CN113443109B - Drive arrangement of seabed sonar robot - Google Patents
Drive arrangement of seabed sonar robot Download PDFInfo
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- CN113443109B CN113443109B CN202110800620.3A CN202110800620A CN113443109B CN 113443109 B CN113443109 B CN 113443109B CN 202110800620 A CN202110800620 A CN 202110800620A CN 113443109 B CN113443109 B CN 113443109B
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- 230000006978 adaptation Effects 0.000 claims description 3
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 15
- 235000017491 Bambusa tulda Nutrition 0.000 description 15
- 241001330002 Bambuseae Species 0.000 description 15
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 15
- 239000011425 bamboo Substances 0.000 description 15
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
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- 230000010365 information processing Effects 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The invention belongs to the technical field of sonar, and particularly relates to a driving device of a sonar robot. A drive arrangement of seabed sonar robot includes: the propeller is fixedly arranged in the propeller barrel through a support; the mounting disc is arranged above the main body frame and is of a disc-shaped structure, the center of the mounting disc is rotatably connected with the center of the horizontal end of the main body frame through the main bearing column, the driving device can be used for driving the sonar robot and also controlling the sonar robot to float and dive, and meanwhile, the main body frame is rotatably arranged below the mounting disc through the main bearing column, so that the main body frame and the mounting disc can rotate relatively, the direction of the whole propeller barrel can be changed, the driving device can also be used for controlling the sonar robot to steer, and the driving device is high in functionality.
Description
Technical Field
The invention belongs to the technical field of sonar, and particularly relates to a driving device of a sonar robot.
Background
SONAR (Sound Navigation And Ranging, acronym of "SONAR") is called Sound Navigation And Ranging, is an electronic device which utilizes the propagation characteristic of Sound waves under water, completes underwater detection And communication tasks through electroacoustic conversion And information processing, has two types of active And passive modes, And belongs to the category of acoustic positioning. A driving device of a submarine sonar robot is a device for driving the sonar robot to move. However, most of the existing driving devices have simple structures, usually pay more attention to long-distance running, and have insufficient attention to the precise control capability in a small distance range, and particularly cannot realize precise control of small-radius turning.
Disclosure of Invention
The purpose of the invention is: in order to overcome the defects of the prior art, the driving device of the seabed sonar robot is provided.
The technical scheme of the invention is as follows: a drive arrangement of seabed sonar robot includes:
the main part frame, the main part frame is "U" type structure down, be provided with the oar section of thick bamboo between two vertical ends of main part frame, the both sides of oar section of thick bamboo pass through the second pivot with the inner wall of main part frame rotates and is connected, there is the screw in the oar section of thick bamboo through support fixed mounting.
The mounting disc is arranged above the main body frame and is of a disc-shaped structure, and the center of the mounting disc is rotatably connected with the center of the horizontal end of the main body frame through a main bearing column.
Preferably, a second motor is installed inside a second case installed on the outer side of one of the vertical ends of the main body frame, and an output shaft of the second motor penetrates through the horizontal end of the main body frame to be rotatably connected with the second rotating shaft.
Preferably, a counterweight is installed outside the other vertical end of the main body frame.
Preferably, the upper surface edge of mounting disc has seted up the mounting groove, the inside slidable mounting of mounting groove has the slider, the one end of slider with through spring coupling between the inner wall of mounting groove, the bullet round pin is installed to the other end of slider, the one end of bullet round pin extends to the outside of mounting disc.
Preferably, the mounting grooves are arranged in a plurality, and the mounting grooves are distributed on the upper surface of the mounting disc in a circular array.
Preferably, the lower surface edge of mounting disc installs the depression bar, the circular shape recess has been seted up to the upper surface edge of main part frame, the bottom slip block of depression bar is in the recess, the bottom side position of depression bar inlays and is equipped with spacing supplementary ball, the inner wall of recess seted up with the ball groove of spacing supplementary ball looks adaptation.
Preferably, the pressure reducing levers are provided in two in total, and the two pressure reducing levers are symmetrical to each other about a vertical center line of the main body frame.
Preferably, a bearing disc is embedded in the center of the top of the main body frame, and the bottom of the main bearing column is sleeved inside the bearing disc.
Preferably, the main bearing column adopts a hollow structure, the main body frame is internally located, a cavity is formed in the lower portion of the main bearing column, the cavity is circular, a toothed ring is embedded in the edge of the inner wall of the cavity, a first rotating shaft is installed inside the main bearing column in a rotating mode, a driving gear is installed at the bottom of the first rotating shaft and is meshed with the toothed ring, and the cavity is eccentrically formed.
Preferably, a first case is installed at the center of the top of the installation disc, a first motor is installed inside the first case, and an output shaft of the first motor is connected with the top of the first rotating shaft.
Has the advantages that: 1. the driving device adopts the propeller as power to drive, the propeller of the driving device is arranged in the propeller barrel, the propeller barrel is rotatably arranged at the inner sides of the two vertical ends of the main body frame through the second rotating shaft, the structure arrangement enables the elevation angle of the propeller to be changed when the second motor arranged at the side surface of the main body frame rotates, so that the up-and-down driving direction of the sonar robot is changed, therefore, the driving device can be used for driving and also controlling the sonar robot to float and dive, meanwhile, the main body frame is rotatably arranged below the mounting disc through the main bearing column, so that the main body frame and the mounting disc can rotate relatively, thereby the direction of the whole propeller barrel can be changed, the driving device can also be used for controlling the sonar robot to steer, the function is strong, the effect of driving multiple purposes is achieved, and the production cost of the sonar robot is reduced, the overall pressure (such as body type, weight and the like) of the sonar robot can be reduced.
2. According to the driving device, the edge of the upper surface of the mounting disc is provided with the mounting groove, the sliding block is slidably mounted in the mounting groove, one end of the sliding block is connected with the inner wall of the mounting groove through the spring, the elastic pin is mounted at the other end of the sliding block, one end of the elastic pin extends to the outside of the mounting disc, when the driving device is mounted, the sliding block is pulled by a tool to slide in the mounting groove to compress the spring until the elastic pin is completely retracted into the mounting groove, then the mounting disc is mounted in a corresponding position on a sonar robot, and the elastic pin is released to enable the elastic pin to be ejected into a pin hole reserved on the sonar robot under the elastic force of the spring, so that the mounting of the device is completed, and the operation is convenient and rapid;
3. according to the invention, the pressure reducing rod is arranged at the edge of the lower surface of the mounting disc, the circular groove is formed in the edge of the upper surface of the main body frame, the bottom of the pressure reducing rod is clamped in the groove in a sliding mode, the side position of the bottom of the pressure reducing rod is embedded with the limiting auxiliary ball, the inner wall of the groove is provided with the ball groove matched with the limiting auxiliary ball, when the main body frame rotates, the mounting disc and the main body frame rotate relatively, the limiting auxiliary ball at the bottom of the pressure reducing rod slides in the groove in the main body frame, the rotating process is smoother, the rotating stability and sensitivity are improved, and in rotation, the limiting auxiliary ball can provide certain bearing capacity for the main body frame, so that the main body frame is higher in balance during rotation.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the present invention in partial cross-section;
FIG. 3 is a schematic top view of the mounting plate of the present invention;
FIG. 4 is an enlarged view of the area A in FIG. 2 according to the present invention.
Description of reference numerals: 1-a first electric machine; 2-a first chassis; 3-mounting a disc; 4-a spring pin; 5-a main body frame; 6-a second motor; 7-a second chassis; 8-a second rotating shaft; 9-a propeller; 10-paddle cylinder; 11-a scaffold; 12-a counterweight block; 13-limiting auxiliary balls; 14-a pressure reducing bar; 15-mounting grooves; 16-a slide block; 17-a spring; 18-a cavity; 19-a toothed ring; 20-a primary load-bearing column; 21-a first rotating shaft; 22-driving gear.
Detailed Description
The mounting disc 3 is arranged above the main body frame 5, the mounting disc 3 is of a disc-shaped structure, and the center of the mounting disc 3 is rotatably connected with the center of the horizontal end of the main body frame 5 through the main bearing column 20.
A second case 7 is arranged outside one of the vertical ends of the main body frame 5, a second motor 6 is arranged inside the second case, and an output shaft of the second motor 6 penetrates through the horizontal end of the main body frame 5 to be rotatably connected with a second rotating shaft 8.
And a balancing weight 12 is arranged outside the other vertical end of the main body frame 5.
By adopting the technical scheme:
this drive arrangement adopts screw 9 to drive as power, this drive arrangement's screw 9 is installed in screw 10, and screw 10 rotates through second pivot 8 and installs two vertical end inboards at main part frame 5, such structure setting makes when installing second motor 6 in main part frame 5 side when rotating, can drive screw 9's angle of elevation change, thereby change sonar robot's upper and lower drive direction, consequently, drive arrangement can be used as the come-up and the dive that can also control sonar robot, and simultaneously, because main part frame 5 rotates through main carrier bar 20 and installs the below at mounting disc 3, consequently can carry out relative rotation between main part frame 5 and the mounting disc 3, thereby can change the direction of whole screw 10, make this drive arrangement also can be used as control sonar robot and turn to, and is functional strong.
The mounting disc 3 is arranged above the main body frame 5, the mounting disc 3 is of a disc-shaped structure, and the center of the mounting disc 3 is rotatably connected with the center of the horizontal end of the main body frame 5 through the main bearing column 20.
By adopting the technical scheme:
when this drive arrangement installs, slide compression spring 17 in mounting groove 15 through instrument pulling slider 16, until in the 4 complete receipts mounting grooves of bullet round pin 15, then install mounting disc 3 in the last corresponding position of sonar robot, release bullet round pin 4 again, make bullet round pin 4 pop out the round pin under spring 17's elastic force effect and go into the round pin hole of reserving on the sonar robot, accomplish the device's installation promptly, convenient operation is swift.
Example 3: the utility model provides a drive arrangement of seabed sonar robot, as shown in fig. 1-4, includes main part frame 5, and main part frame 5 is "U" type structure, is provided with oar section of thick bamboo 10 between two vertical ends of main part frame 5, and the both sides of oar section of thick bamboo 10 are passed through second pivot 8 and are connected with the inner wall rotation of main part frame 5, have screw 9 through support 11 fixed mounting in the oar section of thick bamboo 10.
The mounting disc 3 is arranged above the main body frame 5, the mounting disc 3 is of a disc-shaped structure, and the center of the mounting disc 3 is rotatably connected with the center of the horizontal end of the main body frame 5 through the main bearing column 20.
The lower surface edge of mounting disc 3 installs pressure reducing lever 14, and the upper surface edge of main part frame 5 has seted up the circular shape recess, and the bottom of pressure reducing lever 14 slides the block in the recess, and the bottom side position of pressure reducing lever 14 inlays and is equipped with spacing supplementary ball 13, and the ball groove with 13 looks adaptations of spacing supplementary ball is seted up to the inner wall of recess.
The pressure reducing levers 14 are provided in total in two, and the two pressure reducing levers 14 are symmetrical to each other about the vertical center line of the main body frame 5.
By adopting the technical scheme:
when main part frame 5 is rotating, take place relative rotation between mounting disc 3 and the main part frame 5, the spacing supplementary ball 13 of 14 bottoms of decompression pole this moment slides in the recess on main part frame 5, makes the rotation process more smooth and easy, promotes pivoted stability and sensitivity, and when rotating, spacing supplementary ball 13 can provide certain bearing capacity to main part frame 5, makes main part frame 5 equilibrium when rotatory higher.
Example 4: a drive device for a submarine sonar robot, as shown in fig. 1 to 4, comprising: main part frame 5, main part frame 5 are down "U" type structure, are provided with a oar section of thick bamboo 10 between two vertical ends of main part frame 5, and the both sides of an oar section of thick bamboo 10 are passed through the inner wall rotation of second pivot 8 with main part frame 5 and are connected, have screw 9 through support 11 fixed mounting in an oar section of thick bamboo 10.
The mounting disc 3 is arranged above the main body frame 5, the mounting disc 3 is of a disc-shaped structure, and the center of the mounting disc 3 is rotatably connected with the center of the horizontal end of the main body frame 5 through the main bearing column 20.
The top center of the main body frame 5 is embedded with a bearing disc, and the bottom of the main bearing column 20 is sleeved inside the bearing disc.
The top center department of mounting disc 3 installs first quick-witted case 2, and first quick-witted case 2 internally mounted has first motor 1, and the output shaft of first motor 1 is connected with the top of first pivot 21.
By adopting the technical scheme:
when the first motor 1 rotates, the first rotating shaft 21 drives the driving gear 22 to rotate, and the driving gear 22 is meshed with the gear ring 19 embedded on the inner wall edge of the cavity 18, so that the whole main body frame 5 rotates, and the effect of changing the horizontal driving angle of the propeller 9 is achieved.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (9)
1. The utility model provides a drive arrangement of seabed sonar robot, includes main part frame (5), its characterized in that: the main body frame (5) is of an inverted U-shaped structure, a paddle cylinder (10) is arranged between two vertical ends of the main body frame (5), two sides of the paddle cylinder (10) are rotatably connected with the inner wall of the main body frame (5) through a second rotating shaft (8), and a propeller (9) is fixedly mounted in the paddle cylinder (10) through a support (11);
a mounting disc (3) is arranged above the main body frame (5), the mounting disc (3) is of a disc-shaped structure, and the center of the mounting disc (3) is rotatably connected with the center of the horizontal end of the main body frame (5) through a main bearing column (20);
the lower surface edge of mounting disc (3) installs pressure reducing lever (14), the upper surface edge of main part frame (5) has seted up the circular shape recess, the bottom slip block of pressure reducing lever (14) is in the recess, the bottom side position of pressure reducing lever (14) inlays and is equipped with spacing supplementary ball (13), the inner wall of recess seted up with the ball groove of spacing supplementary ball (13) looks adaptation.
2. The drive device of seabed sonar robot of claim 1, characterized by: a second case (7) is installed on the outer side of one of the vertical ends of the main body frame (5), a second motor (6) is installed inside the second case (7), and an output shaft of the second motor (6) penetrates through the horizontal end of the main body frame (5) and is rotatably connected with the second rotating shaft (8).
3. The drive device of seabed sonar robot of claim 2, characterized by: and a balancing weight (12) is arranged at the outer side of the other vertical end of the main body frame (5).
4. The drive device of seabed sonar robot of claim 1, characterized by: mounting groove (15) have been seted up to the upper surface edge of mounting disc (3), mounting groove (15) inside slidable mounting has slider (16), the one end of slider (16) with connect through spring (17) between the inner wall of mounting groove (15), bullet round pin (4) are installed to the other end of slider (16), the one end of bullet round pin (4) extends to the outside of mounting disc (3).
5. The drive device of seabed sonar robot of claim 4, characterized by: the mounting grooves (15) are arranged in a plurality, and the mounting grooves (15) are distributed on the upper surface of the mounting disc (3) in a circular array.
6. The drive device of seabed sonar robot of claim 1, characterized by: the two pressure reducing rods (14) are arranged, and the two pressure reducing rods (14) are mutually symmetrical about the vertical center line of the main body frame (5).
7. The drive device of seabed sonar robot of claim 1, characterized by: the bearing disc is embedded in the center of the top of the main body frame (5), and the bottom of the main bearing column (20) is sleeved inside the bearing disc.
8. The drive device of seabed sonar robot of claim 7, characterized by: main bearing post (20) adopts hollow structure, main part frame (5) inside is located cavity (18) have been seted up to the below department of main bearing post (20), cavity (18) are circular, the inner wall edge of cavity (18) is inlayed and is equipped with ring gear (19), first pivot (21) are installed in the internal rotation of main bearing post (20), driving gear (22) are installed to the bottom of first pivot (21), driving gear (22) with ring gear (19) meshing is connected, cavity (18) adopt the off-centre to set up.
9. The drive device of seabed sonar robot of claim 8, characterized by: the top center department of mounting disc (3) installs first quick-witted case (2), first quick-witted case (2) internally mounted has first motor (1), the output shaft of first motor (1) with the top of first pivot (21) is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110800620.3A CN113443109B (en) | 2021-07-15 | 2021-07-15 | Drive arrangement of seabed sonar robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110800620.3A CN113443109B (en) | 2021-07-15 | 2021-07-15 | Drive arrangement of seabed sonar robot |
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| Publication Number | Publication Date |
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| CN113443109A CN113443109A (en) | 2021-09-28 |
| CN113443109B true CN113443109B (en) | 2022-04-19 |
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| CN202110800620.3A Expired - Fee Related CN113443109B (en) | 2021-07-15 | 2021-07-15 | Drive arrangement of seabed sonar robot |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108237856A (en) * | 2018-01-11 | 2018-07-03 | 山东大学 | A kind of dwell robot and method more |
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| CN100506639C (en) * | 2007-01-19 | 2009-07-01 | 哈尔滨工程大学 | Turning, rotating propeller of underwater robot with six degrees of freedom |
| US9937992B2 (en) * | 2014-01-31 | 2018-04-10 | Kay Seven Co., Ltd. | Steering device and method for steering the same |
| JP6577814B2 (en) * | 2015-10-06 | 2019-09-18 | 川崎重工業株式会社 | Autonomous unmanned submersible underwater docking system |
| CN105501422B (en) * | 2016-01-18 | 2017-06-23 | 山东大学（威海） | All deflect propeller vector propulsion mechanism and submarine navigation device |
| CN107776862B (en) * | 2016-08-31 | 2020-04-14 | 柳州市向日葵科技有限公司 | Electric propeller |
| CN106347616A (en) * | 2016-10-18 | 2017-01-25 | 国家深海基地管理中心 | Deep sea direct current (DC) propeller integrated with controller |
| CN108341037A (en) * | 2018-02-27 | 2018-07-31 | 宋豪杰 | Submersible type lifesaving robot |
| CN108394541A (en) * | 2018-02-28 | 2018-08-14 | 顾荣祥 | A kind of solar powered environmentally friendly operation ship of water conservancy |
| CN108839785B (en) * | 2018-06-05 | 2020-12-04 | 哈尔滨工程大学 | Hydraulic drive type pod propeller for test |
| CN111152906A (en) * | 2020-01-16 | 2020-05-15 | 杭州鳌海海洋工程技术有限公司 | Underwater propeller |
| CN111591415A (en) * | 2020-06-03 | 2020-08-28 | 曾珊 | Semi-submersible type ocean profile observation intelligent robot |
| CN112357028B (en) * | 2020-11-16 | 2022-03-11 | 江苏科技大学 | Aircraft for detecting underwater plants |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108237856A (en) * | 2018-01-11 | 2018-07-03 | 山东大学 | A kind of dwell robot and method more |
Non-Patent Citations (2)
| Title |
|---|
| AUV关键技术与发展趋势;秦洪德等;《舰船科学技术》;20201208;第42卷(第12期);全文 * |
| 仿生波动鳍的试验研究;林龙信等;《哈尔滨工程大学学报》;20080515;第29卷(第5期);全文 * |
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Granted publication date: 20220419 |