CN108622348A - A kind of underwater robot that can be driven with any angle - Google Patents
A kind of underwater robot that can be driven with any angle Download PDFInfo
- Publication number
- CN108622348A CN108622348A CN201810426346.6A CN201810426346A CN108622348A CN 108622348 A CN108622348 A CN 108622348A CN 201810426346 A CN201810426346 A CN 201810426346A CN 108622348 A CN108622348 A CN 108622348A
- Authority
- CN
- China
- Prior art keywords
- annular
- gear
- ring
- plate portion
- 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- Withdrawn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
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- 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
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
- B63H23/04—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing the main transmitting element, e.g. shaft, being substantially vertical
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of underwater robots that can be driven with any angle, including shell, the photographing module being built in shell and the driving mechanism moved for drive shell；Driving mechanism includes the annular matrix being fixed on shell, is rotatably arranged on annular matrix ring gear, for driving ring gear and around the gear driven mechanism of housing into rotation and two propeller drives being arranged on ring gear.The present invention can adjust position of the propeller drives relative to shell, namely the power drive direction of adjustment propeller drives in the range of ring is 360 degree all.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of underwater robot that can be driven with any angle.
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.
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 underwater robot that can be driven with any angle, including shell,
The photographing module being built in shell and the driving mechanism moved for drive shell；Driving mechanism includes being rotatably arranged on shell
On annular matrix, for drive annular matrix around housing into rotation matrix driving mechanism, be rotatably arranged on annular matrix
Ring gear, for driving ring gear and around the gear driven mechanism of housing into rotation and the spiral being arranged on ring gear
Pitch driver；Annular matrix includes annular flat plate portion, ring sealing plate portion and annular block machine portion, and ring sealing plate portion is annular flat plate portion
Inner periphery protrude to be formed vertically upward, annular block machine portion is from annular flat plate portion annular convex platform protruding upward；Annular envelope
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 and setting
Driving teeth portion in ring body upper surface；Ring gear is set in annular block machine portion, the internal perisporium and annular of ring gear
The periphery wall in block machine portion is slidably matched, and the bottom wall of ring gear and the roof of annular flat plate portion are slidably matched；In ring sealing plate portion
There are one driving gear and two arc pressuring plates, driving gears to be adapted to ring gear for rotation setting, and driving gear is provided adjacent to
In the driving teeth portion of ring gear；Two arc pressuring plates are fixed at the both sides in ring sealing plate portion by screw respectively, respectively
The bottom surface of arc pressuring plate is a plane, and the bottom surface of each arc pressuring plate is crimped in the driving teeth portion of ring gear, to
Ring gear is crimped in the annular flat plate portion of annular matrix；It is fixed on the internal perisporium in ring sealing plate portion inwardly projecting
Keyhole portion, keyhole portion are equipped with keyhole；Matrix driving mechanism includes the matrix driving motor of setting in the housing, matrix driving electricity
The output shaft of machine, which stretches out shell and is inserted into, to be fixed in the keyhole in keyhole portion；Face driving gear is additionally provided in ring sealing plate portion to set
The output shaft of the open-work set, the open-work and matrix driving motor is arranged concentrically；Gear driven mechanism includes being arranged in the housing
Gear drive motor, the output shaft of the gear drive motor stretch out shell, pass through after the open-work in ring sealing plate portion and sliding tooth
Wheel is fixedly linked.
Said program is further preferably：The output shaft of matrix driving motor and the output shaft of gear drive motor are same
The heart is arranged.
Said program is further preferably：The centre of sphere of shell and the centerline collineation of open-work.
Said program is further preferably：Shell and annular matrix are arranged concentrically.
The present invention has the effect of positive：Gear drive motor drive sliding tooth wheel rotation, and then drive ring gear around
Housing into rotation, two propeller drives are also synchronized as ring gear moves, so as to adjust the driving side of propeller drives
To.This structure can adjust position of the propeller drives relative to shell, namely adjustment spiral shell in the range of ring is 360 degree all
Revolve the power drive direction of pitch driver.
Description of the drawings
Fig. 1 is a kind of dimensional structure diagram of the present invention；
Fig. 2 is a kind of dimensional structure diagram when robot is from another angle shown in Fig. 1；
Fig. 3 is a kind of upward view of robot shown in Fig. 1；
Fig. 4 is a kind of dimensional structure diagram of robot annular substrate shown in Fig. 1；
Fig. 5 is a kind of dimensional structure diagram when annular matrix is from another angle shown in Fig. 4.
Reference numeral is：Shell 1, hemispherical observation window 11, fixed column 12, cleaning agency 2, semi-circular support plate 21, clearly
Brush 22 cleans 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, driving gear 44, arc pressuring plate 45, keyhole portion 46, keyhole 461, open-work 47, ring gear 5, ring body 51,
Drive teeth portion 52, gear driven mechanism 6, the output shaft 61 of gear drive motor, propeller drives 7, drive chamber 71, propeller
72。
Specific implementation mode
（Embodiment 1）
The present embodiment is a kind of underwater robot that can be driven with any angle, is seen shown in Fig. 1 to Fig. 5, including shell 1, built-in
Photographing module in shell and the driving mechanism for drive shell movement.
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.Camera is fixed at the bottom of cradle head mechanism, the transparent wall body of camera face hemispherical observation window.
Driving mechanism includes the annular matrix 4 being rotatably arranged on shell, the annular tooth being rotatably arranged on annular matrix
Take turns 5, for driving ring gear and around the gear driven mechanism of housing into rotation 6, two propellers being arranged on ring gear
Driver 7 and for driving matrix driving mechanism of the annular matrix around housing into rotation.Shell and annular matrix are arranged concentrically.
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 two arc pressuring plates 45 for rotation setting in ring sealing plate portion, drive gear and annular tooth
Wheel adaptation, driving gear are provided adjacent in the driving teeth portion of ring gear；Two arc pressuring plates 45 are fixed by screw respectively
Both sides in ring sealing plate portion are set, and the bottom surface of each arc pressuring plate 45 is a plane, the bottom surface crimping of each arc pressuring plate
In the driving teeth portion of ring gear, to which ring gear to be crimped in the annular flat plate portion of annular matrix, annular tooth is prevented
Wheel teetertotters.
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 present embodiment, the output shaft of matrix driving motor and the output shaft of gear drive motor are to be arranged concentrically, gear
The output shaft of driving motor is also as matrix around the rotation axis of housing into rotation.
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 located at the both sides of ring gear, and each propeller drives 7 include being fixed at annular
It drive chamber 71 on outer peripheral gear wall, the blade driving motor being arranged in drive chamber and is rotatably arranged on driving chamber outer wall
Propeller 72, each blade driving motor drive a corresponding propeller rotational；Preferable scheme is that two propellers generate it is dynamic
Force direction is identical.
The present embodiment 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 or hairbrush are made；It cleans driving motor and semi-circular support plate reciprocally swinging is driven by output shaft, and then drive and clean
Brush the foul on hemispherical observation window outer wall.
In the present embodiment 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 underwater robot that can be driven with any angle, including shell, the photographing module that is built in shell and it is used for
The driving mechanism of drive shell movement；It is characterized in that：
Driving mechanism includes the annular matrix being rotatably arranged on shell, for driving annular matrix to be driven around the matrix of housing into rotation
Motivation structure, the ring gear being rotatably arranged on annular matrix, for drive ring gear and around the gear of housing into rotation drive
Mechanism and the propeller drives being arranged on ring gear；
Annular matrix includes annular flat plate portion, ring sealing plate portion and annular block machine portion, and ring sealing plate portion is the interior of annular flat plate portion
Circumferential edges are 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
It is higher by annular block machine portion, ring sealing plate portion is located at the inside in annular block machine portion；
Ring gear includes ring body and the driving teeth portion in ring body upper surface is arranged；Ring gear is set in annular gear
In platform portion, the periphery wall in the internal perisporium of ring gear and annular block machine portion is slidably matched, the bottom wall and ring plate of ring gear
The roof in portion is slidably matched；
There are one driving gear and two arc pressuring plates, driving gear to be adapted to ring gear for rotation setting in ring sealing plate portion,
Driving gear is provided adjacent in the driving teeth portion of ring gear；Two arc pressuring plates are fixed at annular by screw respectively
The bottom surface of the both sides in sealing plate portion, each arc pressuring plate is a plane, and the bottom surface of each arc pressuring plate is crimped on ring gear
It drives in teeth portion, to which ring gear to be crimped in the annular flat plate portion of annular matrix；
Inwardly projecting keyhole portion is fixed on the internal perisporium in ring sealing plate portion, keyhole portion is equipped with keyhole；Matrix driving mechanism
Including matrix driving motor in the housing is arranged, the output shaft of the matrix driving motor, which stretches out shell and is inserted into, is fixed on keyhole
In the keyhole in portion；
The open-work of face driving gear setting is additionally provided in ring sealing plate portion, the output shaft of the open-work and matrix driving motor is concentric
Setting；
Gear driven mechanism includes the gear drive motor of setting in the housing, and the output shaft of the gear drive motor stretches out shell
Body is fixedly linked after the open-work in ring sealing plate portion with driving gear；
Shell and annular matrix are arranged concentrically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810426346.6A CN108622348A (en) | 2017-07-31 | 2017-07-31 | A kind of underwater robot that can be driven with any angle |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710643756.1A CN107380379B (en) | 2017-07-31 | 2017-07-31 | The underwater robot that can be driven with any angle |
| CN201810426346.6A CN108622348A (en) | 2017-07-31 | 2017-07-31 | A kind of underwater robot that can be driven with any angle |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710643756.1A Division CN107380379B (en) | 2017-07-31 | 2017-07-31 | The underwater robot that can be driven with any angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108622348A true CN108622348A (en) | 2018-10-09 |
Family
ID=60344377
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810426292.3A Withdrawn CN108609140A (en) | 2017-07-31 | 2017-07-31 | The underwater robot that can be driven with any angle |
| CN201810426346.6A Withdrawn CN108622348A (en) | 2017-07-31 | 2017-07-31 | A kind of underwater robot that can be driven with any angle |
| CN201710643756.1A Active CN107380379B (en) | 2017-07-31 | 2017-07-31 | The underwater robot that can be driven with any angle |
| CN201810427014.XA Withdrawn CN108657392A (en) | 2017-07-31 | 2017-07-31 | A kind of underwater robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810426292.3A Withdrawn CN108609140A (en) | 2017-07-31 | 2017-07-31 | The underwater robot that can be driven with any angle |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710643756.1A Active CN107380379B (en) | 2017-07-31 | 2017-07-31 | The underwater robot that can be driven with any angle |
| CN201810427014.XA Withdrawn CN108657392A (en) | 2017-07-31 | 2017-07-31 | A kind of underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (4) | CN108609140A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114408139A (en) * | 2022-03-07 | 2022-04-29 | 中国船舶科学研究中心 | Tail part operating device of underwater unmanned vehicle and operating method |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108791778A (en) * | 2018-07-07 | 2018-11-13 | 胡俊 | A kind of underwater robot |
| CN110481739B (en) * | 2019-09-03 | 2020-12-01 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Deep sea full-rotation propelling device |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202429337U (en) * | 2011-12-08 | 2012-09-12 | 上海交通大学 | Propeller required for assisting deep-sea pipeline to move |
| CN203268309U (en) * | 2013-04-19 | 2013-11-06 | 天津深之蓝海洋设备科技有限公司 | Underwater propeller propelling device |
| CN103358839B (en) * | 2013-08-05 | 2015-09-02 | 战强 | A kind of Amphibious spherical scout robot |
| CN104029805A (en) * | 2014-03-14 | 2014-09-10 | 上海大学 | An underwater spherical robot for shallow water detection |
| CN204437606U (en) * | 2015-01-27 | 2015-07-01 | 浙江海洋学院 | A kind of binocular camera The Cloud Terrace for underwater robot detection |
| 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 |
| CN106428479B (en) * | 2015-08-06 | 2018-05-25 | 欧舶智能科技（上海）有限公司 | A kind of unmanned remote controlled underwater robot and its control method |
| CN106314729B (en) * | 2016-09-18 | 2018-02-23 | 河海大学常州校区 | Underwater joint search and rescue robot, search and rescue system and its method of work |
| CN106428481B (en) * | 2016-10-14 | 2018-02-16 | 河海大学常州校区 | Undersea detection and cleaning unmanned plane and its method of work based on four rotor structures |
-
2017
- 2017-07-31 CN CN201810426292.3A patent/CN108609140A/en not_active Withdrawn
- 2017-07-31 CN CN201810426346.6A patent/CN108622348A/en not_active Withdrawn
- 2017-07-31 CN CN201710643756.1A patent/CN107380379B/en active Active
- 2017-07-31 CN CN201810427014.XA patent/CN108657392A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114408139A (en) * | 2022-03-07 | 2022-04-29 | 中国船舶科学研究中心 | Tail part operating device of underwater unmanned vehicle and operating method |
| CN114408139B (en) * | 2022-03-07 | 2022-12-09 | 中国船舶科学研究中心 | Tail part operating device of underwater unmanned vehicle and operating method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108609140A (en) | 2018-10-02 |
| CN107380379B (en) | 2018-06-26 |
| CN107380379A (en) | 2017-11-24 |
| CN108657392A (en) | 2018-10-16 |
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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: 20181009 |