CN207225629U - A kind of underwater robot that can change power drive direction - Google Patents
A kind of underwater robot that can change power drive direction Download PDFInfo
- Publication number
- CN207225629U CN207225629U CN201720945454.5U CN201720945454U CN207225629U CN 207225629 U CN207225629 U CN 207225629U CN 201720945454 U CN201720945454 U CN 201720945454U CN 207225629 U CN207225629 U CN 207225629U
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- China
- Prior art keywords
- drive
- housing
- ring gear
- propeller
- annular matrix
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Abstract
The utility model discloses a kind of underwater robot that can change power drive direction, including housing and the driving mechanism for drive shell movement；Driving mechanism includes the annular matrix being rotatably arranged on housing, the ring gear being rotatably arranged on annular matrix, the gear driven mechanism for being used to drive ring gear to rotate being arranged on annular matrix and the propeller drives being arranged on ring gear；Drive chamber, the blade driving motor being arranged in drive chamber and the propeller being rotatably arranged on driving chamber outer wall that each propeller drives include being fixed on ring gear periphery wall, each blade driving motor drive a corresponding propeller rotational.The utility model can realize 360 degree of any direction drivings without dead angle.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of underwater that can change power drive direction
People.
Background technology
Existing underwater robot, the power direction of its driving 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 change power drive direction.
Realizing the technical solution of the utility model aim is：A kind of underwater robot that can change power drive direction, bag
Include housing and the driving mechanism for drive shell movement；Driving mechanism includes being rotatably arranged on annular matrix on housing, turns
The dynamic ring gear being arranged on annular matrix, the gear driving for being used to drive ring gear to rotate being arranged on annular matrix
Mechanism and the propeller drives being arranged on ring gear；Each propeller drives include being fixed at outside ring gear
Drive chamber, the blade driving motor being arranged in drive chamber and the propeller being rotatably arranged on driving chamber outer wall on perisporium,
Each blade driving motor drives a corresponding propeller rotational；The global shape of housing is spherical, and the lower part of housing is equipped with transparent
Hemispherical observation ward.
In such scheme, housing is built-in with photographing module；Photographing module, which includes being built in housing, has driving motor
Cradle head mechanism, the camera being arranged on cradle head mechanism and the headlamp being arranged on cradle head mechanism.
The utility model has positive effect：Main drive motor can drive annular matrix reciprocating rotation around the shaft, due to
Propeller drives are fixed on annular matrix, therefore propeller drives are rotated with annular matrix, realize that change is spiral
The driving direction of pitch driver；In addition, blade driving motor can also drive ring gear to rotate, therefore again can be from another angulation change
The driving direction of propeller drives；In summary the angle adjustment of two kinds of rotations, may be such that propeller drives realize 360 degree
Any direction driving at no dead angle.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram of the 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 driving mechanism 3 for drive shell movement.
The global shape of housing is spherical, and the lower part of housing is equipped with transparent hemispherical observation ward 11；Photographing module includes
It is built in there is the cradle head mechanism of driving motor, the camera that is arranged on cradle head mechanism and be arranged on cradle head mechanism in housing
On headlamp（It is not drawn on figure）.Camera is fixed at the bottom of cradle head mechanism, camera face hemispherical observation ward
Transparent wall body.
Driving 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 ring gear rotate gear driven mechanism 6 and be arranged on ring gear
Two propeller drives 7.
Annular matrix includes the base 41 and cover board 42 being fixedly linked, and base is a ring plate, and cover board 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 equipped with keyhole portion 423 and axle hole 424, and keyhole and axis hole are coaxially disposed.An annular is formed between base and cover board
Chamber.
The main drive motor for being used for driving annular matrix to rotate is equipped 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 equipped with the shaft 82 for stretching out housing, which is rotatably arranged on annular matrix accordingly
Axis hole in, output shaft and 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 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 equipped 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 fixed at 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, drives ring gear around housing into rotation.
Two propeller drives 7 are located at the both sides of ring gear, and each propeller drives 7 include being fixed at annular
Drive chamber 71 on outer peripheral gear wall, the blade being arranged in drive chamber driving motor and it is rotatably arranged on driving chamber outer wall
Propeller 72, each blade driving motor drive a corresponding propeller rotational；Preferable scheme is that two propellers produce dynamic
Force direction is identical.
The present embodiment also has the cleaning agency 2 for being used for cleaning hemispherical observation chamber outer wall, and cleaning agency includes semi-circular
Support plate 21, set the cleaning for being used to drive semi-circular support plate reciprocally swinging in the housing to drive motor, be fixed at
The cleaning brush 22 of semi-circular support plate inner wall uplink；The output shaft stretching housing for cleaning driving motor is fixed at semi-circular branch
One end of plate is held, the other end of semi-circular support plate is rotatably arranged on housing by axis pin；Clean driving motor and pass through output
Axis drives semi-circular support plate reciprocally swinging, and then drives cleaning brush to brush the foul on hemispherical observation chamber outer wall.
In the present embodiment work, main drive motor can drive annular matrix reciprocating rotation around the shaft, since propeller drives
Device is fixed on annular matrix, therefore propeller drives are rotated with annular matrix, is realized and is changed propeller drives
Driving direction；In addition, blade driving 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, 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 utility model is only intended to clearly illustrate the utility model example, and
It is not the restriction to the embodiment of the utility model.For those of ordinary skill in the field, in described above
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
It is exhaustive.And the obvious changes or variations that these connotations for belonging to the utility model are extended out still falls within this practicality
New protection domain.
Claims (2)
1. a kind of underwater robot that can change power drive direction, including housing and the driving machine for drive shell movement
Structure；It is characterized in that：
Driving mechanism include be rotatably arranged on housing annular matrix, be rotatably arranged on annular matrix ring gear, set
Put the gear driven mechanism for being used to drive ring gear to rotate on annular matrix and be arranged on spiral on ring gear
Pitch driver；
Each propeller drives include the drive chamber being fixed on ring gear periphery wall, the blade being arranged in drive chamber
Driving motor and the propeller being rotatably arranged on driving chamber outer wall, each blade driving motor drive a corresponding propeller to turn
It is dynamic；
The global shape of housing is spherical, and the lower part of housing is equipped with transparent hemispherical observation ward.
2. the underwater robot according to claim 1 that power drive direction can be changed, it is characterised in that：Housing is built-in with
Photographing module；Photographing module includes being built in having the cradle head mechanism of driving motor, being arranged on cradle head mechanism in housing
Camera and the headlamp being arranged on cradle head mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720945454.5U CN207225629U (en) | 2017-07-31 | 2017-07-31 | A kind of underwater robot that can change power drive direction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720945454.5U CN207225629U (en) | 2017-07-31 | 2017-07-31 | A kind of underwater robot that can change power drive direction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207225629U true CN207225629U (en) | 2018-04-13 |
Family
ID=61855295
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720945454.5U Active CN207225629U (en) | 2017-07-31 | 2017-07-31 | A kind of underwater robot that can change power drive direction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207225629U (en) |
-
2017
- 2017-07-31 CN CN201720945454.5U patent/CN207225629U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190315 Address after: 100089 Beijing Haidian District North Third Ring Road 44 No. 14, 1st Floor 08 Patentee after: Beijing Ulan Jizhi Technology Co., Ltd. Address before: 312500 93 Tianmu new village, Ru Ao Town, Xinchang County, Shaoxing, Zhejiang Patentee before: Xinchang no trace Culture Co., Ltd. |