CN108750049A - A kind of spherical underwater robot - Google Patents

A kind of spherical underwater robot Download PDF

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Publication number
CN108750049A
CN108750049A CN201810553644.1A CN201810553644A CN108750049A CN 108750049 A CN108750049 A CN 108750049A CN 201810553644 A CN201810553644 A CN 201810553644A CN 108750049 A CN108750049 A CN 108750049A
Authority
CN
China
Prior art keywords
shell
gear
driving
ring gear
ring
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
Application number
CN201810553644.1A
Other languages
Chinese (zh)
Inventor
不公告发明人
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Lu Jiagui
Original Assignee
Lu Jiagui
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 Lu Jiagui filed Critical Lu Jiagui
Priority to CN201710642681.5A priority Critical patent/CN107364562B/en
Priority to CN201810553644.1A priority patent/CN108750049A/en
Publication of CN108750049A publication Critical patent/CN108750049A/en
Pending legal-status Critical Current

Links

Classifications

    • 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63CLAUNCHING, 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
    • B63C11/00Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52Tools specially adapted for working underwater, not otherwise provided for
    • 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
    • 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
    • B63G8/08Propulsion
    • 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
    • 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 spherical underwater robots, including shell and the driving mechanism for drive shell movement;The global shape of shell is spherical shape;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 the 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

A kind of spherical underwater robot
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of spherical 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.
Invention content
The object of the present invention is to provide a kind of spherical underwater robots that driving direction can be adjusted in ring is 360 degree all.
Realizing the technical solution of the object of the invention is:A kind of spherical underwater robot, including shell and be used for drive shell Mobile driving mechanism;The global shape of shell is spherical shape;Driving mechanism includes the annular matrix being fixed on shell, turns The dynamic ring gear being arranged on annular matrix, for driving ring gear and around the gear driven mechanism of housing into rotation and setting Set the propeller drives on ring gear.
Above-mentioned side is further preferably:It is set on housing exterior walls there are four fixed column, annular matrix passes through four fixations Column is fixed on housing exterior walls.Shell and annular matrix are arranged concentrically.
Above-mentioned side is further preferably:Annular matrix includes annular flat plate portion, ring sealing plate portion and annular block machine portion, ring Shape sealing plate portion is that the inner periphery of annular flat plate portion is protruded to be formed vertically upward, and annular block machine portion is upward convex from annular flat plate portion The annular convex platform gone out;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.
Above-mentioned side is further preferably:Ring gear includes ring body and the driving in ring body upper surface is arranged Teeth portion;Ring gear is set in annular block machine portion, and 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 are slidably matched.
Above-mentioned side is further preferably:There are one driving gear and five limiting tooths for rotation setting in ring sealing plate portion Wheel drives gear and position limited gear to be adapted to ring gear;Driving gear and position limited gear are crimped on the driving of ring gear In teeth portion, to which ring gear is crimped in the annular flat plate portion of annular matrix.
Above-mentioned side is further preferably:Gear driven mechanism includes the gear drive motor of setting in the housing, the tooth The output shaft of wheel drive motor stretches out shell and sliding tooth wheel is driven to rotate.
Above-mentioned side is further preferably:The quantity of propeller drives is two, is symmetricly set on the two of ring gear Side;The blade that each propeller drives include the drive chamber being fixed on ring gear periphery wall, are arranged in drive chamber Driving motor and the propeller being rotatably arranged on driving chamber outer wall, each blade driving motor drive a corresponding propeller to turn It is dynamic.
Above-mentioned side is further preferably:The power direction that two propellers generate is identical.
Above-mentioned side is further preferably:Shell is built-in with photographing module;The lower part of shell is equipped with transparent hemispherical and sees Examine window.
The present invention has the effect of positive:Gear drive motor drive sliding tooth wheel rotation, and then drive ring gear around Spherical shell rotates, and two propeller drives are also synchronized as ring gear moves, so as to adjust the drive of propeller drives Dynamic direction.This structure can adjust position of the propeller drives relative to shell in the range of ring is 360 degree all, namely adjust The driving direction of whole propeller drives.
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.
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 drives gear 44, keyhole portion 441, keyhole 442, position limited gear 45, ring gear 5, ring body 51, sliding tooth 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 spherical underwater robots that driving direction can be adjusted in ring is 360 degree all, is seen shown in Fig. 1 to Fig. 4, Including shell 1, the photographing module being built in shell and the 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.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 fixed 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 and two spirals being arranged on ring gear Pitch driver 7.It is set in the present embodiment, on housing exterior walls there are four fixed column 12, annular matrix is fixed by four fixed columns It is arranged on housing exterior walls.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 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.Gear is driven to be equipped with the keyhole portion with keyhole 442 being located on the inside of ring sealing plate portion 441, which is rotatably arranged in ring sealing plate portion.
Gear driven mechanism 6 includes the gear drive motor of setting in the housing, the output shaft 61 of the gear drive motor It stretches out shell insertion to be fixed in the keyhole 441, to drive sliding tooth wheel to rotate.
Two propeller drives 7 are symmetricly set on the both sides of ring gear, and each propeller drives 7 include fixed setting Drive chamber 71 on ring gear periphery wall, the blade driving motor being fixed in drive chamber and it is rotatably arranged on driving Propeller 72 on chamber outer wall, each blade driving motor drive a corresponding propeller rotational;Preferable scheme is that two spirals The power direction that paddle generates 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 (2)

1. a kind of spherical underwater robot, including shell and the driving mechanism for drive shell movement;The global shape of shell For spherical shape;It is characterized in that:
Driving mechanism includes the annular matrix being fixed on shell, is rotatably arranged on annular matrix ring gear is used In driving ring gear and around the gear driven mechanism of housing into rotation and the propeller drives being arranged on ring gear;
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 And sliding tooth wheel is driven to rotate.
2. spherical underwater robot according to claim 1, it is characterised in that:Shell and annular matrix are arranged concentrically.
CN201810553644.1A 2017-07-31 2017-07-31 A kind of spherical underwater robot Pending CN108750049A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201710642681.5A CN107364562B (en) 2017-07-31 2017-07-31 A kind of spherical underwater robots that driving direction can be adjusted in ring is 360 degree all
CN201810553644.1A CN108750049A (en) 2017-07-31 2017-07-31 A kind of spherical underwater robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810553644.1A CN108750049A (en) 2017-07-31 2017-07-31 A kind of spherical underwater robot

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201710642681.5A Division CN107364562B (en) 2017-07-31 2017-07-31 A kind of spherical underwater robots that driving direction can be adjusted in ring is 360 degree all

Publications (1)

Publication Number Publication Date
CN108750049A true CN108750049A (en) 2018-11-06

Family

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Family Applications (5)

Application Number Title Priority Date Filing Date
CN201810556335.XA Withdrawn CN108791775A (en) 2017-07-31 2017-07-31 A kind of spherical underwater robots that driving direction can be adjusted in ring is 360 degree all
CN201810556332.6A Pending CN108791769A (en) 2017-07-31 2017-07-31 Spherical underwater robot
CN201810553644.1A Pending CN108750049A (en) 2017-07-31 2017-07-31 A kind of spherical underwater robot
CN201810553657.9A Pending CN108639285A (en) 2017-07-31 2017-07-31 It can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week
CN201710642681.5A Active CN107364562B (en) 2017-07-31 2017-07-31 A kind of spherical underwater robots that driving direction can be adjusted in ring is 360 degree all

Family Applications Before (2)

Application Number Title Priority Date Filing Date
CN201810556335.XA Withdrawn CN108791775A (en) 2017-07-31 2017-07-31 A kind of spherical underwater robots that driving direction can be adjusted in ring is 360 degree all
CN201810556332.6A Pending CN108791769A (en) 2017-07-31 2017-07-31 Spherical underwater robot

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Application Number Title Priority Date Filing Date
CN201810553657.9A Pending CN108639285A (en) 2017-07-31 2017-07-31 It can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week
CN201710642681.5A Active CN107364562B (en) 2017-07-31 2017-07-31 A kind of spherical underwater robots that driving direction can be adjusted in ring is 360 degree all

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CN (5) CN108791775A (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108622345A (en) * 2017-07-31 2018-10-09 乐清市华尊电气有限公司 It can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week
RU2710838C2 (en) * 2018-11-26 2020-01-14 Анатолий Степанович Дресвянкин Das system device for movement over air and water surface
CN109911149B (en) * 2019-03-28 2021-02-09 白城师范学院 Underwater multifunctional robot and control system thereof
CN110562418B (en) * 2019-09-03 2021-05-18 重庆邮电大学 Spherical underwater mobile robot with variable-angle propeller

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CN202429337U (en) * 2011-12-08 2012-09-12 上海交通大学 Propeller required for assisting deep-sea pipeline to move
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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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CN201472668U (en) * 2009-06-12 2010-05-19 段霄驰 Flying saucer
US10479465B2 (en) * 2014-03-25 2019-11-19 O-Robotix Llc Underwater modular device
CN104260605A (en) * 2014-10-16 2015-01-07 北京理工大学 Air-ground amphibious spherical metamorphic robot based on metamorphic principle
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
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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
CN108639285A (en) 2018-10-12
CN107364562A (en) 2017-11-21
CN108791769A (en) 2018-11-13
CN108791775A (en) 2018-11-13
CN107364562B (en) 2018-06-26

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Application publication date: 20181106