CN108639293A - A kind of adjustable driving mechanism for underwater robot of driving direction - Google Patents

A kind of adjustable driving mechanism for underwater robot of driving direction Download PDF

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Publication number
CN108639293A
CN108639293A CN201810415047.2A CN201810415047A CN108639293A CN 108639293 A CN108639293 A CN 108639293A CN 201810415047 A CN201810415047 A CN 201810415047A CN 108639293 A CN108639293 A CN 108639293A
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CN
China
Prior art keywords
gear
annular
driving
ring gear
plate
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Withdrawn
Application number
CN201810415047.2A
Other languages
Chinese (zh)
Inventor
黄建中
Original Assignee
王仁浒
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 王仁浒 filed Critical 王仁浒
Priority to CN201710642676.4A priority Critical patent/CN107378936B/en
Priority to CN201810415047.2A priority patent/CN108639293A/en
Publication of CN108639293A publication Critical patent/CN108639293A/en
Withdrawn legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63HMARINE PROPULSION OR STEERING
    • B63H5/00Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/08Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14Control of attitude or depth
    • B63G8/16Control of attitude or depth by direct use of propellers or jets
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63HMARINE PROPULSION OR STEERING
    • B63H5/00Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/125Arrangements 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned

Abstract

The invention discloses a kind of adjustable driving mechanisms for underwater robot of driving direction, including annular matrix, the ring gear being rotatably arranged on annular matrix, the gear driven mechanism for being used to that ring gear to be driven to rotate being arranged on annular matrix and two propeller drives being arranged on ring gear.The present invention has the effect of positive:In use, annular matrix can turn an angle around robot body, propeller drives can turn an angle again around annular matrix, therefore the driving direction of this kind of driving mechanism can be driven relative to robot body with any angle.

Description

A kind of adjustable driving mechanism for underwater robot of driving direction
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of adjustable drive for underwater robot of driving direction Motivation structure.
Background technology
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 adjustable driving mechanisms for underwater robot of driving direction.
Realizing the technical solution of the object of the invention is:A kind of adjustable driving machine for underwater robot of driving direction Structure, including annular matrix, be rotatably arranged on annular matrix ring gear, be arranged on annular matrix for driving annular The gear driven mechanism of gear rotation and two propeller drives being arranged on ring gear.
In said program, annular matrix includes the pedestal and cover board being fixedly linked, and pedestal is a ring plate, cover board packet Annular flat plate portion and annular wall plate portion are included, annular wall plate portion is that the inner periphery of annular flat plate portion vertically is protruded to be formed;Annular wall Plate portion is equipped with keyhole portion and axle hole, keyhole and axis hole coaxial arrangement.
In said program, an annular chamber is formed between pedestal and cover board.
In said program, ring gear includes tubular body and the sliding tooth that is arranged on tubular body internal perisporium;Annular Gear is located in the annular chamber of annular matrix.
In said program, set in the annular chamber of annular matrix there are four the positioning gear being rotatably arranged on pedestal, it is each fixed Position gear and ring gear adjoining adaptation;This four positioning gears are arranged in the inside of ring gear, and ring gear is by this four Gear positioning is positioned, so as to around the center axis thereof of annular matrix.
In said program, gear driven mechanism include be fixed at installation room below annular matrix pedestal, setting exists Gear drive motor, the battery being arranged in installing room and the driving gear being arranged in annular chamber in room is installed.
In said program, there are two gear driven mechanisms, is located at the both sides of shell.
In said program, two propeller drives are located at the both sides of ring gear, and each propeller drives include fixing Drive chamber on ring gear periphery wall is set, the blade driving motor that is arranged in drive chamber and is rotatably arranged on drive chamber Propeller on outer wall, each blade driving motor drive a corresponding propeller rotational.
It is each to drive gear adjoining ring gear and the inside positioned at ring gear, gear drive motor band in said program When dynamic sliding tooth wheel rotation, drive ring gear around housing into rotation.
In said program, the power direction that two propellers generate is identical.
The present invention has the effect of positive:In use, annular matrix can turn an angle around robot body, spiral Pitch driver can turn an angle again around annular matrix, therefore the driving direction of this kind of driving mechanism can relative to robot body It is driven with 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 explosive view of driving mechanism shown in Fig. 1;
Fig. 3 is a kind of dimensional structure diagram using the made robots of Fig. 3;
Fig. 4 is a kind of front view of robot shown in Fig. 3;
Fig. 5 is a kind of explosive view of robot shown in Fig. 3.
Reference numeral is:Shell 1, hemispherical observation window 11, driving mechanism 3, annular matrix 4, pedestal 41, cover board 42, ring Shape flat part 421, annular wall plate portion 422, keyhole portion 423, axle hole 424 position gear 43, ring gear 5, tubular body 51, sliding tooth 52, gear driven mechanism 6 installs room 61, gear drive motor 62, and battery 63 drives gear 64, propeller to drive Dynamic device 7, drive chamber 71, propeller 72, output shaft 81, shaft 82.
Specific implementation mode
(Embodiment 1)
The present embodiment is a kind of driving mechanism for underwater robot, is seen shown in Fig. 1 to Fig. 2, which includes annular Matrix 4, the ring gear 5 being rotatably arranged on annular matrix, be arranged on annular matrix for driving ring gear to rotate Gear driven mechanism 6 and two propeller drives 7 being arranged on ring gear.
Annular matrix includes the pedestal 41 being fixedly linked and cover board 42, and pedestal is a ring plate, and cover board includes annular Flat part 421 and annular wall plate portion 422, annular wall plate portion are that the inner periphery of annular flat plate portion vertically is protruded to be formed;Annular wall Plate portion is equipped with keyhole portion 423 and axle hole 424, keyhole and axis hole coaxial arrangement.An annular is formed between pedestal and cover board Chamber.
Ring gear includes tubular body 51 and the sliding tooth 52 that is arranged on tubular body internal perisporium;Ring gear is located at In the annular chamber of annular matrix.
It is set in the annular chamber of annular matrix there are four the positioning gear 43 being rotatably arranged on pedestal, it is each to position gear and ring Shape gear adjoining adaptation;This four positioning gears are arranged in the inside of ring gear, and ring gear is determined by this four positioning gears Position, so as to around the center axis thereof of annular matrix.
Gear driven mechanism 6 includes being fixed at the installation room 61 below annular matrix pedestal, being arranged in installing room Gear drive motor 62, the battery 63 being arranged in installing room and the driving gear 64 being arranged in annular chamber;The present embodiment In gear driven mechanism there are two, be located at the both sides of shell.Each driving gear adjoining ring gear is simultaneously located at annular tooth The inside of wheel drives ring gear around housing into rotation when gear drive motor 62 drives the rotation of sliding tooth wheel.
Two propeller drives 7 are located at the both sides of ring gear, and each propeller drives 7 include being fixed at ring It drive chamber 71 on shape 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 drives a corresponding propeller rotational;Preferable scheme is that two propellers generated Power direction is identical.
(Application examples 1)
The application example is to see Fig. 3 extremely using a kind of underwater robot that can change power drive direction made of above-described embodiment 1 Shown in Fig. 5, including shell 1, the photographing module being built in shell and the driving mechanism 3 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.
Driving mechanism 3 includes the annular matrix 4 being rotatably arranged on shell, the annular tooth being rotatably arranged on annular matrix Wheel 5, the gear driven mechanism 6 for being used to that ring gear to be driven to rotate being arranged on annular matrix and setting are in ring gear Two propeller drives 7.
Annular matrix includes the pedestal 41 being fixedly linked and cover board 42, and pedestal is a ring plate, and cover board includes annular Flat part 421 and annular wall plate portion 422, annular wall plate portion are that the inner periphery of annular flat plate portion vertically is protruded to be formed;Annular wall Plate portion is equipped with keyhole portion 423 and axle hole 424, keyhole and axis hole coaxial arrangement.An annular is formed between pedestal and cover board Chamber.
The main drive motor for driving annular matrix to rotate is equipped in shell, in the application example, main drive motor it is defeated Shaft 81 stretches out a side of shell, and is plugged on annular matrix in corresponding keyhole, so that the output shaft and annular Matrix is fixedly linked;The other end of shell is equipped with the shaft 82 for stretching out shell, which is rotatably arranged on annular matrix accordingly Axis hole in, output shaft and shaft coaxial arrangement, therefore main drive motor can drive annular matrix rotate axis center by output shaft Axis rotates.In the application example, the central axis of the shaft passes through the centre of sphere of spherical shell.
Ring gear includes tubular body 51 and the sliding tooth 52 that is arranged on tubular body internal perisporium;Ring gear is located at In the annular chamber of annular matrix.
It is set in the annular chamber of annular matrix there are four the positioning gear 43 being rotatably arranged on pedestal, it is each to position gear and ring Shape gear adjoining adaptation;This four positioning gears are arranged in the inside of ring gear, and ring gear is determined by this four positioning gears Position, so as to around the center axis thereof of annular matrix.
Gear driven mechanism 6 includes being fixed at the installation room 61 below annular matrix pedestal, being arranged in installing room Gear drive motor 62, the battery 63 being arranged in installing room and the driving gear 64 being arranged in annular chamber;The application example In gear driven mechanism there are two, be located at the both sides of shell.Each driving gear adjoining ring gear is simultaneously located at annular tooth The inside of wheel drives ring gear around housing into rotation when gear drive motor 62 drives the rotation of sliding tooth wheel.
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 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 output shaft stretching shell for cleaning driving motor is fixed at semi-circular branch One end of plate is held, the other end of semi-circular support plate is rotatably arranged on by axis pin on shell;Cleaning brush is foam-rubber cushion or hairbrush; It cleans driving motor and semi-circular support plate reciprocally swinging is driven by output shaft, and then cleaning brush is driven to brush hemispherical observation window Foul on outer wall.
In the application example work, main drive motor can drive annular matrix reciprocating rotation around the shaft, since propeller drives Device is fixed on annular matrix, therefore propeller drives are rotated with annular matrix, is realized and is changed propeller drives Driving direction;In addition, blade driving motor can also drive ring gear to rotate, therefore can be driven again from another angulation change propeller The driving direction of device;In summary the angle adjustment of two kinds of rotations may make propeller drives to realize 360 degree of appointing without dead angle The driving of meaning direction.
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 adjustable driving mechanism for underwater robot of driving direction, it is characterised in that:Including annular matrix, rotation The ring gear being arranged on annular matrix, the gear driving machine for driving ring gear to rotate being arranged on annular matrix Structure and two propeller drives being arranged on ring gear;Annular matrix includes the pedestal and cover board being fixedly linked, bottom Seat is a ring plate, and cover board includes annular flat plate portion and annular wall plate portion, and annular wall plate portion is the inner circumferential of annular flat plate portion Edge-perpendicular is protruded to be formed;Annular wall plate portion is equipped with keyhole portion and axle hole, keyhole and axis hole coaxial arrangement;
Gear driven mechanism include be fixed at installation room below annular matrix pedestal, the gear that is arranged in installing room drives Dynamic motor, the battery being arranged in installing room and the driving gear being arranged in annular chamber;There are two gear driven mechanisms, respectively It is located on both sides of the housing;Each driving gear adjoining ring gear and the inside positioned at ring gear, gear drive motor, which drives, to be driven When moving gear rotates, drive ring gear around housing into rotation.
CN201810415047.2A 2017-07-31 2017-07-31 A kind of adjustable driving mechanism for underwater robot of driving direction Withdrawn CN108639293A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201710642676.4A CN107378936B (en) 2017-07-31 2017-07-31 A kind of driving mechanism for underwater robot
CN201810415047.2A CN108639293A (en) 2017-07-31 2017-07-31 A kind of adjustable driving mechanism for underwater robot of driving direction

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810415047.2A CN108639293A (en) 2017-07-31 2017-07-31 A kind of adjustable driving mechanism for underwater robot of driving direction

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201710642676.4A Division CN107378936B (en) 2017-07-31 2017-07-31 A kind of driving mechanism for underwater robot

Publications (1)

Publication Number Publication Date
CN108639293A true CN108639293A (en) 2018-10-12

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ID=60343438

Family Applications (4)

Application Number Title Priority Date Filing Date
CN201810415047.2A Withdrawn CN108639293A (en) 2017-07-31 2017-07-31 A kind of adjustable driving mechanism for underwater robot of driving direction
CN201810415720.2A Withdrawn CN108583833A (en) 2017-07-31 2017-07-31 A kind of driving mechanism for underwater robot
CN201810415098.5A Withdrawn CN108609143A (en) 2017-07-31 2017-07-31 driving mechanism for underwater robot
CN201710642676.4A Active CN107378936B (en) 2017-07-31 2017-07-31 A kind of driving mechanism for underwater robot

Family Applications After (3)

Application Number Title Priority Date Filing Date
CN201810415720.2A Withdrawn CN108583833A (en) 2017-07-31 2017-07-31 A kind of driving mechanism for underwater robot
CN201810415098.5A Withdrawn CN108609143A (en) 2017-07-31 2017-07-31 driving mechanism for underwater robot
CN201710642676.4A Active CN107378936B (en) 2017-07-31 2017-07-31 A kind of driving mechanism for underwater robot

Country Status (1)

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CN (4) CN108639293A (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111337082A (en) * 2020-03-31 2020-06-26 杭州万知科技有限公司 Grain condition detection system

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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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CN101475055A (en) * 2009-01-21 2009-07-08 上海广茂达伙伴机器人有限公司 Underwater robot
CN103303449B (en) * 2013-05-30 2015-11-11 河北工业大学 A kind of under-water operation robot
CN103600821B (en) * 2013-11-07 2016-03-30 江苏科技大学 Omnidirectional swims and climbs wall under-water robot
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
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
CN205311877U (en) * 2016-01-25 2016-06-15 武汉尼维智能科技有限公司 Unmanned ship course control device of surface of water
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Patent Citations (6)

* Cited by examiner, † Cited by third party
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

Also Published As

Publication number Publication date
CN107378936A (en) 2017-11-24
CN107378936B (en) 2018-06-26
CN108609143A (en) 2018-10-02
CN108583833A (en) 2018-09-28

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Application publication date: 20181012

WW01 Invention patent application withdrawn after publication