CN205931198U - Many vectors propulsion underwater robot - Google Patents
Many vectors propulsion underwater robot Download PDFInfo
- Publication number
- CN205931198U CN205931198U CN201620852850.9U CN201620852850U CN205931198U CN 205931198 U CN205931198 U CN 205931198U CN 201620852850 U CN201620852850 U CN 201620852850U CN 205931198 U CN205931198 U CN 205931198U
- Authority
- CN
- China
- Prior art keywords
- propeller
- robot
- underwater robot
- housing
- sonar
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
- Toys (AREA)
Abstract
The utility model relates to a robot discloses many vectors propulsion underwater robot, and it includes robot casing (1) and propeller (2), propeller (2) including ups and downs propeller (21) with turn to propeller (22), controller (4) of installing sonar (3) on casing (1) and being connected with sonar (3), controller (4) are received the obstacle signal that sonars (3) sends and are controlled and popple propeller (21) and turn to the operation of propeller (22). The utility model discloses an eight vector propellers come the angle of precise adjustment thrust and direction to obtain accurate station keeping ability, in addition, through the gesture that the sonar comes the automatic adjustment underwater robot, prevent effectively that underwater robot and barrier collision from leading to the fact the damage, design through gear and rack makes transformation rotate the function that can have control underwater robot ups and downs to the propeller, and rational in infrastructure, the practicality is strong, has increased the life of underwater robot.
Description
Technical field
The utility model is related to robot, and more particularly, to many vectors advance underwater robots.
Background technology
Propeller (boost motor) is generally used to provide power, improves speed.In space flight and aviation, ship, the field such as automobile
It is widely used.It is to produce thrust by rotating vane or jet (water).And common propeller vector controlled is single,
Additionally, cannot be carried out rising and falling when the propeller that rises and falls damages, the single shortcoming of mode of operation leads to making of underwater robot
With the life-span reduce and cannot be in the underwater operation of bad environments.
Content of the invention
The utility model is directed to that in prior art, vector controlled is single and the short shortcoming of working life, there is provided many vectors push away
Enter underwater robot.
In order to solve above-mentioned technical problem, the utility model is addressed by following technical proposals：
Many vectors advance underwater robot, and including robot housing and the propeller being arranged on housing, propeller includes
Sink-float propeller and steering propeller, housing is installed sonar and the controller being connected with sonar, and sonar senses the obstacle in water
Thing simultaneously forms obstacle signal, and the obstacle signal that controller reception sonar sends simultaneously controls sink-float propeller and turns to angle of rake fortune
Turn.The angle and direction accurately adjusting thrust by eight vector propellers obtains accurate stationkeeping ability；Additionally, passing through
Sonar carrys out the attitude of adjust automatically underwater robot, effectively prevents underwater robot from causing to damage with barrier collision.
Preferably, the bottom of housing is provided with installing rack, turns to propeller and be arranged on installing rack, turn on angle of rake
End is provided with hole, and installing rack is provided with the axle that diameter is less than hole, and the outer end of axle is provided with the projection with diameter greater than hole, by hole and axle
Cooperation is realized turning to the axial restraint of propeller upper end, turns to angle of rake outer ring lower surface and is provided with and axially in parallel tooth
Bar, installing rack is provided with the gear with tooth bar cooperation, is controlled between propeller and horizontal plane by the cooperation of rack and pinion
Angle.Transformation is made to carry out rotating the work(can with control underwater robot sink-float to propeller by the design of gear and tooth bar
Can, rational in infrastructure, practical, increased the service life of underwater robot.
Preferably, sink-float propeller is arranged on the top of robot housing, turns to propeller and be arranged on robot housing
Bottom, the side of robot housing is hollowed-out board, sink-float propeller and turn to propeller all by the outside draining of hollowed-out board simultaneously
So that underwater robot is risen and fallen and turn to.
Preferably, being provided with screen pack in robot housing, screen pack is arranged on and drifts along propeller and turn to propeller
Between.The setting of screen pack prevents sink-float propeller above from beating the gravelstone grain in water in lower section during draining
Turn on propeller it is ensured that the propeller of underwater robot all can normal work.
Preferably, camera and searchlight are also equipped with robot housing.Water is observed by camera and searchlight
Lower situation.
Preferably, being provided with handle on the upper surface of robot housing.Being designed with beneficial to underwater robot of handle
Transport, facilitates operating personnel to carry.
The utility model, due to employing above technical scheme, has significant technique effect：By installing eight vectors
Propeller accurately to adjust the angle and direction of thrust to obtain accurate stationkeeping ability；Additionally, by sonar come adjust automatically
The attitude of underwater robot, effectively prevents underwater robot from causing to damage with barrier collision；Design by gear and tooth bar
Make transformation to advancing it to carry out the function that rotation can have control underwater robot sink-float, rational in infrastructure, practical, increased
The service life of underwater robot.
Brief description
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the installing rack of Fig. 1 and turns to angle of rake structural representation.
The toponym that in accompanying drawing, each number designation is referred to is as follows：1 robot housing, 2 propellers, 3 sonars,
4 controllers, 5 cameras, 6 searchlights, 11 hollowed-out boards, 12 installing racks, 13 screen packs, 14 handles, 21
Sink-float propeller, 22 steering propellers, 121 gears, 122 axles, 221 tooth bars, 221 holes, 1221 projections.
Specific embodiment
With embodiment, the utility model is described in further detail below in conjunction with the accompanying drawings.
Embodiment 1
Many vectors advance underwater robot, including robot housing 1 and the propeller 2 being arranged on housing 1, propeller 2
Including sink-float propeller 21 and steering propeller 22, housing 1 is installed sonar 3 and the controller 4 being connected with sonar 3, sonar 3 is felt
The barrier of Ying Shuizhong simultaneously forms obstacle signal, and the obstacle signal that controller 4 reception sonar 3 sends simultaneously controls sink-float propeller 21
With the operating turning to propeller 22, when sonar 3 senses there is barrier in the direction of motion, automatically can be controlled by controller 4
System makes underwater robot get around barrier, and the simple operating procedure of operator simultaneously avoids underwater robot to be damaged by external force collision
Bad.
The bottom of housing 1 is provided with installing rack 12, turns to propeller 22 and is arranged on installing rack 12, turns to the upper of propeller 22
End is provided with hole 222, and installing rack 12 is provided with the axle 122 that diameter is less than hole 222, and the outer end of axle 122 is provided with diameter greater than hole 222
Projection 1221, realizes turning to the axial restraint of propeller 22 upper end by the cooperation in hole 222 and axle 122, turns to propeller 22
It is equipped with the lower surface of outer ring and axially in parallel tooth bar 221, installing rack 12 is provided with the gear 121 with tooth bar 221 cooperation, lead to
The cooperation crossing tooth bar 221 and gear 121 controls angle between propeller 22 and horizontal plane, and when drifting along, propeller 21 suffers damage
When cannot work, rotated by gear 221 and turn to propeller 22 and make steering propeller 22 and horizontal plane run-off the straight, now
Turn to propeller 22 to use as the spare propeller of sink-float propeller 21, so that the service life of underwater robot is increased, and
It is applicable to bad environments under water.
Sink-float propeller 21 has four and is installed in the top of robot housing 1, and turning to propeller 22 has four and all
It is arranged on the bottom of robot housing 1, the side of robot housing 1 is hollowed-out board 11, rise and fall propeller 21 and steering propeller
22 drainage direction all tilts to hollowed-out board 11, and sink-float propeller 21 and steering propeller 22 are all by the outside draining of hollowed-out board 11
And so that underwater robot is risen and fallen and turn to.
Screen pack 13 is installed in robot housing 1, screen pack 13 is arranged on and drifts along propeller 21 and turn to propeller 22
Between, when the propeller 21 that drifts along works, the connection water such as sandstone in water can be discharged downwardly together, the setting of screen pack 13 is prevented
Only sandstone are pounded and are hit on turning to propeller 22, thus protecting steering propeller 22.
Camera 5 and searchlight 6 are also equipped with robot housing 1, are allowed an operator to by searchlight 6 and camera 5
Check situation under water.
Handle 14 is provided with the upper surface of robot housing 1.
In a word, the foregoing is only preferred embodiment of the present utility model, all according to the utility model claim institute
The impartial change made and modification, all should belong to the covering scope of the utility model patent.
Claims (6)
1. vector more than advances underwater robot, includings robot housing (1) with the propeller (2) that is arranged on housing (1), its spy
Levy and be：Propeller (2) includes sink-float propeller (21) and turns to propeller (22), and housing (1) is upper to install sonar (3) and and sound
Receive the controller (4) that (3) connect, the barrier that sonar (3) senses in water simultaneously forms obstacle signal, and controller (4) receives sonar
(3) obstacle signal sending the operating controlling sink-float propeller (21) and turning to propeller (22).
2. many vectors propulsion underwater robot according to claim 1 it is characterised in that：The bottom of housing (1) is provided with peace
Shelve (12), turn to propeller (22) and be arranged on installing rack (12), the upper end turning to propeller (22) is provided with hole (222), peace
Shelve (12) and be provided with the axle (122) that diameter is less than hole (222), the outer end of axle (122) is provided with the projection with diameter greater than hole (222)
(1221), realize turning to the axial restraint of propeller (22) upper end by the cooperation of hole (222) and axle (122), turn to propeller
(22) outer ring lower surface is provided with and axially in parallel tooth bar (221), and installing rack (12) is provided with and is coordinated with tooth bar (221)
Gear (121), controls angle and horizontal plane between for the propeller (22) by the cooperation of tooth bar (221) and gear (121).
3. many vectors propulsion underwater robot according to claim 1 it is characterised in that：Sink-float propeller (21) is arranged on
The top of robot housing (1), turns to the bottom that propeller (22) is arranged on robot housing (1), the side of robot housing (1)
Side is hollowed-out board (11), and sink-float propeller (21) and steering propeller (22) all by the outside draining of hollowed-out board (11) and make under water
Robot sink-float and steering.
4. many vectors propulsion underwater robot according to claim 1 it is characterised in that：Install in robot housing (1)
There is screen pack (13), screen pack (13) is arranged on the propeller that drifts along (21) and turns between propeller (22).
5. many vectors propulsion underwater robot according to claim 1 it is characterised in that：Robot housing is also pacified on (1)
Equipped with camera (5) and searchlight (6).
6. many vectors propulsion underwater robot according to claim 1 it is characterised in that：The upper table of robot housing (1)
Handle (14) is provided with face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620852850.9U CN205931198U (en) | 2016-08-05 | 2016-08-05 | Many vectors propulsion underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620852850.9U CN205931198U (en) | 2016-08-05 | 2016-08-05 | Many vectors propulsion underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205931198U true CN205931198U (en) | 2017-02-08 |
Family
ID=57922871
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620852850.9U Active CN205931198U (en) | 2016-08-05 | 2016-08-05 | Many vectors propulsion underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205931198U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107500106A (en) * | 2017-09-12 | 2017-12-22 | 浙江海洋大学 | A kind of seabed hanging object equipment of intelligentized control method |
| CN109047987A (en) * | 2018-09-03 | 2018-12-21 | 哈尔滨工业大学 | A kind of man-machine coordination control system of limited water field Underwater Welding robot |
| CN109197752A (en) * | 2017-07-07 | 2019-01-15 | 青岛塔波尔机器人技术有限公司 | A kind of fish jar clean robot and fish jar cleaning systems |
| CN109515657A (en) * | 2018-12-29 | 2019-03-26 | 南京工程学院 | A kind of prolongable underwater robot |
| CN110539865A (en) * | 2019-09-19 | 2019-12-06 | 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） | ROV coordinated type vector adjustment propulsion system |
| WO2020144501A1 (en) * | 2019-01-10 | 2020-07-16 | Universidad Simon Bolivar | Engine adjustment system for remotely operated submarine vehicles, for using engine thrust |
| CN111851586A (en) * | 2020-07-16 | 2020-10-30 | 中交第三航务工程局有限公司 | Anchor rope type suspension tunnel with electric thruster |
| CN111851585A (en) * | 2020-07-16 | 2020-10-30 | 中交第三航务工程局有限公司 | Floating type suspension tunnel with electric thruster |
| CN112041224A (en) * | 2018-04-06 | 2020-12-04 | 博克斯菲师研究有限公司 | Remotely and/or autonomously operated vehicle |
| CN113277042A (en) * | 2021-07-07 | 2021-08-20 | 东南大学 | Omnidirectional disc-shaped underwater robot |
| CN113306689A (en) * | 2021-07-02 | 2021-08-27 | 智真海洋科技(威海)有限公司 | Underwater robot structure |
| CN113788129A (en) * | 2021-08-06 | 2021-12-14 | 郑州大学 | Underwater combined search and rescue robot and system |
| CN113968326A (en) * | 2021-09-26 | 2022-01-25 | 西安交通大学 | Vector frame type underwater robot |
-
2016
- 2016-08-05 CN CN201620852850.9U patent/CN205931198U/en active Active
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109197752A (en) * | 2017-07-07 | 2019-01-15 | 青岛塔波尔机器人技术有限公司 | A kind of fish jar clean robot and fish jar cleaning systems |
| CN107500106A (en) * | 2017-09-12 | 2017-12-22 | 浙江海洋大学 | A kind of seabed hanging object equipment of intelligentized control method |
| CN112041224A (en) * | 2018-04-06 | 2020-12-04 | 博克斯菲师研究有限公司 | Remotely and/or autonomously operated vehicle |
| CN109047987A (en) * | 2018-09-03 | 2018-12-21 | 哈尔滨工业大学 | A kind of man-machine coordination control system of limited water field Underwater Welding robot |
| CN109515657A (en) * | 2018-12-29 | 2019-03-26 | 南京工程学院 | A kind of prolongable underwater robot |
| WO2020144501A1 (en) * | 2019-01-10 | 2020-07-16 | Universidad Simon Bolivar | Engine adjustment system for remotely operated submarine vehicles, for using engine thrust |
| CN110539865A (en) * | 2019-09-19 | 2019-12-06 | 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） | ROV coordinated type vector adjustment propulsion system |
| CN111851586A (en) * | 2020-07-16 | 2020-10-30 | 中交第三航务工程局有限公司 | Anchor rope type suspension tunnel with electric thruster |
| CN111851585A (en) * | 2020-07-16 | 2020-10-30 | 中交第三航务工程局有限公司 | Floating type suspension tunnel with electric thruster |
| CN113306689A (en) * | 2021-07-02 | 2021-08-27 | 智真海洋科技(威海)有限公司 | Underwater robot structure |
| CN113277042A (en) * | 2021-07-07 | 2021-08-20 | 东南大学 | Omnidirectional disc-shaped underwater robot |
| CN113788129A (en) * | 2021-08-06 | 2021-12-14 | 郑州大学 | Underwater combined search and rescue robot and system |
| CN113968326A (en) * | 2021-09-26 | 2022-01-25 | 西安交通大学 | Vector frame type underwater robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205931198U (en) | Many vectors propulsion underwater robot | |
| EP3202662B1 (en) | Unmanned aerial vehicle | |
| CN107512380B (en) | A kind of all-around propeller, ship and floating platform | |
| US20180105266A1 (en) | Unmanned aerial vehicle | |
| CN101475055A (en) | Underwater robot | |
| CN107878670B (en) | Solar energy double-body unmanned ship for remote seawater sampling of small-radius box-type connecting bridge | |
| CN105667745A (en) | Autonomous underwater vehicle and control method thereof | |
| CN108313241A (en) | Electromagnetic adsorption underwater operation robot based on ROV platforms | |
| AU2016301238B2 (en) | Water drone | |
| CN104925232B (en) | A kind of carrier-based helicopter stabilized platform | |
| CN201010037Y (en) | Disomic placement towed body with empennage control | |
| CN107972869A (en) | A kind of across water sky medium unmanned vehicle of variable configuration binary | |
| CN111319738B (en) | Novel super-power-driven underwater helicopter and control method thereof | |
| CN110615083A (en) | Underwater robot based on binary vector propeller | |
| US20240317372A1 (en) | Maritime vehicle systems and methods | |
| CN109263814B (en) | Multifunctional autonomous cruise ship system on water surface | |
| KR20170061941A (en) | Water and land allpurpose drone using tilt function | |
| WO2022213209A1 (en) | Multi-mode convertible vehicle | |
| CN112894845B (en) | Underwater robot | |
| KR20160126500A (en) | Steering method for a hybrid underwater glider | |
| CN105159313B (en) | Nobody a kind of latent device actuation means and control method | |
| CN112722220B (en) | Detection system of underwater robot and operation method thereof | |
| AU2021206184B2 (en) | Maritime vehicle systems and methods | |
| CN212980504U (en) | Three-paddle type underwater vehicle | |
| CN204998740U (en) | Nimble rudder device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |