CN1299951C - Sinking-floating apparatus of superminiature shallow water robot - Google Patents
Sinking-floating apparatus of superminiature shallow water robot Download PDFInfo
- Publication number
- CN1299951C CN1299951C CNB2004100179677A CN200410017967A CN1299951C CN 1299951 C CN1299951 C CN 1299951C CN B2004100179677 A CNB2004100179677 A CN B2004100179677A CN 200410017967 A CN200410017967 A CN 200410017967A CN 1299951 C CN1299951 C CN 1299951C
- Authority
- CN
- China
- Prior art keywords
- shallow water
- water robot
- electrical motor
- sinking
- popple
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The present invention relates to a sinking-floating device of a superminiature shallow water robot, which contains a floating cylinder and a motor. The present invention is characterized in that the floating cylinder is a circular cylinder whose both ends are opened. The motor is perpendicularly installed in the center position in the floating cylinder. An output shaft of the motor is connected with two pistons which are positioned at the right side and the left side of the motor by transmission mechanisms. The present invention causes the underwater stress of a robot to be uniform. When the sinking-floating device is sunk and floated, the sinking-floating device has favorable stability, and the sinking-floating device is flexible to control. The sinking-floating device can also provide most of buoyancy for the integral robot. The present invention has the advantages of reasonable and compact structure, easy manufacture and safe and reliable use. The sinking-floating device is suitable for various submersibles whose sink and floating need to be controlled, and is particularly suitable for a superminiature shallow water robot.
Description
Technical field
The present invention relates to a kind of sink-float device of submersible, particularly a kind of micro-miniature shallow water robot sink-float system
Background technology
Along with economic development, particularly to the development and utilization of rivers,lakes and seas water resource, building of large medium-size station, dam, and near-coastal resources are surveyed, utilize, to can be in the lake, river course, the coastal waters demand of walking the micro-miniature shallow water robot with characteristics such as practical value, reliability height, price are cheap of operation constantly increases.This shallow water robot can have pollution in narrow, water quality, operation in the shallow-water environment of certain danger is arranged, the regular detection that is mainly used between reservoir dam, flood control embankment, bank, harbour, the boats and ships etc.Be particularly useful for the daily blowdown of waters, river course, sluice etc., the guiding indication work that discharges water, detects.This class work is in the past mostly finished by the diver, and diver's dive is once costly, and has greater risk.
Big-and-middle-sized under-water robot uses air pressure pump to change volume usually and makes system's lifting.It can produce uniform lift or rate of sinking, is difficult for causing before and after the under-water robot or horizontal tilt; And can stand the influence etc. of certain current fluctuation.But the sink-float jacking system is bulky, and is bigger to the single-piece vibration influence, even can produce resonance effect.In the common relatively therewith small-sized or miniature submersible, use the propeller type jacking system.This moment, volume was little, and alerting ability is strong, and it is big to rise the speed setting scope of diving.Yet drive motor is in operative condition always, and consumption of power is big, because propelling unit is subjected to the counter torque effect of current, normal pairing is used, but lifting power is difficult to make under-water robot to keep balance.Rotating speed control is difficult to realize.
Summary of the invention
The object of the present invention is to provide a kind of popple device for microminiature shallow water robot, make robot stressed under water evenly, can when sink-float, keep good stable and control alerting ability.
For achieving the above object, the present invention does following research idea to form plan plot:
Consider the advantage of air compression type jacking system and propeller type jacking system, and in conjunction with the little feature of this submersible volume, a kind of piston type of finally designing a kind of good airproof performance system that rises and falls comprehensively.It can make under-water robot stressed evenly, can keep good stable when sink-float, and control flexibly; Can provide part buoyancy to integral body.But the shortcoming of piston type draining sink-float system is: volume is big, and this part is the outside topmost that is exposed to pressure shell, inevitablely can produce certain fluid resistance during advancing.Because the requirement of this submersible is not lain in the speed of running velocity, but be the quality of whole stationarity and pickup quality, on these 2, " piston type " sink-float system can be good at satisfying designing requirement.The effect of sink-float system mainly is the motion by its internal piston, produces the variation of volume, makes the device single-piece buoyancy of diving reduce or increase, and rises the application force of diving under water thereby produce.
The device of diving can keep stable in water must satisfy two conditions: the one, and the centre of buoyancy must be positioned at center of gravity above vertical direction; The 2nd, the center of gravity of submersible and its centre of buoyancy must be on same vertical directions.
Because the buoyancy that the sink-float entire system produces in water is greater than the weight of self, therefore it is installed in the topmost portion of submersible, submersible single-piece centre of buoyancy is raise, thereby increase its metancenter height, it is more stable on the vertical direction in water to help submersible, promptly satisfies first stable condition.In addition, it can do axial part adjustment floating drum, to satisfy second stable condition.The external form of sink-float system changes a cylindrical shape into from original cuboid, the column part length of its length and pressure shell is suitable, help like this in advancing, keeping under-water robot balance in the horizontal direction, be unlikely to pitch, the stable and shooting of influence.
According to above-mentioned research and design, the present invention adopts following technical proposals:
A kind of popple device for microminiature shallow water robot, comprise floating drum and an electrical motor, it is characterized in that floating drum is the cylinder of both ends open, electrical motor vertically is installed in the centre in the floating drum, and motor output shaft is connected on two pistons of the right-hand and left of electrical motor by transmission device.
The structure of above-mentioned transmission device is: each conical gear that is fixedly connected on the output shaft of electrical motor, the accurate gear of this circle and two conical gear engagements that are installed in the electrical motor left and right sides; The prolongation axle of these two accurate rotary gear shafts of circle be screw mandrel respectively with about two nuts revolve and join, these two nuts are fixedly connected by three pull bars and two pistons respectively.
Two above-mentioned rhizoid bars become eccentric to be settled with the floating drum line of centers.
Two above-mentioned rhizoid bars are the Acme thread screw mandrel, and two nuts are the Acme thread nut.
By two bearing supportings, two bearings are installed in respectively in two bearing seats and by end cap and locate two above-mentioned rhizoid bars respectively.
Two above-mentioned bearing seats are captiveed joint with floating drum by base with electrical motor.
Adorn seal ring on the cylindrical of two above-mentioned pistons.
The present invention compared with prior art, have following conspicuous characteristics and advantage: adopt piston type sink-float system among the present invention, robot is stressed under water evenly, has good stable during sink-float, control provides most of buoyancy can also for whole robot flexibly.Screw mandrel revolves and joins with nut outside piston, avoid screw mandrel directly and piston revolve and join and the dynamic seal problem occurs.Adopt the eccentric installation of screw mandrel and floating drum line of centers, avoid piston to rotate and leakiness Vent problem.Compact conformation of the present invention is reasonable, is easy to make, and is safe and reliable.The present invention is applicable to the various submersibles that need the control sink-float, is particularly useful for micro-miniature shallow water robot.
Description of drawings
Fig. 1 is the structural representation of one embodiment of the invention.
The specific embodiment
A preferred embodiment of the present invention is: referring to Fig. 1, this popple device for microminiature shallow water robot, comprise floating drum 18 and an electrical motor 12, floating drum 18 is the cylinder of both ends open, electrical motor 12 vertically is installed in the centre in the floating drum 18, and electrical motor 12 output shafts are connected on two pistons 7,16 of the right-hand and left of electrical motor 12 by transmission device.The structure of transmission device is: the conical gear 5 that is fixedly connected on the output shaft of electrical motor 12, this conical gear 5 and two conical gears, 4,10 engagements that are installed in electrical motor 12 left and right sides; The prolongation axle of these two conical gears, 4,10 rotating shafts be screw mandrel 9,14 respectively with about two nuts 15,8 revolve and join, these two nuts 15,8 are fixedly connected by 1,6 and two pistons 7,16 of three pull bars respectively.Two rhizoid bars 9,14 become eccentric to be settled with floating drum 18 line of centerss.Two rhizoid bars 9,14 are the Acme thread screw mandrel, and two nuts 8,15 are the Acme thread nut.Two rhizoid bars 9,14 are respectively by two bearing supportings, and two bearings are installed in respectively in two bearing seats 13 and by end cap 3 locatees.Two bearing seats 13 are captiveed joint with floating drum 18 by base 11 with electrical motor 12.Dress seal ring 17 on the cylindrical of two pistons 7,16.
Claims (7)
1. popple device for microminiature shallow water robot, comprise a floating drum (18) and an electrical motor (12), it is characterized in that floating drum (18) is the cylinder of both ends open, electrical motor (12) vertically is installed in the centre in the floating drum (18), and electrical motor (12) output shaft is connected on two pistons (7,16) of the right-hand and left of electrical motor (12) by transmission device.
2. a kind of popple device for microminiature shallow water robot according to claim 1, the structure that it is characterized in that transmission device is: the conical gear (5) that is fixedly connected on the output shaft of electrical motor (12), this conical gear (5) and two conical gears (4, the 10) engagement that is installed in electrical motor (12) left and right sides; The prolongation axle of this two conical gears (4,10) rotating shaft be screw mandrel (9,14) respectively with about two nuts (15,8) revolve and join, these two nuts (15,8) are fixedly connected by three pull bars (1,6) and two pistons (7,16) respectively.
3. a kind of popple device for microminiature shallow water robot according to claim 2 is characterized in that two rhizoid bars (9,14) become eccentric and settle with floating drum (18) line of centers.
4. a kind of popple device for microminiature shallow water robot according to claim 3 is characterized in that two rhizoid bars (9,14) are the Acme thread screw mandrel, and two nuts (8,15) are the Acme thread nut.
5. a kind of popple device for microminiature shallow water robot according to claim 3 is characterized in that two rhizoid bars (9,14) respectively by two bearing supportings, and two bearings are installed in respectively in two bearing seats (13) and by end cap (3) and locate.
6. a kind of popple device for microminiature shallow water robot according to claim 5 is characterized in that two bearing seats (13) captive joint with floating drum (18) by base (11) with electrical motor (12).
7. a kind of popple device for microminiature shallow water robot according to claim 1 is characterized in that adorning seal ring (17) on the cylindrical of two pistons (7,16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100179677A CN1299951C (en) | 2004-04-27 | 2004-04-27 | Sinking-floating apparatus of superminiature shallow water robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100179677A CN1299951C (en) | 2004-04-27 | 2004-04-27 | Sinking-floating apparatus of superminiature shallow water robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1569561A CN1569561A (en) | 2005-01-26 |
| CN1299951C true CN1299951C (en) | 2007-02-14 |
Family
ID=34479268
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100179677A Expired - Fee Related CN1299951C (en) | 2004-04-27 | 2004-04-27 | Sinking-floating apparatus of superminiature shallow water robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1299951C (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0521292D0 (en) * | 2005-10-19 | 2005-11-30 | Go Science Ltd | Submersible vehicle |
| CN100383021C (en) * | 2006-03-07 | 2008-04-23 | 上海大学 | Microminiature underwater robot submerging and surfacing device |
| CN101708770B (en) * | 2009-11-26 | 2011-09-07 | 上海大学 | Counterweight adjusting mechanism for underwater robot |
| CN102012704B (en) * | 2010-09-21 | 2012-05-02 | 上海大学 | Inner controlling system for gestures of underwater robot |
| CN104443324B (en) * | 2014-08-06 | 2017-06-09 | 刘光 | Submarine and buoyancy tube |
| CN104802967A (en) * | 2015-02-09 | 2015-07-29 | 倪宗红 | Depth suspension navigation technology |
| CN107052002A (en) * | 2017-05-16 | 2017-08-18 | 广东海洋大学 | A kind of novel deep sea net cage cleaning robot |
| CN108593868A (en) * | 2018-05-10 | 2018-09-28 | 杭州能尔科技有限公司 | A kind of remote water quality detection equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4187796A (en) * | 1975-06-27 | 1980-02-12 | The United States Of America As Represented By The Secretary Of The Navy | Specific gravity equalizer system |
| JPS62187692A (en) * | 1986-02-13 | 1987-08-17 | Mitsubishi Heavy Ind Ltd | Hydraulic drive type underwater floating amount regulator for submarine |
| GB2228901A (en) * | 1988-10-24 | 1990-09-12 | Secr Defence | Buoyancy control means |
| US5165360A (en) * | 1991-03-11 | 1992-11-24 | The United States Of America As Represented By The Secretary Of The Navy | Underwater rapid-fire ram pump |
| US6142092A (en) * | 1997-06-13 | 2000-11-07 | The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland | Depth control device |
| JP2003135865A (en) * | 2001-11-05 | 2003-05-13 | Mitsumi Electric Co Ltd | Buoyancy adjusting device |
-
2004
- 2004-04-27 CN CNB2004100179677A patent/CN1299951C/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4187796A (en) * | 1975-06-27 | 1980-02-12 | The United States Of America As Represented By The Secretary Of The Navy | Specific gravity equalizer system |
| JPS62187692A (en) * | 1986-02-13 | 1987-08-17 | Mitsubishi Heavy Ind Ltd | Hydraulic drive type underwater floating amount regulator for submarine |
| GB2228901A (en) * | 1988-10-24 | 1990-09-12 | Secr Defence | Buoyancy control means |
| US5165360A (en) * | 1991-03-11 | 1992-11-24 | The United States Of America As Represented By The Secretary Of The Navy | Underwater rapid-fire ram pump |
| US6142092A (en) * | 1997-06-13 | 2000-11-07 | The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland | Depth control device |
| JP2003135865A (en) * | 2001-11-05 | 2003-05-13 | Mitsumi Electric Co Ltd | Buoyancy adjusting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1569561A (en) | 2005-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100383021C (en) | Microminiature underwater robot submerging and surfacing device | |
| US8314506B2 (en) | Direct drive rotary wave energy conversion | |
| CN1276173C (en) | Apparatus for production of energy from currents in bodies of water, foundation and method for installation of apparatus | |
| CA2757255C (en) | Tide activated device to operate a turbine generator | |
| EP3269978A1 (en) | Hydroelectric power system and pump | |
| CN103612723A (en) | Full-independent marine environmental monitoring buoy for deep open seas | |
| CN1299951C (en) | Sinking-floating apparatus of superminiature shallow water robot | |
| WO2012106558A2 (en) | Method and system for wave energy conversion | |
| CN203548048U (en) | Wave-power generation device | |
| CN109779825B (en) | Rectangular ring tube type oscillating water column symmetrical wing turbine power generation device | |
| GB2579640A (en) | Relative buoyancy marine wave energy recovery system | |
| CN101265865A (en) | Sea hydraulic drive apparatus | |
| CN104535050A (en) | Deep sea multi-parameter measurement device controlled by two hydraulic cylinders | |
| US20230151789A1 (en) | Wave energy converter | |
| US10030747B2 (en) | Wave energy conversion system | |
| JP6526727B2 (en) | Pipe screw pump unit | |
| US11815061B2 (en) | Tidal power generation system | |
| US20190040841A1 (en) | Wave driven electrical power generation system and methods | |
| WO2011062506A1 (en) | Plant for production of energy | |
| CN1313323C (en) | Micro-miniature butterfly shaped underwater robot | |
| CN218628325U (en) | Ocean buoy for preventing wind waves | |
| CN117365846B (en) | Wind energy, ocean current energy power generation device and wind energy, ocean current energy and wave energy power generation device | |
| RU2069275C1 (en) | Wave-electric power plant | |
| RU2608795C2 (en) | Screw-type wave power plant (versions) | |
| GB2460832A (en) | Rocking buoy wave energy converter with submerged turbines |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20070214 |