CN207241986U - A kind of annular matrix for universal underwater robot - Google Patents
A kind of annular matrix for universal underwater robot Download PDFInfo
- Publication number
- CN207241986U CN207241986U CN201720947260.9U CN201720947260U CN207241986U CN 207241986 U CN207241986 U CN 207241986U CN 201720947260 U CN201720947260 U CN 201720947260U CN 207241986 U CN207241986 U CN 207241986U
- Authority
- CN
- China
- Prior art keywords
- plate portion
- sealing plate
- ring sealing
- keyhole
- annular
- 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 annular matrix for universal underwater robot, including annular flat plate portion, ring sealing plate portion and annular block machine portion；Rotated in ring sealing plate portion and be provided with a drive gear and five position limited gears；The internal perisporium in ring sealing plate portion is equipped with inwardly projecting keyhole portion；Keyhole portion is equipped with keyhole；The open-work of face drive gear setting is additionally provided with ring sealing plate portion, the open-work and keyhole are arranged concentrically；Keyhole portion is fixed on the inner wall in ring sealing plate portion；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.The annular matrix clever structure, it is multiple functional, can be as the critical component of universal driving mechanism used in underwater robot.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of annular base for universal underwater robot
Body.
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 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.
How the technical task that can with underwater robot that any angle drive be current the art is designed.
Utility model content
The purpose of this utility model is to provide a kind of annular matrix for universal underwater robot.
Realizing the technical solution of the utility model aim is：A kind of annular matrix for universal underwater robot, including
Annular flat plate portion, ring sealing plate portion and annular block machine portion；Rotated in ring sealing plate portion and be provided with a drive gear and five limits
Position gear；The internal perisporium in ring sealing plate portion is equipped with inwardly projecting keyhole portion；Keyhole portion is equipped with keyhole；In ring sealing plate portion also
The open-work set equipped with face drive gear, the open-work and keyhole are arranged concentrically；Keyhole portion is fixed at ring sealing plate portion
On inner wall；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.
The utility model has positive effect：The annular matrix clever structure, it is multiple functional, underwater robot can be used as
The critical component of universal driving mechanism used.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram of the utility model；
Fig. 2 is a kind of dimensional structure diagram when annular matrix is from another angle shown in Fig. 1；
Fig. 3 is a kind of dimensional structure diagram using the made robot of annular matrix shown in Fig. 1；
Fig. 4 is a kind of dimensional structure diagram when robot is from another angle shown in Fig. 3；
Fig. 5 is a kind of bottom view of robot shown in Fig. 3；
Fig. 6 is a kind of dimensional structure diagram of universal driving mechanism in robot shown in Fig. 3.
Reference numeral is：Housing 1, hemispherical observation window 11, cleaning agency 2, semi-circular support plate 21, cleaning brush 22, clearly
Sweep driving motor output shaft 23, axis pin 24, annular matrix 4, annular flat plate portion 41, ring sealing plate portion 42, annular block machine portion 43,
Drive gear 44, position limited gear 45, keyhole portion 46, keyhole 461, open-work 47, ring gear 5, ring body 51, drives 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 annular matrix 4 for universal underwater robot, as shown in Fig. 1 to Fig. 2, including annular flat
Plate portion 41, ring sealing plate portion 42 and annular block machine portion 43, ring sealing plate portion is that the inner periphery of annular flat plate portion is convex vertically upward
Go out to be formed, annular block machine portion is from annular flat plate portion annular convex platform protruding upward.Ring sealing plate portion is higher by annular block machine portion, ring
Shape sealing plate portion is located at the inner side in annular block machine portion.
Rotated in ring sealing plate portion and be provided with a drive gear 44 and five position limited gears 45, drive gear and limiting tooth
The shape size of wheel is identical.
The internal perisporium in ring sealing plate portion is equipped with inwardly projecting keyhole portion 46；Keyhole portion is fixed at ring sealing plate portion
Inner wall on, keyhole portion is equipped with keyhole 461.
The open-work 47 of the setting of face drive gear 44 is additionally provided with ring sealing plate portion, the open-work and keyhole are arranged concentrically.
（Application examples 1）
The application example is to use a kind of universal underwater robot made of above-described embodiment 1, as shown in Fig. 3 to Fig. 6, including
Housing 1, the photographing module being built in housing and the universal driving mechanism for drive shell movement.
The global shape of housing is spherical, and the lower part of housing is equipped with transparent hemispherical observation window 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 window
Transparent wall body.
Universal driving mechanism includes the annular matrix 4 being fixed on housing, the ring being rotatably arranged on annular matrix
Shape gear 5, two spiral shells for driving ring gear and gear driven mechanism 6 around housing into rotation, being arranged on ring gear
Revolve pitch driver 7 and for driving annular matrix around the matrix driving mechanism of housing into rotation.
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 convex platform 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.Housing and annular matrix are set with one heart
Put.
Ring gear includes ring body 51 and the driving teeth portion 52 for being arranged on 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 five position limited gears 45, drive gear and limiting tooth
Wheel is adapted to ring gear；Drive gear and position limited gear are crimped in the driving teeth portion of ring gear, so that by annular tooth
Wheel is crimped in the annular flat plate portion of annular matrix, prevents ring gear from teetertottering.In the application example, drive gear and spacing
The shape size of gear is identical.
The internal perisporium in ring sealing plate portion is equipped with inwardly projecting keyhole portion 46；Keyhole portion is fixed at ring sealing plate portion
Inner wall on, keyhole portion is equipped with keyhole 461；Matrix driving mechanism includes setting matrix driving motor in the housing, the matrix
The output shaft of driving motor, which stretches out housing and is inserted into, to be fixed in the keyhole in keyhole portion.
The open-work 47 of the setting of face drive gear 44 is additionally provided with ring sealing plate portion, the open-work and matrix drive the defeated of motor
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 application example, the output shaft of matrix driving motor and the output shaft of gear drive motor are to be arranged concentrically, gear
Rotation axis of the output shaft of motor also as matrix around the side of housing into rotation is driven, keyhole portion is then as matrix around housing into rotation
Opposite side rotation axis.
When matrix driving 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 symmetricly set on the both sides of ring gear, and each propeller drives 7 include fixed setting
Drive chamber 71 on ring gear periphery wall, the blade being arranged in drive chamber driving motor and it is rotatably arranged on outside drive chamber
Propeller 72 on wall, each blade driving motor drive a corresponding propeller rotational；Preferable scheme is two propeller productions
Raw power direction is identical.
The application example 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 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 stretching housing of output shaft 23 for cleaning driving motor is fixed at semi-circular
One end of support plate, the other end of semi-circular support plate are rotatably arranged on housing by axis pin 24；Cleaning brush preferably uses bullet
Property rubber pad or hairbrush are made；Clean driving motor and semi-circular support plate reciprocally swinging is driven by output shaft, and then drive clear
Brush brushes the foul on hemispherical observation window outer wall.
In the application example 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 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 (1)
- A kind of 1. annular matrix for universal underwater robot, it is characterised in that：Including annular flat plate portion, ring sealing plate portion and Annular block machine portion；Rotated in ring sealing plate portion and be provided with a drive gear and five position limited gears；The internal perisporium in ring sealing plate portion is equipped with Inwardly projecting keyhole portion；Keyhole portion is equipped with keyhole；The open-work of face drive gear setting is additionally provided with ring sealing plate portion, this is saturating Hole and keyhole are arranged concentrically；Keyhole portion is fixed on the inner wall in ring sealing plate portion；Ring sealing plate portion is higher by annular block machine portion, Ring sealing plate portion is located at the inner side in annular block machine portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720947260.9U CN207241986U (en) | 2017-07-31 | 2017-07-31 | A kind of annular matrix for universal underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720947260.9U CN207241986U (en) | 2017-07-31 | 2017-07-31 | A kind of annular matrix for universal underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207241986U true CN207241986U (en) | 2018-04-17 |
Family
ID=61880224
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720947260.9U Expired - Fee Related CN207241986U (en) | 2017-07-31 | 2017-07-31 | A kind of annular matrix for universal underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207241986U (en) |
-
2017
- 2017-07-31 CN CN201720947260.9U patent/CN207241986U/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: 20180417 Termination date: 20180731 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |