CN107377430A - A kind of cleaning agency for being used to clean the hemispherical observation window of underwater robot - Google Patents
A kind of cleaning agency for being used to clean the hemispherical observation window of underwater robot Download PDFInfo
- Publication number
- CN107377430A CN107377430A CN201710643754.2A CN201710643754A CN107377430A CN 107377430 A CN107377430 A CN 107377430A CN 201710643754 A CN201710643754 A CN 201710643754A CN 107377430 A CN107377430 A CN 107377430A
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- CN
- China
- Prior art keywords
- semi
- support plate
- cleaning
- circular support
- housing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 40
- 229920001821 foam rubber Polymers 0.000 claims description 4
- 230000008092 positive effect Effects 0.000 abstract description 2
- 239000011159 matrix material Substances 0.000 description 17
- 238000009434 installation Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
Landscapes
- Toys (AREA)
Abstract
The invention discloses it is a kind of be used for clean underwater robot hemispherical observation window cleaning agency, including semi-circular support plate, set in the housing be used for drive semi-circular support plate reciprocally swinging cleaning motor and be fixedly installed on the up cleaning brush of semi-circular support plate inwall；The output shaft for cleaning motor stretches out one end that housing is fixedly installed on semi-circular support plate, and the other end of semi-circular support plate is rotatably arranged on housing by bearing pin.The present invention has positive effect：Clean motor and semi-circular support plate reciprocally swinging is driven by output shaft, and then drive cleaning brush to brush the foul on hemispherical observation window outer wall, it is ensured that the cleaning of hemispherical observation window.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of hemispherical observation window for being used to clean underwater robot
Cleaning agency.
Background technology
Underwater robot has video camera or camera more, is generally used for hydrologic research, underwater monitoring, detects under water, water
The fields such as lower rescue, underwater salvage, the supervision of nuclear power station waters and the cleaning of underwater oil job platform.But underwater environment is complicated,
And more dirts and pasture and water, easily make the shooting window of underwater robot dirty.
The content of the invention
It is an object of the invention to provide a kind of cleaning agency for being used to clean the hemispherical observation window of underwater robot.
Realizing the technical scheme of the object of the invention is：A kind of cleaning for being used to clean the hemispherical observation window of underwater robot
Mechanism, including the cleaning for being used to drive semi-circular support plate reciprocally swinging of semi-circular support plate, setting in the housing drive electricity
Machine and it is fixedly installed on the up cleaning brush of semi-circular support plate inwall；The output shaft stretching housing fixation for cleaning motor is set
Put and be rotatably arranged in one end of semi-circular support plate, the other end of semi-circular support plate by bearing pin on housing.
In such scheme, cleaning brush is foam-rubber cushion or hairbrush.
The present invention has positive effect：Clean motor and semi-circular support plate reciprocally swinging driven by output shaft,
And then cleaning brush is driven to brush the foul on hemispherical observation window outer wall, it is ensured that the cleaning of hemispherical observation window.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram of the present invention；
Fig. 2 is a kind of top view of cleaning agency shown in Fig. 1；
Fig. 3 is a kind of dimensional structure diagram using the made underwater robot of cleaning agency shown in Fig. 1；
Fig. 4 is a kind of front view of robot shown in Fig. 3；
Fig. 5 is a kind of explosive view of robot shown in Fig. 3.
Reference is：Housing 1, hemispherical observation window 11, cleaning agency 2, semi-circular support plate 21, cleaning brush 22, clearly
Motor 23 is swept, cleans the output shaft 231 of motor, bearing pin 24, drive mechanism 3, annular matrix 4, base 41, cover plate
42, annular flat plate portion 421, annular wall plate portion 422, keyhole portion 423, axle hole 424, position gear 43, ring gear 5, tubulose
Body 51, sliding tooth 52, gear driven mechanism 6, room 61, gear drive motor 62, battery 63, drive gear 64, spiral are installed
Pitch driver 7, drive chamber 71, propeller 72, output shaft 81, rotating shaft 82.
Embodiment
（Embodiment 1）
The present embodiment is a kind of cleaning agency 2 for being used to clean the hemispherical observation window of underwater robot, as shown in Fig. 1 to Fig. 2,
The cleaning motor of semi-circular support plate reciprocally swinging is driven including semi-circular support plate 21, setting being used in the housing
23rd, it is fixedly installed on the up cleaning brush 22 of semi-circular support plate inwall；The stretching housing of output shaft 231 for cleaning motor is consolidated
Surely one end of semi-circular support plate is arranged on, the other end of semi-circular support plate is rotatably arranged on housing by bearing pin 24；Clearly
Brush is foam-rubber cushion or hairbrush；Clean motor and semi-circular support plate reciprocally swinging is driven by output shaft, and then drive clear
Brush brushes the foul on hemispherical observation window outer wall.
（Application examples 1）
The application example is to use a kind of underwater robot that can change power drive direction made of above-described embodiment 1, sees Fig. 3 extremely
Shown in Fig. 5, including housing 1, the photographing module being built in housing and the drive mechanism 3 moved for drive shell.
The global shape of housing is spherical, and the bottom of housing is provided with transparent hemispherical observation window 11；Photographing module includes
The cradle head mechanism with motor that is built in housing, the camera being arranged on cradle head mechanism and it is arranged on cradle head mechanism
On illuminating lamp（It is not drawn on figure）.Camera is fixedly installed on the bottom of cradle head mechanism, camera face hemispherical observation window
Transparent wall body.
Drive mechanism 3 includes the annular matrix 4 being rotatably arranged on housing, the annular tooth being rotatably arranged on annular matrix
Wheel 5, be arranged on annular matrix be used for drive annular pinion rotation gear driven mechanism 6 and be arranged on ring gear
Two propeller drives 7.
Annular matrix includes the base 41 and cover plate 42 being fixedly linked, and base is a ring plate, and cover plate includes annular
Flat part 421 and annular wall plate portion 422, annular wall plate portion are that the inner periphery of annular flat plate portion vertically is protruded to be formed；Annular wall
Plate portion is provided with keyhole portion 423 and axle hole 424, and keyhole and axis hole are coaxially disposed.An annular is formed between base and cover plate
Chamber.
The main drive motor for being used for driving annular matrix to rotate is provided with housing, in the application example, main drive motor it is defeated
Shaft 81 stretches out a side of housing, and is plugged on annular matrix in corresponding keyhole, so that the output shaft and annular
Matrix is fixedly linked；The other end of housing is provided with the rotating shaft 82 for stretching out housing, and the axis of rotation is arranged on annular matrix accordingly
Axis hole in, output shaft and rotating shaft are coaxially disposed, therefore main drive motor can drive annular matrix rotate axis center by output shaft
Axis rotates.In the application example, the central axis of the rotating shaft passes through the centre of sphere of spherical shell.
Ring gear includes tubular body 51 and the sliding tooth 52 being arranged on tubular body internal perisporium；Ring gear is located at
In the annular chamber of annular matrix.
Four positioning gears 43 being rotatably arranged on base are provided with the annular chamber of annular matrix, it is each to position gear and ring
Shape gear adjoining adaptation；This four positioning gears are arranged on the inner side of ring gear, and ring gear is determined by this four positioning gears
Position, so as to around the center axis thereof of annular matrix.
Gear driven mechanism 6 includes being fixedly installed on the installation room 61 below annular matrix base, is arranged in installation room
Gear drive motor 62, the battery 63 that is arranged in installation room and the drive gear 64 that is arranged in annular chamber；The application example
In gear driven mechanism have two, respectively positioned at the both sides of housing.Each drive gear abuts ring gear and is located at annular tooth
The inner side of wheel, when gear drive motor 62 drives drive gear rotation, ring gear is driven around housing into rotation.
Two propeller drives 7 are located at the both sides of ring gear, and each propeller drives 7 include being fixedly installed on annular
Drive chamber 71 on outer peripheral gear wall, the blade motor being arranged in drive chamber and it is rotatably arranged on driving chamber outer wall
Propeller 72, each blade motor drive a corresponding propeller rotational；Preferable scheme is moved caused by two propellers
Force direction is identical.
The application example also has the cleaning agency 2 for being used for cleaning hemispherical observation window outer wall, and cleaning agency includes semi-circular
Support plate 21, set in the housing be used for drive semi-circular support plate reciprocally swinging cleaning motor, be fixedly installed on
The up cleaning brush 22 of semi-circular support plate inwall；The output shaft stretching housing for cleaning motor is fixedly installed on semi-circular branch
One end of plate is held, the other end of semi-circular support plate is rotatably arranged on housing by bearing pin；Cleaning brush is foam-rubber cushion or hairbrush；
Clean motor and semi-circular support plate reciprocally swinging is driven by output shaft, and then drive cleaning brush to brush hemispherical observation window
Foul on outer wall.
In the application example work, main drive motor can drive annular matrix reciprocating rotation around the shaft, because propeller drives
Device is fixedly installed on annular matrix, therefore propeller drives rotate with annular matrix, is realized and is changed propeller drives
Driving direction；In addition, blade motor can also drive ring gear to rotate, therefore can be driven again from another angulation change propeller
The driving direction of device；In summary the angle adjustment of two kinds of rotations, it may be such that propeller drives realize 360 degree of appointing without dead angle
The driving of meaning direction.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair
The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.And these
The obvious changes or variations that the connotation for belonging to of the invention is extended out still falls within protection scope of the present invention.
Claims (2)
- A kind of 1. cleaning agency for being used to clean the hemispherical observation window of underwater robot, it is characterised in that：Including semi-circular branch Hold plate, set in the housing be used for drive semi-circular support plate reciprocally swinging cleaning motor and be fixedly installed on semi-ring The up cleaning brush of shape support plate inwall；The output shaft for cleaning motor stretches out housing and is fixedly installed on one end of semi-circular support plate, semi-circular support plate it is another One end is rotatably arranged on housing by bearing pin.
- 2. the cleaning agency according to claim 1 for being used to clean the hemispherical observation window of underwater robot, its feature exist In：Cleaning brush is foam-rubber cushion or hairbrush.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710643754.2A CN107377430A (en) | 2017-07-31 | 2017-07-31 | A kind of cleaning agency for being used to clean the hemispherical observation window of underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710643754.2A CN107377430A (en) | 2017-07-31 | 2017-07-31 | A kind of cleaning agency for being used to clean the hemispherical observation window of underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107377430A true CN107377430A (en) | 2017-11-24 |
Family
ID=60344162
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710643754.2A Pending CN107377430A (en) | 2017-07-31 | 2017-07-31 | A kind of cleaning agency for being used to clean the hemispherical observation window of underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107377430A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021159903A1 (en) * | 2020-02-13 | 2021-08-19 | 鹏城实验室 | Window cleaning apparatus and method, and underwater device |
| CN115872085A (en) * | 2023-01-06 | 2023-03-31 | 复旦大学附属眼耳鼻喉科医院 | Image data storage device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202429337U (en) * | 2011-12-08 | 2012-09-12 | 上海交通大学 | Propeller required for assisting deep-sea pipeline to move |
| CN202856868U (en) * | 2012-11-02 | 2013-04-03 | 国家电网公司 | Spherical camera |
| CN203111487U (en) * | 2012-12-29 | 2013-08-07 | 天津港湾水运工程有限公司 | Shoal water ball-shaped underwater robot |
| CN103358839A (en) * | 2013-08-05 | 2013-10-23 | 战强 | Amphibious spherical exploration robot |
| CN204578631U (en) * | 2015-03-19 | 2015-08-19 | 安徽四创电子股份有限公司 | A kind of can the ball-shaped camera cover of automated cleaning |
| CN204859344U (en) * | 2015-08-17 | 2015-12-09 | 曹智刚 | Self -cleaning ware of spherical camera |
| CN106882347A (en) * | 2017-02-27 | 2017-06-23 | 中国人民解放军海军工程大学 | underwater robot with six degrees of freedom |
-
2017
- 2017-07-31 CN CN201710643754.2A patent/CN107377430A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202429337U (en) * | 2011-12-08 | 2012-09-12 | 上海交通大学 | Propeller required for assisting deep-sea pipeline to move |
| CN202856868U (en) * | 2012-11-02 | 2013-04-03 | 国家电网公司 | Spherical camera |
| CN203111487U (en) * | 2012-12-29 | 2013-08-07 | 天津港湾水运工程有限公司 | Shoal water ball-shaped underwater robot |
| CN103358839A (en) * | 2013-08-05 | 2013-10-23 | 战强 | Amphibious spherical exploration robot |
| CN204578631U (en) * | 2015-03-19 | 2015-08-19 | 安徽四创电子股份有限公司 | A kind of can the ball-shaped camera cover of automated cleaning |
| CN204859344U (en) * | 2015-08-17 | 2015-12-09 | 曹智刚 | Self -cleaning ware of spherical camera |
| CN106882347A (en) * | 2017-02-27 | 2017-06-23 | 中国人民解放军海军工程大学 | underwater robot with six degrees of freedom |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021159903A1 (en) * | 2020-02-13 | 2021-08-19 | 鹏城实验室 | Window cleaning apparatus and method, and underwater device |
| US11638934B2 (en) | 2020-02-13 | 2023-05-02 | Peng Cheng Laboratory | Optical window cleaning device, optical window cleaning method and underwater optical device |
| CN115872085A (en) * | 2023-01-06 | 2023-03-31 | 复旦大学附属眼耳鼻喉科医院 | Image data storage device |
| CN115872085B (en) * | 2023-01-06 | 2023-08-29 | 复旦大学附属眼耳鼻喉科医院 | Image data storage device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171124 |