CN109562816B - Underwater navigation robot - Google Patents
Underwater navigation robot Download PDFInfo
- Publication number
- CN109562816B CN109562816B CN201780000779.9A CN201780000779A CN109562816B CN 109562816 B CN109562816 B CN 109562816B CN 201780000779 A CN201780000779 A CN 201780000779A CN 109562816 B CN109562816 B CN 109562816B
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- Prior art keywords
- propeller
- propellers
- navigation
- main cabin
- holes
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Classifications
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- 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
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- 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
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- 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
- B63G8/08—Propulsion
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- 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
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
Abstract
An underwater navigation robot (100) comprises a main cabin body (10), a plurality of propellers (20) and a controller (13), wherein each propeller (20) comprises a propeller (21), a driving motor (22) and a support (23); the plurality of propellers (20) are divided into a lifting propeller (20a) which is axially arranged along the thickness direction of the main cabin body (10) and a navigation propeller (20b) which is axially arranged perpendicular to the thickness direction of the main cabin body (10). The axial setting of lift propeller (20a) is unanimous with the thickness direction of the main cabin body, and the axial setting of navigation propeller (20b) is perpendicular with main cabin body (10) thickness direction to going on around and in the direction that can adjust the main cabin body (10) through navigation propeller (20b), can directly driving main cabin body through lift propeller (20a) and go up and down simultaneously, spatial position adjusts conveniently, and the navigation is more nimble.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to an underwater navigation robot.
Background
At present, a traditional underwater robot is generally shaped like a submarine, and a pushing structure of the traditional underwater robot is generally that a propeller and a steering engine are arranged behind a submarine body, and wings are arranged on the side of the submarine; the propeller rotates to propel the robot to move forward underwater, the steering engine drives the robot to move in a high-speed direction, and the underwater depth of the robot is adjusted through the wings. However, when the robot is adjusted in the up-down, front-back and left-right spaces, the robot can only move in a curve, and the spatial position is inconvenient to adjust.
Disclosure of Invention
The invention aims to provide an underwater navigation robot, which solves the problem that the underwater space position of the robot is inconvenient to adjust in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that: the underwater navigation robot comprises a main cabin body, a plurality of propellers for adjusting the space position of the main cabin body and a controller for controlling the operation of each propeller, wherein a sealed cabin is arranged in the main cabin body, the controller is installed in the sealed cabin, each propeller comprises a propeller, a driving motor for driving the propeller to rotate and a support for supporting the driving motor, and the support is fixedly connected with the main cabin body; the propellers are divided into lifting propellers arranged axially along the thickness direction of the main cabin body and navigation propellers arranged axially perpendicular to the thickness direction of the main cabin body.
Furthermore, the number of the lifting propellers is four, two lifting propellers are respectively installed on two sides of the main cabin body, and the positions of the lifting propellers on two sides of the main cabin body are opposite.
Furthermore, the number of the navigation propellers is four, and the four navigation propellers are respectively positioned at four corners of the main cabin body.
Furthermore, the two navigation propellers corresponding to each end part of the main cabin body in the length direction are arranged in axial symmetry along the center line of the main cabin body in the length direction.
Furthermore, the two sailing propellers corresponding to each end part of the main cabin body in the length direction are axially and obliquely arranged.
Furthermore, two corresponding corner parts of each end part of the main cabin body in the length direction are respectively provided with a supporting platform, the table tops of two adjacent supporting platforms are arranged in an inclined mode, and the support of each navigation propeller is installed on the corresponding supporting platform.
Further, the support comprises a base body arranged on the main cabin body, a rear cover covering one end of the driving motor and a support column connecting the rear cover and the base body; the driving motor is fixed in the rear cover, the propeller comprises a front cover covering the other end of the driving motor and a plurality of blades arranged on the front cover, the front cover is connected with a rotor of the driving motor, and the front cover and the rear cover are buckled to form a containing space for containing the driving motor in a matching manner.
Furthermore, three blades are uniformly distributed on the circumference of the front cover.
The main cabin body is arranged in the accommodating cavity, first through holes for respectively accommodating the lifting propellers are correspondingly formed in the protective shell, and the axial direction of each first through hole is consistent with that of the lifting propeller; the protective shell is correspondingly provided with second through holes for accommodating the navigation propellers respectively, and the axial direction of each second through hole is consistent with that of the navigation propeller.
Furthermore, the protective housing comprises a lower housing and an upper housing fixedly connected with the lower housing, a lower cavity is formed in the lower housing, an upper cavity is formed in the upper housing, and the upper cavity and the lower cavity are buckled to form the accommodating cavity; the lower shell is provided with lower through holes corresponding to the positions of the lifting propellers respectively, the upper shell is provided with upper through holes corresponding to the positions of the lifting propellers respectively, and the lower through holes are matched with the corresponding upper through holes to form the first through holes; the lower shell is provided with lower semicircular grooves corresponding to the positions of the navigation propellers, the upper shell is provided with upper semicircular grooves corresponding to the positions of the navigation propellers, and the lower semicircular grooves and the corresponding upper semicircular grooves are buckled to form the second through holes.
Furthermore, the upper shell comprises an upper shaping plate and an upper cover plate covering the upper shaping plate, an upper groove is formed in the upper shaping plate, and the upper groove and the upper cover plate are matched to form the upper cavity; the upper shaping plate is provided with first upper openings corresponding to the positions of the lifting propellers, the upper cover plate is provided with second upper openings corresponding to the positions of the first upper openings, and the first upper openings are matched with the second upper openings to form the upper through holes; each upper semicircular groove is arranged on the bottom surface of the upper shaping plate.
Further, the lower shell comprises a lower template and a lower cover plate covering the bottom surface of the lower template, a lower groove is formed in the lower template, and the lower groove and the lower cover plate are matched to form the lower cavity; the lower template is provided with first lower openings corresponding to the positions of the lifting propellers, the lower cover plate is provided with second lower openings corresponding to the positions of the first lower openings, and the first lower openings and the corresponding second lower openings are matched to form the lower through holes; each lower semicircular groove is arranged on the lower template.
Furthermore, a first through hole and a second through hole are respectively formed in the protective shell, the first through hole is communicated with the first through hole and the accommodating cavity, and the second through hole is communicated with the second through hole and the accommodating cavity.
Further, still include with the light that the controller electrical property links to each other, the light install in an terminal surface of protective housing.
Furthermore, the number of the illuminating lamps is two, and the illuminating lamps are respectively installed on two side portions of one end face of the protective shell.
Furthermore, a containing groove is formed in the corresponding end face of the protective shell, and the illuminating lamp is installed in the containing groove.
Further, still include with the waterproof camera module that the controller electrical property links to each other, the one end of the main cabin body is seted up and is exposed waterproof camera module's perforating hole, the perforating hole with the sealed cabin is linked together.
Furthermore, the waterproof camera module comprises a camera module arranged in the sealed cabin, a lens arranged on the camera module and a transparent cover covering the lens, and the lens is arranged in the through hole in a matched mode.
Further, still install control switch on the main cabin body and cover in the buckler on the control switch, the buckler install in on the main cabin body, control switch with the controller electrical property links to each other.
Further, still install waterproof button on the main cabin body, waterproof button with the controller electrical property links to each other.
Compared with the prior art, the underwater navigation robot provided by the invention has the advantages that the lifting propeller and the navigation propeller are arranged on the main cabin body, the axial arrangement of the lifting propeller is consistent with the thickness direction of the main cabin body, and the axial arrangement of the navigation propeller is vertical to the thickness direction of the main cabin body, so that the direction and the front and back of the main cabin body can be adjusted through the navigation propeller, and meanwhile, the main cabin body can be directly driven to lift through the lifting propeller, the spatial position is convenient to adjust, and the navigation is more flexible.
Drawings
FIG. 1 is a schematic perspective view of an underwater navigation robot provided by an embodiment of the present invention;
fig. 2 is a schematic structural view of a protective case in the underwater navigation robot of fig. 1;
fig. 3 is a schematic illustration of an exploded configuration of the protective case of fig. 2;
FIG. 4 is a schematic view of the internal structure of the underwater navigation robot of FIG. 1;
FIG. 5 is a schematic view of the underwater navigation robot of FIG. 4 from another perspective showing the internal structure of the main hull;
FIG. 6 is a perspective view of the propeller of FIG. 5;
FIG. 7 is a first schematic illustration of an exploded view of the thruster of FIG. 6;
fig. 8 is a second schematic diagram of the explosive structure of the thruster of fig. 6.
The main labels in the figure illustrate:
100: underwater navigation robot
10: the main cabin 11: sealed cabin
12: support table 13: controller
15: waterproof camera module 151: camera shooting module
152: a lens 153: transparent cover
16: the waterproof joint 17: control switch
171: the waterproof cover 18: waterproof key
19: lighting lamp
20: propeller
20 a: lifting propeller 20 b: navigation propeller
21: the propeller 211: blade
212: front cover 22: driving motor
23: the holder 231: rear cover
232: support column 233: base body
30: protective shell 301: containing cavity
302: first through hole 303: a first via hole
304: second through hole 305: second via hole
306: accommodation groove 307: outlet orifice
31: upper case 32: upper cover plate
321: second upper opening hole 322: first opening
323: second opening
33: the upper template 331: upper open groove
332: upper semicircular groove of first upper opening 333
334: upper half notch 335: the upper half mouth
34: the lower housing 341: lower cavity
342: lower through hole
35: the lower cover plate 351: second lower open hole
36: lower mold plate 361: first lower opening hole
362: lower half slot 363: lower half gap
364: lower half mouth
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
In order to make the technical solutions of the present invention better understood by those skilled in the art, the following detailed description of the implementations of the present invention is provided with reference to the accompanying drawings.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one.
In the description of the present invention, it is to be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1, 4 and 6, a preferred embodiment of the present invention is provided.
The underwater navigation robot 100 provided by the embodiment comprises a main cabin 10, a plurality of propellers 20 and a controller 13; a plurality of propellers 20 are arranged on the main cabin 10 and used for adjusting the space position of the main cabin 10; the controller 13 is used for controlling each propeller 20 to work, and further adjusting the spatial position of the underwater navigation robot 100 under water; the main body 10 is provided therein with a sealed cabin 11, and a controller 13 is installed in the sealed cabin 11 to protect the controller 13. Each propeller 20 comprises a propeller 21, a driving motor 22 and a support 23, the support 23 is fixedly connected with the main cabin 10, the driving motor 22 is supported by the support 23, the propeller 21 is connected with the driving motor 22, and the driving motor 22 drives the propeller 21 to rotate, so that the effect of propulsion is achieved. For convenience of description, the axial direction of the propeller 20 in the present invention refers to the axial direction of the propeller 21 of the propeller 20.
The plurality of thrusters 20 are divided into a lifting thruster 20a and a sailing thruster 20 b. The elevating propeller 20a is axially disposed along the thickness direction of the main hull 10, and the sailing propeller 20b is axially disposed perpendicular to the thickness direction of the main hull 10. When the underwater navigation robot 100 is placed in water, the thickness direction of the main hull 10 is generally the height direction, and the direction perpendicular to the thickness direction of the main hull 10 is generally the horizontal direction, however, the main hull 10 may be inclined when the underwater navigation robot 100 is in navigation. The lifting propeller 20a is arranged, so that the height position can be conveniently adjusted. The navigation thruster 20b is provided to facilitate steering, advancing or retreating, thereby facilitating adjustment of the spatial position of the underwater navigation robot 100, and allowing flexible movement.
According to the underwater navigation robot 100 provided by the invention, the lifting propeller 20a and the navigation propeller 20b are arranged on the main cabin body 10, the axial arrangement of the lifting propeller 20a is consistent with the thickness direction of the main cabin body 10, and the axial arrangement of the navigation propeller 20b is vertical to the thickness direction of the main cabin body 10, so that the direction and the front and back of the main cabin body 10 can be adjusted through the navigation propeller 20b, meanwhile, the main cabin body 10 can be directly driven to lift through the lifting propeller 20a, the spatial position is convenient to adjust, and the navigation is more flexible.
Further, referring to fig. 1, 4 and 5, as an embodiment of the underwater navigation robot 100 provided by the present invention, the lifting propellers 20a are respectively installed at both sides of the main hull 10, so that the balance of the left and right sides of the main hull 10 can be adjusted by the lifting propellers 20a at both sides of the main hull 10.
Further, referring to fig. 1, 4 and 5, as an embodiment of the underwater navigation robot 100 provided by the present invention, there are four lifting propellers 20a, two lifting propellers 20a are respectively installed on two sides of the main hull 10, and the lifting propellers 20a on two sides of the main hull 10 are opposite in position. Two lifting propellers 20a are respectively installed on two sides of the main cabin 10, and the positions of the lifting propellers 20a on the two sides are opposite, that is, the lifting propellers 20a on the two sides of the main cabin 10 are arranged in axial symmetry along the central line of the main cabin 10 in the length direction, so that the balance of the two sides of the main cabin 10 can be better controlled. Specifically, the lifting thrusters 20a on both sides of the main hull 10 are symmetrically disposed along a plane passing through the centerline of the main hull 10 in the length direction, and the plane is parallel to the thickness direction of the main hull 10.
Further, two elevating thrusters 20a provided on each side of the main hull 10 are respectively installed at positions near both ends in the longitudinal direction of the main hull 10, so as to adjust the fore-and-aft balance of the main hull 10. Furthermore, the two lifting thrusters 20a on each side of the main hull 10 are disposed in axial symmetry with respect to the center line of the main hull 10 in the width direction, which facilitates control and better maintains the front-to-back balance of the main hull 10. Specifically, the two elevating thrusters 20a on each side of the main hull 10 are symmetrically disposed along a plane passing through the center line of the main hull 10 in the width direction, and the plane is parallel to the thickness direction of the main hull 10.
Further, referring to fig. 1, 4 and 5, as an embodiment of the underwater navigation robot 100 provided by the present invention, four navigation propellers 20b are provided and are respectively located at four corners of the main hull 10. The four corners of the main hull 10 are respectively provided with a navigation propeller 20b, which can easily change the direction, and the propellers 21 at the corresponding positions of the ends of the main hull 10 can control the underwater navigation robot 100 to move forward and backward. In other embodiments, sailing propellers 20b may be mounted on both sides of the main nacelle 10.
Further, referring to fig. 1, fig. 4 and fig. 5, as an embodiment of the underwater navigation robot 100 provided by the present invention, two navigation propellers 20b corresponding to each end of the main nacelle 10 in the length direction are disposed in axial symmetry along the center line of the main nacelle 10 in the length direction. The two navigation propellers 20b corresponding to each part of the main cabin 10 are symmetrically arranged, so that the design and installation are convenient, and the control is convenient. Specifically, the two sailing propellers 20b corresponding to each end of the main nacelle 10 in the length direction are symmetrically disposed along a plane passing through the centerline of the main nacelle 10 in the length direction, and the plane is parallel to the thickness direction of the main nacelle 10.
Further, referring to fig. 1, 4 and 5, as an embodiment of the underwater navigation robot 100 provided by the present invention, two navigation propellers 20b corresponding to each end of the main hull 10 in the length direction are axially inclined. The two sailing propellers 20b corresponding to the respective ends of the main cabin 10 are arranged in an axially inclined manner, so that the two propellers 20 can be conveniently matched with each other to facilitate forward movement or backward movement.
Further, referring to fig. 1, fig. 4 and fig. 5, as an embodiment of the underwater navigation robot 100 provided by the present invention, the navigation propellers 20b at two ends of the main nacelle 10 in the length direction are disposed in axial symmetry along the center line of the main nacelle 10 in the width direction. The structure can facilitate the sailing propellers 20b at the two ends of the main cabin 10 to respectively control the forward movement and the backward movement. Specifically, the sailing propellers 20b at the two ends of the main cabin 10 in the length direction are symmetrically arranged along a plane passing through the center line of the main cabin 10 in the width direction, and the plane is parallel to the thickness direction of the main cabin 10.
Further, referring to fig. 1, 4 and 5, as an embodiment of the underwater navigation robot 100 provided by the present invention, two supporting platforms 12 are respectively disposed at two corresponding corners of each end portion of the main hull 10 in the length direction, the platforms of two adjacent supporting platforms 12 are disposed in an inclined manner, and the support 23 of each navigation thruster 20b is mounted on the corresponding supporting platform 12. The support platform 12 is provided to facilitate installation of each navigation thruster 20b, and to facilitate axial arrangement of two navigation thrusters 20b at the same end of the main hull 10 at a certain included angle.
Specifically, the support base 12 may be a chamfered slope provided at each corner of the main hull 10, or may be a fixed block provided at each corner of the main hull 10 separately.
Further, referring to fig. 1, 4 to 8, as an embodiment of the underwater navigation robot 100 provided by the present invention, the support 23 includes a base 233, a rear cover 231, and a support post 232; the support posts 232 connect the rear cover 231 with the base body 233, thereby supporting the rear cover 231 on the base body 233, while the base body 233 is mounted on the main hull 10, thereby mounting the rear cover 231 on the main hull 10. The driving motor 22 is fixed in the rear cover 231 to support the driving motor 22 through the rear cover 231, and the rear cover 231 covers one end of the driving motor 22 to protect the end of the driving motor 22. The propeller 21 comprises a front cover 212 and a plurality of blades 211, the front cover 212 covers the other end of the driving motor 22, and the front cover 212 and the rear cover 231 are buckled to form an accommodating space matched with and used for accommodating the driving motor 22, so that the driving motor 22 can be protected by the front cover 212 and the rear cover 231; the front cover 212 is connected with a rotor of the driving motor 22, the driving motor 22 can drive the front cover 212 to rotate, and the blades 211 are mounted on the front cover 212, so that the blades 211 can be driven to rotate through the driving motor 22, and a propelling effect is achieved. The propeller 20 with the structure is convenient to install and control, the propeller 21 of each propeller 20 can be controlled to rotate forwards or backwards through the controller 13, and the rotating speed of the propeller 21 of each propeller 20 can be controlled at the same time, so that the propeller can be flexibly controlled.
Further, referring to fig. 1, 4 to 8, as an embodiment of the underwater navigation robot 100 provided by the present invention, three blades 211 are uniformly distributed on the circumferential direction of the front cover 212. Three blades 211 are arranged, and processing and manufacturing are convenient. In other embodiments, blades 211 may be arranged in two, four, five, etc.
Further, referring to fig. 1, fig. 4 and fig. 5, as a specific embodiment of the underwater navigation robot 100 provided by the present invention, the underwater navigation robot 100 further includes a waterproof camera module 15, and the waterproof camera module 15 is electrically connected to the controller 13 so as to perform underwater camera shooting. One end of the main cabin 10 is opened to expose a through hole (not shown) which is communicated with the sealed cabin 11, so that the waterproof camera module 15 is installed in the sealed cabin 11 for taking a picture.
Further, referring to fig. 1, fig. 4 and fig. 5, as a specific embodiment of the underwater navigation robot 100 provided by the present invention, the waterproof camera module 15 includes a camera module 151, a lens 152 and a transparent cover 153, the lens 152 is mounted on the camera module 151 for finding a view; the camera module 151 is installed in the sealed cabin 11, and the lens 152 is fittingly installed in the through hole for taking a picture; the transparent cover 153 covers the lens 152, so that the lens 152 can be protected, and the waterproof function can be achieved, so that the underwater lens can be used underwater.
Further, referring to fig. 1, fig. 4 and fig. 5, as an embodiment of the underwater navigation robot 100 provided by the present invention, a control switch 17 and a waterproof cover 171 covering the control switch 17 are further installed on the main cabin 10, the waterproof cover 171 is installed on the main cabin 10, and the control switch 17 is electrically connected to the controller 13. A waterproof cover 171 is provided to protect the control switch 17 when used underwater; and a control switch 17 is provided to control the operation of the underwater navigation robot 100.
Further, referring to fig. 1, fig. 4 and fig. 5, as a specific embodiment of the underwater navigation robot 100 provided by the present invention, a waterproof button 18 is further installed on the main cabin 10, and the waterproof button 18 is electrically connected to the controller 13. A waterproof button 18 is provided to facilitate adjustment and control of the operation of the underwater navigation robot 100.
Of course, the main cabin 10 may also be provided with a detection structure such as a water depth detector, which is convenient for collecting underwater information data.
Further, referring to fig. 1 to 4, as an embodiment of the underwater navigation robot 100 provided by the present invention, the main hull 10 is further provided with a waterproof connector 16, so that cables can be connected to the controller 13 through the waterproof connector 16 for control and communication. Of course, in other embodiments, communication and control may be performed wirelessly.
Further, referring to fig. 1 to 4, as a specific embodiment of the underwater navigation robot 100 provided by the present invention, the underwater navigation robot 100 further includes a protective shell 30, the protective shell 30 has an accommodating cavity 301, the main cabin 10 is installed in the accommodating cavity 301, the protective shell 30 is correspondingly provided with first through holes 302 for respectively accommodating the lifting propellers 20a, and axial directions of the first through holes 302 are the same as axial directions of the lifting propellers 20 a; the protective shell 30 is correspondingly provided with second through holes 304 for respectively accommodating the navigation thrusters 20b, and the axial direction of each second through hole 304 is consistent with the axial direction of the navigation thrusters 20 b. The protective shell 30 is arranged to protect the main cabin 10, the first through hole 302 and the second through hole 304 are arranged, the lifting propeller 20a is arranged in the corresponding first through hole 302, and the sailing propeller 20b is arranged in the corresponding second through hole 304, so that water flow driven by the lifting propeller 20a can be restrained through the first through hole 302, the direction of the water flow is limited, and lifting adjustment can be better performed; and the water flow driven by the sailing propeller 20b is restricted by the second through hole 304, and the direction of the water flow is limited, so that the steering and sailing are more convenient.
Further, referring to fig. 1 to 4, as a specific embodiment of the underwater navigation robot 100 provided by the present invention, in the present embodiment, four lifting propellers 20a are uniformly distributed on two sides of the main cabin 10, and four first through holes 302 are opened on the corresponding protective shell 30, and the four first through holes 302 are arranged in a rectangular array for convenient arrangement and installation.
Further, referring to fig. 1 to 4, as a specific embodiment of the underwater navigation robot 100 provided by the present invention, in the present embodiment, four navigation propellers 20b are respectively installed at four corners of the main cabin 10, and the axial directions of two adjacent navigation propellers 20b are obliquely arranged, so that corresponding second through holes 304 are four, and the four second through holes 304 are respectively installed at four corners of the protective shell 30, and each second through hole 304 is obliquely arranged with the length direction of the protective shell 30; since the two navigation propellers 20b corresponding to each end of the main cabin 10 are symmetrically arranged along the center line of the main cabin 10 in the length direction, the underwater navigation robot 100 can be controlled to advance and retreat by the synchronous operation of the two navigation propellers 20b corresponding to each end of the main cabin 10; it is of course also possible to adjust the direction by differentiating the four sailing propellers 20 b.
Further, referring to fig. 1 to 4, as a specific embodiment of the underwater navigation robot 100 provided by the present invention, the protective housing 30 includes a lower housing 34 and an upper housing 31 fixedly connected to the lower housing 34, a lower cavity 341 is opened on the lower housing 34, an upper cavity (not shown) is opened on the upper housing 31, and the upper cavity and the lower cavity 341 are fastened to form the accommodating cavity 301; the lower shell 34 is provided with lower through holes 342 at positions corresponding to the lifting thrusters 20a, the upper shell 31 is provided with upper through holes (not shown) at positions corresponding to the lifting thrusters 20a, and the lower through holes 342 and the corresponding upper through holes cooperate to form first through holes 302; the lower casing 34 has a lower semicircular groove 362 corresponding to each navigation thruster 20b, the upper casing 31 has an upper semicircular groove 333 corresponding to each navigation thruster 20b, and each lower semicircular groove 362 is engaged with the corresponding upper semicircular groove 333 to form the second through hole 304. The structure can facilitate the processing and manufacturing of the protective shell 30, is convenient to process and manufacture, has low cost, and is convenient for the installation of the main cabin body 10.
Further, referring to fig. 1 to 4, as a specific embodiment of the underwater navigation robot 100 provided by the present invention, the upper housing 31 includes an upper shaping plate 33 and an upper cover plate 32 covering the upper shaping plate 33, an upper slot 331 is opened on the upper shaping plate 33, and the upper slot 331 and the upper cover plate 32 cooperate to form an upper cavity; the upper shaping plate 33 is provided with first upper openings 332 corresponding to the positions of the lifting thrusters 20a, the upper cover plate 32 is provided with second upper openings 321 corresponding to the positions of the first upper openings 332, and each first upper opening 332 is matched with the corresponding second upper opening 321 to form an upper through hole; each upper semicircular groove 333 is provided on the bottom surface of the upper mold plate 33. This configuration facilitates the fabrication of the upper shell 31 and the upper chamber and upper semicircular groove 333.
Similarly, the lower shell 34 includes a lower mold plate 36 and a lower cover plate 35 covering the bottom surface of the lower mold plate 36, the lower mold plate 36 is provided with a lower slot (not shown), and the lower slot and the lower cover plate 35 are matched to form a lower cavity 341; the lower shaping plate 36 is provided with first lower openings 361 corresponding to the positions of the lifting propellers 20a, the lower cover plate 35 is provided with second lower openings 351 corresponding to the positions of the first lower openings 361, and the first lower openings 361 and the corresponding second lower openings 351 are matched to form lower through holes 342; each lower half-slot 362 is provided on the lower template 36.
In other embodiments, the upper housing 31 may be integrally formed; the lower housing 34 may also be integrally formed.
Further, referring to fig. 1 to 4, as an embodiment of the underwater navigation robot 100 provided by the present invention, the protective shell 30 is respectively provided with a first through hole 303 communicating each first through hole 302 with the accommodating cavity 301 and a second through hole 305 communicating each second through hole 304 with the accommodating cavity 301. The first through hole 303 is provided to facilitate the penetration of the pillar 232 of the lifting thruster 20a, so that when the protective shell 30 is covered on the main cabin 10, the propeller 21 of the lifting thruster 20a is located in the first through hole 302, and the seat body 233 is connected to the main cabin 10. Meanwhile, the second through hole 305 is provided to facilitate the penetration of the pillar 232 of the navigation thruster 20b, so that when the protective casing 30 is covered on the main cabin 10, the propeller 21 of the navigation thruster 20b is located in the second through hole 304, and the seat body 233 is connected to the main cabin 10. Of course, in other embodiments, the base 233 of the lifting thruster 20a may be directly and fixedly connected to the sidewall of the first through hole 302, and the base 233 of the sailing thruster 20b may be fixedly connected to the sidewall of the second through hole 304.
Further, referring to fig. 1 to 4, as an embodiment of the underwater navigation robot 100 provided by the present invention, in the present embodiment, the first through hole 303 is formed on the upper template 33. And each corner of the upper shaping plate 33 is respectively provided with an upper half notch 334 communicating the upper half slot 333 with the upper slot 331, each corner of the lower shaping plate 36 is respectively provided with a lower half notch 363 communicating the lower half slot 362 with the lower slot, and the upper half notch 334 is matched with the corresponding lower half notch 363 to form a second via hole 305.
Further, referring to fig. 1 to 4, as an embodiment of the underwater navigation robot 100 provided by the present invention, when the control switch 17 is installed on the main cabin 10, the protective shell 30 is correspondingly provided with a first opening 322 exposing the control switch 17, so that the control switch 17 can be conveniently operated through the first opening 322.
Further, referring to fig. 1 to 4, as an embodiment of the underwater navigation robot 100 provided by the present invention, when the waterproof button 18 is installed on the main cabin 10, the protective shell 30 is correspondingly provided with a second opening 323 exposing the waterproof button 18, so that the waterproof button 18 can be conveniently operated through the second opening 323.
Further, referring to fig. 1 to 4, as an embodiment of the underwater navigation robot 100 provided by the present invention, the underwater navigation robot 100 further includes an illumination lamp 19 electrically connected to the controller 13, and the illumination lamp 19 is mounted on an end surface of the protection shell 30. The lighting lamp 19 is arranged, so that the underwater lighting can be conveniently carried out, and the lighting lamp 19 can provide lighting when the waterproof camera module 15 is used.
Further, referring to fig. 1 to 4, as an embodiment of the underwater navigation robot 100 provided by the present invention, two illumination lamps 19 may be respectively installed on two sides of the waterproof camera module 15 to better provide illumination.
Further, referring to fig. 1 to 4, as an embodiment of the underwater navigation robot 100 provided by the present invention, a containing groove 306 is formed on a corresponding end surface of the protective shell 30, and the illuminating lamp 19 is installed in the containing groove 306. The housing groove 306 is formed on the protective case 30 to facilitate installation and fixation of the illumination lamp 19.
Further, referring to fig. 1 to 4, as an embodiment of the underwater navigation robot 100 provided by the present invention, an exit hole 307 is formed on the protective shell 30 at a position corresponding to the waterproof camera module 15, so that the lens 152 of the waterproof camera module 15 can capture an external image from the exit hole 307. Specifically, the upper mold plate 33 is correspondingly provided with an upper half-mouth 335, the lower mold plate 36 is provided with a lower half-mouth 364, and the upper half-mouth 335 and the lower half-mouth 364 cooperate to form the outlet hole 307, so as to facilitate processing and manufacturing.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (16)
1. An underwater navigation robot is characterized by comprising a main cabin body, a plurality of propellers for adjusting the spatial position of the main cabin body and a controller for controlling the operation of each propeller, wherein a sealed cabin is arranged in the main cabin body, the controller is installed in the sealed cabin, each propeller comprises a propeller, a driving motor for driving the propeller to rotate and a support for supporting the driving motor, and the support is fixedly connected with the main cabin body; the plurality of propellers are divided into a lifting propeller axially arranged along the thickness direction of the main cabin body and a navigation propeller axially arranged perpendicular to the thickness direction of the main cabin body;
the support comprises a base body arranged on the main cabin body, a rear cover covering one end of the driving motor and a strut connecting the rear cover and the base body; the driving motor is fixed in the rear cover, the propeller comprises a front cover covering the other end of the driving motor and a plurality of blades arranged on the front cover, the front cover is connected with a rotor of the driving motor, and the front cover and the rear cover are buckled to form an accommodating space for accommodating the driving motor in a matching manner;
the underwater navigation robot further comprises a protective shell with an accommodating cavity, the main cabin body is arranged in the accommodating cavity, first through holes for accommodating the lifting propellers respectively are correspondingly formed in the protective shell, and the axial direction of each first through hole is consistent with the axial direction of the lifting propeller; second through holes for respectively accommodating the navigation propellers are correspondingly formed in the protective shell, and the axial direction of each second through hole is consistent with that of each navigation propeller;
the number of the lifting propellers is four, two lifting propellers are respectively arranged on two sides of the main cabin body, and the lifting propellers on two sides of the main cabin body are opposite;
the number of the navigation propellers is four, and the four navigation propellers are respectively positioned at four corners of the main cabin body.
2. The underwater navigation robot of claim 1, wherein the two navigation thrusters corresponding to each end of the main hull in the longitudinal direction are disposed in axial symmetry along a centerline of the main hull in the longitudinal direction.
3. The underwater navigation robot of claim 2, wherein two of the navigation thrusters corresponding to respective ends in a length direction of the main hull are disposed with an axial inclination.
4. The underwater navigation robot of claim 3, wherein support platforms are respectively provided at two corners corresponding to each end portion in the length direction of the main tank body, the platforms of two adjacent support platforms are arranged obliquely, and the support of each navigation propeller is mounted on the corresponding support platform.
5. The underwater navigation robot of claim 1, wherein three of the blades are uniformly distributed circumferentially of the front cover.
6. The underwater navigation robot of claim 1, wherein the protective housing includes a lower housing and an upper housing fixedly connected to the lower housing, the lower housing having a lower cavity, the upper housing having an upper cavity, the upper cavity and the lower cavity being engaged to form the accommodating cavity; the lower shell is provided with lower through holes corresponding to the positions of the lifting propellers respectively, the upper shell is provided with upper through holes corresponding to the positions of the lifting propellers respectively, and the lower through holes are matched with the corresponding upper through holes to form the first through holes; the lower shell is provided with lower semicircular grooves corresponding to the positions of the navigation propellers, the upper shell is provided with upper semicircular grooves corresponding to the positions of the navigation propellers, and the lower semicircular grooves and the corresponding upper semicircular grooves are buckled to form the second through holes.
7. The underwater navigation robot of claim 6, wherein the upper housing includes an upper template and an upper cover plate covering the upper template, the upper template is provided with an upper slot, and the upper slot and the upper cover plate cooperate to form the upper cavity; the upper shaping plate is provided with first upper openings corresponding to the positions of the lifting propellers, the upper cover plate is provided with second upper openings corresponding to the positions of the first upper openings, and the first upper openings are matched with the second upper openings to form the upper through holes; each upper semicircular groove is arranged on the bottom surface of the upper shaping plate.
8. The underwater navigation robot of claim 6, wherein the lower housing comprises a lower template and a lower cover plate covering the bottom surface of the lower template, the lower template is provided with a lower slot, and the lower slot and the lower cover plate are matched to form the lower cavity; the lower template is provided with first lower openings corresponding to the positions of the lifting propellers, the lower cover plate is provided with second lower openings corresponding to the positions of the first lower openings, and the first lower openings and the corresponding second lower openings are matched to form the lower through holes; each lower semicircular groove is arranged on the lower template.
9. The underwater navigation robot of claim 7, wherein the protective shell is provided with first through holes communicating the first through holes with the accommodating cavity and second through holes communicating the second through holes with the accommodating cavity.
10. The underwater navigation robot of claim 1, further comprising a light electrically connected to the controller, the light being mounted to an end surface of the protective case.
11. The underwater navigation robot of claim 10, wherein the number of the illumination lamps is two, and the illumination lamps are respectively installed at both side portions of one end surface of the protective case.
12. The underwater navigation robot of claim 10, wherein a receiving groove is formed in a corresponding end surface of the protective case, and the illumination lamp is installed in the receiving groove.
13. The underwater navigation robot of any one of claims 1 to 4, further comprising a waterproof camera module electrically connected to the controller, wherein a through hole exposing the waterproof camera module is formed at one end of the main hull, and the through hole is communicated with the sealed cabin.
14. The underwater navigation robot of claim 13, wherein the waterproof camera module includes a camera module installed in the hermetic chamber, a lens installed on the camera module, and a transparent cover covering the lens, the lens being fittingly installed in the through hole.
15. The underwater navigation robot of any one of claims 1 to 4, wherein the main body further has a control switch mounted thereon and a waterproof cover covering the control switch, the waterproof cover being mounted on the main body, the control switch being electrically connected to the controller.
16. The underwater navigation robot of any one of claims 1 to 4, wherein a waterproof button is further mounted on the main hull, and the waterproof button is electrically connected to the controller.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/096587 WO2019028692A1 (en) | 2017-08-09 | 2017-08-09 | Underwater navigation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109562816A CN109562816A (en) | 2019-04-02 |
| CN109562816B true CN109562816B (en) | 2021-01-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780000779.9A Expired - Fee Related CN109562816B (en) | 2017-08-09 | 2017-08-09 | Underwater navigation robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109562816B (en) |
| WO (1) | WO2019028692A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115583308B (en) * | 2022-09-26 | 2023-07-18 | 中国舰船研究设计中心 | Storage cabin for ship |
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| WO2012074408A2 (en) * | 2010-11-29 | 2012-06-07 | Environtec As | A surface-cleaning device and vehicle |
| KR101358547B1 (en) * | 2012-05-22 | 2014-02-07 | 영남대학교 산학협력단 | Underwater navigation platform |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109562816A (en) | 2019-04-02 |
| WO2019028692A1 (en) | 2019-02-14 |
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