CN205469731U - All -round migration underwater robot of four impellers - Google Patents
All -round migration underwater robot of four impellers Download PDFInfo
- Publication number
- CN205469731U CN205469731U CN201521125299.XU CN201521125299U CN205469731U CN 205469731 U CN205469731 U CN 205469731U CN 201521125299 U CN201521125299 U CN 201521125299U CN 205469731 U CN205469731 U CN 205469731U
- Authority
- CN
- China
- Prior art keywords
- fuselage
- underwater robot
- cylinder fuselage
- motor
- flank
- 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
Abstract
The utility model discloses an all -round migration underwater robot of four impellers, include to be equipped with the barrel fuselage of gas -tight silo, the flank of locating barrel fuselage both sides, screw propulsion ware, camera, light, characterized by, set up control system mainboard and power supply unit in the gas -tight silo of barrel fuselage, the front end of barrel fuselage sets up the camera, and the rear end of barrel fuselage is equipped with sealed lid, the flank of barrel fuselage both sides is flat oval barrel structure, flank and barrel fuselage link seal welded, and barrel fuselage both sides include front and back totally four flanks, four interior step motor that set up of flank connect four screw propulsion wares respectively, four step motor connection control system host board single control, four same single control of screw propulsion ware connection control system host board. Through rotatory this the underwater robot migration direction of adjustment that realizes of control stepper electric machine control screw propulsion ware.
Description
Technical field
This utility model relates to robotics, particularly relates to one and can carry out underwater performance, can meet the underwater robot of the four comprehensive migration of pusher of the needs such as engineering test, scientific research, unmanned investigation, environment investigation and monitoring.
Background technology
The development of human society, be unable to do without the development and utilization to various resources.In today that land resources is petered out, people have invested ocean, deep-sea sight.Sea floor world is except everybody the manganese nodule that what's frequently heard can be repeated in detail, deep-sea oil gas, also hydrothermal deposit, and the most very powerful and exceedingly arrogant gas hydrates, it is therefore desirable to machinery equipment is deep into and carries out engineering investigation, data acquisition and underwater performance under water.In China, underwater performance depends primarily on people and simple submersible, the life security of people is caused the biggest threat by complicated, dangerous marine environment, and the exploitation dynamics of marine resources is continued to increase by country, this is necessary for needing a kind of new intelligentized machinery equipment to replace people to go to perform job task under sea, and underwater robot produces with regard to this.Existing submarine formula robot, rises and dive realizes by changing body buoyancy in water mostly, and generally only has one to two powered devices, response time is slow, inadequate maneuverability, although robot can realize the rotation of certain angle, but control loaded down with trivial details, poor stability.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, this utility model provides one can carry out underwater performance, can meet the underwater robot of the four comprehensive migration of pusher of the needs such as engineering test, scientific research, unmanned investigation, environment investigation and monitoring.
This utility model be the technical scheme is that a kind of four pusher comprehensive migration underwater robot, it includes being provided with the cylinder fuselage of gas-tight silo, being located at the flank of cylinder fuselage both sides, spiral propeller, photographic head, illuminating lamp, it is characterized in that: in the gas-tight silo of described cylinder fuselage, control system mainboard and supply unit are set, the front end of cylinder fuselage arranges photographic head, and the rear end of cylinder fuselage is provided with sealing lid；The flank of described cylinder fuselage both sides is flattened oval tube structure, and flank is connected end and seals welding with cylinder fuselage, is provided with motor in flank, and motor is connected with control system mainboard and supply unit；The rotating shaft of described motor connects on the sidewall of spiral propeller, rotates this underwater robot migration direction of realization adjustment by controlling step motor control spiral propeller.
Described cylinder fuselage both sides include before and after totally four flanks, the motor arranged in four flanks connects four spiral propellers respectively, four motor connection control system mainboards individually control, and described four spiral propeller connection control system mainboards the most individually control.
The front end of described cylinder fuselage arranges photographic head, this photographic head is 180 degree of rotating camera, cylinder front fuselage is provided with mounting groove, photographic head is located in mounting groove, the front end of cylinder fuselage is provided with sealing ring and screwed flange, it is provided with waterproof glass cover before photographic head, waterproof glass cover puts described sealing ring and screwed flange and cylinder front fuselage screw lock.
The lower section of described cylinder fuselage is provided with support foot rest, and below support foot rest, both sides are provided with air supporting storehouse, and air supporting storehouse is circular hollow pipe structure, and two ends are provided with sealing lid, body fuselage and air supporting storehouse state triangular in shape.
Illuminating lamp is installed on the both sides, upper end of described support foot rest, and the lamp body of illuminating lamp is fixed with support foot rest screw.
The lower section of described four flanks also is provided with air supporting storehouse, and air supporting storehouse is fixed on below flank by clip.
The rotating shaft front end of described motor is provided with bearing gland, and the rotating shaft of motor connects spiral propeller, and the sidewall of spiral propeller is provided with contiguous block and is connected with the rotating shaft of motor.
Described control system mainboard lift-launch wireless transport module or connection fiber broadband carry out signal transmission control with the control terminal controlling main body, support foot rest can pass through clip and carry depth transducer, pressure transducer, light sensor, temperature sensor, gyroscope sensor data acquisition module.
The beneficial effects of the utility model are: by the enforcement of the technical program, use four spiral propellers, and the sidewall of spiral propeller connects four motors, the rotation that spiral propeller is overall is controlled by controlling the rotating shaft of motor, realize adjusting the orientation angle of the propeller of spiral propeller, thus realize adjusting the direction of this robot device migration under water, realized the migration of all-dimensional multi-angle by these four spiral propellers, the most flexibly；The multiple acquisition modules such as depth transducer, pressure transducer, light sensor, temperature sensor, gyroscope sensor data can be carried on support foot rest, certainly on support foot rest, mechanical hand or hooking device can also be set, Underwater Welding operation can be realized or salvage, very useful.
Accompanying drawing explanation
Fig. 1 is overall structure top view of the present utility model.
Fig. 2 is overall structure left view of the present utility model.
Fig. 3 is overall structure front view of the present utility model.
Detailed description of the invention
With specific embodiment, this utility model is further described below in conjunction with the accompanying drawings.
Refer to accompanying drawing 1-3, a kind of four pushers comprehensive migration underwater robot, it includes being provided with the cylinder fuselage 1 of gas-tight silo, being located at the flank 2 of cylinder fuselage 1 both sides, spiral propeller 3, photographic head 8, illuminating lamp 9, it is characterized in that, in the gas-tight silo of described cylinder fuselage 1, control system mainboard and supply unit are set, the front end of cylinder fuselage 1 arranges photographic head 8, and the rear end of cylinder fuselage 1 is provided with sealing lid 12；The flank 2 of described cylinder fuselage 1 both sides is flattened oval tube structure, and flank 2 is connected end and seals welding with cylinder fuselage 1, is provided with motor 15 in flank 2, and motor 15 is connected with control system mainboard and supply unit；The rotating shaft of described motor 15 connects on the sidewall of spiral propeller 3, controls this underwater robot migration direction of spiral propeller 3 rotation realization adjustment by controlling motor 15.
Described cylinder fuselage 1 both sides include before and after totally four flanks 2, the motor 15 arranged in four flanks 2 connects four spiral propellers 3 respectively, four motor 15 connection control system mainboards individually control, and described four spiral propeller 3 connection control system mainboards the most individually control.
The front end of described cylinder fuselage 1 arranges photographic head 8, this photographic head 8 is 180 degree of rotating camera, cylinder fuselage 1 front end is provided with mounting groove, photographic head 8 is located in mounting groove, the front end of cylinder fuselage 1 is provided with sealing ring 10 and screwed flange 11, photographic head 8 is above provided with waterproof glass cover 9, and waterproof glass cover 9 puts described sealing ring 10 and screwed flange 11 and cylinder fuselage 1 front end screw lock.
The lower section of described cylinder fuselage 1 is provided with support foot rest 16, and support foot rest 16 both sides below are provided with air supporting storehouse 6, and air supporting storehouse 6 is circular hollow pipe structure, and two ends are provided with sealing lid, cylinder fuselage 1 and air supporting storehouse 6 state triangular in shape.
Illuminating lamp 7 is installed on the both sides, upper end of described support foot rest 16, and the lamp body of illuminating lamp 7 is fixed with support foot rest 16 screw.
The lower section of described four flanks 2 also is provided with air supporting storehouse 4, and air supporting storehouse 4 is fixed on below flank 2 by clip (5).
The rotating shaft front end of described motor 15 is provided with bearing gland 13, and the rotating shaft of motor 15 connects spiral propeller 3, and the sidewall of spiral propeller 3 is provided with contiguous block 14 and is connected with the rotating shaft of motor 15.
More preferably, described control system mainboard lift-launch wireless transport module or connection fiber broadband carry out signal transmission control with the control terminal controlling main body, support foot rest passes through clip and carries depth transducer, pressure transducer, light sensor, temperature sensor, gyroscope sensor data acquisition module.
Above-described embodiment of the present utility model is only for clearly demonstrating this utility model example, and is not the restriction to embodiment of the present utility model.And still fall within protection domain of the present utility model for belonging to obvious change that connotation of the present utility model extended out or variation.
Claims (8)
1. a pusher comprehensive migration underwater robot, it includes being provided with the cylinder fuselage (1) of gas-tight silo, being located at the flank (2) of cylinder fuselage (1) both sides, spiral propeller (3), photographic head (8), illuminating lamp (9), it is characterized in that: in the gas-tight silo of described cylinder fuselage (1), control system mainboard and supply unit are set, the front end of cylinder fuselage (1) arranges photographic head (8), and the rear end of cylinder fuselage (1) is provided with sealing lid (12)；The flank (2) of described cylinder fuselage (1) both sides is flattened oval tube structure, flank (2) is connected end and seals welding with cylinder fuselage (1), being provided with motor (15) in flank (2), motor (15) is connected with control system mainboard and supply unit；The rotating shaft of described motor (15) connects on the sidewall of spiral propeller (3), realizes adjusting this underwater robot migration direction by controlling motor (15) control spiral propeller (3) rotation.
A kind of four pusher the most according to claim 1 comprehensive migration underwater robot, it is characterized in that: described cylinder fuselage (1) both sides include before and after totally four flanks (2), the motor (15) arranged in four flanks (2) connects four spiral propellers (3) respectively, four motor (15) connection control system mainboards individually control, and described four spiral propeller (3) connection control system mainboards the most individually control.
A kind of four pusher the most according to claim 1 comprehensive migration underwater robot, it is characterized in that: the front end of described cylinder fuselage (1) arranges photographic head (8), this photographic head (8) is 180 degree of rotating camera, cylinder fuselage (1) front end is provided with mounting groove, photographic head (8) is located in mounting groove, the front end of cylinder fuselage (1) is provided with sealing ring (10) and screwed flange (11), photographic head (8) is above provided with waterproof glass cover, described sealing ring (10) and screwed flange (11) and cylinder fuselage (1) front end screw lock is put on waterproof glass cover.
A kind of four pusher the most according to claim 1 comprehensive migration underwater robot, it is characterized in that: the lower section of described cylinder fuselage (1) is provided with support foot rest (16), support foot rest (16) both sides below are provided with air supporting storehouse (6), air supporting storehouse (6) is circular hollow pipe structure, two ends are provided with sealing lid, cylinder fuselage (1) and air supporting storehouse (6) state triangular in shape.
A kind of four pusher the most according to claim 4 comprehensive migration underwater robot, it is characterised in that: illuminating lamp (7) is installed on the both sides, upper end of described support foot rest (16), and the lamp body of illuminating lamp (7) is fixed with support foot rest (16) screw.
A kind of four pusher the most according to claim 2 comprehensive migration underwater robot, it is characterised in that: the lower section of described four flanks (2) also is provided with air supporting storehouse (4), and air supporting storehouse (4) are fixed on flank (2) lower section by clip (5).
A kind of four pusher the most according to claim 2 comprehensive migration underwater robot, it is characterized in that: the rotating shaft front end of described motor (15) is provided with bearing gland (13), the rotating shaft of motor (15) connects spiral propeller (3), and the sidewall of spiral propeller (3) is provided with contiguous block (14) and is connected with the rotating shaft of motor (15).
A kind of four pusher the most according to claim 1 comprehensive migration underwater robot, it is characterised in that: described control system mainboard lift-launch wireless transport module or connection fiber broadband carry out signal transmission control with the control terminal controlling main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521125299.XU CN205469731U (en) | 2015-12-31 | 2015-12-31 | All -round migration underwater robot of four impellers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521125299.XU CN205469731U (en) | 2015-12-31 | 2015-12-31 | All -round migration underwater robot of four impellers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205469731U true CN205469731U (en) | 2016-08-17 |
Family
ID=56662722
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521125299.XU Expired - Fee Related CN205469731U (en) | 2015-12-31 | 2015-12-31 | All -round migration underwater robot of four impellers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205469731U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106240817A (en) * | 2016-08-25 | 2016-12-21 | 刘晓腾 | Submersible explorer vehicle |
| CN107097238A (en) * | 2017-03-30 | 2017-08-29 | 西北工业大学 | The underwater operation robot and its control method of a kind of migration mixing |
| CN107878714A (en) * | 2017-11-29 | 2018-04-06 | 北京圣世信通科技发展有限公司 | It is a kind of to control the wing plate balanced under water |
| CN108045536A (en) * | 2017-11-15 | 2018-05-18 | 浙江大学 | A kind of small-sized VTOL underwater robot of untethered and its control method |
| CN108408003A (en) * | 2018-02-10 | 2018-08-17 | 长春伯灵科技有限公司 | A kind of undersea detection multi-function robot |
| CN108714750A (en) * | 2018-04-23 | 2018-10-30 | 西安工业大学 | A kind of Underwater Welding robot |
| CN113788132A (en) * | 2021-10-14 | 2021-12-14 | 中北大学 | Vector-propelled hybrid drive underwater robot |
-
2015
- 2015-12-31 CN CN201521125299.XU patent/CN205469731U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106240817A (en) * | 2016-08-25 | 2016-12-21 | 刘晓腾 | Submersible explorer vehicle |
| CN107097238A (en) * | 2017-03-30 | 2017-08-29 | 西北工业大学 | The underwater operation robot and its control method of a kind of migration mixing |
| CN108045536A (en) * | 2017-11-15 | 2018-05-18 | 浙江大学 | A kind of small-sized VTOL underwater robot of untethered and its control method |
| CN107878714A (en) * | 2017-11-29 | 2018-04-06 | 北京圣世信通科技发展有限公司 | It is a kind of to control the wing plate balanced under water |
| CN108408003A (en) * | 2018-02-10 | 2018-08-17 | 长春伯灵科技有限公司 | A kind of undersea detection multi-function robot |
| CN108714750A (en) * | 2018-04-23 | 2018-10-30 | 西安工业大学 | A kind of Underwater Welding robot |
| CN113788132A (en) * | 2021-10-14 | 2021-12-14 | 中北大学 | Vector-propelled hybrid drive underwater robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205469731U (en) | All -round migration underwater robot of four impellers | |
| CN205293033U (en) | Small -size underwater robot | |
| CN207157467U (en) | Frame-type underwater robot | |
| CN108639286B (en) | Control method of four-rotor spherical underwater robot | |
| CN204021234U (en) | A kind of under-water robot and propelling unit thereof | |
| CN202350833U (en) | Signal acquisition and displaying device of underwater robot sensor | |
| CN105432574B (en) | A kind of macro biological sampling device in carrying type deep-sea | |
| CN104199458A (en) | Underwater operation robot | |
| CN207826508U (en) | A kind of small underwater has cable submariner device | |
| CN201037769Y (en) | Polar area subglacial fixed point profile measuring system | |
| CN103213662B (en) | Slave-main type marine environment detection intelligent robot | |
| CN106218840A (en) | A kind of dish-shaped submarine navigation device based on eddying motion | |
| CN207607623U (en) | One kind repairing sized underwater observation robot based on environmental ecology | |
| WO2023066219A1 (en) | Omnidirectional underwater robot | |
| CN105564616A (en) | Underwater monitoring robot | |
| CN103334868B (en) | Magnetofluid wave energy underwater charge platform | |
| CN102139749A (en) | Underwater monitoring robot mechanism | |
| CN206528605U (en) | A kind of undersea detection migration captures robot | |
| CN205396543U (en) | Four amphibious rotors navigation ware | |
| CN104309765B (en) | Portable deep-sea multi-sensor carrying device | |
| CN110285378A (en) | A kind of LED navigation mark lighting system with cooling function for ship | |
| CN109969363A (en) | A kind of underwater robot with mechanical arm | |
| CN209382234U (en) | A kind of underwater long range tunnel detection robot | |
| CN210338218U (en) | Miniature ocean monitoring buoy | |
| CN209290645U (en) | A kind of deformable autonomous underwater vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160817 Termination date: 20161231 |