the flow field around the under-water robot avoid the disturbance in gap, thus suffered resistance when reducing the under-water robot motion; Pressure compensator 9 is installed in the cavity of buoyancy material 10 and by the intracavity inter-connection of oil pipe 24 with oil-filled cabin 17; Bolt screws by counterbore on buoyancy material 10 bodies and the internal threaded column 25 on the oil-filled cabin 17, and buoyancy material 10 is installed in the gap between the radiating gill 26;
Sealing flange 12 and bearing 23 are installed on the transmission shaft 14 between the boss 30 of circlip 22 and transmission shaft 14; Sealing flange 12 is installed in bearing 23 outsides, and its top cooperates with bearing 23 cycle surfaces, and bearing 23 inner ring end faces cooperate with circlip 22; Bearing 23 and transmission shaft 14 interference fit; Seal ring 21 is installed between sealing flange 12 and the transmission shaft 14 and seals gap between them; Sealing flange 12 is installed in the stepped hole of stern sealing member 13, and makes an end of transmission shaft 14 enter stern drive coupling 15 inside; Through hole by stern sealing member 13 column side walls is fixed as one stern drive coupling 15 and transmission shaft 14 with screw; Be installed in the gap that the seal ring 21 between sealing flange 12 and the stern sealing member 13 seals between them.
Driving torque is delivered on the transmission shaft 14 by stern drive coupling 15 by single shaft motor 16, and transmission shaft 14 rotates and drives screw propeller 11 and rotates under the support of bearing 23; The heat that is produced during single shaft motor 16 high-speed operations looses to outside waters through the body and the radiating gill 26 thereof of capacitor oil 27 by oil-filled cabin 17; The pressure that pressure compensator 9 makes under-water robot oil-filled cabin 17 inner chambers when the different depth of water is all the time greater than the pressure in outside waters, so the water in outside waters enters oil-filled cabin 17 inner chambers can prevent seal ring 21 wearing and tearing the time, avoids 16 short circuits of single shaft motor; Described transmission shaft 14 is provided with the groove of placing circlip 22 usefulness and the boss 30 that matches with sealing flange 12, and it and screw propeller 11 are connected as a single entity.
It is the matrix cylinder that described stern connects cabin 7, and shown in Fig. 1-1,9,10,11, the radial dimension in the uncovered part in its top and standard termination cabin 2 is identical and be provided with and connector 3 and the corresponding through hole of rudder seal chamber 4 tapped bore radially; Be provided with through hole in its bottom, in order to underwater electrical connector 8 to be installed; Be provided with groove 31 in the bottom of its non-uncovered part and stern connected 7 body bottoms, cabin and be separated out a pan, be provided with a plurality of U type gap 32 (shown in Figure 10,11) at the periphery of pan with this groove 31; The pan lower surface is established seal groove; The external diameter of described pan is slightly less than the external diameter in standard termination cabin 2.
Oil-filled cabin 17 is a ∏ type cavity cylinder, and shown in Fig. 1-1,9,13,14, the radial direction in its lower surface is provided with bulge-structure, and the radial dimension of its both ends of the surface radial dimension with stern connection cabin 7 of adjoining mutually and stern sealing member 13 end faces respectively is identical; Be provided with a plurality of (being 4 in this example) U type gap 32 on the 7 corresponding end faces of cabin being connected with stern; On the lower surface, be provided for installing the through hole of stern sealing member 13; On cartridge outer surface, be distributed with in order to internal threaded column 25 that buoyancy material 10 is installed, oil pipe 24 and along the radiating gill 26 of cylinder radial radiation.
Described buoyancy material 10 has constituted the line style part of under-water robot afterbody with oil-filled cabin 17, buoyancy material 10 is parts of afterbody line style swivel, it has filled the gap between 17 radiating gills of oil-filled cabin, and its body is provided with and oil-filled cabin 17 internal threaded columns, 25 corresponding counterbores; Buoyancy material 10 is made by the little density material of dried up type, and this material can provide buoyancy for under-water robot; Buoyancy material 10 inside faces are that pressure compensator 9 is made stepped cavity therein.
Described transition rings 18 is thin body columns, and it places between buoyancy material 10 and the oil-filled cabin 17, has covered the conduit of stern connection cabin 7 with oil-filled cabin 17.
Described stern sealing member 13 is a metallic material, and shown in Fig. 1-1,9,12, its base is trapezoidal swivel; In trapezoidal swivel upper surface one hollow cylinder, tapped bore and seal groove are set, seal groove is positioned at the tapped bore outside; The top of hollow cylinder is provided with the flange that is used to install motor, and its sidewall is provided with through hole, and this through hole is used to install the screw on the stern drive coupling 15; Trapezoidal swivel bottom surface is provided with stepped hole and reaches and sealing flange 12 corresponding tapped bore; Described tapped bore does not all penetrate stern sealing member 13.
The radial dimension in drainage module 1 and stern connection cabin 7 is consistent with standard termination cabin 2, and they have the interchangeability cooperation with connector 3 and rudder seal chamber 4 respectively at axial direction; They are installed as one by screw with it by through hole and tapped bore radially, simultaneously, the seal ring 21 that is positioned at connector 3 and rudder seal chamber 4 seal grooves drainage module 1, stern connect cabin 7 and with the extruding of standard termination cabin 2 inwalls under produce elastic deformation, with its inner chamber sealing; Because the matching part of seal ring and each parts is in tapped bore and inside that the usefulness through hole is installed, and tapped bore do not penetrate its body (routine connector 3 or rudder seal chamber 4), so this array configuration is not destroyed the closure of under-water robot inner chamber; As required, can with 2 course adjusting modules 28 under water the robot radial direction be arranged to multi-form (for example X type or ten types), the quantity of standard termination cabin 2 and connector 3 also can increase or reduce.
Embodiment
Difference from Example 1 is: a standard termination cabin 2 is installed in (shown in Fig. 1-2) between the course adjusting module 28.
Embodiment
Difference from Example 1 is: one group of standard termination cabin 2 be installed between the course adjusting module 28 after by connector 3 combinations and course adjusting module 28 and drainage module 1 and course adjusting module 28 and propeller module 29 between (as Figure 1-3).
Claims (16)
1. under-water robot structure, drainage module (1) is positioned at streamline contour foremost, propeller module (29) is positioned at the streamline contour afterbody, has the middle transition part between drainage module (1) and the propeller module (29), middle transition part profile is streamline contour, it is characterized in that: middle transition partly is modular construction, middle transition partly comprises standard termination cabin (2), course adjusting module (28), wherein: standard termination cabin (2) are modularization composite structure with course adjusting module (28), be positioned between drainage module (1) and the propeller module (29), constitute complete under-water robot;
Course adjusting module (28) comprises rudder seal chamber (4), rudder drive coupling (5), rudder (6), sealing flange (12), rudder stock (19), double output shaft motor (20), bearing (23), wherein: rudder (6) is connected with rudder drive coupling (5) by the rudder stock (19) that passes rudder seal chamber (4) sidewall, and be installed in the double output shaft motor (20) that is arranged in rudder seal chamber (4) and become one, sealing flange (12) is installed on the rudder stock (19) with bearing (23);
Propeller module (29) comprises that stern connects cabin (7), underwater electrical connector (8), pressure compensator (9), buoyancy material (10), screw propeller (11), sealing flange (12), stern sealing member (13), transmission shaft (14), stern drive coupling (15), single shaft motor (16), oil-filled cabin (17), transition rings (18), bearing (23), wherein: oil-filled cabin (17) are П type cavity cylinder, its underpart is a tubular structure, tube peripheral hardware radiating gill (26); Establish buoyancy material (10) between radiating gill (26), pressure compensator (9) is installed in the cavity of buoyancy material (10) and by the intracavity inter-connection of oil pipe (24) with oil-filled cabin (17); Inside, oil-filled cabin (17) is equipped with single shaft motor (16), single shaft motor (16) is installed on the stern sealing member (13), and by linking to each other with transmission shaft (14) with single shaft motor (16) bonded assembly stern drive coupling (15), transmission shaft (14) passes the stern sealing member (13) and the sealing flange (12) that are plugged in lower surface, oil-filled cabin (17) and is connected with screw propeller (11); Bearing (23) is on transmission shaft (14).
2. according to the described under-water robot structure of claim 1, it is characterized in that: standard termination cabin (2) are installed between the course adjusting module (28), or be installed between course adjusting module (28) and the drainage module (1), or be installed between course adjusting module (28) and the propeller module (29).
3. according to the described under-water robot structure of claim 1, it is characterized in that: standard termination cabin (2) are combined into the middle transition part by connector (3) and course adjusting module (28), are positioned between drainage module (1) and the propeller module (29).
4. according to the described under-water robot structure of claim 3, it is characterized in that: standard termination cabin (2) are installed between the course adjusting module (28) by connector (3), or be installed between course adjusting module (28) and the drainage module (1), or be installed between course adjusting module (28) and the propeller module (29).
5. according to the described under-water robot structure of one of claim 1～4, it is characterized in that: drainage module (1) is U type cavity, its head is hemispherical cavity, the bottom edge place of hemispherical cavity is provided with a cavity cylinder, and the column side wall bottom is provided with the corresponding through hole of tapped bore with connector (3).
6. according to claim 1,2 or 4 described under-water robot structures, it is characterized in that: connector (3) is a column structure; Connector (3) middle part is a cavity, establishes radially boss at the cartridge outer surface middle part, and connector (3) cylinder two ends outside face is established tapped bore and seal groove.
7. according to the described under-water robot structure of claim 6, it is characterized in that: tapped bore does not penetrate connector (3) sidewall in the connector (3), and places between two seal grooves.
8. according to the described under-water robot structure of one of claim 1～4, it is characterized in that: standard termination cabin (2) for the cavity cylinder, its length apparent load and deciding; The two ends in standard termination cabin (2) are provided with through hole.
9. according to the described under-water robot structure of claim 8, it is characterized in that: the end face inwall of standard termination cabin (2) is established chamfering.
10. according to the described under-water robot structure of one of claim 1～4, it is characterized in that: two course adjusting modules (28) robot radial direction under water are arranged to X type or ten types.
11. according to the described under-water robot structure of claim 1, it is characterized in that: course adjusting module (28) centered rudder seal chamber (4) is the cavity cylinder of two ends symmetry, the middle part evagination of cylinder, and establish two coaxial stepped holes, outer surface portion is established tapped bore and seal groove at the cylinder two ends of rudder seal chamber (4), tapped bore places between two seal grooves, and the tapped bore degree of depth does not penetrate rudder seal chamber (4) sidewall.
12. according to the described under-water robot structure of claim 1, it is characterized in that: stern sealing member (13) has trapezoidal swivel base described in the propeller module (29), in trapezoidal swivel upper surface one hollow cylinder is set, the base upper surface is provided with tapped bore and seal groove, and seal groove is positioned at the tapped bore outside; The top of hollow cylinder is a flange, and the hollow cylinder sidewall is provided with through hole; Trapezoidal swivel base bottom surface is provided with stepped hole and tapped bore; Described tapped bore does not all penetrate stern sealing member (13).
13. according to the described under-water robot structure of one of claim 1～4, it is characterized in that: sealing flange (12) is the tower structure of hollow described in course adjusting module (28) or the propeller module (29), stepped hole on its external form and rudder seal chamber (4) or stern sealing member (13) sidewall adapts, and sealing flange (12) bottom surface is distributed with through hole; Seal groove is established at sealing flange (12) inner chamber and outside cylinder middle part respectively; Sealing flange (12) and bearing (23) are installed on rudder stock (19) or the transmission shaft (14), and are positioned between the boss (30) of the boss (30) of circlip (22) and rudder stock (19) or circlip (22) and transmission shaft (14).
14. according to the described under-water robot structure of claim 1, it is characterized in that: establish seal ring (21) between sealing flange (12) and the transmission shaft (14) in the propeller module (29), stern connects between cabin (7) and oil-filled cabin (17) establishes seal ring (21); Be provided with seal ring (21) between sealing flange (12) and the rudder seal chamber (4) in the course adjusting module (28).
15. according to the described under-water robot structure of claim 1, it is characterized in that: propeller module (29) centre bearer (23) is gone up and is placed between sealing flange (12) and the circlip (22) at transmission shaft (14).
16. according to the described under-water robot structure of claim 1, it is characterized in that: stern connection cabin (7) is installed together with oil-filled cabin (17) by bolt and transition rings (18) in the propeller module (29).
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| Application Number | Priority Date | Filing Date | Title |
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| CNB200410082862XA CN100406345C (en) | 2004-12-06 | 2004-12-06 | Under water robot structure |
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| CNB200410082862XA CN100406345C (en) | 2004-12-06 | 2004-12-06 | Under water robot structure |
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| CN1785746A CN1785746A (en) | 2006-06-14 |
| CN100406345C true CN100406345C (en) | 2008-07-30 |
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| CNB200410082862XA Expired - Fee Related CN100406345C (en) | 2004-12-06 | 2004-12-06 | Under water robot structure |
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| CN100431918C (en) * | 2006-12-19 | 2008-11-12 | 天津大学 | Mixed submarine navigation device |
| CN100443369C (en) * | 2007-06-14 | 2008-12-17 | 上海交通大学 | Deep-sea solar diving device |
| CN101327837B (en) * | 2007-06-20 | 2010-07-21 | 中国科学院沈阳自动化研究所 | Novel water surface salvage cable robot built-in connecting mechanism |
| CN103010434B (en) * | 2012-11-29 | 2015-01-07 | 太原理工大学 | Radial dimension limited carrying device of geometrical detection equipment for underground caves |
| CN105711786B (en) * | 2016-01-26 | 2019-09-03 | 河北工业大学 | A kind of tail portion micromodule AUV arragement construction |
| CN107345572A (en) * | 2017-08-25 | 2017-11-14 | 北京臻迪科技股份有限公司 | Sealing structure and the robot that paddles |
| CN107697249B (en) * | 2017-10-25 | 2019-04-02 | 深圳乐智机器人有限公司 | A kind of underwater robot and multi-functional underwater working device |
| CN109050822A (en) * | 2018-07-27 | 2018-12-21 | 深圳聚纵科技有限公司 | The flexible underwater climbing robot of magnetic suck |
| CN114762971B (en) * | 2021-01-13 | 2024-01-12 | 京东科技信息技术有限公司 | Inspection robot |
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| JPH0611298A (en) * | 1992-06-29 | 1994-01-21 | Mitsubishi Heavy Ind Ltd | Underwater runner |
| CN1362348A (en) * | 2001-01-02 | 2002-08-07 | 梁富泉 | Glide submarine |
| US6483865B1 (en) * | 2000-04-13 | 2002-11-19 | The Boeing Company | Wireless interface for electronic devices located in enclosed spaces |
| CN1413877A (en) * | 2002-12-10 | 2003-04-30 | 上海劲钻实业公司 | Man-controlled machine fish |
| US20030167998A1 (en) * | 2002-03-07 | 2003-09-11 | Huntsman Dwight David | Underwater vehicles |
| CN2758195Y (en) * | 2004-12-06 | 2006-02-15 | 中国科学院沈阳自动化研究所 | Underwater robot structure |
-
2004
- 2004-12-06 CN CNB200410082862XA patent/CN100406345C/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0611298A (en) * | 1992-06-29 | 1994-01-21 | Mitsubishi Heavy Ind Ltd | Underwater runner |
| US6483865B1 (en) * | 2000-04-13 | 2002-11-19 | The Boeing Company | Wireless interface for electronic devices located in enclosed spaces |
| CN1362348A (en) * | 2001-01-02 | 2002-08-07 | 梁富泉 | Glide submarine |
| US20030167998A1 (en) * | 2002-03-07 | 2003-09-11 | Huntsman Dwight David | Underwater vehicles |
| CN1413877A (en) * | 2002-12-10 | 2003-04-30 | 上海劲钻实业公司 | Man-controlled machine fish |
| CN2758195Y (en) * | 2004-12-06 | 2006-02-15 | 中国科学院沈阳自动化研究所 | Underwater robot structure |
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|---|---|
| CN1785746A (en) | 2006-06-14 |
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