CN208233324U - A kind of underwater spherical robot - Google Patents
A kind of underwater spherical robot Download PDFInfo
- Publication number
- CN208233324U CN208233324U CN201820819473.8U CN201820819473U CN208233324U CN 208233324 U CN208233324 U CN 208233324U CN 201820819473 U CN201820819473 U CN 201820819473U CN 208233324 U CN208233324 U CN 208233324U
- Authority
- CN
- China
- Prior art keywords
- shell
- drive shaft
- driving wheel
- underwater
- spherical robot
- 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 spherical robots, including spherical shell, driving device, photographic device and control circuit, the driving device includes 8 drivers, driver includes driving wheel and drive shaft, drive shaft passes through shell, driving wheel is arranged in the outer end of drive shaft, and the center of driving wheel is located on hexahedral 8 vertex, and the axis of drive shaft is arranged along hexahedral diagonal line；The hexahedron is cuboid or square, and hexahedral center is overlapped with the center of shell.Translation state is kept when the utility model can advance under water, underwater camera effect is good.
Description
[technical field]
The utility model relates to underwater robot more particularly to a kind of underwater spherical robots.
[background technique]
Underwater robot is also referred to as unmanned remotely controlled submersible vehicle, is a kind of to work in underwater limit operation robot.Underwater ring
Border is badly dangerous, and the diving depth of people is limited, so underwater robot has become the important tool of exploitation ocean.
Unmanned remotely controlled submersible vehicle mainly has: having cable remote-controlled vehicle and two kinds of untethered remotely operated vehicle, wherein there is cable remote control
Submersible be divided into again self-propulsion type in water, towage formula and can on seafloor structure three kinds of creeping-type.
Application No. is a kind of underwater running gear of the disclosure of the invention of CN201310605461.7, including a spherical shell,
It is characterized in that: one end of two fixed columns is respectively fixedly connected with the inner wall in the spherical shell, and it is mutually perpendicular to；Two electricity
Motivation is located by connecting on respectively on the other end of two fixed columns, and the shaft of the two motors is mutually perpendicular to；
Two balance wheels are respectively cooperating in the shaft for being connected to the two motors by swing arm；One end of ten six roots of sensation support is located by connecting
It on the outer wall of the spherical shell, and is evenly arranged, the other end of ten six roots of sensation support passes through a compressed spring respectively
It is connect with a stabilizer blade；More set cameras and light source are located by connecting on the outer wall of the spherical shell；One control box is located at the water surface
On, and it is located at the intracorporal two motors of the spherical shell and four sets of cameras and light source is electrically connected, and connect to power supply.The hair
The outside of bright spherical shell does not have running gear, can only roll traveling, camera can only obtain the image of rolling, ineffective.
[summary of the invention]
The technical problem to be solved by the present invention is to provide one kind can keep translation state substantially under water, takes the photograph under water
As the good underwater spherical robot of effect.
The further technical problems to be solved of the utility model are to provide one kind can be in the underwater of water-bed or land walking
Ball shape robot.
In order to solve the above-mentioned technical problem, the technical solution adopted in the utility model is a kind of underwater spherical robot, packet
Spherical shell, driving device, photographic device and control circuit are included, the driving device includes 8 drivers, driver packet
Driving wheel and drive shaft are included, drive shaft passes through shell, and driving wheel is arranged in the outer end of drive shaft, and the center of driving wheel is located at
On hexahedral 8 vertex, the axis of drive shaft is arranged along hexahedral diagonal line；The hexahedron is cuboid or pros
Body, hexahedral center are overlapped with the center of shell.
Above-described underwater spherical robot, shell include two hemisphere, driving described in installation 4 on each hemisphere
Device.
Above-described underwater spherical robot, driving wheel include propeller.
Above-described underwater spherical robot, driving wheel include traveling wheel, and traveling wheel is toothed wheel, including fluted disc and multiple
Several to be fixed on fluted disc periphery, circumferentially uniformly distributed along fluted disc walking teeth.
Above-described underwater spherical robot, fluted disc are circular rings, the outer end of propeller blade and the inner wall of circular rings
Connection.
Above-described underwater spherical robot, walking tooth be it is rod-shaped, be arranged on a circular conical surface, the small end of circular conical surface
It is connect with circular rings, the big end of circular conical surface is outwardly.
Above-described underwater spherical robot, driver include motor, and motor is installed in the housing, with control electricity
Road connection, motor reel are connected by the inner end of universal joint and drive shaft.
Above-described underwater spherical robot, shell include for install cable and control cable cable hole and for pair
The camera window of outer camera shooting, cable hole are arranged in first half-shell, and camera window is arranged in the second half-shell, and photographic device, which is arranged in, to be taken the photograph
As the rear of window, the cable and control cable are connected to the control circuit.
Translation state is kept when the utility model can advance under water, underwater camera effect is good.
[Detailed description of the invention]
Utility model will be further described in detail below with reference to the attached drawings and specific embodiments.
Fig. 1 is the main view of the utility model embodiment underwater spherical robot.
Fig. 2 is the left view of the utility model embodiment underwater spherical robot.
Fig. 3 is the perspective view of the utility model embodiment driving wheel and drive shaft.
Fig. 4 is A in Fig. 2 to cross-sectional view.
Fig. 5 is the right view of the utility model embodiment underwater spherical robot.
Fig. 6 is that the B in Fig. 5 is rotated to cross-sectional view.
[specific embodiment]
The structure of the utility model embodiment underwater spherical robot is as shown in Figures 1 to 6, the shell including spheroidal
100, driving device, photographic device 11 and control circuit.
Driving device includes 8 drivers, and driver includes driving wheel 1, drive shaft 2 and motor 3, and drive shaft 2 passes through
Shell 100, driving wheel 1 are arranged in the outer end of drive shaft 2, and motor 3 is installed in a housing 100, connected to the control circuit, electronic
Arbor is connect by universal joint 301 with the inner end of drive shaft 2, and driving wheel 1 is driven to rotate.
The shell 100 of spheroidal is made of two preceding half-shells 8 and rear half-shell 9, and 4 drivers are installed in each half-shell.
Driving wheel 1 includes propeller 101 and traveling wheel, and traveling wheel is toothed wheel, including fluted disc 102 and 6 is fixed on tooth
102 periphery of disk, along the circumferentially uniformly distributed walking tooth 103 of fluted disc 102.
Fluted disc 102 is circular rings, and the outer end of 101 blade of propeller is connect with the inner wall of circular rings (fluted disc 102).
Walk tooth 103 be it is rod-shaped, be arranged on a circular conical surface, the small end of circular conical surface is connect with circular rings (fluted disc 102),
The big end of circular conical surface is outwardly.
1 center of driving wheel, the i.e. center of propeller 101 are located on 8 vertex of a square, drive shaft 2
Axis is arranged along the diagonal line of the square；The center of the square is overlapped with the center of shell 100.
Shell 100 has the cable hole 901 for installing cable and control cable and the camera window for externally imaging
801, cable hole 901 is arranged in rear half-shell 9, and before camera window 801 is arranged in half-shell 8, photographic device 11 is arranged in camera window
801 rear, cable and control cable (not shown) connect to the control circuit, and control cable controls 8 by control circuit respectively
The velocity of rotation and rotation direction of a motor 3.
When underwater spherical robot suspend in water, any 4 centers in conplane driving wheel, rotate in same direction and turn
When speed is identical, underwater spherical robot straight line is pushed to advance, any 4 centers rotate in same direction but turn in conplane driving wheel
When speed is not identical, push underwater spherical robot in turn of advancing；Any 4 centers are in conplane driving wheel, and two
When the driving wheel that adjacent driving wheel rotates forward, other two is adjacent rotates backward, underwater spherical robot rotation is pushed；Institute
When stating the rotation direction of driving wheel and referring to from the outer end of drive shaft towards from driving wheel, the rotation direction of driving wheel.
When underwater spherical robot is when water-bed or land, in 4 driving wheels of ground face contact, two adjacent drivings
When wheel rotates forward, the driving wheel that other two is adjacent rotates backward and revolving speed is identical, underwater spherical robot linear rows are pushed
Into；In 4 driving wheels of ground face contact, the driving wheel that two adjacent driving wheels rotate forward, other two is adjacent is reversed
Rotation but revolving speed it is not identical when, push underwater spherical robot turn round in traveling；It is all in the same direction with 4 driving wheels of ground face contact
Rotation and revolving speed it is identical when, push underwater spherical robot around itself central axes rotate；The rotation direction of the driving wheel is
When referring to from drive shaft outer end towards from driving wheel, the rotation direction of driving wheel.
The shell of the utility model above embodiments underwater spherical robot is spheroidal, in order to reduce underwater globular machine
The shell of the running resistance of people, underwater spherical robot can also use elliposoidal.At this point, 1 center of driving wheel, i.e. propeller
101 center can be located on 8 vertex of a cuboid, the diagonal line cloth of the axis of drive shaft 2 along the cuboid
It sets；The center of the cuboid is overlapped with the center of elliposoidal shell.
The underwater spherical robot of the utility model above embodiments has the advantage that
1, it can linearly advance in water, turn round or rotation under suspended state, good camera shooting effect；
It 2, can be good in water-bed or land traveling, turn or rotation, mobility.
Claims (8)
1. a kind of underwater spherical robot, including spherical shell, driving device, photographic device and control circuit, feature exists
In the driving device includes 8 drivers, and driver includes driving wheel and drive shaft, and drive shaft passes through shell, driving wheel
It is arranged in the outer end of drive shaft, the center of driving wheel is located on hexahedral 8 vertex, and the axis of drive shaft is along hexahedron
Diagonal line arrangement；The hexahedron is cuboid or square, and hexahedral center is overlapped with the center of shell.
2. underwater spherical robot according to claim 1, which is characterized in that shell includes two hemisphere, each hemisphere
Driver described in upper installation 4.
3. underwater spherical robot according to claim 1, which is characterized in that driving wheel includes propeller.
4. underwater spherical robot according to claim 3, which is characterized in that driving wheel includes traveling wheel, and traveling wheel is
Toothed wheel, including fluted disc and it is a plurality of be fixed on fluted disc periphery, the walking tooth circumferentially uniformly distributed along fluted disc.
5. underwater spherical robot according to claim 4, which is characterized in that fluted disc is circular rings, propeller blade
The connection of the inner wall of outer end and circular rings.
6. underwater spherical robot according to claim 5, which is characterized in that walking tooth be it is rod-shaped, be arranged in a circle
On the conical surface, the small end of circular conical surface is connect with circular rings, and the big end of circular conical surface is outwardly.
7. underwater spherical robot according to claim 2, which is characterized in that driver includes motor, motor peace
Dress in the housing, connects to the control circuit, and motor reel is connected by the inner end of universal joint and drive shaft.
8. underwater spherical robot according to claim 7, which is characterized in that shell includes for installing cable and control
The cable hole of cable and camera window for externally imaging, cable hole are arranged in first half-shell, and camera window is arranged in the second half-shell
In, photographic device is arranged in the rear of camera window, and the cable and control cable connect to the control circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820819473.8U CN208233324U (en) | 2018-05-29 | 2018-05-29 | A kind of underwater spherical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820819473.8U CN208233324U (en) | 2018-05-29 | 2018-05-29 | A kind of underwater spherical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208233324U true CN208233324U (en) | 2018-12-14 |
Family
ID=64575236
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820819473.8U Expired - Fee Related CN208233324U (en) | 2018-05-29 | 2018-05-29 | A kind of underwater spherical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208233324U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108725721A (en) * | 2018-05-29 | 2018-11-02 | 深圳大学 | A kind of underwater spherical robot |
-
2018
- 2018-05-29 CN CN201820819473.8U patent/CN208233324U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108725721A (en) * | 2018-05-29 | 2018-11-02 | 深圳大学 | A kind of underwater spherical robot |
| CN108725721B (en) * | 2018-05-29 | 2023-11-21 | 深圳大学 | Underwater spherical robot |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181214 Termination date: 20210529 |