CN109436261A - A kind of comprehensive commutation is struck drive-type underwater robot - Google Patents
A kind of comprehensive commutation is struck drive-type underwater robot Download PDFInfo
- Publication number
- CN109436261A CN109436261A CN201811381655.2A CN201811381655A CN109436261A CN 109436261 A CN109436261 A CN 109436261A CN 201811381655 A CN201811381655 A CN 201811381655A CN 109436261 A CN109436261 A CN 109436261A
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- China
- Prior art keywords
- cabin
- drive
- impeller
- struck
- underwater robot
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- 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.)
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- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 230000001360 synchronised effect Effects 0.000 claims description 14
- 239000000463 material Substances 0.000 claims description 5
- 239000010985 leather Substances 0.000 claims description 3
- 239000007769 metal material Substances 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 239000003292 glue Substances 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 12
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000004804 winding Methods 0.000 abstract description 2
- 238000004026 adhesive bonding Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/04—Propulsive elements directly acting on water of rotary type with rotation axis substantially at right angles to propulsive direction
-
- 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
- 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)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
- Toys (AREA)
Abstract
The present invention relates to underwater exploration robotic technology fields, and in particular to strikes drive-type underwater robot to a kind of comprehensive commutation.A kind of comprehensive commutation is struck drive-type underwater robot, it is characterised in that: including sealed compartment and executes cabin, surrounding is surrounded with discharge casing on the outside of the sealed compartment, and the lower end for executing cabin is also equipped with power mechanism；The present invention can save the energy in such a way that part rotates well, and net under water and water plant winding can be effectively prevented using impeller-driven, can walk under the preferable environment of quality exploration under water under water, and the mechanical structure of the device is relatively simple, cost is relatively low, can be produced well by some small-to-medium business.
Description
Technical field
The present invention relates to underwater exploration robotic technology fields, and in particular to strikes drive-type water to a kind of comprehensive commutation
Lower robot.
Background technique
Currently, as the continuous development of China's Underwater Technology and people are increasingly dense to the exploration of Sea World.About
Underwater Man's Demands are also gradually increased.On civil field, underwater robot can be applied to seabed operation construction, event
Data acquisition, underwater equipment maintenance and maintenance etc.；In military domain, underwater robot then can be applied to underwater mine-laying row
Thunder, underwater military information network are built, national defense safety investigation etc..But it is living in relation to underwater resource exploration and equipment detection etc. at present
It is dynamic to generally use artificial diving exploration, and since underwater environment is complicated and changeable, it inevitably meets with sometimes some unpredictable
It is dangerous.
Summary of the invention
The object of the present invention is to provide a kind of comprehensive commutations to strike drive-type underwater robot to solve the prior art
Shortcoming.
The present invention is that technical solution used by solving its technical problem is:
A kind of comprehensive commutation is struck drive-type underwater robot, including sealed compartment and executes cabin, on the outside of the sealed compartment
Surrounding is surrounded with discharge casing, and the lower end for executing cabin is also equipped with power mechanism；
The sealed compartment is a circular cylindrical cavity, and the center of the sealed compartment offers cylindrical hole up and down, it is described on
Double synchronous output end motors are installed, two output shafts of double synchronous output end motors are respectively placed between the cylindrical hole of lower both ends
In upper and lower cylindrical hole, retarder is separately installed with respectively on double synchronous output end motors up and down inside the cylindrical hole
Lower two output end axis connections, the upper end retarder shaft are connected with camera support column, the camera support column it is upper
Fluted frame is welded at end, is rotatably connected to camera on the groove frame, groove frame both ends also nut is fixed with searchlight；
The lower end retarder shaft is fixed with cabin clamping nut is executed；
The cabin that executes is the rectangular housing cabin that a bottom surface is square, integral middle formula connection inside the execution cabin
There are two active rotating shaft fixing seat, it is rotatably connected to shaft between described two active rotating shaft fixing seats, is also blocked in the shaft
It connects and is fixed with driving gear, one end of the shaft also axis connection has driving motor, sealing and nut outside the driving motor
It is fixed on and executes inside cabin；
The power mechanism includes four impeller shaft fixing seats, is rotatably connected between described two impeller shaft fixing seats
Impeller shaft, the impeller shaft both ends are fixed with impeller, and the impeller shaft center is fixed with driven gear, institute
The driven gear for stating two impeller shafts is connect with driving gear chain.
Further, nut is gone back in the sealed compartment and is fixed with control cabinet, power supply box and air pump, and the discharge casing is one
Circular ring type leather bag, the discharge casing gluing is on the circumference of sealed compartment, the discharge casing and air pump air circuit connection.
Further, the impeller top half is additionally provided with semicircle impeller chimney corresponding with impeller, the impeller chimney
One end with execute cabin integral type connect.
Further, the power supply box is powered control cabinet, the control cabinet respectively with air pump, double synchronous output ends
Motor, camera, searchlight and driving motor electrical connection.
Further, the sealed compartment is metal material.
Further, the execution cabin and power mechanism are high molecular material.
Further, nut is gone back in the sealed compartment be fixed with locator, temperature/humidity sensor and gyroscope.
Further, nut is gone back inside the execution cabin is fixed with deep height sensor, it is described to execute side also nut out of my cabin
It is fixed with pressure sensor.
The present invention has the advantages that
(1) present invention can save the energy well in such a way that part rotates, and can be had using impeller-driven
Prevent to effect net under water and water plant from winding, can walk under the preferable environment of quality exploration under water under water, and the dress
The mechanical structure set is relatively simple, and cost is relatively low, can be produced well by some small-to-medium business.
(2) product of the present invention greatly enhances this by the way that information collecting device and driving device to be linked together
The service efficiency of body, and substantially only there are two motor drivens, substantially prolonged energy uses the time.Using traditional submarine
Drainage pattern realizes sink-float, is advanced using the impeller mode of striking, technical difficulty is relatively low, meets what general enterprises can manufacture
It is required that.It can be achieved to explore Underwater resources for a long time, and the real time information around ontology can be fed back to host computer.
Detailed description of the invention
Fig. 1 is schematic diagram of the invention.
Fig. 2 is sealed compartment internal structure chart of the present invention.
Fig. 3 is that the present invention executes cabin internal mechanism figure.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Diagram and specific embodiment are closed, the present invention is further explained.
A kind of comprehensive commutation as shown in Figs. 1-3 is struck drive-type underwater robot, including sealed compartment 1 and executes cabin 3, institute
It states 1 outside surrounding of sealed compartment and is surrounded with discharge casing 2, the lower end for executing cabin 3 is also equipped with power mechanism；
The sealed compartment 1 is a circular cylindrical cavity, and the center of the sealed compartment 1 offers cylindrical hole up and down, described
Double synchronous output end motors 11, two output shafts point of double synchronous output end motors 11 are installed between upper and lower ends cylindrical hole
It is not placed in cylindrical hole up and down, is separately installed with retarder 12 respectively at double synchronism outputs up and down inside the cylindrical hole
About 11 two output end axis connections of motor are held, 12 shaft of upper end retarder is connected with camera support column 8, the camera shooting
Fluted frame is welded in the upper end of machine support column 8, is rotatably connected to camera 10, groove frame both ends also spiral shell on the groove frame
Mother is fixed with searchlight 9；12 shaft of lower end retarder is fixed with the clamping nut of cabin 3 is executed；
The cabin 3 that executes is the rectangular housing cabin that a bottom surface is square, and the 3 inside integral middle formula of execution cabin connects
It connects there are two active rotating shaft fixing seat 16, is rotatably connected to shaft 19 between described two active rotating shaft fixing seats 16, described turn
Driving gear 20 is also fixed on axis 19, one end of the shaft also axis connection has driving motor 17, the driving motor
Simultaneously nut is fixed on inside execution cabin 3 for 17 outside sealings；
The power mechanism includes four impeller shaft fixing seats 7, is rotatablely connected between described two impeller shaft fixing seats 7
There is impeller shaft 6,6 both ends of impeller shaft are fixed with impeller 5, and 6 center of impeller shaft is fixed with driven
The driven gear 21 of gear 21, described two impeller shafts 6 is connect with 20 chain 18 of driving gear.
Nut is gone back in the sealed compartment 1 and is fixed with control cabinet 15, power supply box 13 and air pump 14, and the discharge casing 2 is one
Circular ring type leather bag, on the circumference of sealed compartment 1, the discharge casing 2 is connect 2 gluing of discharge casing with air pump gas circuit 14.
5 top half of impeller is additionally provided with semicircle impeller chimney 4 corresponding with impeller 5, one end of the impeller chimney 4
It is connect with 3 integral type of cabin is executed.
The power supply box 13 is powered control cabinet 15, the control cabinet 15 respectively with air pump 14, double synchronous output ends
Motor 11, camera 10, searchlight 9 and driving motor 17 are electrically connected.
The sealed compartment 1 is metal material.
The execution cabin 3 and power mechanism are high molecular material.
Nut, which is gone back, in the sealed compartment 1 is fixed with locator, temperature/humidity sensor and gyroscope.
Nut is gone back inside the execution cabin 3 and is fixed with deep height sensor, and side also nut is fixed with pressure out of my cabin for the execution 3
Force snesor.
The principle of the invention lies in: lower end output is connected by retarder and the execution cabin, can be driven and entirely be held
Row cabin and its transmission mechanism rotation, it is contemplated that when double synchronous output end motor rotations allow impeller to commutate, sealed compartment sheet may be driven
The circular water tank of sealed compartment and its surrounding is used the biggish material of density to increase matter under same volume by body rotation here
Amount in addition the inertia of internal control cabinet, power supply box, the isostructural quality of inflator pump, the sealed compartment and water tank is very big, and executes
Cabin and drive mechanism then select density smaller, but hardness meets the material of structural requirement enough, to guarantee in double synchronous output ends
When motor rotation commutation, sealed compartment and water tank are because quality is sufficiently large will not rotate substantially, and executes cabin and drive mechanism
Because quality is smaller, inertia is smaller, thus can be with camera synchronous rotary；
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent defines.
Claims (8)
- The drive-type underwater robot 1. a kind of comprehensive commutation is struck, it is characterised in that: including sealed compartment and cabin is executed, it is described close Surrounding is surrounded with discharge casing on the outside of batten down, and the lower end for executing cabin is also equipped with power mechanism；The sealed compartment is a circular cylindrical cavity, and the center of the sealed compartment offers cylindrical hole up and down, described up and down two Double synchronous output end motors are installed, two output shafts of double synchronous output end motors are respectively placed in up and down between the cylindrical hole of end In cylindrical hole, retarder is separately installed with two above and below double synchronous output end motors up and down inside the cylindrical hole A output end axis connection, the upper end retarder shaft are connected with camera support column, the upper end weldering of the camera support column It is connected to groove frame, camera is rotatably connected on the groove frame, groove frame both ends also nut is fixed with searchlight；It is described Lower end retarder shaft is fixed with cabin clamping nut is executed；The cabin that executes is the rectangular housing cabin that a bottom surface is square, and integral middle formula is connected with two inside the execution cabin A active rotating shaft fixing seat is rotatably connected to shaft between described two active rotating shaft fixing seats, and also clamping is solid in the shaft Surely there is driving gear, one end of the shaft also axis connection has driving motor, and simultaneously nut is fixed for sealing outside the driving motor Inside execution cabin；The power mechanism includes four impeller shaft fixing seats, is rotatably connected to impeller between described two impeller shaft fixing seats Shaft, the impeller shaft both ends are fixed with impeller, and the impeller shaft center is fixed with driven gear, and described two The driven gear of a impeller shaft is connect with driving gear chain.
- The drive-type underwater robot 2. a kind of comprehensive commutation according to claim 1 is struck, it is characterised in that: described close Nut is gone back in batten down and is fixed with control cabinet, power supply box and air pump, and the discharge casing is a circular ring type leather bag, the discharge casing glue It sticks on the circumference of sealed compartment, the discharge casing and air pump air circuit connection.
- The drive-type underwater robot 3. a kind of comprehensive commutation according to claim 1 is struck, it is characterised in that: the leaf Wheel top half is additionally provided with semicircle impeller chimney corresponding with impeller, and one end of the impeller chimney and execution cabin integral type connect It connects.
- The drive-type underwater robot 4. a kind of comprehensive commutation according to claim 2 is struck, it is characterised in that: the electricity Source case is powered control cabinet, the control cabinet respectively with air pump, double synchronous output end motors, camera, searchlight and drive Dynamic motor electrical connection.
- The drive-type underwater robot 5. a kind of comprehensive commutation according to claim 1 is struck, it is characterised in that: described close Batten down is metal material.
- The drive-type underwater robot 6. a kind of comprehensive commutation according to claim 1 is struck, it is characterised in that: described It executes cabin and power mechanism is high molecular material.
- The drive-type underwater robot 7. a kind of comprehensive commutation according to claim 1 is struck, it is characterised in that: described close Nut is gone back in batten down is fixed with locator, temperature/humidity sensor and gyroscope.
- The drive-type underwater robot 8. a kind of comprehensive commutation according to claim 1 is struck, it is characterised in that: described to hold Nut is gone back inside row cabin and is fixed with deep height sensor, and side also nut is fixed with pressure sensor out of my cabin for the execution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811381655.2A CN109436261B (en) | 2018-11-20 | 2018-11-20 | An omnidirectional reversing paddle-driven underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811381655.2A CN109436261B (en) | 2018-11-20 | 2018-11-20 | An omnidirectional reversing paddle-driven underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109436261A true CN109436261A (en) | 2019-03-08 |
| CN109436261B CN109436261B (en) | 2020-10-16 |
Family
ID=65554204
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811381655.2A Expired - Fee Related CN109436261B (en) | 2018-11-20 | 2018-11-20 | An omnidirectional reversing paddle-driven underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109436261B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111268072A (en) * | 2019-04-24 | 2020-06-12 | 南京涵铭置智能科技有限公司 | Underwater buffer robot and working method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2027634C1 (en) * | 1992-09-09 | 1995-01-27 | Анатолий Александрович Снегов | Submarine |
| CN201895768U (en) * | 2010-11-30 | 2011-07-13 | 麦国祥 | Underwater propelling device |
| CN102951281A (en) * | 2012-12-05 | 2013-03-06 | 浙江海洋学院 | Novel power system of fishing boat |
| CN207433776U (en) * | 2017-10-11 | 2018-06-01 | 深圳市南科环保科技有限公司 | A kind of obstacle avoiding type underwater environment monitoring robot |
| CN207809734U (en) * | 2017-12-26 | 2018-09-04 | 天津市德施普科技有限公司 | A kind of underwater anti-fishing net sniffing robot |
| CN208102294U (en) * | 2018-04-23 | 2018-11-16 | 天津中研工业设计有限公司 | A kind of underwater detection robot |
-
2018
- 2018-11-20 CN CN201811381655.2A patent/CN109436261B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2027634C1 (en) * | 1992-09-09 | 1995-01-27 | Анатолий Александрович Снегов | Submarine |
| CN201895768U (en) * | 2010-11-30 | 2011-07-13 | 麦国祥 | Underwater propelling device |
| CN102951281A (en) * | 2012-12-05 | 2013-03-06 | 浙江海洋学院 | Novel power system of fishing boat |
| CN207433776U (en) * | 2017-10-11 | 2018-06-01 | 深圳市南科环保科技有限公司 | A kind of obstacle avoiding type underwater environment monitoring robot |
| CN207809734U (en) * | 2017-12-26 | 2018-09-04 | 天津市德施普科技有限公司 | A kind of underwater anti-fishing net sniffing robot |
| CN208102294U (en) * | 2018-04-23 | 2018-11-16 | 天津中研工业设计有限公司 | A kind of underwater detection robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111268072A (en) * | 2019-04-24 | 2020-06-12 | 南京涵铭置智能科技有限公司 | Underwater buffer robot and working method thereof |
| CN111268072B (en) * | 2019-04-24 | 2021-06-11 | 南京涵铭置智能科技有限公司 | Underwater buffer robot and working method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109436261B (en) | 2020-10-16 |
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