CN207208423U - A kind of underwater robot with observation window cleaning agency - Google Patents
A kind of underwater robot with observation window cleaning agency Download PDFInfo
- Publication number
- CN207208423U CN207208423U CN201720945507.3U CN201720945507U CN207208423U CN 207208423 U CN207208423 U CN 207208423U CN 201720945507 U CN201720945507 U CN 201720945507U CN 207208423 U CN207208423 U CN 207208423U
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- CN
- China
- Prior art keywords
- housing
- semi
- support plate
- cleaning
- circular support
- 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
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Abstract
The utility model discloses a kind of underwater robot with observation window cleaning agency, including housing and cleaning agency；The bottom of housing is provided with transparent hemispherical observation window；Cleaning agency include semi-circular support plate, set in the housing be used for drive semi-circular support plate reciprocally swinging cleaning motor, be fixedly installed on the up cleaning brush of semi-circular support plate inwall；The output shaft for cleaning motor stretches out one end that housing is fixedly installed on semi-circular support plate, and the other end of semi-circular support plate is rotatably arranged on housing by bearing pin；Clean motor and semi-circular support plate and cleaning brush reciprocally swinging are driven by output shaft.The utility model can ensure the cleaning of hemispherical observation window.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of underwater with observation window cleaning agency
People.
Background technology
Underwater robot has video camera or camera more, is generally used for hydrologic research, underwater monitoring, detects under water, water
The fields such as lower rescue, underwater salvage, the supervision of nuclear power station waters and the cleaning of underwater oil job platform.But underwater environment is complicated,
And more dirts and pasture and water, easily make the shooting window of underwater robot dirty.
Utility model content
The purpose of this utility model is to provide a kind of underwater robot with observation window cleaning agency.
Realizing the technical scheme of the utility model purpose is：A kind of underwater robot with observation window cleaning agency, bag
Housing is included, the bottom of housing is provided with transparent hemispherical observation window and cleaning agency；Cleaning agency includes semi-circular support plate, set
Put in the housing be used for drive semi-circular support plate reciprocally swinging cleaning motor, be fixedly installed on semi-circular support plate
The up cleaning brush of inwall；The output shaft for cleaning motor stretches out one end that housing is fixedly installed on semi-circular support plate, and half
The other end of annular support plate is rotatably arranged on housing by bearing pin；Clean motor and semi-circular branch is driven by output shaft
Hold plate and cleaning brush reciprocally swinging；The global shape of housing is spherical, and housing is built-in with photographing module；Cleaning brush be foam-rubber cushion or
Hairbrush.
The utility model has positive effect：Clean motor and semi-circular support plate is driven toward physical pendulum by output shaft
It is dynamic, and then drive cleaning brush to brush the foul on hemispherical observation window outer wall, it is ensured that the cleaning of hemispherical observation window.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram of the present utility model；
Fig. 2 is a kind of front view of robot shown in Fig. 1；
Fig. 3 is a kind of explosive view of robot shown in Fig. 1.
Embodiment
（Embodiment 1）
The present embodiment is a kind of underwater robot that can change power drive direction, as shown in Fig. 1 to Fig. 3, including housing
1st, the photographing module being built in housing and the drive mechanism 3 for drive shell movement.
The global shape of housing is spherical, and the bottom of housing is provided with transparent hemispherical observation window 11；Photographing module includes
The cradle head mechanism with motor that is built in housing, the camera being arranged on cradle head mechanism and it is arranged on cradle head mechanism
On illuminating lamp（It is not drawn on figure）.Camera is fixedly installed on the bottom of cradle head mechanism, camera face hemispherical observation window
Transparent wall body.
Drive mechanism 3 includes the annular matrix 4 being rotatably arranged on housing, the annular tooth being rotatably arranged on annular matrix
Wheel 5, be arranged on annular matrix be used for drive annular pinion rotation gear driven mechanism 6 and be arranged on ring gear
Two propeller drives 7.
Annular matrix includes the base 41 and cover plate 42 being fixedly linked, and base is a ring plate, and cover plate includes annular
Flat part 421 and annular wall plate portion 422, annular wall plate portion are that the inner periphery of annular flat plate portion vertically is protruded to be formed；Annular wall
Plate portion is provided with keyhole portion 423 and axle hole 424, and keyhole and axis hole are coaxially disposed.An annular is formed between base and cover plate
Chamber.
The main drive motor for being used for driving annular matrix to rotate is provided with housing, in the present embodiment, main drive motor it is defeated
Shaft 81 stretches out a side of housing, and is plugged on annular matrix in corresponding keyhole, so that the output shaft and annular
Matrix is fixedly linked；The other end of housing is provided with the rotating shaft 82 for stretching out housing, and the axis of rotation is arranged on annular matrix accordingly
Axis hole in, output shaft and rotating shaft are coaxially disposed, therefore main drive motor can drive annular matrix rotate axis center by output shaft
Axis rotates.In the present embodiment, the central axis of the rotating shaft passes through the centre of sphere of spherical shell.
Ring gear includes tubular body 51 and the sliding tooth 52 being arranged on tubular body internal perisporium；Ring gear is located at
In the annular chamber of annular matrix.
Four positioning gears 43 being rotatably arranged on base are provided with the annular chamber of annular matrix, it is each to position gear and ring
Shape gear adjoining adaptation；This four positioning gears are arranged on the inner side of ring gear, and ring gear is determined by this four positioning gears
Position, so as to around the center axis thereof of annular matrix.
Gear driven mechanism 6 includes being fixedly installed on the installation room 61 below annular matrix base, is arranged in installation room
Gear drive motor 62, the battery 63 that is arranged in installation room and the drive gear 64 that is arranged in annular chamber；The present embodiment
In gear driven mechanism have two, respectively positioned at the both sides of housing.Each drive gear abuts ring gear and is located at annular tooth
The inner side of wheel, when gear drive motor 62 drives drive gear rotation, ring gear is driven around housing into rotation.
Two propeller drives 7 are located at the both sides of ring gear, and each propeller drives 7 include being fixedly installed on annular
Drive chamber 71 on outer peripheral gear wall, the blade motor being arranged in drive chamber and it is rotatably arranged on driving chamber outer wall
Propeller 72, each blade motor drive a corresponding propeller rotational；Preferable scheme is moved caused by two propellers
Force direction is identical.
The present embodiment also has the cleaning agency 2 for being used for cleaning hemispherical observation window outer wall, and cleaning agency includes semi-circular
Support plate 21, set in the housing be used for drive semi-circular support plate reciprocally swinging cleaning motor, be fixedly installed on
The up cleaning brush 22 of semi-circular support plate inwall；The output shaft stretching housing for cleaning motor is fixedly installed on semi-circular branch
One end of plate is held, the other end of semi-circular support plate is rotatably arranged on housing by bearing pin；Cleaning brush is foam-rubber cushion or hairbrush；
Clean motor and semi-circular support plate reciprocally swinging is driven by output shaft, and then drive cleaning brush to brush hemispherical observation window
Foul on outer wall.
In the present embodiment work, main drive motor can drive annular matrix reciprocating rotation around the shaft, because propeller drives
Device is fixedly installed on annular matrix, therefore propeller drives rotate with annular matrix, is realized and is changed propeller drives
Driving direction；In addition, blade motor can also drive ring gear to rotate, therefore can be driven again from another angulation change propeller
The driving direction of device；In summary the angle adjustment of two kinds of rotations, it may be such that propeller drives realize 360 degree of appointing without dead angle
The driving of meaning direction.
Obviously, above-described embodiment of the present utility model is only intended to clearly illustrate the utility model example, and
It is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, in described above
On the basis of can also make other changes in different forms.There is no need and unable to give all embodiments
It is exhaustive.And these belong to the obvious changes or variations that connotation of the present utility model is extended out and still fall within this practicality
New protection domain.
Claims (1)
1. a kind of underwater robot with observation window cleaning agency, including housing, the bottom of housing is provided with transparent hemispherical
Observation window；It is characterized in that：
Also include cleaning agency；Cleaning agency include semi-circular support plate, set in the housing be used for drive semi-circular to support
The cleaning motor of plate reciprocally swinging, it is fixedly installed on the up cleaning brush of semi-circular support plate inwall；Clean motor
Output shaft stretch out housing and be fixedly installed on one end of semi-circular support plate, the other end of semi-circular support plate is rotated by bearing pin
It is arranged on housing；Clean motor and semi-circular support plate and cleaning brush reciprocally swinging are driven by output shaft；Housing it is whole
Shape is spherical, and housing is built-in with photographing module；Cleaning brush is foam-rubber cushion or hairbrush.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720945507.3U CN207208423U (en) | 2017-07-31 | 2017-07-31 | A kind of underwater robot with observation window cleaning agency |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720945507.3U CN207208423U (en) | 2017-07-31 | 2017-07-31 | A kind of underwater robot with observation window cleaning agency |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207208423U true CN207208423U (en) | 2018-04-10 |
Family
ID=61814812
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720945507.3U Expired - Fee Related CN207208423U (en) | 2017-07-31 | 2017-07-31 | A kind of underwater robot with observation window cleaning agency |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207208423U (en) |
-
2017
- 2017-07-31 CN CN201720945507.3U patent/CN207208423U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180410 Termination date: 20190731 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |