CN1313323C - Micro-miniature butterfly shaped underwater robot - Google Patents
Micro-miniature butterfly shaped underwater robot Download PDFInfo
- Publication number
- CN1313323C CN1313323C CNB2004100677935A CN200410067793A CN1313323C CN 1313323 C CN1313323 C CN 1313323C CN B2004100677935 A CNB2004100677935 A CN B2004100677935A CN 200410067793 A CN200410067793 A CN 200410067793A CN 1313323 C CN1313323 C CN 1313323C
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- China
- Prior art keywords
- propelling unit
- ship body
- sinking
- rear portion
- floating
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- Expired - Fee Related
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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 under-water robot, particularly a kind of micro-miniature dish under-water robot.
Background technology
21 century is the century of ocean, and the ocean accounts for 71% of whole earth total surface, and no matter from politics, economy still militarily, the mankind will further enlarge the ocean that development and utilization has affluent resources.Under-water robot be a kind ofly can move, have vision and sensory perceptual system under water, by remote control or autonomous operation mode, use machinery or other instruments to replace or assist the people to remove to finish the device of under-water operation task.It is played an important role in ocean exploitation with in utilizing as a kind of hightech means, and its importance is not second to the effect of cosmic rocket in the exploration of the universe space.Microminiature underwater robot is mainly used in the landform water quality at seabed, shallow sea, rivers and lakes, harbour and investigates, and search accident shipwreck is measured accident scene, waters, studies resource under water.Especially under water autonomous robot, all operations all rely on various environmental perception devices and the autonomy of actv. kinetic control system that robot itself carries and finish.
The ship body claims pressure shell again, be the main provider of under-water robot buoyancy, and its weight also accounts for the very big ratio of under-water robot total weight, so the selection of pressure shell version directly has influence on the capacity weight of submersible.
Consider the factors such as ratio of resistance and the weight and the displacement of liquid motion, the shape of under-water robot pressure shell roughly has following several: sphere, ellipse and cylindrical shape.Sphere has best weight-displacement ratio, and carries out stress analysis and more correct easily, but is not easy to internal placement; Ellipse can effectively utilize the inner space, but the structural stress analysis is difficult, the manufacturing expenses height; The easiest processing and manufacturing of cylindrical shape pressure shell, the inner space degree of utilization is the highest, compare to have relatively poor weight-the displacement ratio, and inside need be strengthened with rib.
Summary of the invention
The objective of the invention is to solve the problem that exists in the prior art, a kind of micro-miniature butterfly shaped underwater robot is provided, have weight-displacement ratio preferably, can more effectively utilize the inner space, can do to advance, retreat, lifting and cross motion.
For achieving the above object, the present invention adopts following technical proposals:
A kind of micro-miniature butterfly shaped underwater robot, comprise ship body and propelling unit, it is characterized in that ship is as the butterfly pressure shell, propelling unit includes rear portion propelling unit and lifting and horizontal propelling unit, described rear portion propelling unit is installed in the rear portion of ship body, and described lifting is installed among the vertical water passage at ship body middle part with horizontal propelling unit.
The structure of above-mentioned rear portion propelling unit is: at ship an electrical motor and speed reduction gearing thereof are installed after one's death in portion's inner chamber, its output shaft stretches out the ship body and a screw propeller is installed in the end.
Above-mentioned lifting with the structure of horizontal propelling unit is: in the anterior inner chamber of ship body a direct current synchronous motor is installed, its output shaft connects a rotating shaft through coupler; This rotating shaft is across in the vertical water passage by the bearing supporting at two ends; This rotating shaft middle part fixedly mounts an electrical motor and makes it be in vertical water passage central authorities, and a screw propeller is installed by this motor output end portion.
The present invention compared with prior art, have following conspicuous outstanding substantive distinguishing features and remarkable advantage: ship body of the present invention adopts dish-shaped pressure shell, can not only effectively utilize the inner space, and has weight-displacement ratio preferably, though the liquid motion resistance more greatly, do not influence its cross motion.The present invention can independently finish cross motion, has solved the difficult problem of related application aspect.Under particular surroundings, often require microminiature underwater robot only to make cross motion, and other direction can not have motion.If increase horizontal propelling unit in addition, will increase the extra load of microminiature underwater robot, or volume, size and the weight of microminiature underwater robot are all increased.Adopt lifting and horizontal propelling unit among the present invention, the horizontal propeller of central authorities is finished dipping and heaving, and screw propeller self can rotate around the shaft simultaneously, thereby produces lateral thrust, finish cross motion, then can avoid adding in addition separately the problem that the horizontal propelling dress back of the body is produced.
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 micro-miniature dish under-water robot, include ship body 1 and propelling unit, ship body 1 is dish-shaped pressure shell, propelling unit includes rear portion propelling unit and jacking system and horizontal propelling unit, the rear portion propelling unit is installed in the rear portion of ship body 1, and lifting is installed among the vertical water passage 2 at ship body 1 middle part with horizontal propelling unit.The structure of rear portion propelling unit is: an electrical motor and speed reduction gearing 4 thereof are installed in ship body 1 rear portion inner chamber, and its output shaft stretches out ship body 1 and a screw propeller 3 is installed in the end.Lifting with the structure of horizontal propelling unit is: a direct current synchronous motor 8 is installed in ship body 1 anterior inner chamber, and its output shaft connects a rotating shaft 5 through coupler; This rotating shaft 5 is across in the vertical water passage 2 by the bearing supporting at two ends; These rotating shaft 5 middle parts fixedly mount an electrical motor 6 and make it be in vertical water passage 2 central authorities, and a screw propeller 7 is installed in these electrical motor 6 output ends.
Claims (3)
1. micro-miniature dish under-water robot, comprise ship body (1) and propelling unit, it is characterized in that ship body (1) is dish-shaped pressure shell, propelling unit includes rear portion propelling unit and lifting and horizontal propelling unit, described rear portion propelling unit is installed in the rear portion of ship body (1), and described lifting is installed among the vertical water passage (2) at ship body (1) middle part with horizontal propelling unit.
2. micro-miniature dish under-water robot according to claim 1, the structure that it is characterized in that described rear portion propelling unit is: an electrical motor and speed reduction gearing (4) thereof are installed in the inner chamber of ship body (1) rear portion, and its output shaft stretches out ship body (1) and a screw propeller (3) is installed in the end.
3. micro-miniature dish under-water robot according to claim 1, it is characterized in that the described lifting and the structure of horizontal propelling unit are: a direct current synchronous motor (8) is installed in the anterior inner chamber of ship body (1), and its output shaft connects a rotating shaft (5) through coupler; This rotating shaft (5) is across in the vertical water passage (2) by the bearing supporting at two ends; This rotating shaft (5) middle part fixedly mounts an electrical motor (6) and makes it be in vertical water passage (2) central authorities, and a screw propeller (7) is installed in this electrical motor (6) output end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100677935A CN1313323C (en) | 2004-11-03 | 2004-11-03 | Micro-miniature butterfly shaped underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100677935A CN1313323C (en) | 2004-11-03 | 2004-11-03 | Micro-miniature butterfly shaped underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1603205A CN1603205A (en) | 2005-04-06 |
| CN1313323C true CN1313323C (en) | 2007-05-02 |
Family
ID=34666699
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100677935A Expired - Fee Related CN1313323C (en) | 2004-11-03 | 2004-11-03 | Micro-miniature butterfly shaped underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1313323C (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102616353B (en) * | 2012-04-17 | 2014-03-26 | 哈尔滨工程大学 | Saucer submersible |
| CN110601089B (en) * | 2019-09-16 | 2020-08-04 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | High-precision deep-sea cable laying equipment for manned submersible |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3865060A (en) * | 1972-04-26 | 1975-02-11 | Paul Bastide | Special submarine devices using a novel integrated lift, propulsion and steering system |
| US6484660B1 (en) * | 2001-08-30 | 2002-11-26 | The United States Of America As Represented By The Secretary Of The Navy | Underwater nuclear material reconnaissance system |
| CN1413877A (en) * | 2002-12-10 | 2003-04-30 | 上海劲钻实业公司 | Man-controlled machine fish |
| CN1515460A (en) * | 2003-01-06 | 2004-07-28 | 广东工业大学 | Location coordinate system for ocean work rising and sinking compensation and its location method |
-
2004
- 2004-11-03 CN CNB2004100677935A patent/CN1313323C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3865060A (en) * | 1972-04-26 | 1975-02-11 | Paul Bastide | Special submarine devices using a novel integrated lift, propulsion and steering system |
| US6484660B1 (en) * | 2001-08-30 | 2002-11-26 | The United States Of America As Represented By The Secretary Of The Navy | Underwater nuclear material reconnaissance system |
| CN1413877A (en) * | 2002-12-10 | 2003-04-30 | 上海劲钻实业公司 | Man-controlled machine fish |
| CN1515460A (en) * | 2003-01-06 | 2004-07-28 | 广东工业大学 | Location coordinate system for ocean work rising and sinking compensation and its location method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1603205A (en) | 2005-04-06 |
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| 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: 20070502 Termination date: 20091203 |