CN108032976A - A kind of underwater robot with tuning blade driving mechanism - Google Patents
A kind of underwater robot with tuning blade driving mechanism Download PDFInfo
- Publication number
- CN108032976A CN108032976A CN201711485480.5A CN201711485480A CN108032976A CN 108032976 A CN108032976 A CN 108032976A CN 201711485480 A CN201711485480 A CN 201711485480A CN 108032976 A CN108032976 A CN 108032976A
- Authority
- CN
- China
- Prior art keywords
- blade
- tuning
- driving mechanism
- housing
- slide opening
- 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
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
Abstract
The invention discloses a kind of underwater robot with tuning blade driving mechanism, including housing and driving mechanism；Tuning blade driving mechanism includes the blade driver being rotatably arranged on housing exterior walls and for driving blade driver with respect to the adjusted device of housing into rotation；Blade driver includes closed chamber, the blade being rotatably arranged on closed chamber and the blade drive motor being arranged in closed chamber；Closed chamber is equipped with annular seal space and mounting portion, and blade drive motor is fixed in annular seal space；Adjusted device includes setting tuning drive motor in the housing, the external thread rod being fixed on tuning drive motor output shaft and has and the flexible slide bar of the inner bolt hole of external thread rod adaptation；Flexible slide bar drives coupled blade driver to be rotated around the second shaft along during sealing slide opening slip.The present invention can complete complicated commutation work in shorter commutation apart from interior.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of underwater with tuning blade driving mechanism
People.
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, is under water on the basis of video camera mostly, increases mobile module, so as to complete independently to move
Dynamic or controlled movement, but the driving direction of its driving mechanism is limited, it is impossible to arbitrarily change direction under water, it is necessary to which longer changes
Commutation work could be completed to distance.
The content of the invention
The object of the present invention is to provide a kind of underwater robot with tuning blade driving mechanism, can be changed in shorter
Complicated commutation work is completed to apart from interior.
Realizing the technical solution of the object of the invention is：A kind of underwater robot with tuning blade driving mechanism, including
Housing and driving mechanism；Driving mechanism includes tuning blade driving mechanism；Tuning blade driving mechanism includes being rotatably arranged on shell
Blade driver on external wall and the adjusted device for driving blade driver housing into rotation relatively；Blade driver includes
Closed chamber, the blade being rotatably arranged on closed chamber and the blade drive motor being arranged in closed chamber；Closed chamber is equipped with sealing
Chamber and mounting portion, blade drive motor are fixed in annular seal space；Mounting portion is equipped with the first rotation section and the second rotation section；The
One rotation section includes the first rotating shaft with connecting hole, and first rotating shaft is rotatably arranged on the first rotation section；Wrap the second rotation section
Include the slideway portion equipped with spacing slide opening, the second axle mount being slidably arranged in spacing slide opening, be arranged on the second shaft peace
The second shaft in piece installing and it is arranged in spacing slide opening and positioned at two springs of the second axle mount both sides；Each spring
One end is connected on the second axle mount, and the other end of each spring is connected on a side of spacing slide opening namely slideway portion
On；The rotary centerline of first rotating shaft and the rotary centerline of the second shaft are parallel；Adjusted device includes setting in the housing
Tuning drive motor, the external thread rod being fixed on tuning drive motor output shaft and have and external thread rod adaptation
The flexible slide bar of inner bolt hole；Housing is equipped with sealing slide opening, and each flexible slide bar is stretched and slided in corresponding one sealing slide opening
The outer end of bar stretches out housing and is rotatedly connected with corresponding first rotation section；When tuning drive motor rotates, pass through outer spiral shell
Rasp bar drives flexible slide bar to reciprocatingly slide along sealing slide opening；Flexible slide bar drives coupled paddle along during sealing slide opening slip
Leaf driver is rotated around the second shaft.
In such scheme, the acute angle that the center line clamping of the center line of closed chamber and spacing slide opening is formed is 45 degree.
In such scheme, slideway portion is equipped with a sliding slot with opening and a spiral shell for being used to block the sliding slot opening
Cap, after nut twist-on is fixed on sliding slot opening, remaining sliding slot forms the spacing slide opening；Second axle mount
Including be adapted to spacing slide opening slider body portion, be arranged on slider body portion both sides be used for prevent from slipping from spacing slide opening
Two anticreep projected boards, be arranged on slider body for two positioning convex platform portions of retaining spring and for setting the
The axle hole of two shafts；One end that each spring is connected on the second axle mount is set in a corresponding positioning convex platform portion.
In such scheme, housing exterior walls are equipped with locating support, and the second shaft is rotatably arranged on the locating support.
In such scheme, the outer end of flexible slide bar is inserted into the connecting hole of a corresponding first rotating shaft.
The present invention has positive effect：Due to the tuning blade mechanism with special construction, certain angle can occur in
The tuning driving force arbitrarily adjusted in degree, can complete complicated commutation work in shorter commutation apart from interior.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram of the present invention；
Fig. 2 is that robot shown in Fig. 1 removes a kind of dimensional structure diagram after head cover；
Fig. 3 is a kind of half sectional view of robot shown in Fig. 2；
Fig. 4 is a kind of dimensional structure diagram of blade driver in robot shown in Fig. 3；
Fig. 5 is a kind of explosive view of blade driver shown in Fig. 4；
Fig. 6 is a kind of dimensional structure diagram when robot shown in Fig. 1 is in the fully extended state；
Fig. 7 is that robot shown in Fig. 6 removes a kind of half sectional view after head cover.
Reference numeral is：Housing 1, hemispherical observation window 11, locating support 12, seals slide opening 13, orients blade driving machine
Structure 2, orientation propeller 21, orientation drive motors 22, orientation output shaft 221, tuning blade driving mechanism 3, blade driver 4,
Closed chamber 41, power supply 42, blade 43, protective cover 44, blade drive motor 45, annular seal space 46, mounting portion 47, the first rotation section
48, first rotating shaft 481, connecting hole 482, the second rotation section 49, slideway portion 491, sliding slot 4911, nut 4912, spacing slide opening
492, the second axle mount 493, slider body portion 4931, anticreep projected board 4932, positioning convex platform portion 4933, axle hole
4934, the second shaft 494, spring 495, adjusted device 5, tuning drive motor 51, tuning drive motor output shaft 511, outer spiral shell
Rasp bar 52, flexible slide bar 53, inner bolt hole 531, cleaning agency 6, semi-circular support plate 61, cleaning brush 62, photographing module 7, holder
Mechanism 71, camera 72.
Embodiment
（Embodiment 1）
The present embodiment is a kind of underwater robot with tuning blade driving mechanism, as shown in Fig. 1 to Fig. 7, including housing 1,
The photographing module 7 being built in housing and the driving mechanism for drive shell movement.
The global shape of housing is spherical, and the lower part of housing is equipped with transparent hemispherical observation window 11；Photographing module includes
The cradle head mechanism 71 with drive motor that is built in housing, the camera 72 being arranged on cradle head mechanism and it is arranged on holder
Headlamp in mechanism.Camera is fixed at the bottom of cradle head mechanism, the transparent wall of camera face hemispherical observation window
Body.
Driving mechanism include the orientation blade driving mechanism 2 fixed relative to housing of driving direction and driving direction relative to
The adjustable tuning blade driving mechanism 3 of housing；
Orientation blade driving mechanism 2 include being arranged on the orientation propeller 21 of hull outside and set in the housing for driving
Orient the orientation drive motors 22 of propeller rotational.
In the present embodiment, orientation drive motors are a double shaft-protruding type drive motors, and motor two is stretched out at the both ends of its shaft
Side forms two orientation output shafts 221, and housing is stretched out in each outer end for orienting output shaft；The quantity for orienting propeller is two, respectively
Orientation propeller is fixed on corresponding orientation output shaft；By designing the shape of blade, this two orientation propellers
The power direction of generation is identical, and point-blank, and its power direction is changeless relative to housing.
Tuning blade driving mechanism 3 includes the blade driver 4 being rotatably arranged on housing exterior walls and for driving blade
Adjusted device 5 of the driver with respect to housing into rotation；
Blade driver 4 includes closed chamber 41, the power supply 42 being arranged in closed chamber, the blade being rotatably arranged on closed chamber
43rd, be arranged on sealing chamber outer wall for the blade drive motor protecting the protective cover 44 of blade and be arranged in closed chamber
45；Closed chamber is equipped with annular seal space 46 and mounting portion 47, and power supply and blade drive motor are fixed in annular seal space；
Mounting portion is equipped with the first rotation section 48 and the second rotation section 49；First rotation section 48 includes first with connecting hole 482
Shaft 481, first rotating shaft are rotatably arranged on the first rotation section；Second rotation section 49 includes the slideway equipped with spacing slide opening 492
Portion 491, the second axle mount 493 being slidably arranged in spacing slide opening, be arranged on the second axle mount second turn
Axis 494 and it is arranged in spacing slide opening and positioned at two springs 495 of the second axle mount both sides；One end of each spring abuts
On the second axle mount, the other end of each spring is connected on a side of spacing slide opening namely in slideway portion, so as to be
Second axle mount provides reseting elasticity；The rotary centerline of first rotating shaft and the rotary centerline of the second shaft are parallel.This
In embodiment, the shape of closed chamber is tubulose, and the acute angle that the center line clamping of the center line of closed chamber and spacing slide opening is formed is
45 degree.This angle enables to blade driver 4 to produce the driving force for driving housing to rise when in original state,
And the driving force for driving housing sidesway is produced when in the fully extended state.
In the present embodiment, slideway portion 491 is equipped with a sliding slot 4911 with opening and one is opened for blocking the sliding slot
The nut 4912 of mouth, after nut twist-on is fixed on sliding slot opening, remaining sliding slot forms the spacing slide opening 492；It is described
Second axle mount 493 includes and the slider body portion 4931 of spacing slide opening adaptation, the use for being arranged on slider body portion both sides
In two anticreep projected boards 4932 for preventing from slipping from spacing slide opening, two for retaining spring being arranged on slider body
A positioning convex platform portion 4933 and the axle hole 4934 for setting the second shaft；Each spring is connected on the second axle mount
One end be set in a corresponding positioning convex platform portion.This structure causes the second axle mount and the second shaft by two bullets
Spring is abutted and is centrally positioned, and can compress some spring under external force so as to be slided towards direction where the spring.
In the present embodiment, housing exterior walls are equipped with locating support 12, and the second shaft is rotatably arranged on the locating support.
Adjusted device 5 includes setting tuning drive motor 51 in the housing, is fixed at the output of tuning drive motor
External thread rod 52 on axis 511 and the flexible slide bar 53 with the inner bolt hole 531 with external thread rod adaptation；Housing is equipped with close
Slide opening 13 is sealed, each flexible slide bar is in corresponding one sealing slide opening, and housing and and corresponding one is stretched out in the outer end of flexible slide bar
A first rotation section is rotatedly connected；In the present embodiment, the outer end of flexible slide bar is inserted into the connecting hole of a corresponding first rotating shaft；
When tuning drive motor rotates, flexible slide bar is driven to reciprocatingly slide along sealing slide opening by external thread rod；Flexible slide bar is along close
When sealing slide opening slip, coupled blade driver is driven to be rotated around the second shaft.
In the present embodiment, the quantity of blade driver is two, and is symmetricly set on housing both sides；So in the present embodiment
Tuning drive motor preferably stretch out motor both sides using double shaft-protruding type drive motors, the both ends of its shaft and form two output shafts
511, the tuning drive motor drives two external thread rods to rotate synchronously, so as to fulfill two blade drivers around respective second
Shaft rotates synchronously.
In concrete practice, two tuning drive motors can be also used, namely individually drive using each tuning drive motor
One external thread rod rotates, and is individually rotated around respective second shaft so as to fulfill two blade drivers.
In the present embodiment, the rotary centerline of blade is coplanar in the center line and blade driver of flexible slide bar, orients spiral shell
The rotary centerline of paddle is revolved perpendicular to the face, namely the power direction that produces of orientation propeller is all the time in blade driver
The power direction that blade produces.
In the present embodiment, the adjustable direction of the tuning driving force of two tuning blade driving mechanisms is all located at same plane
Interior, which is known as tuning face；The directed driven power of propeller is oriented perpendicular to the tuning face where tuning driving force.
The present embodiment also has the cleaning agency 6 for being used for cleaning hemispherical observation window outer wall, and cleaning agency includes semi-circular
Support plate 61, set in the housing be used for drive semi-circular support plate reciprocally swinging cleaning drive motor, be fixed at
The cleaning brush 62 of semi-circular support plate inner wall uplink；The output shaft stretching housing for cleaning drive motor is fixed at semi-circular branch
One end of plate is held, the other end of semi-circular support plate is rotatably arranged on housing by axis pin；Cleaning brush preferably uses elastic gum
Skin or hairbrush are made；Clean drive motor and semi-circular support plate reciprocally swinging is driven by output shaft, and then drive cleaning brush brush
Except the foul on hemispherical observation window outer wall.
In the present embodiment work, the power direction that propeller provides of orienting in blade driving mechanism is oriented relative to housing
Immobilize, the power direction that blade in tuning blade driving mechanism provides can change relative to housing, so as to fulfill compared with
For complicated shift action.
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 variations or changes in different ways.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 underwater robot with tuning blade driving mechanism, including housing and driving mechanism；It is characterized in that：Driving
Mechanism includes tuning blade driving mechanism；
Tuning blade driving mechanism includes the blade driver being rotatably arranged on housing exterior walls and for driving blade driver
With respect to the adjusted device of housing into rotation；
Blade driver includes closed chamber, the blade being rotatably arranged on closed chamber and the blade driving horse being arranged in closed chamber
Reach；Closed chamber is equipped with annular seal space and mounting portion, and blade drive motor is fixed in annular seal space；
Mounting portion is equipped with the first rotation section and the second rotation section；First rotation section include with connecting hole first rotating shaft, first
Shaft is rotatably arranged on the first rotation section；Second rotation section include equipped with spacing slide opening slideway portion, be slidably arranged in it is spacing
The second axle mount in slide opening, the second shaft being arranged on the second axle mount and it is arranged in spacing slide opening and position
Two springs in the second axle mount both sides；One end of each spring is connected on the second axle mount, each spring it is another
One end is connected on a side of spacing slide opening namely in slideway portion；The rotation of the rotary centerline of first rotating shaft and the second shaft
Centerline parallel；
Adjusted device include setting tuning drive motor in the housing, be fixed at it is outer on tuning drive motor output shaft
Threaded rod and the flexible slide bar with the inner bolt hole with external thread rod adaptation；Housing is equipped with sealing slide opening, each flexible slide bar
In corresponding one sealing slide opening, and housing and and corresponding first rotation section rotation phase are stretched out in the outer end of flexible slide bar
Even；When tuning drive motor rotates, flexible slide bar is driven to reciprocatingly slide along sealing slide opening by external thread rod；Flexible slide bar edge
When sealing slide opening slip, coupled blade driver is driven to be rotated around the second shaft.
2. the underwater robot according to claim 1 with tuning blade driving mechanism, it is characterised in that：Closed chamber
The acute angle that the center line clamping of center line and spacing slide opening is formed is 45 degree.
3. the underwater robot according to claim 1 with tuning blade driving mechanism, it is characterised in that：Slideway portion is set
There are a sliding slot with opening and a nut for being used to block the sliding slot opening, when nut twist-on is fixed on sliding slot opening
Afterwards, remaining sliding slot forms the spacing slide opening；Second axle mount includes and the slider body of spacing slide opening adaptation
Portion, be arranged on slider body portion both sides for prevent from slipping from spacing slide opening two anticreep projected boards, be arranged on sliding block
The axle hole for two positioning convex platform portions of retaining spring and for setting the second shaft on body；Each spring is connected to
One end on second axle mount is set in a corresponding positioning convex platform portion.
4. the underwater robot according to claim 3 with tuning blade driving mechanism, it is characterised in that：Housing exterior walls
Locating support is equipped with, the second shaft is rotatably arranged on the locating support.
5. the underwater robot according to claim 4 with tuning blade driving mechanism, it is characterised in that：Flexible slide bar
Outer end be inserted into the connecting hole of a corresponding first rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711485480.5A CN108032976A (en) | 2017-12-30 | 2017-12-30 | A kind of underwater robot with tuning blade driving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711485480.5A CN108032976A (en) | 2017-12-30 | 2017-12-30 | A kind of underwater robot with tuning blade driving mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108032976A true CN108032976A (en) | 2018-05-15 |
Family
ID=62099162
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711485480.5A Pending CN108032976A (en) | 2017-12-30 | 2017-12-30 | A kind of underwater robot with tuning blade driving mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108032976A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101475055A (en) * | 2009-01-21 | 2009-07-08 | 上海广茂达伙伴机器人有限公司 | Underwater robot |
| CN106214083A (en) * | 2016-09-08 | 2016-12-14 | 肇庆市小凡人科技有限公司 | One hangs pull-type glass curtain wall clean robot |
| CN206087176U (en) * | 2016-10-14 | 2017-04-12 | 福建海图智能科技有限公司 | Small -size sextuple degree motion underwater robot |
| CN106945809A (en) * | 2017-02-23 | 2017-07-14 | 浙江大学 | Vector screw propeller for submersible |
| CN207956005U (en) * | 2017-12-30 | 2018-10-12 | 殷红平 | A kind of underwater robot with tuning blade driving mechanism |
-
2017
- 2017-12-30 CN CN201711485480.5A patent/CN108032976A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101475055A (en) * | 2009-01-21 | 2009-07-08 | 上海广茂达伙伴机器人有限公司 | Underwater robot |
| CN106214083A (en) * | 2016-09-08 | 2016-12-14 | 肇庆市小凡人科技有限公司 | One hangs pull-type glass curtain wall clean robot |
| CN206087176U (en) * | 2016-10-14 | 2017-04-12 | 福建海图智能科技有限公司 | Small -size sextuple degree motion underwater robot |
| CN106945809A (en) * | 2017-02-23 | 2017-07-14 | 浙江大学 | Vector screw propeller for submersible |
| CN207956005U (en) * | 2017-12-30 | 2018-10-12 | 殷红平 | A kind of underwater robot with tuning blade driving mechanism |
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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: 20180515 |