CN108773467A - Spherical underwater robot - Google Patents
Spherical underwater robot Download PDFInfo
- Publication number
- CN108773467A CN108773467A CN201810421340.XA CN201810421340A CN108773467A CN 108773467 A CN108773467 A CN 108773467A CN 201810421340 A CN201810421340 A CN 201810421340A CN 108773467 A CN108773467 A CN 108773467A
- Authority
- CN
- China
- Prior art keywords
- annular
- gear
- ring
- ring gear
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- 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
- 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)
- Toys (AREA)
Abstract
The invention discloses a kind of spherical underwater robots, including shell and the driving mechanism for drive shell movement；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 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.
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, gear driven mechanism and setting for driving ring gear around housing into rotation
Propeller drives on ring gear；Annular matrix includes annular flat plate portion, ring sealing plate portion and annular block machine portion, annular
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 protruding upward from annular flat plate portion
Annular convex platform；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 packet
It includes ring body and the driving teeth portion in ring body upper surface is set；Ring gear is set in annular block machine portion, annular tooth
The internal perisporium of wheel and the periphery wall in annular block machine portion are slidably matched, and the bottom wall of ring gear and the roof sliding of annular flat plate portion are matched
It closes；There are one driving gear and two arc pressuring plates, driving gear to be adapted to, drive with ring gear for rotation setting in ring sealing plate portion
Moving gear is provided adjacent in the driving teeth portion of ring gear；Two arc pressuring plates are fixed at annular envelope by screw respectively
The bottom surface of the both sides of plate portion, each arc pressuring plate is a plane, and the bottom surface of each arc pressuring plate is crimped on the drive of ring gear
In moving teeth portion, to which ring gear is crimped in the annular flat plate portion of annular matrix.
In said program, gear driven mechanism includes the gear drive motor of setting in the housing, the gear drive motor
Output shaft stretch out shell and drive sliding tooth wheel rotate.
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.
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.
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, arc pressuring plate 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 around the gear driven mechanism 6 of housing into rotation and two propellers being arranged on ring gear
Driver 7.It is set in the present embodiment, on housing exterior walls there are four fixed column 12, annular matrix is set by four fixed column fixations
It sets 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 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.
In the present embodiment, driving gear, should with the keyhole portion 441 with keyhole 442 on the inside of ring sealing plate portion
Keyhole portion 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 symmetrically positioned in the both sides of ring gear, and each propeller drives 7 include being fixed at
Drive chamber 71 on ring gear periphery wall, the blade driving motor being fixed in drive chamber and it is rotatably arranged on drive chamber
Propeller 72 on outer wall, each blade driving motor drive a corresponding propeller rotational；Preferable scheme is that two propellers
The power direction of generation 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 (3)
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 around the gear driven mechanism of housing into rotation 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；
It is set on housing exterior walls there are four fixed column, annular matrix is fixed at by four fixed columns on housing exterior walls；Shell
Body and annular matrix are arranged concentrically.
2. spherical underwater robot according to claim 1, it is characterised in that：Gear driven mechanism includes being arranged in shell
In gear drive motor, the output shaft of the gear drive motor stretches out shell and sliding tooth wheel simultaneously driven to rotate.
3. spherical underwater robot according to claim 2, it is characterised in that：Two propeller drives are located at annular tooth
The both sides of wheel, each propeller drives include the drive chamber being fixed on ring gear periphery wall, are arranged in drive chamber
Blade driving motor and the propeller that is rotatably arranged on driving chamber outer wall, each blade driving motor drive a corresponding spiral
Paddle rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810421340.XA CN108773467A (en) | 2017-07-31 | 2017-07-31 | Spherical underwater robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710642697.6A CN107380376B (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 |
| CN201810421340.XA CN108773467A (en) | 2017-07-31 | 2017-07-31 | Spherical underwater robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710642697.6A Division CN107380376B (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 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108773467A true CN108773467A (en) | 2018-11-09 |
Family
ID=60343431
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810421986.8A Withdrawn CN108622346A (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 |
| CN201810421340.XA Withdrawn CN108773467A (en) | 2017-07-31 | 2017-07-31 | Spherical underwater robot |
| CN201810420318.3A Withdrawn CN108622345A (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 |
| CN201710642697.6A Active CN107380376B (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 |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810421986.8A Withdrawn CN108622346A (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 After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810420318.3A Withdrawn CN108622345A (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 |
| CN201710642697.6A Active CN107380376B (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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (4) | CN108622346A (en) |
Family Cites Families (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1307497C (en) * | 2003-01-06 | 2007-03-28 | 广东工业大学 | Location coordinate system for ocean work rising and sinking compensation and its location method |
| US7540255B2 (en) * | 2005-08-23 | 2009-06-02 | Hawkes Calvert T | Propulsion and steering mechanism for an underwater vehicle |
| US7131385B1 (en) * | 2005-10-14 | 2006-11-07 | Brunswick Corporation | Method for braking a vessel with two marine propulsion devices |
| CN100506639C (en) * | 2007-01-19 | 2009-07-01 | 哈尔滨工程大学 | Turning, rotating propeller of underwater robot with six degrees of freedom |
| CN101565095B (en) * | 2009-05-22 | 2011-04-06 | 北京邮电大学 | Underwater spherical robot with six degrees of freedom |
| CN202429337U (en) * | 2011-12-08 | 2012-09-12 | 上海交通大学 | Propeller required for assisting deep-sea pipeline to move |
| CN202783743U (en) * | 2012-04-12 | 2013-03-13 | 华东师范大学附属枫泾中学 | Semi-submersible boat |
| CN103466063B (en) * | 2013-09-24 | 2016-08-10 | 北京邮电大学 | One is moved drive lacking spherical underwater robot flexibly |
| CN104029805A (en) * | 2014-03-14 | 2014-09-10 | 上海大学 | An underwater spherical robot for shallow water detection |
| CN103963952A (en) * | 2014-05-13 | 2014-08-06 | 上海海洋大学 | Small submersible steering propelling system |
| CN203921174U (en) * | 2014-05-30 | 2014-11-05 | 西北工业大学 | A kind of four rotor submarine navigation devices |
| US9227709B1 (en) * | 2014-11-12 | 2016-01-05 | Ecole Polytechnique Federale De Lausanne (Epfl) | Underwater propelling device for underwater vehicle |
| CN104443321A (en) * | 2014-12-15 | 2015-03-25 | 北京理工大学 | Underwater disc-shaped navigation machine |
| CN105947150B (en) * | 2016-05-09 | 2018-07-06 | 浙江大学 | A kind of underwater helicopter |
| CN106672182A (en) * | 2016-10-28 | 2017-05-17 | 湖南科技大学 | Underwater submerged plate |
| CN106741757B (en) * | 2016-12-19 | 2018-11-02 | 东北石油大学 | A kind of portable underwater robot |
| CN106828831B (en) * | 2017-01-19 | 2018-01-16 | 河海大学 | A kind of rolling into based on built-in driving principle is swum hybrid submersible of dwelling more |
| CN107364562B (en) * | 2017-07-31 | 2018-06-26 | 乐清市风杰电子科技有限公司 | A kind of spherical underwater robots that driving direction can be adjusted in ring is 360 degree all |
-
2017
- 2017-07-31 CN CN201810421986.8A patent/CN108622346A/en not_active Withdrawn
- 2017-07-31 CN CN201810421340.XA patent/CN108773467A/en not_active Withdrawn
- 2017-07-31 CN CN201810420318.3A patent/CN108622345A/en not_active Withdrawn
- 2017-07-31 CN CN201710642697.6A patent/CN107380376B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108622345A (en) | 2018-10-09 |
| CN108622346A (en) | 2018-10-09 |
| CN107380376B (en) | 2018-06-19 |
| CN107380376A (en) | 2017-11-24 |
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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: 20181109 |