CN107718015A - A kind of underwater robot - Google Patents
A kind of underwater robot Download PDFInfo
- Publication number
- CN107718015A CN107718015A CN201711117440.5A CN201711117440A CN107718015A CN 107718015 A CN107718015 A CN 107718015A CN 201711117440 A CN201711117440 A CN 201711117440A CN 107718015 A CN107718015 A CN 107718015A
- Authority
- CN
- China
- Prior art keywords
- underwater robot
- light
- support body
- fixedly installed
- stepper motor
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, 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
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Abstract
A kind of underwater robot, support body, the propulsion system that course line can be corrected, the few penetration power of diverging strong light compensation system, image mechanism and testing agency are provided with, the propulsive mechanism, light compensation system, image mechanism and testing agency are fixedly installed in support body respectively.The propulsion system is provided with multiple first propulsive mechanisms and multiple second propulsive mechanisms.Whether the underwater robot has the propulsion system that can be used for correcting course line, can be drifted off the course with automatic detection when machine is taken action under water under water, automatically adjusting the angle of propeller makes underwater robot steady.Simultaneously the light compensation system tool use of the present invention can absorb scattering light and light the angle of departure is small, reflected light that penetration capacity effectively reduces by force fore-and-aft direction.The underwater robot has the characteristics of underwater operate steadily, while the scattering light of light compensation system can be avoided to have an impact camera system, the characteristics of improving image quality.
Description
Technical field
The present invention relates to underwater sensing devices field, more particularly to a kind of underwater robot.
Background technology
Ocean is that the mankind obtain high-quality protein " blue silo ".In recent decades, China is attached most importance to sea-farming
Sea fishery fast development, marine alga, ocean shrimps, seashells, marine fishes, five industry waves of choice seafood aquiculture are started
Tide, cultivation total output are sure to occupy first place in the world always since nineteen ninety.But underwater environment is badly dangerous, the diving depth of people has
Limit, so underwater robot has turned into the important tool of exploitation ocean.Due to being used to for underwater current and underwater robot itself
Property, underwater robot play up and down is caused, has a strong impact on its work.Simultaneously as water quality muddiness and insufficient light, light compensation pair
The collection of video is particularly important, but the scattering light for having light compensation system at present has a strong impact on video imaging effect.
Therefore it is very necessary to solve prior art deficiency in view of the shortcomings of the prior art, providing a kind of underwater robot.
The content of the invention
A kind of underwater robot is provided it is an object of the invention to avoid the deficiencies in the prior art part.The underwater
People has underwater the characteristics of operating steadily, while the scattering light of light compensation system can be avoided to have an impact camera system, carries
The characteristics of high imaging quality.
The above-mentioned purpose of the present invention is realized by following technical measures：
A kind of underwater robot is provided, is provided with the strong light of support body, the propulsion system that course line can be corrected, the few penetration power of diverging
Compensation system, image mechanism and testing agency, the propulsive mechanism, light compensation system, image mechanism and testing agency are solid respectively
Dingan County is loaded on support body.
Preferably, above-mentioned propulsion system is provided with multiple first propulsive mechanisms and multiple second propulsive mechanisms.
By the side where image mechanism be defined as support body just before, the first propulsive mechanism is fixedly installed in and support body
Just above relative side, and the side is defined as to the rear back side of support body.
Second propulsive mechanism is provided with the second propeller, and the second propeller is fixedly installed in the side of support body and the side point
Not with just above and the rear back side is adjacent, the side to be defined as to the upper bottom surface of support body, will with just before, the rear back side and upper bottom surface all
Adjacent side is defined as left surface, and the definition relative with left surface is right flank.
The horizontal direction that first propulsive mechanism is used for underwater robot promotes.
The vertical direction that second propulsive mechanism is used for underwater robot promotes.
Preferably, above-mentioned first propulsive mechanism is provided with the first propeller and automatic regulating system, the first propeller and from
The drive connection of dynamic regulation system.
Preferably, above-mentioned automatic regulating system is provided with gyroscope, the first stepper motor and the first bindiny mechanism, the first step
Stepper motor is fixedly connected with support body, and gyroscope is fixedly installed in inside the first stepper motor, and the first bindiny mechanism is fixedly installed in
The axis of the surface of first propeller and the first bindiny mechanism is vertical with left surface, the first stepper motor and the first bindiny mechanism
One end is connected, and the other end support body of the first bindiny mechanism is fixedly connected.
Gyroscope is used to sense the course line of underwater robot and sends the signal corrected vertically to the first stepper motor.
First bindiny mechanism is used for the propeller of band first perpendicular to left surface axial rotation.
First stepper motor drives one end of the first bindiny mechanism to rotate.
Further, the first bindiny mechanism is provided with the first connexon end, the second connexon end and clutch shaft bearing.
Second connexon end is provided with the first shaft end being engaged respectively with the first recessed and clutch shaft bearing through hole and is used for
Second recess of assembly clutch shaft bearing, clutch shaft bearing are flush-mounted in the second recess；The second connexon end is provided with respectively with
The first shaft end that the through hole of one recess and clutch shaft bearing is engaged and the second recess for assembly clutch shaft bearing, clutch shaft bearing are embedding
Loaded on the second recess.
Second connexon end is fixedly installed in support body, the first connexon end in the surface for being fixedly installed in the first propeller and
It is connected with the first stepper motor；First shaft end is flexibly connected by the second recess and clutch shaft bearing with the second connexon end.
Preferably, above-mentioned smooth compensation system is provided with the first smooth compensation mechanism and the second smooth compensation mechanism, the compensation of the first light
Mechanism and the second smooth compensation mechanism be fixedly installed in respectively support body just before.
Preferably, the above-mentioned first smooth compensation mechanism be provided with lamp socket, lens and the first smooth compensation mechanism of lamp be provided with lamp socket,
Lens and illuminating lamp, illuminating lamp and lens light absorber are fixedly installed in lamp socket successively.
Lens are used to converge the light that illuminating lamp is sent.
Preferably, above-mentioned lamp socket includes first stroma and multiple second stromas, and the first stroma is located in lamp socket
The heart, the second stroma are in be evenly distributed in lamp socket around the first stroma.
Further, the first stroma is provided with 1, and the second stroma is provided with 3 or more than 3.
Preferably, the angle of the axis of above-mentioned first stroma and the axis of the second stroma is defined as α, and 0 ° of ＜ α ＜
90°。
Preferably, the above-mentioned first smooth compensation mechanism is additionally provided with light absorber.
Light absorber is fixedly installed in the outer surface above the first stroma and light absorber is enclosed in the outside of lens；Or
Light absorber is fixedly installed in the outer surface above the first stroma and light absorber be enclosed in lens outside at least one
Kind；
Preferably, above-mentioned light absorber is provided with baffle vane and light-absorbing coating.
Preferably, the axis of the vertical light absorber of above-mentioned baffle vane is welded in the inner surface of light absorber.
Enter upper step, light-absorbing coating is attached to the inner surface of light absorber and the surface of baffle vane.
Light absorber is used to absorb scattering light.
Preferably, above-mentioned image mechanism angle adjusting mechanism and video camera, angle adjusting mechanism are fixedly connected with support body, are taken the photograph
Camera is connected with angle adjusting mechanism.
Preferably, above-mentioned angle adjusts machine section machine to be provided with the second stepper motor, the first controlling organization and connecting shaft, the first control
Mechanism processed is installed in the electronics storehouse of underwater robot and is connected with the second stepper motor electric signal, and the second stepper motor is with being connected
Axle one end is connected, and the other end and the video camera of connecting shaft are connected.
First controlling organization sends electric signal by wired or wireless reception signal and to the second stepper motor.
Axial rotation of first stepper motor by changeover mechanism to video camera perpendicular to video camera axis.
The electronics storehouse is fixedly installed in the side relative with the upper bottom surface of support body, and the side is defined as into bottom surface.
Preferably, above-mentioned support body includes the kickboard and framework for being fixedly installed in support body upper bottom surface, and kickboard is provided with relatively
Both sides be respectively arranged with the breach that the second propulsive mechanism matches.
Preferably, above-mentioned first propulsive mechanism, the second propulsive mechanism, the first smooth compensation mechanism and the second smooth compensation mechanism point
Two are not arranged to.
The center of gravity of underwater robot and the resultant action point of buoyancy are in same vertical line.
The center of gravity of underwater robot and the resultant action point of buoyancy are in same vertical line.
A kind of underwater robot of the present invention, it is strong to be provided with support body, the propulsion system that course line can be corrected, the few penetration power of diverging
Light compensation system, image mechanism and testing agency, the propulsive mechanism, light compensation system, image mechanism and testing agency point
Support body is not fixedly installed in it.The underwater robot has the propulsion system that can be used for correcting course line, and machine is under water under water
Whether can be drifted off the course with automatic detection during action, automatically adjusting the angle of propeller makes underwater robot steady.This hair simultaneously
The angle of departure that bright light compensation system tool use can absorb scattering light and light is small, penetration capacity effectively reduces by force fore-and-aft direction
Reflected light.The underwater robot has underwater the characteristics of operating steadily, while can avoid the scattering light pair of light compensation system
Camera system has an impact, improve image quality the characteristics of.
Brief description of the drawings
Using accompanying drawing, the present invention is further illustrated, but the content in accompanying drawing does not form any limit to the present invention
System.
Fig. 1 is a kind of structural representation of underwater robot embodiment 1 of the present invention.
Fig. 2 is a kind of schematic diagram of underwater robot embodiment 1 of the present invention, and the A in Fig. 2 is that the B in front view, Fig. 2 is
C in upward view, Fig. 2 is that the D in top view, Fig. 2 is that E in left view, Fig. 2 is right view.
Fig. 3 is a kind of structural representation of the propulsive mechanism of underwater robot first of the present invention.
Fig. 4 is a kind of explosive view of the propulsive mechanism of underwater robot first of the present invention.
Fig. 5 is a kind of structural representation at the second connexon of underwater robot end of the present invention.
Fig. 6 is a kind of structural representation of underwater robot image mechanism of the present invention.
Fig. 7 is a kind of schematic diagram of 1 first smooth compensation mechanism of underwater robot embodiment of the present invention, and the A in Fig. 7 is left view
Scheme, the B in Fig. 7 is front view.
Fig. 8 is a kind of schematic cross-section of the first smooth compensation mechanism of underwater robot of the present invention.
Fig. 9 is a kind of schematic cross-section of underwater robot light absorber of the present invention.
In Fig. 1 to 9, include
Propulsion system 10,
First propulsive mechanism 11,
Automatic regulating system 111,
First stepper motor 1121,
Bindiny mechanism 1122,
First connexon end 11221, the first recess 112211,
Second connexon end 11222, the first shaft end 112221, the second recess 112222,
Clutch shaft bearing 11223,
Bindiny mechanism 1122, gyroscope 1123,
Second propulsive mechanism 12,
Light compensation system 20,
First smooth compensation mechanism 21,
Lamp socket 211, the first stroma 2111, the second stroma 2112,
Illuminating lamp 212, lens 213,
Light absorber 214, baffle vane 2141, light-absorbing coating 2142,
Second smooth compensation mechanism 22,
Image mechanism 30,
Angle adjusting mechanism 31, the second stepper motor 311, the first controlling organization 312, connecting shaft 313,
Electronics storehouse 50.
Embodiment
Technical scheme is described further with the following Examples.
Embodiment 1.
A kind of underwater robot, as shown in figs 1-9, support body is provided with, the propulsion system 10 in course line can be corrected, dissipate and wear less
The strong light compensation system 20 of saturating power, image mechanism 30 and testing agency, the propulsive mechanism, light compensation system 20, image mechanism
30 and testing agency be fixedly installed in support body respectively.
Propulsion system 10 is provided with multiple first propulsive mechanisms 11 and multiple second propulsive mechanisms 12.By the institute of image mechanism 30
Side be defined as support body just before, the first propulsive mechanism 11 is fixedly installed in the just above relative side with support body,
And the side is defined as to the rear back side of support body.Second propulsive mechanism 12 is provided with the second propeller, and the second propeller fixes peace
Loaded on the side of support body and the side respectively with just above and the rear back side is adjacent, the side to be defined as to the upper bottom surface of support body, general
With just before, the rear back side and all adjacent side of upper bottom surface be defined as left surface, the definition relative with left surface is right flank.
The horizontal direction that first propulsive mechanism 11 is used for underwater robot promotes.
The vertical direction that second propulsive mechanism 12 is used for underwater robot promotes.
First propulsive mechanism 11 is provided with the first propeller and automatic regulating system 111, the first propeller and automatically adjusts
System 111 is connected.
Automatic regulating system 111 is provided with gyroscope 1123, the first stepper motor 1121 and the first bindiny mechanism 1122, the
One stepper motor 1121 is fixedly connected with support body, and gyroscope 1123 is fixedly installed in inside the first stepper motor 1121, and first connects
Connection mechanism 1122 is fixedly installed in the surface of the first propeller and the axis of the first bindiny mechanism 1122 is vertical with left surface, and first
One end drive connection of the bindiny mechanism 1122 of stepper motor 1121 and first, the other end support body of the first bindiny mechanism 1122 are fixed
Connection.Gyroscope 1123 is used to sense the course line of underwater robot and the letter of horizontal amendment is sent to the first stepper motor 1121
Number.
First bindiny mechanism 1122 is used for the propeller of band first perpendicular to left surface axial rotation.
First stepper motor 1121 drives one end of the first bindiny mechanism 1122 to rotate.
First bindiny mechanism 1122 is provided with the first connexon end 11221, the second connexon end 11222 and clutch shaft bearing
11223.The through hole that second connexon end 11222 is provided with respectively with the first recess 112211 and clutch shaft bearing 11223 is engaged
The first shaft end 112221 and the second recess 112222 for assembly clutch shaft bearing 11223, clutch shaft bearing 11223 be flush-mounted in
Second recess 112222.
Second connexon end 11222 is fixedly installed in support body, and the first connexon end 11221 is in being fixedly installed in the first propulsion
The surface of device and it is connected with the first stepper motor 1121；First shaft end 112221 passes through the second recess and clutch shaft bearing
11223 are flexibly connected with the second connexon end 11222.
First smooth compensation mechanism 21 is provided with lamp socket 211, light absorber 214, lens 213 and illuminating lamp 212, illuminating lamp 212
Lamp socket 211 is fixedly installed in successively with the light absorber 214 of lens 213.
Lens 213 are used to converge the light that illuminating lamp 212 is sent.
Lamp socket 211 includes first stroma 2111 and multiple second stromas 2112, and the first stroma 2111 is located at lamp socket
211 center, the second stroma 2112 are in be evenly distributed in lamp socket 211 around the first stroma 2111.First stroma 2111 is provided with 1
Individual, the second stroma 2112 is provided with 3 or more than 3.The axis of first stroma 2111 and the axis of the second stroma 2112
Angle be defined as α, and 0 ° of 90 ° of ＜ α ＜.
First smooth compensation mechanism 21 is additionally provided with light absorber 214.Light absorber 214 is fixedly installed in the top of the first stroma 2111
Outer surface and light absorber 214 be enclosed in the outsides of lens 213.Light absorber 214 is provided with baffle vane 2141 and light-absorbing coating
2142.The axis of the vertical light absorber 214 of baffle vane 2141 is welded in the inner surface of light absorber 214.Light-absorbing coating 2142 is attached to
The inner surface of light absorber 214 and the surface of baffle vane 2141.
Light absorber 214 is used to absorb scattering light.Second stroma 2112 of the present embodiment is provided with 5, only in the first son
Seat 2111 is provided with light absorber 214.
The angle adjusting mechanism 31 of image mechanism 30 and video camera, angle adjusting mechanism 31 are fixedly connected with support body, video camera
It is connected with angle adjusting mechanism 31.Angle adjusts machine section machine to be provided with the second stepper motor 311, the and of the first controlling organization 312
Connecting shaft 313, the first controlling organization 312 be installed in the electronics storehouse 50 of underwater robot and with the telecommunications of the second stepper motor 311
Number connection, the second stepper motor 311 are connected with the one end of connecting shaft 313, and the other end and the video camera transmission of connecting shaft 313 connect
Connect.
First controlling organization 312 sends electric signal by wired or wireless reception signal and to the second stepper motor 311.The
Axial rotation of one stepper motor 1121 by changeover mechanism to video camera perpendicular to video camera axis.
Under water in the robot course of work, operating personnel waterborne can be adjusted video camera and carried out according to actual conditions
Perpendicular to being adjusted axially for video camera axis.
Electronics storehouse 50 is fixedly installed in the side relative with the upper bottom surface of support body, and the side is defined as into bottom surface.
Support body includes the kickboard and framework for being fixedly installed in support body upper bottom surface, and kickboard is provided with relative both sides and set respectively
It is equipped with the breach that the second propulsive mechanism 12 matches.First propulsive mechanism 11, the second propulsive mechanism 12, the first smooth compensation mechanism 21
Two are respectively set to the second smooth compensation mechanism 22.
Two the first propulsive mechanisms 11 and two the second propulsive mechanisms 12 can be such that the power of underwater robot is distributed more
Uniformly, it is more steady during operation.
Two the first smooth compensation mechanisms 21 and two the second smooth compensation mechanisms 22 can make image mechanism 30 within sweep of the eye
Light compensation it is more sufficient.
The operation principle of the present invention is as follows：Above and below the navigation of underwater robot during play, gyroscope 1123 is to the first step
Stepper motor 1121, which is sent, repaiies signal, and the axle of the first stepper motor 1121, which rotates, makes the first propeller be rotated to opposite direction, makes
Underwater robot even running.In light compensation system 20, baffle vane 2141 can stop the larger light of launch angle and extinction
The coating that the inside of device 214 has extinction can absorb the light for being radiated at its surface, so as to may filter that the larger light of launch angle
Line, the light angle for making to send from the first smooth compensation mechanism 21 are relatively concentrated, and without scattering light, light penetration ability is strong.
It should be noted that light absorber 214 of the invention can have following several ways：1st, light absorber 214 is fixedly installed in
The outer surface of the top of first stroma 2111 and light absorber 214 are enclosed in the outside of lens 213.2nd, light absorber 214 is fixedly installed in
The outer surface of the top of first stroma 2111 and light absorber 214 are enclosed in the outside of lens 213.3rd, light absorber 214 is fixed pacifies respectively
The outer surface of top loaded on the first stroma 2111 and the second stroma 2112 and light absorber 214 are enclosed in the outside of lens 213.This
Embodiment is first way, can also select other two ways according to being actually needed.Second stroma 2112 can be set
For 5 preferably, it can also be provided that 3 or more than 3.The underwater robot has the propulsion system that can be used for correcting course line
Whether system 10, can be drifted off the course, automatically adjusting the angle of propeller makes water when machine is taken action under water under water with automatic detection
Lower robot is steady.Simultaneously the light compensation system 20 of the present invention have use can absorb scattering light and light the angle of departure it is small, wear
Saturating ability effectively reduces by force the reflected light of fore-and-aft direction.The underwater robot has underwater the characteristics of operating steadily, while can
Avoid the scattering light of light compensation system from having an impact camera system, improve image quality the characteristics of.
Embodiment 2.
A kind of underwater robot, other features are same as Example 1, and difference is, the second stroma 2112 is provided with
3.
The light compensation range of the second smooth compensation mechanism 22 of the present embodiment is wider, to image mechanism 30 more with profit.
The underwater robot has the propulsion system 10 that can be used for correcting course line, can when machine is taken action under water under water
Whether drifted off the course with automatic detection, automatically adjusting the angle of propeller makes underwater robot steady.The light of the present invention is mended simultaneously
Repay system 20 have use can absorb scattering light and light the angle of departure is small, reflection that penetration capacity effectively reduces by force fore-and-aft direction
Light.The underwater robot has underwater the characteristics of operating steadily, while can avoid the scattering light of light compensation system to shooting system
System has an impact, improve image quality the characteristics of.
Embodiment 3.
A kind of underwater robot, other features are same as Example 2, and difference is, the center of gravity of underwater robot and
The resultant action point of buoyancy is in same vertical line.
It is more steady compared with embodiment 1 and embodiment 2 during the operation of the underwater robot of the present embodiment.
The underwater robot has the propulsion system 10 that can be used for correcting course line, can when machine is taken action under water under water
Whether drifted off the course with automatic detection, automatically adjusting the angle of propeller makes underwater robot steady.The light of the present invention is mended simultaneously
Repay system 20 have use can absorb scattering light and light the angle of departure is small, reflection that penetration capacity effectively reduces by force fore-and-aft direction
Light.The underwater robot has underwater the characteristics of operating steadily, while can avoid the scattering light of light compensation system to shooting system
System has an impact, improve image quality the characteristics of.
Embodiment 4.
A kind of underwater robot, other features are same as Example 1, and difference is, first stroma of the present embodiment
2111 and second stroma 2112 be both provided with light absorber 214.
The penetration capacity compared with embodiment 1 and light of the first smooth compensation mechanism 21 of the present embodiment is stronger, and scattering light is more
It is few.
The underwater robot has the propulsion system 10 that can be used for correcting course line, can when machine is taken action under water under water
Whether drifted off the course with automatic detection, automatically adjusting the angle of propeller makes underwater robot steady.The light of the present invention is mended simultaneously
Repay system 20 have use can absorb scattering light and light the angle of departure is small, reflection that penetration capacity effectively reduces by force fore-and-aft direction
Light.The underwater robot has underwater the characteristics of operating steadily, while can avoid the scattering light of light compensation system to shooting system
System has an impact, improve image quality the characteristics of.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention rather than the present invention is protected
The limitation of scope, although being explained in detail with reference to preferred embodiment to the present invention, one of ordinary skill in the art should manage
Solution, can modify or equivalent substitution to technical solution of the present invention, without departing from the essence and model of technical solution of the present invention
Enclose.
Claims (10)
- A kind of 1. underwater robot, it is characterised in that：It is provided with support body, the propulsion system that course line can be corrected, the few penetration power of diverging Strong light compensation system, image mechanism and testing agency, the propulsive mechanism, light compensation system, image mechanism and testing agency Support body is fixedly installed in respectively.
- A kind of 2. underwater robot according to claim 1, it is characterised in that：The propulsion system is provided with multiple first Propulsive mechanism and multiple second propulsive mechanisms；By the side where image mechanism be defined as support body just before, the first propulsive mechanism be fixedly installed in support body just before The relative side in face, and the side is defined as to the rear back side of support body；Second propulsive mechanism is provided with the second propeller, the second propeller be fixedly installed in the side of support body and the side respectively with Just above it is adjacent with the rear back side, the side is defined as to the upper bottom surface of support body, will with just before, the rear back side and upper bottom surface it is all adjacent Side be defined as left surface, the definition relative with left surface is right flank；The horizontal direction that first propulsive mechanism is used for underwater robot promotes；The vertical direction that second propulsive mechanism is used for underwater robot promotes.
- A kind of 3. underwater robot according to claim 2, it is characterised in that：First propulsive mechanism is provided with first Propeller and automatic regulating system, the first propeller and automatically adjust be drive connection；The automatic regulating system is provided with gyroscope, the first stepper motor and the first bindiny mechanism, the first stepper motor and frame Body is fixedly connected, and gyroscope is fixedly installed in inside the first stepper motor, and the first bindiny mechanism is fixedly installed in the first propeller Surface and the first bindiny mechanism axis it is vertical with left surface, the transmission of one end of the first stepper motor and the first bindiny mechanism connects Connect, the other end support body of the first bindiny mechanism is fixedly connected；Gyroscope is used to sense the course line of underwater robot and sends the signal corrected vertically to the first stepper motor；First bindiny mechanism is used for the propeller of band first perpendicular to left surface axial rotation；First stepper motor drives one end of the first bindiny mechanism to rotate.
- A kind of 4. underwater robot according to claim 3, it is characterised in that：First bindiny mechanism is provided with first Connexon end, the second connexon end and clutch shaft bearing；The second connexon end is provided with the first shaft end being engaged respectively with the through hole of the first recess and clutch shaft bearing and use In the second recess of assembly clutch shaft bearing, clutch shaft bearing is flush-mounted in the second recess；Second connexon end is fixedly installed in support body, and the first connexon end is in the surface for being fixedly installed in the first propeller and with One stepper motor is connected；First shaft end is flexibly connected by the second recess and clutch shaft bearing with the second connexon end.
- A kind of 5. underwater robot according to claim 1, it is characterised in that：The smooth compensation system is provided with the first light Compensation mechanism and the second smooth compensation mechanism, the first smooth compensation mechanism and the second smooth compensation mechanism are being fixedly installed in support body just respectively Above；The first smooth compensation mechanism is provided with lamp socket, lens and illuminating lamp, and illuminating lamp and lens are fixedly installed in lamp socket successively；Lens are used to converge the light that illuminating lamp is sent.
- A kind of 6. underwater robot according to claim 5, it is characterised in that：The lamp socket includes first stroma With multiple second stromas, the first stroma is located at the center of lamp socket, and the second stroma is in be evenly distributed in lamp socket around the first stroma；First stroma is provided with 1, and the second stroma is provided with 3 or more than 3；The angle of the axis of first stroma and the axis of the second stroma is defined as α, and 0 ° of 90 ° of ＜ α ＜.
- A kind of 7. underwater robot according to claim 6, it is characterised in that：The first smooth compensation mechanism is additionally provided with Light absorber；Light absorber is fixedly installed in the outer surface above the first stroma and light absorber is enclosed in the outside of lens；OrLight absorber is fixedly installed in the outer surface above the first stroma and light absorber be enclosed in lens outside at least one；The light absorber is provided with baffle vane and light-absorbing coating；The axis of the vertical light absorber of the baffle vane is welded in the inner surface of light absorber；The light-absorbing coating is attached to the inner surface of light absorber and the surface of baffle vane；Light absorber is used to absorb scattering light.
- A kind of 8. underwater robot according to claim 7, it is characterised in that：The image mechanism angle adjusting mechanism and Video camera, angle adjusting mechanism are fixedly connected with support body, and video camera is connected with angle adjusting mechanism.
- A kind of 9. underwater robot according to claim 8, it is characterised in that：The angle adjusts machine section machine to be provided with second Stepper motor, the first controlling organization and connecting shaft, the first controlling organization is installed in the electronics storehouse of underwater robot and second step Stepper motor electric signal is connected, and the second stepper motor is connected with connecting shaft one end, and the other end and the video camera of connecting shaft are driven Connection；First controlling organization sends electric signal by wired or wireless reception signal and to the second stepper motor；Axial rotation of first stepper motor by changeover mechanism to video camera perpendicular to video camera axis.
- A kind of 10. underwater robot according to claim 9, it is characterised in that：The electronics storehouse is fixedly installed in and frame The relative side of the upper bottom surface of body, bottom surface is defined as by the side；The support body includes the kickboard and framework for being fixedly installed in support body upper bottom surface, and kickboard is provided with relative both sides and set respectively It is equipped with the breach that the second propulsive mechanism matches；First propulsive mechanism, the second propulsive mechanism, the first smooth compensation mechanism and the second smooth compensation mechanism are respectively set to two It is individual；The center of gravity of underwater robot and the resultant action point of buoyancy are in same vertical line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711117440.5A CN107718015B (en) | 2017-11-13 | 2017-11-13 | Underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711117440.5A CN107718015B (en) | 2017-11-13 | 2017-11-13 | Underwater robot |
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| CN107718015A true CN107718015A (en) | 2018-02-23 |
| CN107718015B CN107718015B (en) | 2023-09-15 |
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| CN201711117440.5A Active CN107718015B (en) | 2017-11-13 | 2017-11-13 | Underwater robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972580A (en) * | 2018-07-17 | 2018-12-11 | 张欣桐 | A kind of intelligent equip of water quality table environment shooting, collecting uses parallel manipulator |
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| CN108972580A (en) * | 2018-07-17 | 2018-12-11 | 张欣桐 | A kind of intelligent equip of water quality table environment shooting, collecting uses parallel manipulator |
| CN108972580B (en) * | 2018-07-17 | 2020-11-13 | 吉安县森博木业有限公司 | Water quality table environment shoots and gathers intelligent equipment and uses parallelly connected manipulator |
| CN109591989A (en) * | 2018-07-30 | 2019-04-09 | 上海大学 | It is suitble to deep-sea manned submersible to carry the abyssopelagic organism in-situ observation three-dimensional camera secured adjusted device of operation |
| CN109591989B (en) * | 2018-07-30 | 2021-08-10 | 上海大学 | Deep sea organism in-situ observation three-dimensional camera fixing and adjusting device suitable for carrying operation of deep sea manned submersible vehicle |
| CN109795661A (en) * | 2019-03-06 | 2019-05-24 | 天津海之星水下机器人有限公司 | A kind of underwater exploration robot propulsion device |
| CN109795661B (en) * | 2019-03-06 | 2023-05-23 | 天津海之星水下机器人有限公司 | Underwater survey robot propulsion device |
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| CN107718015B (en) | 2023-09-15 |
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