CN108408008A - A kind of universal driving mechanism for underwater robot - Google Patents
A kind of universal driving mechanism for underwater robot Download PDFInfo
- Publication number
- CN108408008A CN108408008A CN201810421346.7A CN201810421346A CN108408008A CN 108408008 A CN108408008 A CN 108408008A CN 201810421346 A CN201810421346 A CN 201810421346A CN 108408008 A CN108408008 A CN 108408008A
- Authority
- CN
- China
- Prior art keywords
- annular
- gear
- matrix
- ring gear
- driving
- 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.)
- Withdrawn
Links
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
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
Abstract
The invention discloses a kind of universal driving mechanism for underwater robot, including annular matrix, the ring gear being rotatably arranged on annular matrix, the propeller drives, the gear driven mechanism for driving ring gear to rotate and the matrix driving mechanism for driving annular matrix to rotate that are fixed on ring gear.Matrix driving motor in the present invention can drive annular matrix around robot housing into rotation, gear drive motor can drive the ring gear on annular matrix around robot housing into rotation, since propeller drives are by ring gear synchronous drive, therefore propeller drives can turn to any angular position relative to shell, namely it is capable of providing power drive at any angle.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of universal driving mechanism for underwater robot.
Background technology
Underwater robot has video camera or camera more, is generally used for hydrologic research, underwater monitoring, detects under water, water
The fields such as lower rescue, underwater salvage, the supervision of nuclear power station waters and the cleaning of underwater oil job platform.
The power direction of existing underwater robot, driving mechanism is usually fixed relative to the direction of ontology, according to
Change direction of travel by changing rudder direction, this traveling mode is difficult to meet the needs of complex action.
It is the important topic of this field that the universal driving mechanism advanced can be driven with any angle by, which how designing,.
Invention content
The object of the present invention is to provide a kind of underwater robots that can be driven with any angle.
Realizing the technical solution of the object of the invention is：A kind of universal driving mechanism for underwater robot, including annular
Matrix, the ring gear being rotatably arranged on annular matrix, the propeller drives being fixed on ring gear, for driving
The gear driven mechanism of dynamic ring gear rotation and the matrix driving mechanism for driving annular matrix to rotate.
In said program, annular matrix includes annular flat plate portion, ring sealing plate portion and annular block machine portion；Ring gear includes
Ring body and the driving teeth portion in ring body upper surface is set；Ring gear is set in annular block machine portion, ring gear
Bottom wall and the roof of annular flat plate portion be slidably matched.
In said program, ring sealing plate portion is that the inner periphery of annular flat plate portion is protruded to be formed vertically upward, annular block machine
Portion is from annular flat plate portion annular convex platform protruding upward.
In said program, the periphery wall in the internal perisporium of ring gear and annular block machine portion is slidably matched.
In said program, ring sealing plate portion is higher by annular block machine portion, and ring sealing plate portion is located at the inside in annular block machine portion.
In said program, there are one driving gear and five position limited gears for rotation setting in ring sealing plate portion, drive gear
It is adapted to ring gear with position limited gear；Driving gear and position limited gear are crimped in the driving teeth portion of ring gear.
In said program, the internal perisporium in ring sealing plate portion is equipped with inwardly projecting keyhole portion；Keyhole portion is fixed at
On the inner wall in ring sealing plate portion, keyhole portion is equipped with keyhole；Matrix driving mechanism includes the matrix driving being located on the inside of annular matrix
The output shaft insertion of motor, matrix driving motor is fixed in the keyhole in keyhole portion.
In said program, the open-work of face driving gear setting, the open-work and matrix driving are additionally provided in ring sealing plate portion
The output shaft of motor is arranged concentrically.
In said program, gear driven mechanism includes the gear drive motor being located on the inside of annular matrix, gear driving
The output shaft of motor is fixedly linked after passing through the open-work in ring sealing plate portion with driving gear.
In said program, the quantity of propeller drives is two, which is symmetricly set on annular
The both sides of gear；Each propeller drives include the drive chamber being fixed on ring gear periphery wall, are arranged in drive chamber
In blade driving motor and the propeller that is rotatably arranged on driving chamber outer wall, each blade driving motor drive a corresponding spiral shell
Revolve paddle rotation.
The present invention has the effect of positive：Matrix driving motor can drive annular matrix around robot housing into rotation, tooth
Wheel drive motor can drive the ring gear on annular matrix around robot housing into rotation, due to propeller drives quilt
Ring gear synchronous drive, therefore propeller drives can turn to any angular position relative to shell, can also carry
For power drive at any angle.
Description of the drawings
Fig. 1 is a kind of dimensional structure diagram of the present invention；
Fig. 2 is a kind of dimensional structure diagram of universal driver annular substrate shown in Fig. 1；
Fig. 3 is a kind of dimensional structure diagram when annular matrix is from another angle shown in Fig. 2；
Fig. 4 is a kind of dimensional structure diagram using the made robot of universal driver shown in Fig. 1；
Fig. 5 is a kind of dimensional structure diagram when robot is from another angle shown in Fig. 4；
Fig. 6 is a kind of upward view of robot shown in Fig. 4.
Reference numeral is：Shell 1, hemispherical observation window 11, cleaning agency 2, semi-circular support plate 21, cleaning brush 22, clearly
Sweep the output shaft 23 of driving motor, axis pin 24, annular matrix 4, annular flat plate portion 41, ring sealing plate portion 42, annular block machine portion 43,
Drive gear 44, position limited gear 45, keyhole portion 46, keyhole 461, open-work 47, ring gear 5, ring body 51, driving teeth portion
52, gear driven mechanism 6, the output shaft 61 of gear drive motor, propeller drives 7, drive chamber 71, propeller 72.
Specific implementation mode
（Embodiment 1）
The present embodiment is a kind of universal driving mechanism for underwater robot, is seen shown in Fig. 1 to Fig. 3, including annular matrix 4,
The ring gear 5 that is rotatably arranged on annular matrix, the gear driven mechanism for driving ring gear to rotate（It is not drawn on figure
Go out）, two propeller drives 7 being arranged on ring gear and the matrix driving mechanism for driving annular matrix to rotate
（It is not drawn on figure）.
Annular matrix 4 includes annular flat plate portion 41, ring sealing plate portion 42 and annular block machine portion 43, and ring sealing plate portion is annular
The inner periphery of flat part is protruded to be formed vertically upward, and annular block machine portion is from annular flat plate portion annular convex platform protruding upward.
Ring sealing plate portion is higher by annular block machine portion, and ring sealing plate portion is located at the inside in annular block machine portion.
Ring gear includes ring body 51 and the driving teeth portion 52 in ring body upper surface is arranged；Ring gear is arranged
In annular block machine portion, the periphery wall in the internal perisporium of ring gear and annular block machine portion is slidably matched, the bottom wall of ring gear and
The roof of annular flat plate portion 41 is slidably matched.
There are one driving gear 44 and five position limited gears 45 for rotation setting in ring sealing plate portion, drive gear and limiting tooth
Wheel is adapted to ring gear；Driving gear and position limited gear are crimped in the driving teeth portion of ring gear, thus by annular tooth
Wheel is crimped in the annular flat plate portion of annular matrix, prevents ring gear from teetertottering.In the present embodiment, gear and limit are driven
The shape size of gear is identical.
The internal perisporium in ring sealing plate portion is equipped with inwardly projecting keyhole portion 46；Keyhole portion is fixed at ring sealing plate portion
Inner wall on, keyhole portion be equipped with keyhole 461；Matrix driving mechanism includes the matrix driving motor being located on the inside of annular matrix, base
The output shaft insertion of body driving motor is fixed in the keyhole in keyhole portion.
Be additionally provided with the open-work 47 that face driving gear 44 is arranged in ring sealing plate portion, the open-work and matrix driving motor it is defeated
Shaft is arranged concentrically.
Gear driven mechanism includes the gear drive motor being located on the inside of annular matrix, the output shaft of the gear drive motor
It is fixedly linked with driving gear after the open-work 47 in ring sealing plate portion.
In the present embodiment, the output shaft of matrix driving motor and the output shaft of gear drive motor are to be arranged concentrically, gear
Rotation axis of the output shaft of driving motor also as matrix rotation.
Two propeller drives 7 are symmetricly set on the both sides of ring gear, and each propeller drives 7 include fixed setting
It drive chamber 71 on ring gear periphery wall, the blade driving motor being arranged in drive chamber and is rotatably arranged on outside drive chamber
Propeller 72 on wall, each blade driving motor drive a corresponding propeller rotational；Preferable scheme is that two propeller productions
Raw power direction is identical.
（Application examples 1）
The application example is to use a kind of underwater robot that can be driven with any angle made of above-described embodiment 1, sees Fig. 4 to figure
Shown in 6, including shell 1, the photographing module being built in shell and the universal driving mechanism moved for drive shell.
The global shape of shell is spherical shape, and the lower part of shell is equipped with transparent hemispherical observation window 11；Photographing module includes
The cradle head mechanism with driving motor that is built in shell, the camera being arranged on cradle head mechanism and it is arranged in cradle head mechanism
On headlamp（It is not drawn on figure）.Camera is fixed at the bottom of cradle head mechanism, camera face hemispherical observation window
Transparent wall body.
Universal driving mechanism includes the annular matrix 4 being fixed on shell, the ring being rotatably arranged on annular matrix
Shape gear 5, for driving ring gear and around the gear driven mechanism of housing into rotation 6, two spiral shells being arranged on ring gear
Revolve pitch driver 7 and for driving matrix driving mechanism of the annular matrix around housing into rotation.
Annular matrix 4 includes annular flat plate portion 41, ring sealing plate portion 42 and annular block machine portion 43, and ring sealing plate portion is annular
The inner periphery of flat part is protruded to be formed vertically upward, and annular block machine portion is from annular flat plate portion annular convex platform protruding upward.
Ring sealing plate portion is higher by annular block machine portion, and ring sealing plate portion is located at the inside in annular block machine portion.Shell and annular matrix are set with one heart
It sets.
Ring gear includes ring body 51 and the driving teeth portion 52 in ring body upper surface is arranged；Ring gear is arranged
In annular block machine portion, the periphery wall in the internal perisporium of ring gear and annular block machine portion is slidably matched, the bottom wall of ring gear and
The roof of annular flat plate portion 41 is slidably matched.
There are one driving gear 44 and five position limited gears 45 for rotation setting in ring sealing plate portion, drive gear and limiting tooth
Wheel is adapted to ring gear；Driving gear and position limited gear are crimped in the driving teeth portion of ring gear, thus by annular tooth
Wheel is crimped in the annular flat plate portion of annular matrix, prevents ring gear from teetertottering.In the application example, gear and limit are driven
The shape size of gear is identical.
The internal perisporium in ring sealing plate portion is equipped with inwardly projecting keyhole portion 46；Keyhole portion is fixed at ring sealing plate portion
Inner wall on, keyhole portion be equipped with keyhole 461；Matrix driving mechanism includes the matrix driving motor of setting in the housing, the matrix
The output shaft of driving motor, which stretches out shell and is inserted into, to be fixed in the keyhole in keyhole portion.
Be additionally provided with the open-work 47 that face driving gear 44 is arranged in ring sealing plate portion, the open-work and matrix driving motor it is defeated
Shaft is arranged concentrically；Preferably a kind of scheme is：The centre of sphere of shell and the centerline collineation of open-work.
Gear driven mechanism 6 includes the gear drive motor of setting in the housing, the output shaft 61 of the gear drive motor
Shell is stretched out, is fixedly linked with driving gear after the open-work 47 in ring sealing plate portion.
In the application example, the output shaft of matrix driving motor and the output shaft of gear drive motor are to be arranged concentrically, gear
For the output shaft of driving motor also as matrix around the rotation axis of the side of housing into rotation, keyhole portion is then used as matrix around housing into rotation
The other side rotation axis.
When matrix driving motor rotates, the center line with kinetoplast around open-work rotates；When gear drive motor rotates,
Drive ring gear around housing into rotation.
Two propeller drives 7 are symmetricly set on the both sides of ring gear, and each propeller drives 7 include fixed setting
It drive chamber 71 on ring gear periphery wall, the blade driving motor being arranged in drive chamber and is rotatably arranged on outside drive chamber
Propeller 72 on wall, each blade driving motor drive a corresponding propeller rotational；Preferable scheme is that two propeller productions
Raw power direction is identical.
The application example also has the cleaning agency 2 for cleaning hemispherical observation window outer wall, and cleaning agency includes semi-circular
Support plate 21, setting in the housing for drive semi-circular support plate reciprocally swinging cleaning driving motor, be fixed at
The cleaning brush 22 of semi-circular support plate inner wall uplink；The stretching shell of output shaft 23 for cleaning driving motor is fixed at semi-circular
The other end of one end of support plate, semi-circular support plate is rotatably arranged on by axis pin 24 on shell；Cleaning brush preferably uses bullet
Property rubber pad or hairbrush are made；It cleans driving motor and semi-circular support plate reciprocally swinging is driven by output shaft, and then drive clear
Brush brushes the foul on hemispherical observation window outer wall.
In the application example work, gear drive motor drives the rotation of sliding tooth wheel, and then ring gear is driven to turn around shell
Dynamic, two propeller drives are also synchronized as ring gear moves, so as to adjust the driving direction of propeller drives.It is this
Structure can realize more complicated traveling action due to that can adjust position of the propeller drives relative to shell.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, 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 fall within protection scope of the present invention.
Claims (1)
1. a kind of universal driving mechanism for underwater robot, it is characterised in that：Including annular matrix, it is rotatably arranged on annular
Ring gear on matrix, the propeller drives being fixed on ring gear, the tooth for driving ring gear to rotate
Actuation and for drive annular matrix rotate matrix driving mechanism；Annular matrix includes annular flat plate portion, annular
Sealing plate portion and annular block machine portion；Ring gear includes ring body and the driving teeth portion in ring body upper surface is arranged；Annular
Gear is set in annular block machine portion, and the bottom wall of ring gear and the roof of annular flat plate portion are slidably matched；
The internal perisporium of ring gear and the periphery wall in annular block machine portion are slidably matched.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810421346.7A CN108408008A (en) | 2017-07-31 | 2017-07-31 | A kind of universal driving mechanism for underwater robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710642701.9A CN107458558B (en) | 2017-07-31 | 2017-07-31 | A kind of universal driving mechanism for underwater robot |
| CN201810421346.7A CN108408008A (en) | 2017-07-31 | 2017-07-31 | A kind of universal driving mechanism for underwater robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710642701.9A Division CN107458558B (en) | 2017-07-31 | 2017-07-31 | A kind of universal driving mechanism for underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108408008A true CN108408008A (en) | 2018-08-17 |
Family
ID=60548124
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810421346.7A Withdrawn CN108408008A (en) | 2017-07-31 | 2017-07-31 | A kind of universal driving mechanism for underwater robot |
| CN201810421333.XA Withdrawn CN108609138A (en) | 2017-07-31 | 2017-07-31 | universal driving mechanism for underwater robot |
| CN201810422001.3A Withdrawn CN108609139A (en) | 2017-07-31 | 2017-07-31 | A kind of universal driving mechanism with propeller drives for underwater robot |
| CN201710642701.9A Active CN107458558B (en) | 2017-07-31 | 2017-07-31 | A kind of universal driving mechanism for underwater robot |
Family Applications After (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810421333.XA Withdrawn CN108609138A (en) | 2017-07-31 | 2017-07-31 | universal driving mechanism for underwater robot |
| CN201810422001.3A Withdrawn CN108609139A (en) | 2017-07-31 | 2017-07-31 | A kind of universal driving mechanism with propeller drives for underwater robot |
| CN201710642701.9A Active CN107458558B (en) | 2017-07-31 | 2017-07-31 | A kind of universal driving mechanism for underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (4) | CN108408008A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110347169A (en) * | 2019-07-30 | 2019-10-18 | 南京昱晟机器人科技有限公司 | The control system of automatic obstacle avoiding and planning under underwater robot and its high-speed motion |
| CN111332410A (en) * | 2020-03-25 | 2020-06-26 | 罗小燕 | Modular buoy equipment for ocean observation provided with automatic propelling mechanism |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110963012B (en) * | 2019-12-20 | 2022-03-01 | 鹏城实验室 | Underwater submerging device and control method of underwater submerging equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201849653U (en) * | 2010-11-12 | 2011-06-01 | 高川 | Bionic underwater robot |
| CN202429337U (en) * | 2011-12-08 | 2012-09-12 | 上海交通大学 | Propeller required for assisting deep-sea pipeline to move |
| CN103358839A (en) * | 2013-08-05 | 2013-10-23 | 战强 | Amphibious spherical exploration robot |
| CN203921182U (en) * | 2014-05-13 | 2014-11-05 | 上海海洋大学 | A kind of minisub turns to propulsion system |
| CN104554675A (en) * | 2014-12-26 | 2015-04-29 | 中国船舶重工集团公司第七一〇研究所 | Underwater dish vehicle |
| CN204578631U (en) * | 2015-03-19 | 2015-08-19 | 安徽四创电子股份有限公司 | A kind of can the ball-shaped camera cover of automated cleaning |
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|---|---|---|---|---|
| US2094997A (en) * | 1934-09-17 | 1937-10-05 | Lucich Giovanni | Propelling mechanism for torpedoes |
| US3101066A (en) * | 1961-07-14 | 1963-08-20 | Frederick R Haselton | Submarine hydrodynamic control system |
| GB0521292D0 (en) * | 2005-10-19 | 2005-11-30 | Go Science Ltd | Submersible vehicle |
| CN105799887A (en) * | 2016-06-08 | 2016-07-27 | 广东海洋大学 | Concentric double-ball lifeboat |
| CN105947125B (en) * | 2016-06-23 | 2017-11-24 | 亳州沃野知识产权服务有限公司 | A kind of aquatic environment monitors cruise robot |
| CN106314731B (en) * | 2016-09-18 | 2018-02-16 | 河海大学常州校区 | Undersea detection fishing robot and method of work, control system |
-
2017
- 2017-07-31 CN CN201810421346.7A patent/CN108408008A/en not_active Withdrawn
- 2017-07-31 CN CN201810421333.XA patent/CN108609138A/en not_active Withdrawn
- 2017-07-31 CN CN201810422001.3A patent/CN108609139A/en not_active Withdrawn
- 2017-07-31 CN CN201710642701.9A patent/CN107458558B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201849653U (en) * | 2010-11-12 | 2011-06-01 | 高川 | Bionic underwater robot |
| CN202429337U (en) * | 2011-12-08 | 2012-09-12 | 上海交通大学 | Propeller required for assisting deep-sea pipeline to move |
| CN103358839A (en) * | 2013-08-05 | 2013-10-23 | 战强 | Amphibious spherical exploration robot |
| CN203921182U (en) * | 2014-05-13 | 2014-11-05 | 上海海洋大学 | A kind of minisub turns to propulsion system |
| CN104554675A (en) * | 2014-12-26 | 2015-04-29 | 中国船舶重工集团公司第七一〇研究所 | Underwater dish vehicle |
| CN204578631U (en) * | 2015-03-19 | 2015-08-19 | 安徽四创电子股份有限公司 | A kind of can the ball-shaped camera cover of automated cleaning |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110347169A (en) * | 2019-07-30 | 2019-10-18 | 南京昱晟机器人科技有限公司 | The control system of automatic obstacle avoiding and planning under underwater robot and its high-speed motion |
| CN111332410A (en) * | 2020-03-25 | 2020-06-26 | 罗小燕 | Modular buoy equipment for ocean observation provided with automatic propelling mechanism |
| CN111332410B (en) * | 2020-03-25 | 2021-11-26 | 嵊州市鉴亭新材料科技有限公司 | Modular buoy equipment for ocean observation provided with automatic propelling mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107458558A (en) | 2017-12-12 |
| CN108609139A (en) | 2018-10-02 |
| CN107458558B (en) | 2018-06-19 |
| CN108609138A (en) | 2018-10-02 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180817 |