CN207208428U - Can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week - Google Patents

Can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week Download PDF

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Publication number
CN207208428U
CN207208428U CN201720945292.5U CN201720945292U CN207208428U CN 207208428 U CN207208428 U CN 207208428U CN 201720945292 U CN201720945292 U CN 201720945292U CN 207208428 U CN207208428 U CN 207208428U
Authority
CN
China
Prior art keywords
ring
gear
drive
annular
housing
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
Application number
CN201720945292.5U
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Chinese (zh)
Inventor
喻伟辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Xiangkang Agricultural Development Co Ltd
Original Assignee
Zhejiang Xiangkang Agricultural Development Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Zhejiang Xiangkang Agricultural Development Co Ltd filed Critical Zhejiang Xiangkang Agricultural Development Co Ltd
Priority to CN201720945292.5U priority Critical patent/CN207208428U/en
Application granted granted Critical
Publication of CN207208428U publication Critical patent/CN207208428U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a kind of spherical underwater robots that driving direction can be adjusted in ring is all 360 degree, including housing and the drive mechanism for drive shell movement;Annular matrix that drive mechanism includes being fixedly installed on housing, the ring gear being rotatably arranged on annular matrix, for driving ring gear and gear driven mechanism around housing into rotation and two propeller drives being arranged on ring gear.The utility model can adjust position of the propeller drives relative to housing, namely the power drive direction of adjustment propeller drives in the range of ring is all 360 degree.

Description

Can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week
Technical field
The utility model belongs to robotic technology field, and in particular to one kind can be in 360 degree of interior adjustment driving directions of ring week Spherical underwater robot.
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.
Existing underwater robot, the power direction of its drive mechanism relative to the direction of body be usually it is fixed, according to Change direct of travel by changing rudder direction, this traveling mode is difficult to meet the needs of complex action.
Utility model content
The purpose of this utility model is to provide a kind of spherical underwaters that driving direction can be adjusted in ring is all 360 degree People.
Realizing the technical scheme of the utility model purpose is:It is a kind of to adjust the spherical of driving directions in ring is all 360 degree Underwater robot, including housing and the drive mechanism for drive shell movement;The global shape of housing is spherical;Drive mechanism Including the annular matrix being fixedly installed on housing, the ring gear being rotatably arranged on annular matrix, for driving annular tooth Wheel and the gear driven mechanism around housing into rotation and the propeller drives being arranged on ring gear;Annular matrix includes ring Shape flat part, ring sealing plate portion and annular block machine portion, ring sealing plate portion are that the inner periphery of annular flat plate portion is protruded vertically upward Formed, annular block machine portion is from annular flat plate portion annular boss protruding upward;Ring sealing plate portion is higher by annular block machine portion, annular Shrouding portion is located at the inner side in annular block machine portion;Ring gear includes ring body and is arranged on the sliding tooth of ring body upper surface Portion;Ring gear is set in annular block machine portion, and the periphery wall in the internal perisporium of ring gear and annular block machine portion is slidably matched, ring The bottom wall of shape gear and the roof of annular flat plate portion are slidably matched;Rotated in ring sealing plate portion and be provided with a drive gear and two Individual arc pressuring plate, drive gear are adapted to ring gear, and drive gear is provided adjacent in the driving teeth portion of ring gear;Two Arc pressuring plate is fixedly installed on the both sides in ring sealing plate portion by screw respectively, and the basal surface of each arc pressuring plate is a plane, The basal surface of each arc pressuring plate is crimped in the driving teeth portion of ring gear, so as to which ring gear to be crimped on to the ring of annular matrix On shape flat part;Each propeller drives include be fixedly installed on ring gear periphery wall drive chamber, be arranged on drive chamber In blade motor and the propeller that is rotatably arranged on driving chamber outer wall, each blade motor drive a corresponding spiral shell Oar is revolved to rotate.
In such scheme, gear driven mechanism includes setting gear drive motor in the housing, the gear drive motor Output shaft stretch out and housing and drive drive gear to rotate.
The utility model has positive effect:Gear drive motor drives drive gear to rotate, and then drives annular tooth Wheel is around housing into rotation, and two propeller drives are also synchronous as ring gear moves, so as to adjust the drive of propeller drives Dynamic direction.This structure can adjust position of the propeller drives relative to housing in the range of ring is all 360 degree, namely adjust The power drive direction of whole propeller drives.
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 dimensional structure diagram when robot is from another angle shown in Fig. 1;
Fig. 3 is a kind of upward view of robot shown in Fig. 1;
Fig. 4 is a kind of dimensional structure diagram of robot annular substrate shown in Fig. 1.
Reference is:Housing 1, hemispherical observation window 11, fixed column 12, cleaning agency 2, semi-circular support plate 21, clearly Brush 22, clean the output shaft 23 of motor, bearing pin 24, annular matrix 4, annular flat plate portion 41, ring sealing plate portion 42, annular Block machine portion 43, drive gear 44, keyhole portion 441, keyhole 442, arc pressuring plate 45, ring gear 5, ring body 51, sliding tooth Portion 52, gear driven mechanism 6, the output shaft 61 of gear drive motor, propeller drives 7, drive chamber 71, propeller 72.
Embodiment
(Embodiment 1)
The present embodiment is a kind of spherical underwater robots that driving direction can be adjusted in ring is all 360 degree, see Fig. 1 to Fig. 4 It is shown, including housing 1, the photographing module being built in housing and the drive mechanism moved for drive shell.
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.Camera is fixedly installed on the bottom of cradle head mechanism, the transparent wall body of camera face hemispherical observation window.
Drive mechanism includes the annular matrix 4 being fixedly installed on housing, the annular tooth being rotatably arranged on annular matrix Wheel 5, for driving ring gear and gear driven mechanism 6 around housing into rotation and two spirals being arranged on ring gear Pitch driver 7.In the present embodiment, housing exterior walls are provided with four fixed columns 12, and annular matrix is fixed by four fixed columns It is arranged on housing exterior walls.Housing and annular matrix are arranged concentrically.
Annular matrix 4 includes annular flat plate portion 41, ring sealing plate portion 42 and annular block machine portion 43, and ring sealing plate portion is annular The inner periphery of flat part is protruded to be formed vertically upward, and annular block machine portion is from annular flat plate portion annular boss protruding upward. Ring sealing plate portion is higher by annular block machine portion, and ring sealing plate portion is located at the inner side in annular block machine portion.
Ring gear includes ring body 51 and is arranged on the driving teeth portion 52 of ring body upper surface;Ring gear is arranged In annular block machine portion, the periphery wall in the internal perisporium of ring gear and annular block machine portion is slidably matched, the bottom wall of ring gear and The roof of annular flat plate portion 41 is slidably matched.
Rotated in ring sealing plate portion and be provided with a drive gear 44 and two arc pressuring plates 45, drive gear and annular tooth Wheel adaptation, drive gear are provided adjacent in the driving teeth portion of ring gear;Two arc pressuring plates 45 are fixed by screw respectively The both sides in ring sealing plate portion are arranged on, the basal surface of each arc pressuring plate 45 is a plane, and the basal surface of each arc pressuring plate crimps In the driving teeth portion of ring gear, so as to which ring gear is crimped in the annular flat plate portion of annular matrix, annular tooth is prevented Wheel teetertotters.
In the present embodiment, drive gear, should with the keyhole portion 441 with keyhole 442 on the inside of ring sealing plate portion Keyhole portion is rotatably arranged in ring sealing plate portion.
Gear driven mechanism 6 includes setting gear drive motor in the housing, the output shaft 61 of the gear drive motor Stretch out housing insertion to be fixed in the keyhole 441, so as to drive drive gear to rotate.
Two propeller drives 7 are symmetrically positioned in the both sides of ring gear, and each propeller drives 7 include being fixedly installed on Drive chamber 71 on ring gear periphery wall, the blade motor being fixedly installed in drive chamber and it is rotatably arranged on drive chamber Propeller 72 on outer wall, each blade motor drive a corresponding propeller rotational;Preferable scheme is two propellers Caused power 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 stretching housing of output shaft 23 for cleaning motor is fixedly installed on semi-circular One end of support plate, the other end of semi-circular support plate are rotatably arranged on housing by bearing pin 24;Cleaning brush preferably uses bullet Property rubber or hairbrush are made;Clean motor and semi-circular support plate reciprocally swinging is driven by output shaft, and then drive and clean Brush the foul on hemispherical observation window outer wall.
In the present embodiment work, gear drive motor drives drive gear to rotate, and then drives ring gear to turn around housing Dynamic, two propeller drives are also synchronous as ring gear moves, so as to adjust the driving direction of propeller drives.It is this Structure can realize complex traveling action due to that can adjust position of the propeller drives relative to housing.
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 (2)

1. a kind of spherical underwater robots that driving direction can be adjusted within 360 degree of ring week, including housing and for drive shell Mobile drive mechanism;The global shape of housing is spherical;It is characterized in that:
Drive mechanism includes the annular matrix being fixedly installed on housing, the ring gear being rotatably arranged on annular matrix, use In driving ring gear and gear driven mechanism around housing into rotation and the propeller drives being arranged on ring gear;
Annular matrix includes annular flat plate portion, ring sealing plate portion and annular block machine portion, and ring sealing plate portion is the interior of annular flat plate portion Circumferential edges are protruded to be formed vertically upward, and annular block machine portion is from annular flat plate portion annular boss protruding upward;Ring sealing plate portion Annular block machine portion is higher by, ring sealing plate portion is located at the inner side in annular block machine portion;
Ring gear includes ring body and is arranged on the driving teeth portion of ring body upper surface;Ring gear is set in annular gear In platform portion, the periphery wall in the internal perisporium of ring gear and annular block machine portion is slidably matched, the bottom wall and ring plate of ring gear The roof in portion is slidably matched;
Being rotated in ring sealing plate portion and be provided with a drive gear and two arc pressuring plates, drive gear is adapted to ring gear, Drive gear is provided adjacent in the driving teeth portion of ring gear;Two arc pressuring plates are fixedly installed on annular by screw respectively The both sides in shrouding portion, the basal surface of each arc pressuring plate is a plane, and the basal surface of each arc pressuring plate is crimped on ring gear Drive in teeth portion, so as to which ring gear is crimped in the annular flat plate portion of annular matrix;
Each propeller drives include the drive chamber being fixedly installed on ring gear periphery wall, the blade being arranged in drive chamber Motor and the propeller being rotatably arranged on driving chamber outer wall, each blade motor drive a corresponding propeller to turn It is dynamic.
2. according to claim 1 can exist in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week, its feature In:Gear driven mechanism includes setting gear drive motor in the housing, and the output shaft of the gear drive motor stretches out housing And drive gear is driven to rotate.
CN201720945292.5U 2017-07-31 2017-07-31 Can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week Expired - Fee Related CN207208428U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201720945292.5U CN207208428U (en) 2017-07-31 2017-07-31 Can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201720945292.5U CN207208428U (en) 2017-07-31 2017-07-31 Can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week

Publications (1)

Publication Number Publication Date
CN207208428U true CN207208428U (en) 2018-04-10

Family

ID=61814829

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201720945292.5U Expired - Fee Related CN207208428U (en) 2017-07-31 2017-07-31 Can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week

Country Status (1)

Country Link
CN (1) CN207208428U (en)

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GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20180410

Termination date: 20180731

CF01 Termination of patent right due to non-payment of annual fee