CN207208437U - The underwater robot that can be driven with any angle - Google Patents
The underwater robot that can be driven with any angle Download PDFInfo
- Publication number
- CN207208437U CN207208437U CN201720945455.XU CN201720945455U CN207208437U CN 207208437 U CN207208437 U CN 207208437U CN 201720945455 U CN201720945455 U CN 201720945455U CN 207208437 U CN207208437 U CN 207208437U
- Authority
- CN
- China
- Prior art keywords
- gear
- annular
- drive
- ring
- 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
Links
Abstract
The utility model discloses a kind of underwater robot that can be driven with any angle, including housing, the photographing module being built in housing and the drive mechanism moved for drive shell；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
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of underwater that can be driven with any angle
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.
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 underwater robot that can be driven with any angle.
Realizing the technical scheme of the utility model purpose is：A kind of underwater robot that can be driven with any angle, including
Housing, the photographing module being built in housing and the drive mechanism for drive shell movement；Drive mechanism, which includes rotating, to be set
Annular matrix on housing, for drive annular matrix around housing into rotation matrix drive mechanism, be rotatably arranged on annular base
Ring gear on body, for driving ring gear and gear driven mechanism around housing into rotation and being arranged on ring gear
Propeller drives；Annular matrix includes annular flat plate portion, ring sealing plate portion and annular block machine portion, 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
With the driving teeth portion for being arranged on ring body upper surface；Ring gear is set in annular block machine portion, the internal perisporium of ring gear
It is slidably matched with the periphery wall in annular block machine portion, the bottom wall of ring gear and the roof of annular flat plate portion are slidably matched；Annular envelope
Rotated in plate portion and be provided with a drive gear and two arc pressuring plates, drive gear is adapted to ring gear, and drive gear is adjacent
Connect in the driving teeth portion for being arranged on ring gear；Two arc pressuring plates are fixedly installed on the two of ring sealing plate portion by screw respectively
Side, the basal surface of each arc pressuring plate is a plane, and the basal surface of each arc pressuring plate is crimped 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；It is fixed with the internal perisporium in ring sealing plate portion inwardly prominent
The keyhole portion gone out, keyhole portion are provided with keyhole；Matrix drive mechanism includes setting matrix motor in the housing, and the matrix drives
The output shaft of dynamic motor, which stretches out housing and inserted, to be fixed in the keyhole in keyhole portion；Face sliding tooth is additionally provided with ring sealing plate portion
The output shaft of the open-work that wheel is set, the open-work and matrix motor is arranged concentrically；Gear driven mechanism includes being arranged on housing
In gear drive motor, the output shaft of the gear drive motor stretches out housing, through the open-work in ring sealing plate portion after and drive
Moving gear is fixedly linked.
Such scheme is further preferably：The output shaft of matrix motor and the output shaft of gear drive motor are same
The heart is set.
Such scheme is further preferably：The centre of sphere of housing and the centerline collineation of open-work.
Such scheme is further preferably：Housing and annular matrix are arranged concentrically.
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；
Fig. 5 is a kind of dimensional structure diagram when annular matrix is from another angle shown in Fig. 4.
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, arc pressuring plate 45, keyhole portion 46, keyhole 461, open-work 47, ring gear 5, ring body 51,
Drive teeth 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 underwater robot that can be driven with any angle, as shown in Fig. 1 to Fig. 5, including housing 1,
The photographing module being built in housing and the drive mechanism 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.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 rotatably arranged on housing, the annular tooth being rotatably arranged on annular matrix
Wheel 5, two propellers for driving ring gear and gear driven mechanism 6 around housing into rotation, being arranged on ring gear
Driver 7 and for driving annular matrix around the matrix drive mechanism of housing into rotation.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.
The internal perisporium in ring sealing plate portion is provided with inwardly projecting keyhole portion 46；Keyhole portion is fixedly installed on ring sealing plate portion
Inwall on, keyhole portion is provided with keyhole 461；Matrix drive mechanism includes setting matrix motor in the housing, the matrix
The output shaft of motor, which stretches out housing and inserted, to be fixed in the keyhole in keyhole portion.
Be additionally provided with the open-work 47 of the setting of face drive gear 44 in ring sealing plate portion, the open-work and matrix motor it is defeated
Shaft is arranged concentrically；Preferably a kind of scheme is：The centre of sphere of housing and the centerline collineation of open-work.
Gear driven mechanism 6 includes setting gear drive motor in the housing, the output shaft 61 of the gear drive motor
Stretch out housing, through the open-work 47 in ring sealing plate portion after and drive gear be fixedly linked.
In the present embodiment, the output shaft of matrix motor and the output shaft of gear drive motor are to be arranged concentrically, gear
Rotary shaft of the output shaft of motor also as matrix around housing into rotation.
When matrix motor rotates, the center line with kinetoplast around open-work rotates；When gear drive motor rotates,
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 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 (1)
1. a kind of underwater robot that can be driven with any angle, including housing, the photographing module that is built in housing and it is used for
The drive mechanism of drive shell movement；It is characterized in that：
Drive mechanism include be rotatably arranged on housing annular matrix, for drive annular matrix around housing into rotation matrix drive
Motivation structure, the ring gear being rotatably arranged on annular matrix, for drive ring gear and around housing into rotation gear drive
Mechanism 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；
Inwardly projecting keyhole portion is fixed with the internal perisporium in ring sealing plate portion, keyhole portion is provided with keyhole；Matrix drive mechanism
Including setting matrix motor in the housing, the output shaft of the matrix motor, which stretches out housing and inserted, is fixed on keyhole
In the keyhole in portion；
The open-work of face drive gear setting is additionally provided with ring sealing plate portion, the output shaft of the open-work and matrix motor is concentric
Set；
Gear driven mechanism includes setting gear drive motor in the housing, and the output shaft of the gear drive motor stretches out shell
Body, through the open-work in ring sealing plate portion after and drive gear be fixedly linked；The centre of sphere of housing and the centerline collineation of open-work；Shell
Body and annular matrix are arranged concentrically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720945455.XU CN207208437U (en) | 2017-07-31 | 2017-07-31 | The underwater robot that can be driven with any angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720945455.XU CN207208437U (en) | 2017-07-31 | 2017-07-31 | The underwater robot that can be driven with any angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207208437U true CN207208437U (en) | 2018-04-10 |
Family
ID=61814842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720945455.XU Expired - Fee Related CN207208437U (en) | 2017-07-31 | 2017-07-31 | The underwater robot that can be driven with any angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207208437U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108791778A (en) * | 2018-07-07 | 2018-11-13 | 胡俊 | A kind of underwater robot |
| CN110963012A (en) * | 2019-12-20 | 2020-04-07 | 鹏城实验室 | Underwater submerging device and control method of underwater submerging equipment |
-
2017
- 2017-07-31 CN CN201720945455.XU patent/CN207208437U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108791778A (en) * | 2018-07-07 | 2018-11-13 | 胡俊 | A kind of underwater robot |
| CN110963012A (en) * | 2019-12-20 | 2020-04-07 | 鹏城实验室 | Underwater submerging device and control method of underwater submerging equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107364562B (en) | A kind of spherical underwater robots that driving direction can be adjusted in ring is 360 degree all | |
| CN107380379B (en) | The underwater robot that can be driven with any angle | |
| CN207208437U (en) | The underwater robot that can be driven with any angle | |
| CN107458558B (en) | A kind of universal driving mechanism for underwater robot | |
| CN107458559A (en) | The underwater robot in power drive direction can be changed | |
| CN207208422U (en) | A kind of pressing plate spacing-type annular matrix for universal underwater robot | |
| CN107363843B (en) | A kind of underwater robot of hybrid power driving | |
| CN207208428U (en) | Can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week | |
| CN107380382B (en) | A kind of underwater robot that can be driven with any angle | |
| CN207208435U (en) | A kind of spherical underwater robots that driving direction can be adjusted in ring is all 360 degree | |
| CN207225631U (en) | A kind of underwater robot that can be driven with any angle | |
| CN207206435U (en) | A kind of universal drive mechanism for underwater robot | |
| CN107377430A (en) | A kind of cleaning agency for being used to clean the hemispherical observation window of underwater robot | |
| CN207241986U (en) | A kind of annular matrix for universal underwater robot | |
| CN107434018A (en) | A kind of pressing plate spacing-type annular matrix for universal underwater robot | |
| CN107416160A (en) | A kind of underwater robot that can change power drive direction | |
| CN107444592A (en) | A kind of annular matrix for universal underwater robot | |
| CN107378936A (en) | A kind of drive mechanism for underwater robot | |
| CN207225632U (en) | A kind of driving mechanism for underwater robot | |
| CN207208423U (en) | A kind of underwater robot with observation window cleaning agency | |
| CN207208436U (en) | The underwater robot in power drive direction can be changed | |
| CN207204681U (en) | A kind of cleaning agency for being used to clean the hemispherical observation window of underwater robot | |
| CN107380376B (en) | It can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week | |
| CN207225629U (en) | A kind of underwater robot that can change power drive direction | |
| CN207208424U (en) | A kind of underwater robot of hybrid power driving |
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: 20180731 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |