CN108069015A - A kind of transmission device for underwater robot - Google Patents
A kind of transmission device for underwater robot Download PDFInfo
- Publication number
- CN108069015A CN108069015A CN201810074286.6A CN201810074286A CN108069015A CN 108069015 A CN108069015 A CN 108069015A CN 201810074286 A CN201810074286 A CN 201810074286A CN 108069015 A CN108069015 A CN 108069015A
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- CN
- China
- Prior art keywords
- slide
- rotating member
- transmission device
- magnetic
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
-
- 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
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/22—Transmitting power from propulsion power plant to propulsive elements with non-mechanical gearing
Abstract
The invention discloses a kind of transmission device for underwater robot, including the first rotating member and the second rotating member；One end of first rotating member has magnetic rotation block, and one end of the second rotating member has multiple magnetic parts that the rotation direction along the second rotating member is set, and multiple magnetic parts surround to house the accommodating cavity of magnetic rotation block；One end of the separate magnetic rotation part of first rotating member or one end of the separate magnetic part of the second rotating member are equipped with the connecting portion connected for the pto shaft drive of same power set.Apparatus of the present invention are for the transmission device for being currently used for underwater robot, reduce the use of steering engine, so as to reduce mechanically operated connection, and then make the simpler section of transmission structures, performance is more stable, meanwhile because the steering engine usage amount of this transmission device is less, therefore the water proofing property of this tumbler can be greatly improved for the transmission device for being currently used for underwater robot.
Description
Technical field
The present invention relates to the technical fields of submarine navigation device, specifically, refer to a kind of transmission for underwater robot
Device.
Background technology
The power output device of underwater robot propulsion system at present, complicated, high energy consumption, and poor reliability, sternly
Ghost image rings the underwater monitoring of underwater robot and detects.
The content of the invention
The present invention provides a kind of transmission device for underwater robot, for solving to exist in the prior art：Underwater machine
The power output device of device people is complicated, high energy consumption and the technical issues of poor reliability.
In order to solve the above-mentioned technical problem, the invention is realized by the following technical scheme：Including the first rotating member and second
Rotating member；One end of first rotating member has magnetic rotation block, and one end of second rotating member has along described second
Multiple magnetic parts that the rotation direction of rotating member is set, multiple magnetic parts surround to house the appearance of the magnetic rotation block
Put chamber；
One end of the separate magnetic rotation block of first rotating member or the separate magnetic of second rotating member
Property part one end be equipped with for same power set pto shaft drive connect connecting portion.
In order to which the present invention is better achieved, further, second rotating member is also associated with installing multiple described
The mounting base of magnetic part, the mounting base have the cavity for housing the magnetic part moving block, and the mounting base is equipped with more
A mounting groove along the circumferentially disposed of the cavity and for installing the magnetic part, the magnetic part are arranged on the mounting groove.
In order to which the present invention is better achieved, further, the cavity is cylindrical.
In order to which the present invention is better achieved, further, the magnetic rotation block includes spherical swivel and magnetic leaf, institute
It states magnetic leaf display and is distributed in the spherical swivel outer surface.
In order to which the present invention is better achieved, further, the transmission device further includes motion adjustment mechanism, the movement
Adjusting mechanism includes connector, the first planar kinematic pair and the second planar kinematic pair, and the connector is fixedly connected on described the
Between the movable part of the movable part of one planar kinematic pair and second planar kinematic pair；The movement of first planar kinematic pair
The plane of movement of plane and the second planar kinematic pair intersects；
One end of the separate magnetic rotation block of first rotating member or the separate magnetic of second rotating member
Property part one end in any one be connected with the connecting portion, another one through first planar kinematic pair movable part,
At least one of the movable part of second planar kinematic pair or the connector three.
In order to which the present invention is better achieved, further, first planar kinematic pair is including the first slide and slidably
Ground is matched with the first sliding block of first slide, second planar kinematic pair include the second slide and slidably engage in
Second sliding block of second slide, the connector are fixedly connected between first sliding block and second sliding block.
In order to which the present invention is better achieved, further, the motion adjustment mechanism further includes pedestal, first slide
The pedestal is articulated with the end of second slide；
First slide and second slide are curved track, and the rotational axis line of first slide is positioned at described
Plane corresponding to first slide where circular arc, the rotational axis line of second slide are located at circle corresponding to second slide
Plane where arc, the center of circle of circular arc overlaps with the center of circle of circular arc corresponding to second slide and sets corresponding to first slide
It puts.
In order to which the present invention is better achieved, further, the arc length of circular arc and described first corresponding to first slide
The ratio between perimeter of circle corresponding to slide is 1:2, corresponding to the arc length of circular arc corresponding to second slide and second slide
The ratio between round perimeter is 1:2.
In order to which the present invention is better achieved, further, the radius of maximum circular arc corresponding to first slide with it is described
The ratio between radius of minimum circular arc is 1 corresponding to second slide:0.5~0.98.
In order to which the present invention is better achieved, further, the motion adjustment mechanism further includes drive component, the driving
Component is arranged on the pedestal, and the driving component is sequentially connected with first slide and second slide, so that described
The rotational axis line that first slide prolongs first slide rotates, and second slide is made to prolong the rotation axis of second slide
Heart line rotates.
Compared with prior art, the present invention haing the following advantages and advantageous effect：The present invention is by setting the first rotating member
With the second rotating member, one end of the first rotating member sets magnetic rotation block, and second rotating member one end sets multiple magnetic parts, multiple
Magnetic part surrounds the accommodating cavity that can house magnetic rotation block, by connecting power on the first rotating member or the second rotating member
Device in the case where power set export power, by power transmission to magnetic rotation block or magnetic part, passes through magnetic coupling machine
System drives magnetic part or magnetic rotation block, so as to fulfill the contactless transmission function of power.
The present apparatus reduces the use of steering engine for the transmission device for being currently used for underwater robot, so as to subtract
Few mechanically operated connection, and then make the simpler section of transmission structures, performance is more stable, meanwhile, because of the rudder of this transmission device
Machine usage amount is less, therefore the water proofing property of this transmission device can for the transmission device for being currently used for underwater robot
It is greatly improved.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other features of the invention,
Objects and advantages will become apparent：
Fig. 1 is the first visual angle of transmission device in the embodiment of the present invention；
Fig. 2 is the stereogram of transmission device in the embodiment of the present invention；
Fig. 3 is the first visual angle of motion adjustment mechanism in the embodiment of the present invention；
Fig. 4 is the stereogram of motion adjustment mechanism in the embodiment of the present invention；
Fig. 5 is the first visual angle of transmission device and motion adjustment mechanism assembled state in the embodiment of the present invention；
Fig. 6 is transmission device and the stereogram of motion adjustment mechanism assembled state in the embodiment of the present invention.
Wherein：The first rotating members of 11-；The second rotating members of 12-；13- power set；14- mounting bases；15- mounting grooves；16-
Magnetic rotation block；20- motion adjustment mechanisms；21- connectors；The first slides of 22-；The second slides of 23-；24- pedestals；26- first
Steering engine；The second steering engines of 27-；28- propellers.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.The present invention implementation being usually described and illustrated herein in the accompanying drawings
The component of example can configure to arrange and design with a variety of.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiments obtained without creative efforts belong to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it is necessary to explanation, the orientation or position of the instructions such as term " center of circle ", " interior ", " outer "
Relation be based on orientation shown in the drawings or position relationship or the invention product using when the orientation or position usually put
Relation is for only for ease of the description present invention and simplifies description rather than instruction or imply that signified device or element must have
There is specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
Term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
Term " parallel ", " vertical " etc. are not offered as requiring component absolute parallel or vertical, but can be slightly tilted.Such as
" parallel " only refers to that its direction is more parallel with respect to for " vertical ", is not to represent that the structure has to be substantially parallel, and
It is that can be slightly tilted.
The terms such as term " level ", " vertical " are not offered as requiring component abswolute level or pendency, but can slightly incline
Tiltedly.It is not to represent that the structure has to complete water if " level " only refers to that its direction is more horizontal with respect to for " vertical "
It is flat, but can be slightly tilted.
In addition, the terms such as " substantially ", " basic " are intended to illustrate that related content is not absolute accurate of requirement, but can be with
There is certain deviation.Such as：" substantially parallel " be not offered as it is absolute parallel, due in actual production, operating process, it is difficult to do
To absolute " parallel ", certain deviation is usually present.It is unless otherwise specified, " big in the case of other as example
The terms such as cause ", " basic " are meaning similar to the above.
In the description of the present invention, it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or one
It connects body；It can be directly connected, can also be indirectly connected by intermediary, can be the connection inside two elements.
For the ordinary skill in the art, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Embodiment 1：
A kind of transmission device for underwater robot as shown in Fig. 1~2, is rotated including the first rotating member 11 and second
Part 12；One end of first rotating member 11 has magnetic rotation block 16, and one end of second rotating member 12 has along described
Multiple magnetic parts that the rotation direction of second rotating member 12 is set, multiple magnetic parts surround to house the magnetic rotation
The accommodating cavity of block 16；
First rotating member 11 away from the magnetic rotation block 16 one end or second rotating member 12 it is separate
One end of the magnetic part is equipped with the connecting portion connected for the pto shaft drive of same power set 13.
Further, second rotating member 12 is also associated with installing the mounting base 14 of multiple magnetic parts, institute
Stating mounting base 14 has to house the cavity of the magnetic rotation block 16, and the mounting base 14 is equipped with multiple along the cavity
Mounting groove 15 circumferentially disposed and for installing the magnetic part, the magnetic part are arranged on the mounting groove 15.
Further, the cavity is cylindrical.
Further, the magnetic rotation block 16 includes spherical swivel and magnetic leaf, and the magnetic leaf display is distributed in
The spherical swivel outer surface.
It is pointed out that in order to realize that underwater robot is capable of the monitoring of more freedom and is detected, underwater robot
Actuating unit mainly include multiple steering engines, propeller is driven by steering engine, so as to fulfill underwater robot under water
It is multivariant to monitor and detect, however existing actuating unit is complicated, steering engine is more, and energy consumption is larger, and steering engine
The more difficult assurance of water proofing property, so as to can also make the underwater robot heavy load for performing operation under water, seriously affect underwater machine
The comprehensive performance of device people.
In order to solve the above-mentioned technical problem, the present invention is improved for transmission device, mainly includes the first rotating member 11
With the second rotating member 12, wherein being provided with magnetic rotation block 16, one end of the second rotating member 12 in one end of the first rotating member 11
Equipped with the multiple magnetic parts set along 12 rotation direction of the second rotating member, and multiple magnetic parts surround accommodating cavity, the accommodating cavity
For placing magnetic rotation block 16, so that realizing the contactless of power between the first rotating member 11 and the second rotating member 12
Transmission.
The power resources of this transmission device are in connecting portion, and the power resources of connecting portion, in power set 13, connecting portion can
Being connected with the first rotating member 11, drive the first rotating member 11 or be connected with the second rotating member 12, drive second turn
Moving part 12.
The present invention is by changing the kind of drive, and using magnetic coupling transmission, which can effectively reduce mechanicalness company
It connects, so as to improve the reliability of transmission device, and then improves the stability of underwater robot extreme environment under water.Because subtracting
The use of steering engine is lacked, therefore the water proofing property of transmission device can be greatly improved.
This power set 13 are direct current generators, which is used to provide original driving force, compared to existing technologies, this biography
A motor, which is used only, in dynamic device just realizes the multivariant movement of underwater robot, therefore substantially reduces propulsion system knot
The complexity of structure, this not only makes the structure of underwater robot more succinct, but also improves underwater human reriability and continue
Boat ability.
In order to make the transmission structures of the present invention more perfect, transmission performance is improved, therefore the second rotating member 12 is also set
There is mounting base 14, which is mainly used for that multiple magnetic parts are fixedly mounted, and is additionally provided with and can house in mounting base 14
16 cavity of magnetic rotation block.
It is preferred that the shape of mounting base 14 is cylindrical, the cavity in mounting base 14 is also cylindrical, and magnetic rotation block 16 is put
In in cylindrical cavity；Mounting groove 15 is offered in mounting base 14, which is, multiple magnetic circumferentially disposed along cavity
Property part is placed in mounting groove 15；The number of wherein preferred mounting groove 15 is 4, and the number of magnetic part is also 4,4 magnetism
Part is respectively placed in 4 mounting grooves 15, as shown in Figure 2.
In order to which magnetic rotation block 16 is enable to match with above-mentioned magnetic part, therefore magnetic rotation block 16 includes spherical turn
Body and the array magnetic leaf for being arranged on spherical swivel outer surface, the magnetic leaf can have multiple, be preferably 4, in figure
It is shown.
By the improvement further to magnetic part and magnetic rotation block 16, so that this transmission structures is more perfect,
Performance is more stablized, and then improves the practicability of this transmission device, yet further improves the performance and reality of underwater robot
The property used.
Specific embodiment：It is preferred that connecting portion is connected with the second rotating member 12, exported by power set 13 to connecting portion
Power, connecting portion pass through the second rotating member 12 and output power to mounting base 14 after power signal is obtained, and are rotated second
Under the drive of part 12, mounting base 14 moves in a circle, and the magnetic part in mounting base 14 also moves in a circle, due to magnetic part and magnetic
Property moving block 16 between magneto-coupling effect, generate magnetic force so that magnetic rotation block 16 moves in a circle together；With magnetism
The first rotating member 11 that moving block 16 connects also does corresponding circular motion, so as to fulfill transmission, the freedom of the first rotating member 11
End can connect propeller 28 etc..
Embodiment 2：
The present embodiment does further optimization on the basis of above-described embodiment, and as shown in figs. 1 to 6, the transmission device is also
Including motion adjustment mechanism 20, the motion adjustment mechanism 20 includes connector 21, the first planar kinematic pair and the second plane fortune
Dynamic pair, the connector 21 are fixedly connected on the work of the movable part and second planar kinematic pair of first planar kinematic pair
Between dynamic portion；The plane of movement of first planar kinematic pair and the plane of movement of the second planar kinematic pair intersect；
First rotating member 11 away from the magnetic rotation block 16 one end or second rotating member 12 it is separate
Any one in one end of the magnetic part is connected with the connecting portion, and another one runs through the work of first planar kinematic pair
At least one of dynamic 21 three of portion, the movable part of second planar kinematic pair or the connector.
Further, first planar kinematic pair includes the first slide 22 and slidably engages in first slide 22
The first sliding block, second planar kinematic pair includes the second slide 23 and slidably engages the in second slide 23
Two sliding blocks, the connector 21 are fixedly connected between first sliding block and second sliding block.
Further, the motion adjustment mechanism 20 further includes pedestal 24, first slide 22 and second slide 23
End be articulated with the pedestal 24.
Further, first slide 22 and second slide 23 are curved track, the rotation of first slide 22
Axial line is located at the plane corresponding to first slide 22 where circular arc, and the rotational axis line of second slide 23 is located at institute
The plane where circular arc corresponding to the second slide 23 is stated, the center of circle of circular arc corresponding to first slide 22 and second slide
The center of circle of circular arc corresponding to 23, which overlaps, to be set.
Further, the perimeter of circle corresponding to the arc length of circular arc corresponding to first slide 22 and first slide 22 it
Than for 1:2, the arc length of circular arc corresponding to second slide 23 is 1 with the ratio between perimeter of circle corresponding to second slide 23:
2。
Further, the radius of maximum circular arc corresponding to first slide 22 and smallest circle corresponding to second slide 23
The ratio between radius of arc is 1:0.5~0.98.
Further, the motion adjustment mechanism 20 further includes drive component, and the driving component is arranged on the pedestal 24, institute
Drive component is stated to be sequentially connected with first slide 22 and second slide 23 so that first slide 22 prolong it is described
The rotational axis line of first slide 22 rotates, and the rotational axis line that second slide 23 is made to prolong second slide 23 turns
It is dynamic.
Operation principle：It not only needs to realize transmission agency for the transmission device of underwater robot, it is also necessary to realize and turn to
Function.The steering of current underwater robot is realized by multiple servo driving propellers, due to the machine of multiple steering engines
Tool connects, so as to increase the burden of underwater robot.In order to make the practicability of the present apparatus stronger, it is competing to be more advantageous to market
It strives, therefore this transmission device further includes motion adjustment mechanism 20.
The main function of motion adjustment mechanism 20 is turned to for adjusting, and motion adjustment mechanism 20 connects with the first rotating member 11
It connects, connection mechanism is as follows：One end connection magnetic part of second rotating member 12, the other end and the connecting portion of the second rotating member 12 connect
It connects, which exports axis connection with power set 13；One end connection magnetic rotation block 16 of first rotating member 11, magnetic rotation
Block 16 is connected with magnetic part magnetic coupling, the other end connection motion adjustment mechanism 20 of the first rotating member 11.
Motion adjustment mechanism 20 mainly includes connector 21, the first planar kinematic pair and the second planar kinematic pair, wherein
The plane of movement of first planar kinematic pair intersects with the plane of movement of the second planar kinematic pair, and it is flat by first to pass through connector 21
The movable part of the movable part of face kinematic pair and the second planar kinematic pair is fixedly connected, under the action of transmission, so that connector
21 can reach the plane of movement of the plane of movement of the first planar kinematic pair and the second planar kinematic pair.
First rotating member 11 be can run through the movable part of the first planar kinematic pair, the second planar kinematic pair movable part or
At least one of 21 three of connector should can be the movable part for only running through the first planar kinematic pair through mode, by the
One planar kinematic pair drives the steering of the first rotating member 11；The activity of the second planar kinematic pair can also be through through mode
Portion drives the steering of the first rotating member 11 by the second planar kinematic pair；Being also through mode simultaneously can be flat through first
The movable part of face kinematic pair, the movable part of the second planar kinematic pair and connector 21 drive turn of the first rotating member 11 with this
To through there are many modes, being determined according to service condition or market situation, just differ a citing herein.
First planar kinematic pair of motion adjustment mechanism 20 mainly includes the first slide 22 and slidably engages in first
First sliding block of slide 22, the second planar kinematic pair mainly include the second slide 23 and slidably engage in the second slide 23
Second sliding block.Particularly the movable part of the first planar kinematic pair is the first sliding block, and the movable part of the second planar kinematic pair is
Two sliding blocks, the fixation of connector 21 is connected with the first sliding block and the second sliding block, so that connector 21 can be compared with the first slide
22 and second slide 23 slide.And the rotational axis line of the first slide 22 be located at it is flat where the circular arc corresponding to the first slide 22
Face, the rotational axis line of the second slide 23 is located at the plane where the circular arc corresponding to the second slide 23, and then makes the second rotation
Part 12 can be turned to compared with the direction of motion of the first slide 22 and the second slide 23 to realize.
In order to which the first planar kinematic pair and the second planar kinematic pair is enable to move, therefore drive component is also provided with, it should
Drive component is arranged on pedestal 24, and is sequentially connected with the first slide 22 and the second slide 23.What drive component mainly included is rudder
Machine, can be a steering engine or two or more, preferably two steering engines, are 26 He of the first steering engine respectively herein
Second steering engine 27.First steering engine 26 is sequentially connected with the first slide 22, and the second steering engine 27 is sequentially connected with the second slide 23, the
The axial line of the output shaft of one steering engine 26 is identical with the rotational axis line of the first slide 22, the axle center of the output shaft of the second steering engine 27
Line is identical with the rotational axis line of the second slide 23.First slide 22 is rotated along the rotational axis line of the first slide 22, is equivalent to
It is the axial line rotation along the output shaft of the first steering engine 26；Second slide 23 is rotated along the rotational axis line of the second slide 23, phase
When then along the second steering engine 27 output shaft axial line rotate.
The shape of the first slide 22 and the second slide 23 in this motion adjustment mechanism 20 can depending on actual demand, than
Such as curved track, straight rail, the difference of the shape just determine that connector 21 moves institute on the first slide 22 and the second slide 23
The shape of formation.For example curved track, the formed shape of movement are spherical surface；For straight rail when, the formed shape of movement is four directions
Shape.The shape of first slide 22 and the second slide 23 can depending on many factors such as service condition or market situation,
This is preferably curved track, and as shown in FIG., which can make the propeller 28 on connector 21 reach more multizone, so as to
Enough realize the steering of more direction.
Motion adjustment mechanism 20 further includes pedestal 24 simultaneously, and the first slide 22 and the second slide 23 are articulated with pedestal 24,
And the center of circle of the circular arc corresponding to the first slide 22 overlaps setting with the center of circle of the circular arc corresponding to the second slide 23, so sets
The relative rotation of the first slide 22 and the second slide 23 can be ensured by putting.
Arc length corresponding to first slide 22 is the half of the corresponding entirely round perimeter of the first slide 22, the second slide 23
Corresponding arc length is the half of the 23 corresponding perimeter entirely justified of the second slide, so that the rail that the first rotating member 11 turns to
Mark is fallen close on the spherical surface of hemisphere face size, and compared with existing transfer, its steering range is broader, so as to
It realizes the movement of more first rotating member, 11 more freedoms, and then realizes the movement of transmission device more freedom.
As shown in FIG., the first slide 22 is different with 23 arc radius of the second slide, in order to realize the fortune of more freedom
Dynamic, the ratio between radius of minimum circular arc is 1 corresponding to the radius and the second slide 23 of maximum circular arc corresponding to preferably the first slide 22:
Between 0.5~0.98.When half of minimum circular arc corresponding to the radius and the second slide 23 of maximum circular arc corresponding to the first slide 22
The ratio between footpath is 1:When 0.5, larger rotation output torque can be realized, but rotating speed is relatively low；When corresponding to the first slide 22
The ratio between radius of minimum circular arc is 1 corresponding to the radius of maximum circular arc and the second slide 23:When 0.98, the first slide 22 and second
Slide 23 is relatively close to, and rotates more flexible, the radius and the second slide of maximum circular arc corresponding to most preferably the first slide 22
The ratio between radius of minimum circular arc is 1 corresponding to 23:0.8~0.9, which can more efficiently utilize the energy, using space,
It is more suitable for the transmission and steering of underwater robot.
The motion adjustment mechanism 20 of the present apparatus can also have more forms, for example, the first slide 22 and the second slide 23
For straight rail, wherein motion adjustment mechanism 20 further includes the first guide rail and the second guide rail, and the first guide rail is parallel with the second slide 23 to be set
It puts, the second guide rail is arranged in parallel with the first slide 22.First slide 22 can be snug fit at the first guide rail, and in the first guide rail
Extending direction slide；Second slide 23 can be snug fit at the second guide rail, and can be slided in the extending direction of the second guide rail
It is dynamic.So using the slip of the first slide 22 and the second slide 23, realize and spirit is carried out to the propeller 28 on the first rotating member 11
It turns to livingly.
Increase the specific embodiment of above-mentioned technical characteristic：Motion adjustment mechanism 20 includes the first planar kinematic pair and second
Planar kinematic pair, wherein the first planar kinematic pair includes the first slide 22 and the first sliding block；Second planar kinematic pair includes second
23 and second sliding block of slide.
First slide 22 and the second slide 23 are curved track, and the second slide 23 includes 2 the second circular arcs with radius and slides
Frame, 2 circular arc balladeur trains form the second slideway；First slide 22 includes 4 first circular arc balladeur trains, and wherein two pieces in this 4 the
The arc radius of one circular arc balladeur train is smaller than the arc radius of the second circular arc balladeur train, in addition the arc radius of 2 first circular arc balladeur trains
Arc radius than the second circular arc balladeur train is big, as shown in Fig. 3~6；The average value of the sum of 4 first circular arc balladeur train arc radius
For the arc radius value of the second circular arc balladeur train.
First rotating member 11 runs through the first sliding block, the second sliding block and connector 21, and sets spiral shell on the first rotating member 11
Paddle 28 is revolved, under the action of power set 13, by magnetic coupling by power transmission to the first rotating member 11, makes the first rotating member
11 rotate, and act synergistically on motion adjustment mechanism 20.First steering engine 26 drives the first slide 22, the second steering engine 27 driving second
Slide 23；First slide 22 and the second slide 23 all do non-plane motion, and then drive 28 turns of propeller on the first rotating member 11
To so as to fulfill the movement of the more freedom of propeller 28.
The transmission device of the present invention is simple in structure for transmission device of the prior art, can not only realize
The multivariant steering of underwater robot, and reduce mechanical connection, so as to improve the stability of transmission device.
The other parts of the present embodiment are identical with above-described embodiment 1, do not repeating.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that being：
These embodiments can be carried out a variety of change, modification, replacement and modification, the present invention by not departing under the principle of the present invention and objective
Scope limited by claim and its equivalent.
Claims (10)
1. a kind of transmission device for underwater robot, which is characterized in that including the first rotating member and the second rotating member；It is described
One end of first rotating member has magnetic rotation block, and one end of second rotating member has the rotation along second rotating member
Multiple magnetic parts that direction is set, multiple magnetic parts surround to house the accommodating cavity of the magnetic rotation block；
One end of the separate magnetic rotation block of first rotating member or the separate magnetic part of second rotating member
One end be equipped with for same power set pto shaft drive connect connecting portion.
2. the transmission device according to claim 1 for underwater robot, it is characterised in that：Second rotating member is also
It is connected with to install the mounting base of multiple magnetic parts, the mounting base has the chamber for housing the magnetic rotation block
Body, the mounting base are equipped with multiple mounting grooves along the circumferentially disposed of the cavity and for installing the magnetic part, the magnetic
Property part be arranged on the mounting groove.
3. the transmission device according to claim 2 for underwater robot, it is characterised in that：The cavity is in cylinder
Shape.
4. the transmission device according to claim 1 for underwater robot, it is characterised in that：The magnetic rotation block bag
Spherical swivel and magnetic leaf are included, the magnetic leaf array distribution is in the spherical swivel outer surface.
5. the transmission device of underwater robot to be used for according to Claims 1 to 4 any one of them, it is characterised in that：The biography
Dynamic device further includes motion adjustment mechanism, and the motion adjustment mechanism includes connector, the first planar kinematic pair and the second plane
Kinematic pair, the connector are fixedly connected on the work of the movable part and second planar kinematic pair of first planar kinematic pair
Between dynamic portion；The plane of movement of first planar kinematic pair and the plane of movement of the second planar kinematic pair intersect；
One end of the separate magnetic rotation block of first rotating member or the separate magnetic part of second rotating member
One end in any one be connected with the connecting portion, another one is through the movable part, described of first planar kinematic pair
At least one of the movable part of second planar kinematic pair or the connector three.
6. the transmission device according to claim 5 for underwater robot, it is characterised in that：First plane motion
Pair includes the first slide and slidably engages in the first sliding block of first slide, and second planar kinematic pair includes the
It two slides and slidably engages in the second sliding block of second slide, the connector is fixedly connected on first sliding block
Between second sliding block.
7. the transmission device according to claim 6 for underwater robot, it is characterised in that：The motion adjustment mechanism
Further include pedestal, the end of first slide and second slide is articulated with the pedestal；
First slide and second slide are curved track, and the rotational axis line of first slide is located at described first
Plane where circular arc corresponding to slide, the rotational axis line of second slide are located at circular arc institute corresponding to second slide
Plane, the center of circle of circular arc overlaps setting with the center of circle of circular arc corresponding to second slide corresponding to first slide.
8. the transmission device according to claim 6 for underwater robot, it is characterised in that：The first slide institute is right
The arc length and the ratio between perimeter of circle corresponding to first slide for answering circular arc are 1:2, the arc of circular arc corresponding to second slide
The ratio between perimeter of circle corresponding to long and second slide is 1:2.
9. the transmission device according to claim 7 for underwater robot, it is characterised in that：The first slide institute is right
The radius and the ratio between radius of minimum circular arc corresponding to second slide for answering maximum circular arc are 1:0.5~0.98.
10. the transmission device according to claim 7 for underwater robot, it is characterised in that：The motor adjustment machine
Structure further includes drive component, and the driving component is arranged on the pedestal, the driving component with first slide and described
Second slide is sequentially connected, so that the rotational axis line that first slide prolongs first slide rotates, and makes described second
The rotational axis line that slide prolongs second slide rotates.
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| CN113063909A (en) * | 2021-03-19 | 2021-07-02 | 南昌市湾里自来水有限责任公司 | Water quality safety guarantee monitoring system |
| CN113594698A (en) * | 2021-07-30 | 2021-11-02 | 杭州永谐科技有限公司 | Spherical surface adjusting equipment for antenna |
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