CN108820168A - The underwater robot that can be driven with any angle - Google Patents

The underwater robot that can be driven with any angle Download PDF

Info

Publication number
CN108820168A
CN108820168A CN201810572011.5A CN201810572011A CN108820168A CN 108820168 A CN108820168 A CN 108820168A CN 201810572011 A CN201810572011 A CN 201810572011A CN 108820168 A CN108820168 A CN 108820168A
Authority
CN
China
Prior art keywords
shell
gear
driving
matrix
ring gear
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
CN201810572011.5A
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to CN201810572011.5A priority Critical patent/CN108820168A/en
Publication of CN108820168A publication Critical patent/CN108820168A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • 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
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
    • B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • 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)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manipulator (AREA)
  • Toys (AREA)

Abstract

The invention discloses a kind of underwater robots that can be driven with any angle, including shell and the driving mechanism mobile for drive shell；Driving mechanism includes the annular matrix being rotatably arranged on shell, the ring gear being rotatably arranged on annular matrix, for driving ring gear and around the gear driven mechanism of housing into rotation, the propeller drives being arranged on ring gear and matrix driving mechanism for driving annular matrix around housing into rotation；Drive propeller drives synchronous around housing into rotation when ring gear rotates.Propeller drives in the present invention can turn to any angular position relative to shell, namely be capable of providing power drive at any angle.

Description

The underwater robot that can be driven with any angle
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of underwater robot that can be driven with any angle.
Background technique
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, the power direction of driving mechanism are usually fixation 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.
Summary of the invention
The object of the present invention is to provide a kind of underwater robots that can be driven with any angle.
Realizing the technical solution of the object of the invention is：A kind of underwater robot that can be driven with any angle, including shell With the driving mechanism mobile for drive shell；Driving mechanism includes the annular matrix being rotatably arranged on shell, rotation setting Ring gear on annular matrix, for drive ring gear around housing into rotation gear driven mechanism, be arranged in annular tooth Propeller drives on wheel and for driving matrix driving mechanism of the annular matrix around housing into rotation；When ring gear rotates Drive propeller drives synchronous around housing into rotation.
In above scheme, annular matrix includes ring plate portion, ring sealing plate portion and annular block machine portion, and ring sealing plate portion is The inner periphery in ring plate portion is protruded to be formed vertically upward, and annular block machine portion is the convex annular protruding upward from ring plate portion Platform.
In above scheme, 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.
In above scheme, ring gear includes ring body and the driving teeth portion that ring body upper surface is arranged in；Annular 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, ring gear Bottom wall and the roof in ring plate portion be slidably matched.
In above scheme, rotation is provided with a driving gear and five position limited gears in ring sealing plate portion, drives gear It is adapted to ring gear with position limited gear；Driving gear and position limited gear are crimped in the driving teeth portion of ring gear.
In above scheme, the internal perisporium in ring sealing plate portion is equipped with inwardly projecting keyhole portion；Keyhole portion is fixed at On the inner wall in ring sealing plate portion, keyhole portion is equipped with keyhole；Matrix driving mechanism includes the matrix driving motor of setting in the housing, The output shaft of the matrix driving motor, which stretches out shell and is inserted into, to be fixed in the keyhole in keyhole portion；Ring sealing plate is additionally provided with just in portion To the open-work of driving gear setting, the output shaft of the open-work and matrix driving motor is arranged concentrically；Gear driven mechanism includes setting Gear drive motor in the housing is set, the output shaft of the gear drive motor stretches out shell, saturating in ring sealing plate portion It is fixedly linked behind hole with driving gear.
In above scheme, the output shaft of matrix driving motor and the output shaft of gear drive motor are to be arranged concentrically.
In above scheme, each propeller drives include the drive chamber being fixed on ring gear periphery wall, setting Blade driving motor in drive chamber drives phase with the propeller driven on chamber outer wall, each blade driving motor is rotatably arranged on Answer a propeller rotational.
In above scheme, the quantity of propeller drives is two, and is located at the two sides of ring gear, and two propellers produce Raw power direction is identical.
In above scheme, shell is built-in with photographing module；The global shape of shell is spherical shape, and the lower part of shell is equipped with transparent Hemispherical observation window.
The present invention has the effect of positive：Matrix driving motor can drive annular matrix around housing into rotation, gear driving Motor can drive the ring gear on annular matrix around housing into rotation, since propeller drives are synchronized by ring gear It drives, therefore the propeller drives in the present invention can turn to any angular position relative to shell, namely be capable of providing Power drive at any angle.
Detailed description of the invention
Fig. 1 is a kind of schematic perspective view of the invention；
Fig. 2 be Fig. 1 shown in robot from another angle when a kind of schematic perspective view；
Fig. 3 is a kind of bottom view of robot shown in Fig. 1；
Fig. 4 is a kind of schematic perspective view of robot annular substrate shown in Fig. 1；
Fig. 5 be Fig. 4 shown in annular matrix from another angle when a kind of schematic perspective view.
Appended drawing reference is：Shell 1, hemispherical observation window 11, cleaning agency 2, semi-circular support plate 21, cleaning brush 22, clearly Sweep the output shaft 23 of driving motor, pin shaft 24, annular matrix 4, ring plate portion 41, ring sealing plate portion 42, annular block machine portion 43, Drive gear 44, position limited gear 45, keyhole portion 46, keyhole 461, open-work 47, ring gear 5, ring body 51, driving teeth portion 52, gear driven mechanism 6, the output shaft 61 of gear drive motor, propeller drives 7, drive chamber 71, propeller 72.
Specific embodiment
（Embodiment 1）
The present embodiment is a kind of underwater robot that can be driven with any angle, as shown in Fig. 1 to Fig. 5, including it is shell 1, built-in Photographing module and the driving mechanism mobile for drive shell in 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 includes the annular matrix 4 being rotatably arranged on shell, the annular tooth being rotatably arranged on annular matrix Wheel 5, for driving ring gear to drive around the gear driven mechanism 6 of housing into rotation, two propellers being arranged on ring gear Move device 7 and for driving matrix driving mechanism of the annular matrix around housing into rotation.
Annular matrix 4 includes ring 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 the annular convex platform protruding upward from ring plate portion. 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.Shell and annular matrix are set with one heart It sets.
Ring gear includes ring body 51 and the driving teeth portion 52 that ring body upper surface is arranged in；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 in ring plate portion 41 is slidably matched.
Rotation is provided with a driving gear 44 and five position limited gears 45 in ring sealing plate portion, drives 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 ring 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.
The internal perisporium in ring sealing plate portion is equipped with inwardly projecting keyhole portion 46；Keyhole portion is fixed at ring sealing plate portion Inner wall on, keyhole portion be equipped with keyhole 461；Matrix driving mechanism includes the matrix driving motor of setting in the housing, the matrix The output shaft of driving motor, which stretches out shell and is inserted into, to be fixed in the keyhole in keyhole portion.
Be additionally provided with the open-work 47 that face driving gear 44 is arranged in ring sealing plate portion, the open-work and matrix driving motor it is defeated Shaft is arranged concentrically；Preferably a kind of scheme is：The centre of sphere of shell and the centerline collineation of open-work.
Gear driven mechanism 6 includes the gear drive motor of setting in the housing, the output shaft 61 of the gear drive motor Shell is stretched out, is fixedly linked after the open-work 47 in ring sealing plate portion with driving gear.
In the present embodiment, the output shaft of matrix driving motor and the output shaft of gear drive motor are to be arranged concentrically, gear The output shaft of driving motor is also used as matrix around the rotation axis of housing into rotation.
When the rotation of matrix driving motor, the center line with kinetoplast around open-work is rotated；When gear drive motor rotation, Drive ring gear around housing into rotation.
Two propeller drives 7 are symmetricly set on the two sides of ring gear, and each propeller drives 7 include fixed setting It drive chamber 71 on ring gear periphery wall, the blade driving motor being arranged in drive chamber and is rotatably arranged on outside drive chamber Propeller 72 on wall, each blade driving motor drive a corresponding propeller rotational；Preferable scheme is that two propellers produce Raw power direction is identical.
The present embodiment also has the cleaning agency 2 for cleaning hemispherical observation window outer wall, and cleaning agency includes semi-circular Support plate 21, setting in the housing for drive semi-circular support plate reciprocally swinging cleaning driving motor, be fixed at The cleaning brush 22 of semi-circular support plate inner wall uplink；The output shaft 23 for cleaning driving motor stretches out shell and is fixed at semi-circular The other end of one end of support plate, semi-circular support plate is rotatably arranged on shell by pin shaft 24；Cleaning brush preferably uses bullet Property rubber pad or hairbrush are made；It cleans driving motor and semi-circular support plate reciprocally swinging is driven by output shaft, and then drive clear Brush brushes 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 is mobile, so as to adjust the driving direction of propeller drives.It is this Position of the structure due to adjustable propeller drives relative to shell, therefore can realize more complicated traveling movement.
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 Belong to the obvious changes or variations that connotation of the invention is extended out and still falls within protection scope of the present invention.

Claims (2)

1. a kind of underwater robot that can be driven with any angle, including shell and the driving mechanism mobile for drive shell； It is characterized in that：The annular that driving mechanism includes the annular matrix being rotatably arranged on shell, is rotatably arranged on annular matrix Gear, for driving gear driven mechanism of the ring gear around housing into rotation, the propeller drives that are arranged on ring gear And for driving matrix driving mechanism of the annular matrix around housing into rotation；Drive propeller drives same when ring gear rotates Step is around housing into rotation；The output shaft of matrix driving motor and the output shaft of gear drive motor are to be arranged concentrically.
2. the underwater robot according to claim 1 that can be driven with any angle, it is characterised in that：Shell, which is built-in with, to be taken the photograph As module；The global shape of shell is spherical shape, and the lower part of shell is equipped with transparent hemispherical observation window.
CN201810572011.5A 2017-07-31 2017-07-31 The underwater robot that can be driven with any angle Pending CN108820168A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810572011.5A CN108820168A (en) 2017-07-31 2017-07-31 The underwater robot that can be driven with any angle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810572011.5A CN108820168A (en) 2017-07-31 2017-07-31 The underwater robot that can be driven with any angle
CN201710641247.5A CN107380382B (en) 2017-07-31 2017-07-31 A kind of underwater robot that can be driven with any angle

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201710641247.5A Division CN107380382B (en) 2017-07-31 2017-07-31 A kind of underwater robot that can be driven with any angle

Publications (1)

Publication Number Publication Date
CN108820168A true CN108820168A (en) 2018-11-16

Family

ID=60343202

Family Applications (5)

Application Number Title Priority Date Filing Date
CN201810555714.7A Pending CN108789367A (en) 2017-07-31 2017-07-31 A kind of underwater robot
CN201710641247.5A Active CN107380382B (en) 2017-07-31 2017-07-31 A kind of underwater robot that can be driven with any angle
CN201810552855.3A Pending CN108622341A (en) 2017-07-31 2017-07-31 Underwater robot
CN201810572011.5A Pending CN108820168A (en) 2017-07-31 2017-07-31 The underwater robot that can be driven with any angle
CN201810552861.9A Withdrawn CN108789366A (en) 2017-07-31 2017-07-31 A kind of underwater robot that can be driven with any angle

Family Applications Before (3)

Application Number Title Priority Date Filing Date
CN201810555714.7A Pending CN108789367A (en) 2017-07-31 2017-07-31 A kind of underwater robot
CN201710641247.5A Active CN107380382B (en) 2017-07-31 2017-07-31 A kind of underwater robot that can be driven with any angle
CN201810552855.3A Pending CN108622341A (en) 2017-07-31 2017-07-31 Underwater robot

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN201810552861.9A Withdrawn CN108789366A (en) 2017-07-31 2017-07-31 A kind of underwater robot that can be driven with any angle

Country Status (1)

Country Link
CN (5) CN108789367A (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113071634B (en) * 2021-03-29 2022-04-01 电子科技大学成都学院 Underwater mobile device and fishpond water environment monitoring robot

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

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7131385B1 (en) * 2005-10-14 2006-11-07 Brunswick Corporation Method for braking a vessel with two marine propulsion devices
CN101565095B (en) * 2009-05-22 2011-04-06 北京邮电大学 Underwater spherical robot with six degrees of freedom
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
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

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
CN108789367A (en) 2018-11-13
CN107380382B (en) 2018-06-19
CN107380382A (en) 2017-11-24
CN108622341A (en) 2018-10-09
CN108789366A (en) 2018-11-13

Similar Documents

Publication Publication Date Title
CN107364562B (en) A kind of spherical underwater robots that driving direction can be adjusted in ring is 360 degree all
CN107458558B (en) A kind of universal driving mechanism for underwater robot
CN107380379B (en) The underwater robot that can be driven with any angle
CN108674612A (en) A kind of underwater robot with cleaning agency
CN107380382B (en) A kind of underwater robot that can be driven with any angle
CN207208437U (en) The underwater robot that can be driven with any angle
CN107363843B (en) A kind of underwater robot of hybrid power driving
CN107434018B (en) Universal underwater robot
CN107377430A (en) A kind of cleaning agency for being used to clean the hemispherical observation window of underwater robot
CN207241986U (en) A kind of annular matrix for universal underwater robot
CN207225631U (en) A kind of underwater robot that can be driven with any angle
CN207208422U (en) A kind of pressing plate spacing-type annular matrix for universal underwater robot
CN107380376B (en) It can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week
CN107378936B (en) A kind of driving mechanism for underwater robot
CN207206435U (en) A kind of universal drive mechanism for underwater robot
CN207208435U (en) A kind of spherical underwater robots that driving direction can be adjusted in ring is all 360 degree
CN207208428U (en) Can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week
CN207225632U (en) A kind of driving mechanism for underwater robot
CN107380378A (en) A kind of underwater robot with observation window cleaning agency
CN207204681U (en) A kind of cleaning agency for being used to clean the hemispherical observation window of underwater robot
CN207208423U (en) A kind of underwater robot with observation window cleaning agency
CN207225629U (en) A kind of underwater robot that can change power drive direction

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
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20181116