CN208233324U - A kind of underwater spherical robot - Google Patents

A kind of underwater spherical robot Download PDF

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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
Application number
CN201820819473.8U
Other languages
Chinese (zh)
Inventor
纪浩钦
陈宏�
宋建平
林浩挺
陈华杰
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.)
Shenzhen University
Original Assignee
Shenzhen University
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 Shenzhen University filed Critical Shenzhen University
Priority to CN201820819473.8U priority Critical patent/CN208233324U/en
Application granted granted Critical
Publication of CN208233324U publication Critical patent/CN208233324U/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 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

A kind of underwater spherical robot
[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.
CN201820819473.8U 2018-05-29 2018-05-29 A kind of underwater spherical robot Expired - Fee Related CN208233324U (en)

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)

* Cited by examiner, † Cited by third party
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

Cited By (2)

* Cited by examiner, † Cited by third party
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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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