CN108639290A - A kind of Intelligent Underwater Robot for capableing of motivation of adjustment driving direction - Google Patents
A kind of Intelligent Underwater Robot for capableing of motivation of adjustment driving direction Download PDFInfo
- Publication number
- CN108639290A CN108639290A CN201810221092.4A CN201810221092A CN108639290A CN 108639290 A CN108639290 A CN 108639290A CN 201810221092 A CN201810221092 A CN 201810221092A CN 108639290 A CN108639290 A CN 108639290A
- Authority
- CN
- China
- Prior art keywords
- blade
- shell
- tuning
- motivation
- capableing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- 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
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
-
- 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 Intelligent Underwater Robots for capableing of motivation of adjustment driving direction, including shell and driving direction are relative to the adjustable tuning blade driving mechanism of shell；Tuning blade driving mechanism includes the blade driver being rotatably arranged on housing exterior walls, for driving blade driver in the first tuning driving mechanism of the first rotation in surface and for driving blade driver in the second tuning driving mechanism of the second rotation in surface；Blade driver includes sealing room, the blade being rotatably arranged on sealing room, the blade drive motor being arranged in sealing room；It seals room and is equipped with seal chamber and mounting portion, power supply and blade drive motor are fixed in seal chamber；First plane is perpendicular to the second plane.The present invention can realize more complicated shift action.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to it is a kind of being capable of machine under the intelligent water of motivation of adjustment driving direction
Device people.
Background technology
Underwater robot has video camera or camera more, is generally used for hydrologic research, underwater monitoring, detects under water, water
The fields such as lower rescue, underwater salvage, the supervision of nuclear power station waters and the cleaning of underwater oil job platform.
Existing underwater robot is mostly to increase mobile module under water on the basis of video camera, to complete autonomous move
Dynamic or controlled movement, but the driving direction of its driving mechanism is limited, cannot arbitrarily change driving direction under water.
Invention content
The object of the present invention is to provide a kind of Intelligent Underwater Robots for capableing of motivation of adjustment driving direction.
Realizing the technical solution of the object of the invention is：A kind of Intelligent Underwater Robot for capableing of motivation of adjustment driving direction,
Including shell and driving direction relative to the adjustable tuning blade driving mechanism of shell；
Tuning blade driving mechanism includes the blade driver being rotatably arranged on housing exterior walls, for driving blade driver to exist
First tuning driving mechanism of the first rotation in surface and for drive blade driver the second rotation in surface second adjust
To driving mechanism；First plane is perpendicular to the second plane；
Blade driver includes the blade driving horse for sealing room, the blade being rotatably arranged on sealing room, being arranged in sealing room
It reaches；It seals room and is equipped with seal chamber and mounting portion, power supply and blade drive motor are fixed in seal chamber；
Mounting portion is equipped with driving section and rotation section；Driving section includes the transmission protrusive board being fixed on mounting portion；It wraps rotation section
It includes the slideway portion equipped with limit slide opening, the axle mount being slidably arranged in limit slide opening, be arranged on axle mount
Shaft and two springs for being arranged in limiting slide opening and being located at axle mount both sides；One end of each spring is connected to shaft peace
In piece installing, the other end of each spring is connected on a side of limit slide opening namely in slideway portion；Housing exterior walls are equipped with holder,
Shaft is rotatably arranged on the holder, and holder pivots are arranged on shell；
The axle mount includes and limits the slider body portion of slide opening adaptation, is arranged in slider body portion both sides for preventing
The two anticreep projected boards only slipped from limit slide opening, two convexes for retaining spring being arranged on slider body
Platform portion and axis hole for shaft to be arranged；Each spring is connected to one end on axle mount and is set in a corresponding convex
In platform portion；
First tuning driving mechanism includes setting the first tuning drive motor in the housing, is fixed at the driving of the first tuning
External thread rod on motor output shaft has and the flexible slide bar of the inner bolt hole of external thread rod adaptation and is arranged in flexible slide bar
The transmission shackle member of outer end；Shackle member is driven to be equipped with for being set on the transmission protrusive board in a corresponding blade driver
Card slot；Shell is equipped with sealing slide opening, and each flexible slide bar is located in corresponding one sealing slide opening, and shell is stretched out in the outer end of flexible slide bar
Body；When the first tuning drive motor rotates, flexible slide bar is driven to reciprocatingly slide along sealing slide opening by external thread rod；It is flexible to slide
The center line of bar is on the first plane；
Second tuning driving mechanism includes for driving holder in the second tuning drive motor of the second Plane Rotation and connection
The interlocking bar of second tuning drive motor and holder；Second tuning drive motor is arranged in the housing, and holder is arranged outside shell,
Interlocking bar stretches out shell after passing through corresponding one sealing slide opening, and the center line of interlocking bar is in the second plane.
It is further to be preferably in above-mentioned technical proposal：Blade driver further include the power supply that is arranged in sealing room and
The protective cover for protecting blade on sealing chamber outer wall is set；Holder and interlocking bar are made into integration.
It is further to be preferably in above-mentioned technical proposal：The shape for sealing room is tubulose, seals center line and the limit of room
The acute angle that the center line clamping of slide opening is formed is 45 degree.
It is further to be preferably in above-mentioned technical proposal：Slideway portion is used for there are one setting with the sliding slot being open and one
The nut of sliding slot opening is blocked, after nut twist-on is fixed on sliding slot opening, remaining sliding slot forms the limit slide opening.
It is further to be preferably in above-mentioned technical proposal：The quantity of blade driver is two, and is arranged in shell two
Side.
It is further to be preferably in above-mentioned technical proposal：The quantity of first tuning drive motor is two, each first tuning
The output shaft of drive motor drives corresponding external thread rod rotation, and then corresponding flexible slide bar is driven to move back and forth.
It is further to be preferably in above-mentioned technical proposal：When shell is in the free state under only gravity, the
One plane is horizontal plane, and the second plane is vertical guide.
It is further to be preferably in above-mentioned technical proposal：It further include the photographing module being built in shell.
It is further to be preferably in above-mentioned technical proposal：The global shape of shell is spherical shape, and the lower part of shell is equipped with transparent
Hemispherical observation window.
It is further to be preferably in above-mentioned technical proposal：Photographing module includes the camera being built in shell and illumination
Lamp.
The present invention has the effect of positive：Due in tuning blade driving mechanism blade provide power direction relative to
Extension case can change, to realize more complicated shift action.
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 that robot removes after partial shell shown in Fig. 1；
Fig. 3 is a kind of half sectional view of robot shown in Fig. 2；
Fig. 4 is a kind of dimensional structure diagram of blade driver in robot shown in Fig. 3；
Fig. 5 is a kind of explosive view of blade driver shown in Fig. 4；
Fig. 6 is a kind of dimensional structure diagram of the robot in the second Plane Rotation shown in Fig. 1；
Fig. 7 is a kind of dimensional structure diagram of the robot in the first Plane Rotation shown in Fig. 6.
Reference numeral is：Shell 1, hemispherical observation window 11, holder 12 seal slide opening 13, photographing module 2, cradle head mechanism
21, camera 22, tuning blade driving mechanism 3, blade driver 4, sealing room 41, power supply 42, blade 43, protective cover 44, paddle
Leaf drive motor 45, seal chamber 46, mounting portion 47, driving section 48 are driven protrusive board 481, the second rotation section 49, and slideway portion 491 is slided
Slot 4911, nut 4912, limit slide opening 492, the second axle mount 493, slider body portion 4931, anticreep projected board 4932,
Positioning convex platform portion 4933, axis hole 4934, the second shaft 494, spring 495, the first tuning driving mechanism 5, the first tuning drive horse
Up to 51, first tuning drive motor output shafts 511, external thread rod 52, flexible slide bar 53, inner bolt hole 531 is driven shackle member 54,
Card slot 541, the second tuning driving mechanism 6, the second tuning drive motor 61, interlocking bar 62, cleaning agency 7, semi-circular support plate
71, clean drive motor 72, cleaning brush 73.
Specific implementation mode
（Embodiment 1）
The present embodiment is a kind of Intelligent Underwater Robot for capableing of motivation of adjustment driving direction, is seen shown in Fig. 1 to Fig. 7, including shell
Body 1, the photographing module 2 being built in shell and driving direction are relative to the adjustable tuning blade driving mechanism of shell 3.
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
Camera 21 and the headlamp being built in shell.Always the transparent wall of face hemispherical observation window in camera rotation process
Body.
Tuning blade driving mechanism 3 includes the blade driver 4 being rotatably arranged on housing exterior walls, for driving blade to drive
Dynamic device is in the first tuning driving mechanism 5 of the first rotation in surface and for driving blade driver in the second rotation in surface
Second tuning driving mechanism 6；First plane is in the second plane, the present embodiment, when shell is under only gravity
Free state when, the first plane is horizontal plane, and the second plane is vertical guide.
Blade driver 4 include sealing room 41, be arranged in seal room power supply 42, be rotatably arranged on seal room on paddle
Leaf 43, the blade drive motor for protecting the protective cover 44 of blade and being arranged in sealing room being arranged on sealing chamber outer wall
45；It seals room and is equipped with seal chamber 46 and mounting portion 47, power supply and blade drive motor are fixed in seal chamber；
Mounting portion is equipped with driving section 48 and rotation section 49；Driving section 48 includes the transmission protrusive board 481 being fixed on mounting portion；
Rotation section 49 includes the slideway portion 491 for being equipped with limit slide opening 492, is slidably arranged in the axle mount 493 limited in slide opening, sets
It sets the shaft 494 on axle mount and is arranged in limiting slide opening and is located at two springs 495 of axle mount both sides；
One end of each spring is connected on axle mount, and the other end of each spring is connected on a side of limit slide opening namely slideway
In portion, to provide reseting elasticity for axle mount.In the present embodiment, the shape for sealing room is tubulose, seals the center of room
The acute angle that the center line clamping of line and limit slide opening is formed is 45 degree.
In the present embodiment, slideway portion 491 sets that there are one the sliding slots 4911 with opening and one to open for blocking the sliding slot
The nut 4912 of mouth, after nut twist-on is fixed on sliding slot opening, remaining sliding slot forms the limit slide opening 492；It is described
Axle mount 493 includes and limits the slider body portion 4931 of slide opening adaptation, is arranged in slider body portion both sides for preventing
The two anticreep projected boards 4932 only slipped from limit slide opening, two for retaining spring being arranged on slider body determine
Position boss portion 4933 and the axis hole 4934 for shaft to be arranged；Each spring is connected to one end on axle mount and is set in phase
It answers in a positioning convex platform portion.This structure makes axle mount be abutted and be centrally positioned by two springs, and can be outside
Some spring is compressed under force effect to be slided towards the spring direction.
In the present embodiment, housing exterior walls are equipped with holder 12, and shaft is rotatably arranged on the holder, and holder pivots setting exists
On shell.
First tuning driving mechanism 5 includes setting the first tuning drive motor 51 in the housing, is fixed at first
External thread rod 52 on tuning drive motor output shaft 511 has and the flexible slide bar 53 of the inner bolt hole 531 of external thread rod adaptation
And the transmission shackle member 54 in flexible slide bar outer end is set；Shackle member 54 is driven to be equipped with for being set in a corresponding blade
The card slot 541 on transmission protrusive board 481 in driver；Shell is equipped with sealing slide opening 13, and each flexible slide bar is located at corresponding one
It seals in slide opening, shell is stretched out in the outer end of flexible slide bar；When the first tuning drive motor rotates, stretched by external thread rod drive
Contracting slide bar reciprocatingly slides along sealing slide opening；The center line of flexible slide bar is on the first plane namely flexible slide bar is in the first plane
Upper edge sealing slide opening reciprocatingly moves.
Second tuning driving mechanism 6 include for drive holder the second Plane Rotation the second tuning drive motor 61 with
And the interlocking bar 62 of connection the second tuning drive motor and holder；Second tuning drive motor is arranged in the housing, holder setting
Outside shell, interlocking bar stretches out shell after passing through corresponding one sealing slide opening 13, in the present embodiment, one system of holder and interlocking bar
At；The center line of interlocking bar in the present embodiment is in the second plane namely the second tuning drive motor can drive corresponding paddle
Leaf driver is rotated in the second flatness and reciprocator.
When the present embodiment is in original state, see shown in Fig. 1 to Fig. 3, when flexible slide bar is in a certain predeterminated position,
Second tuning drive motor rotates, and drives a corresponding blade driver to be rotated around interlocking bar by holder, and transmission protrusive board 481 exists
During being rotated with blade driver, moved in the card slot of the transmission shackle member of the embedded flexible slide bar or from the card slot
Go out；The second tuning drive motor, which realizes, at this time drives blade driver reciprocating rotation in the second plane, such as can be by paddle
Leaf driver turns to position shown in Fig. 6 from position shown in Fig. 1.
When in the card slot that transmission protrusive board is embedded in corresponding transmission shackle member, the second tuning drive motor stops operating,
First tuning drive motor starts, and drives corresponding flexible slide bar to inside contract by external thread rod, namely corresponding blade is driven to drive
Dynamic device rotates around the axis, and the first tuning drive motor, which realizes, at this time drives blade driver reciprocating rotation in the first plane,
Such as blade driver can be turned to position shown in Fig. 7 from position shown in Fig. 1.
In the present embodiment, the quantity of blade driver is two, and is arranged in shell both sides；So in the present embodiment
The quantity of one tuning drive motor is also two, and the output shaft 511 of each first tuning drive motor drives a corresponding external screw thread
Bar rotates, and then corresponding flexible slide bar is driven to move back and forth, and corresponding blade is finally driven to be rotated synchronously around each axis of rotation.
The present embodiment also has the cleaning agency 7 for cleaning hemispherical observation window outer wall, and cleaning agency includes semi-circular
Cleaning drive motor 72, the fixed setting for being used to drive semi-circular support plate reciprocally swinging of support plate 71, setting in the housing
In the cleaning brush 73 of semi-circular support plate inner wall uplink；The output shaft stretching shell for cleaning drive 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 on shell；Cleaning brush preferably uses elasticity
Rubber or hairbrush are made；It cleans drive motor and semi-circular support plate reciprocally swinging is driven by output shaft, and then drive cleaning brush
Brush the foul on hemispherical observation window outer wall.
In the present embodiment, the power direction that the blade in tuning blade driving mechanism provides can change relative to shell,
To realize more complicated shift action.
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 (10)
1. a kind of Intelligent Underwater Robot for capableing of motivation of adjustment driving direction, including shell and driving direction can relative to shell
The tuning blade driving mechanism of tune；
It is characterized in that：
Tuning blade driving mechanism includes the blade driver being rotatably arranged on housing exterior walls, for driving blade driver to exist
First tuning driving mechanism of the first rotation in surface and for drive blade driver the second rotation in surface second adjust
To driving mechanism；First plane is perpendicular to the second plane；
Blade driver includes the blade driving horse for sealing room, the blade being rotatably arranged on sealing room, being arranged in sealing room
It reaches；It seals room and is equipped with mounting portion；
Mounting portion is equipped with driving section and rotation section；Driving section includes the transmission protrusive board being fixed on mounting portion；It wraps rotation section
It includes the slideway portion equipped with limit slide opening, the axle mount being slidably arranged in limit slide opening, be arranged on axle mount
Shaft and two springs for being arranged in limiting slide opening and being located at axle mount both sides；One end of each spring is connected to shaft peace
In piece installing, the other end of each spring is connected on a side of limit slide opening namely in slideway portion；Housing exterior walls are equipped with holder,
Shaft is rotatably arranged on the holder, and holder pivots are arranged on shell；
The axle mount includes and limits the slider body portion of slide opening adaptation, is arranged in slider body portion both sides for preventing
The two anticreep projected boards only slipped from limit slide opening, two convexes for retaining spring being arranged on slider body
Platform portion and axis hole for shaft to be arranged；Each spring is connected to one end on axle mount and is set in a corresponding convex
In platform portion；
First tuning driving mechanism includes setting the first tuning drive motor in the housing, is fixed at the driving of the first tuning
External thread rod on motor output shaft has and the flexible slide bar of the inner bolt hole of external thread rod adaptation and is arranged in flexible slide bar
The transmission shackle member of outer end；Shackle member is driven to be equipped with for being set on the transmission protrusive board in a corresponding blade driver
Card slot；Shell is equipped with sealing slide opening, and each flexible slide bar is located in corresponding one sealing slide opening, and shell is stretched out in the outer end of flexible slide bar
Body；When the first tuning drive motor rotates, flexible slide bar is driven to reciprocatingly slide along sealing slide opening by external thread rod；It is flexible to slide
The center line of bar is on the first plane；
Second tuning driving mechanism includes for driving holder in the second tuning drive motor of the second Plane Rotation and connection
The interlocking bar of second tuning drive motor and holder；Second tuning drive motor is arranged in the housing, and holder is arranged outside shell,
Interlocking bar stretches out shell after passing through corresponding one sealing slide opening, and the center line of interlocking bar is in the second plane.
2. the Intelligent Underwater Robot according to claim 1 for capableing of motivation of adjustment driving direction, it is characterised in that：Blade
Driver further include be arranged in sealing room power supply and be arranged on sealing chamber outer wall for protecting the protective cover of blade；Branch
Frame and interlocking bar are made into integration；It seals room and is equipped with seal chamber, power supply and blade drive motor are fixed in seal chamber.
3. the Intelligent Underwater Robot according to claim 2 for capableing of motivation of adjustment driving direction, it is characterised in that：Sealing
The shape of room is tubulose, and the acute angle for sealing the center line clamping formation of the center line and limit slide opening of room is 45 degree.
4. the Intelligent Underwater Robot according to claim 3 for capableing of motivation of adjustment driving direction, it is characterised in that：Slideway
Portion is set there are one the sliding slot with opening and a nut for blocking sliding slot opening, is opened when nut twist-on is fixed on sliding slot
After at mouthful, remaining sliding slot forms the limit slide opening.
5. the Intelligent Underwater Robot according to claim 4 for capableing of motivation of adjustment driving direction, it is characterised in that：Blade
The quantity of driver is two, and is arranged in shell both sides.
6. the Intelligent Underwater Robot according to claim 5 for capableing of motivation of adjustment driving direction, it is characterised in that：First
The quantity of tuning drive motor is two, and the output shaft of each first tuning drive motor drives corresponding external thread rod rotation,
And then corresponding flexible slide bar is driven to move back and forth.
7. the Intelligent Underwater Robot according to claim 6 for capableing of motivation of adjustment driving direction, it is characterised in that：Work as shell
When body is in the free state under only gravity, the first plane is horizontal plane, and the second plane is vertical guide.
8. the Intelligent Underwater Robot according to claim 7 for capableing of motivation of adjustment driving direction, it is characterised in that：Also wrap
Include the photographing module being built in shell.
9. the Intelligent Underwater Robot according to claim 8 for capableing of motivation of adjustment driving direction, it is characterised in that：Shell
Global shape be spherical shape, the lower part of shell is equipped with transparent hemispherical observation window.
10. the Intelligent Underwater Robot according to claim 9 for capableing of motivation of adjustment driving direction, it is characterised in that：It takes the photograph
As module includes the camera and headlamp being built in shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810221092.4A CN108639290A (en) | 2018-03-17 | 2018-03-17 | A kind of Intelligent Underwater Robot for capableing of motivation of adjustment driving direction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810221092.4A CN108639290A (en) | 2018-03-17 | 2018-03-17 | A kind of Intelligent Underwater Robot for capableing of motivation of adjustment driving direction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108639290A true CN108639290A (en) | 2018-10-12 |
Family
ID=63744252
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810221092.4A Pending CN108639290A (en) | 2018-03-17 | 2018-03-17 | A kind of Intelligent Underwater Robot for capableing of motivation of adjustment driving direction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108639290A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101475055A (en) * | 2009-01-21 | 2009-07-08 | 上海广茂达伙伴机器人有限公司 | Underwater robot |
| CN106214083A (en) * | 2016-09-08 | 2016-12-14 | 肇庆市小凡人科技有限公司 | One hangs pull-type glass curtain wall clean robot |
| CN206087176U (en) * | 2016-10-14 | 2017-04-12 | 福建海图智能科技有限公司 | Small -size sextuple degree motion underwater robot |
| CN106945809A (en) * | 2017-02-23 | 2017-07-14 | 浙江大学 | Vector screw propeller for submersible |
| CN107416160A (en) * | 2017-07-31 | 2017-12-01 | 苏州大贝岩电子科技有限公司 | A kind of underwater robot that can change power drive direction |
| CN208530818U (en) * | 2018-03-17 | 2019-02-22 | 海安绒克纺织有限公司 | A kind of Intelligent Underwater Robot for capableing of motivation of adjustment driving direction |
-
2018
- 2018-03-17 CN CN201810221092.4A patent/CN108639290A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101475055A (en) * | 2009-01-21 | 2009-07-08 | 上海广茂达伙伴机器人有限公司 | Underwater robot |
| CN106214083A (en) * | 2016-09-08 | 2016-12-14 | 肇庆市小凡人科技有限公司 | One hangs pull-type glass curtain wall clean robot |
| CN206087176U (en) * | 2016-10-14 | 2017-04-12 | 福建海图智能科技有限公司 | Small -size sextuple degree motion underwater robot |
| CN106945809A (en) * | 2017-02-23 | 2017-07-14 | 浙江大学 | Vector screw propeller for submersible |
| CN107416160A (en) * | 2017-07-31 | 2017-12-01 | 苏州大贝岩电子科技有限公司 | A kind of underwater robot that can change power drive direction |
| CN208530818U (en) * | 2018-03-17 | 2019-02-22 | 海安绒克纺织有限公司 | A kind of Intelligent Underwater Robot for capableing of motivation of adjustment driving direction |
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Application publication date: 20181012 |