CN107444592A - A kind of annular matrix for universal underwater robot - Google Patents

A kind of annular matrix for universal underwater robot Download PDF

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Publication number
CN107444592A
CN107444592A CN201710643753.8A CN201710643753A CN107444592A CN 107444592 A CN107444592 A CN 107444592A CN 201710643753 A CN201710643753 A CN 201710643753A CN 107444592 A CN107444592 A CN 107444592A
Authority
CN
China
Prior art keywords
annular
sealing plate
ring sealing
keyhole
underwater robot
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
Application number
CN201710643753.8A
Other languages
Chinese (zh)
Inventor
喻伟辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Huibei Electronic Technology Co Ltd
Original Assignee
Suzhou Huibei Electronic Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Suzhou Huibei Electronic Technology Co Ltd filed Critical Suzhou Huibei Electronic Technology Co Ltd
Priority to CN201710643753.8A priority Critical patent/CN107444592A/en
Publication of CN107444592A publication Critical patent/CN107444592A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63CLAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52Tools specially adapted for working underwater, not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63HMARINE PROPULSION OR STEERING
    • B63H20/00Outboard propulsion units, e.g. outboard motors or Z-drives; Arrangements thereof on vessels
    • B63H20/14Transmission between propulsion power unit and propulsion element
    • B63H20/16Transmission between propulsion power unit and propulsion element allowing movement of the propulsion element in a horizontal plane only, e.g. for steering
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63HMARINE PROPULSION OR STEERING
    • B63H5/00Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/08Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63HMARINE PROPULSION OR STEERING
    • B63H5/00Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/125Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
    • B63H5/1252Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters the ability to move being conferred by gearing in transmission between prime mover and propeller and the propulsion unit being other than in a "Z" configuration

Abstract

The invention discloses a kind of annular matrix for universal underwater robot, including annular flat plate portion, ring sealing plate portion and annular block machine portion;Rotated in ring sealing plate portion and be provided with a drive gear and five position limited gears;The internal perisporium in ring sealing plate portion is provided with inwardly projecting keyhole portion;Keyhole portion is provided with keyhole;The open-work of face drive gear setting is additionally provided with ring sealing plate portion, the open-work and keyhole are arranged concentrically.The annular matrix clever structure, it is multiple functional, can be as the critical component of universal drive mechanism used in underwater robot.

Description

A kind of annular matrix for universal underwater robot
Technical field
The invention belongs to robotic technology field, and in particular to a kind of annular matrix for universal underwater robot.
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.
Existing underwater robot, the power direction of its drive mechanism relative to the direction of body be usually it is fixed, according to Change direct of travel by changing rudder direction, this traveling mode is difficult to meet the needs of complex action.
How the technical task that can with underwater robot that any angle drive be current the art is designed.
The content of the invention
It is an object of the invention to provide a kind of annular matrix for universal underwater robot.
Realizing the technical scheme of the object of the invention is:A kind of annular matrix for universal underwater robot, including annular Flat part, ring sealing plate portion and annular block machine portion;Rotated in ring sealing plate portion and be provided with a drive gear and five limiting tooths Wheel;The internal perisporium in ring sealing plate portion is provided with inwardly projecting keyhole portion;Keyhole portion is provided with keyhole;Ring sealing plate is additionally provided with portion The open-work that face drive gear is set, the open-work and keyhole are arranged concentrically.
In such scheme, the shape size of drive gear and position limited gear is identical.
In such scheme, keyhole portion is fixedly installed on the inwall in ring sealing plate portion.
In such scheme, ring sealing plate portion is that the inner periphery of annular flat plate portion is protruded to be formed vertically upward, annular block machine Portion is from annular flat plate portion annular boss protruding upward.
In such scheme, ring sealing plate portion is higher by annular block machine portion, and ring sealing plate portion is located at the inner side in annular block machine portion.
The present invention has positive effect:The annular matrix clever structure, it is multiple functional, it can be used as used in underwater robot The critical component of universal drive mechanism.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram of the present invention;
Fig. 2 is a kind of dimensional structure diagram when annular matrix is from another angle shown in Fig. 1;
Fig. 3 is a kind of dimensional structure diagram using the made robot of annular matrix shown in Fig. 1;
Fig. 4 is a kind of dimensional structure diagram when robot is from another angle shown in Fig. 3;
Fig. 5 is a kind of upward view of robot shown in Fig. 3;
Fig. 6 is a kind of dimensional structure diagram of universal drive mechanism in 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 Sweep the output shaft 23 of motor, bearing pin 24, annular matrix 4, annular flat plate portion 41, ring sealing plate portion 42, annular block machine portion 43, Drive gear 44, position limited gear 45, keyhole portion 46, keyhole 461, open-work 47, ring gear 5, ring body 51, drive teeth portion 52, gear driven mechanism 6, the output shaft 61 of gear drive motor, propeller drives 7, drive chamber 71, propeller 72.
Embodiment
(Embodiment 1)
The present embodiment is a kind of annular matrix 4 for universal underwater robot, as shown in Fig. 1 to Fig. 2, including annular flat plate portion 41st, ring sealing plate portion 42 and annular block machine portion 43, ring sealing plate portion are that the inner periphery of annular flat plate portion protrudes shape vertically upward Into annular block machine portion is from annular flat plate portion annular boss protruding upward.Ring sealing plate portion is higher by annular block machine portion, annular envelope Plate portion is located at the inner side in annular block machine portion.
Rotated in ring sealing plate portion and be provided with a drive gear 44 and five position limited gears 45, drive gear and limiting tooth The shape size of wheel is identical.
The internal perisporium in ring sealing plate portion is provided with inwardly projecting keyhole portion 46;Keyhole portion is fixedly installed on ring sealing plate portion Inwall on, keyhole portion is provided with keyhole 461.
The open-work 47 of the setting of face drive gear 44 is additionally provided with ring sealing plate portion, the open-work and keyhole are arranged concentrically.
(Application examples 1)
The application example is to use a kind of universal underwater robot made of above-described embodiment 1, as shown in Fig. 3 to Fig. 6, including housing 1st, the photographing module being built in housing and the universal drive mechanism for drive shell movement.
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.
Universal drive mechanism includes the annular matrix 4 being fixedly installed on housing, the ring being rotatably arranged on annular matrix Shape gear 5, two spiral shells for driving ring gear and gear driven mechanism 6 around housing into rotation, being arranged on ring gear Revolve pitch driver 7 and for driving annular matrix around the matrix drive mechanism of housing into rotation.
Annular matrix 4 includes annular flat plate portion 41, ring sealing plate portion 42 and annular block machine portion 43, and ring sealing plate portion is annular The inner periphery of flat part is protruded to be formed vertically upward, and annular block machine portion is from annular flat plate portion annular boss protruding upward. Ring sealing plate portion is higher by annular block machine portion, and ring sealing plate portion is located at the inner side in annular block machine portion.Housing and annular matrix are set with one heart Put.
Ring gear includes ring body 51 and is arranged on the driving teeth portion 52 of ring body upper surface;Ring gear is arranged In annular block machine portion, the periphery wall in the internal perisporium of ring gear and annular block machine portion is slidably matched, the bottom wall of ring gear and The roof of annular flat plate portion 41 is slidably matched.
Rotated in ring sealing plate portion and be provided with a drive gear 44 and five position limited gears 45, drive gear and limiting tooth Wheel is adapted to ring gear;Drive gear and position limited gear are crimped in the driving teeth portion of ring gear, so as to by annular tooth Wheel is crimped in the annular flat plate portion of annular matrix, prevents ring gear from teetertottering.In the application example, drive gear and spacing The shape size of gear is identical.
The internal perisporium in ring sealing plate portion is provided with inwardly projecting keyhole portion 46;Keyhole portion is fixedly installed on ring sealing plate portion Inwall on, keyhole portion is provided with keyhole 461;Matrix drive mechanism includes setting matrix motor in the housing, the matrix The output shaft of motor, which stretches out housing and inserted, to be fixed in the keyhole in keyhole portion.
Be additionally provided with the open-work 47 of the setting of face drive gear 44 in ring sealing plate portion, the open-work and matrix motor it is defeated Shaft is arranged concentrically;Preferably a kind of scheme is:The centre of sphere of housing and the centerline collineation of open-work.
Gear driven mechanism 6 includes setting gear drive motor in the housing, the output shaft 61 of the gear drive motor Stretch out housing, through the open-work 47 in ring sealing plate portion after and drive gear be fixedly linked.
In the application example, the output shaft of matrix motor and the output shaft of gear drive motor are to be arranged concentrically, gear Rotary shaft of the output shaft of motor also as matrix around the side of housing into rotation, keyhole portion is then as matrix around housing into rotation Opposite side rotary shaft.
When matrix motor rotates, the center line with kinetoplast around open-work rotates;When gear drive motor rotates, Ring gear is driven around housing into rotation.
Two propeller drives 7 are symmetricly set on the both sides of ring gear, and each propeller drives 7 include fixed setting Drive chamber 71 on ring gear periphery wall, the blade motor being arranged in drive chamber and it is rotatably arranged on outside drive chamber Propeller 72 on wall, each blade motor drive a corresponding propeller rotational;Preferable scheme is two propeller productions Raw power 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 stretching housing of output shaft 23 for cleaning motor is fixedly installed on semi-circular One end of support plate, the other end of semi-circular support plate are rotatably arranged on housing by bearing pin 24;Cleaning brush preferably uses bullet Property rubber blanket or hairbrush are made;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.
In the application example work, gear drive motor drives drive gear to rotate, and then drives ring gear to turn around housing Dynamic, two propeller drives are also synchronous as ring gear moves, so as to adjust the driving direction of propeller drives.It is this Structure can realize complex traveling action due to that can adjust position of the propeller drives relative to housing.
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 (5)

  1. A kind of 1. annular matrix for universal underwater robot, it is characterised in that:Including annular flat plate portion, ring sealing plate portion and Annular block machine portion;
    Rotated in ring sealing plate portion and be provided with a drive gear and five position limited gears;The internal perisporium in ring sealing plate portion is provided with Inwardly projecting keyhole portion;Keyhole portion is provided with keyhole;The open-work of face drive gear setting is additionally provided with ring sealing plate portion, this is saturating Hole and keyhole are arranged concentrically.
  2. 2. the annular matrix according to claim 1 for universal underwater robot, it is characterised in that:Drive gear and limit The shape size of position gear is identical.
  3. 3. the annular matrix according to claim 2 for universal underwater robot, it is characterised in that:Keyhole portion fixes and set Put on the inwall in ring sealing plate portion.
  4. 4. the annular matrix according to claim 3 for universal underwater robot, it is characterised in that:Ring sealing plate portion is The inner periphery of annular flat plate portion is protruded to be formed vertically upward, and annular block machine portion is from annular flat plate portion convex annular protruding upward Platform.
  5. 5. the annular matrix according to claim 4 for universal underwater robot, it is characterised in that:Ring sealing plate portion is high Go out annular block machine portion, ring sealing plate portion is located at the inner side in annular block machine portion.
CN201710643753.8A 2017-07-31 2017-07-31 A kind of annular matrix for universal underwater robot Pending CN107444592A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710643753.8A CN107444592A (en) 2017-07-31 2017-07-31 A kind of annular matrix for universal underwater robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710643753.8A CN107444592A (en) 2017-07-31 2017-07-31 A kind of annular matrix for universal underwater robot

Publications (1)

Publication Number Publication Date
CN107444592A true CN107444592A (en) 2017-12-08

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710643753.8A Pending CN107444592A (en) 2017-07-31 2017-07-31 A kind of annular matrix for universal underwater robot

Country Status (1)

Country Link
CN (1) CN107444592A (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050095964A1 (en) * 2003-10-09 2005-05-05 Hengel Raymond J.Jr. Method and apparatus for two-part CMP retaining ring
CN103552679A (en) * 2013-11-18 2014-02-05 北京理工大学 Small four-axle autonomous underwater robot based on vector thrust
CN104029805A (en) * 2014-03-14 2014-09-10 上海大学 An underwater spherical robot for shallow water detection
CN204437606U (en) * 2015-01-27 2015-07-01 浙江海洋学院 A kind of binocular camera The Cloud Terrace for underwater robot detection
CN106314731A (en) * 2016-09-18 2017-01-11 河海大学常州校区 Underwater detecting and salvage robot and working method and control system thereof
CN106719490A (en) * 2016-12-07 2017-05-31 山东鼎创数控设备有限公司 A kind of sea cucumber draws robot
CN106737703A (en) * 2016-11-22 2017-05-31 合肥中科艾帝尔机器人技术有限公司 Rescue robot under water and its rescue mode based on wireless telecommunications

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050095964A1 (en) * 2003-10-09 2005-05-05 Hengel Raymond J.Jr. Method and apparatus for two-part CMP retaining ring
CN103552679A (en) * 2013-11-18 2014-02-05 北京理工大学 Small four-axle autonomous underwater robot based on vector thrust
CN104029805A (en) * 2014-03-14 2014-09-10 上海大学 An underwater spherical robot for shallow water detection
CN204437606U (en) * 2015-01-27 2015-07-01 浙江海洋学院 A kind of binocular camera The Cloud Terrace for underwater robot detection
CN106314731A (en) * 2016-09-18 2017-01-11 河海大学常州校区 Underwater detecting and salvage robot and working method and control system thereof
CN106737703A (en) * 2016-11-22 2017-05-31 合肥中科艾帝尔机器人技术有限公司 Rescue robot under water and its rescue mode based on wireless telecommunications
CN106719490A (en) * 2016-12-07 2017-05-31 山东鼎创数控设备有限公司 A kind of sea cucumber draws robot

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Application publication date: 20171208