CN215436875U - Steering auxiliary propulsion device of underwater robot - Google Patents
Steering auxiliary propulsion device of underwater robot Download PDFInfo
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- CN215436875U CN215436875U CN202122226883.6U CN202122226883U CN215436875U CN 215436875 U CN215436875 U CN 215436875U CN 202122226883 U CN202122226883 U CN 202122226883U CN 215436875 U CN215436875 U CN 215436875U
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- underwater robot
- cylinder
- propulsion device
- auxiliary propulsion
- steering auxiliary
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Abstract
The utility model provides an underwater robot steering auxiliary propulsion device. An underwater robot steering auxiliary propulsion device comprising: the connecting shaft is arranged on the underwater robot, and one end of the connecting shaft extends out of the underwater robot; the propeller is arranged on one side of the underwater robot; a cylinder disposed below the underwater robot; a box disposed below the cylinder; the bearing shaft is rotatably and hermetically installed in the cylinder, and the top end of the bearing shaft extends to the upper part of the cylinder; the first motor is fixedly arranged on the inner wall of one side of the cylinder; the connecting seat is fixedly arranged at the top of the box body. The underwater robot steering auxiliary propulsion device provided by the utility model has the advantages of simple steering mechanism, convenience in later-stage overhaul and maintenance, and capability of quickly and conveniently replacing the propeller.
Description
Technical Field
The utility model relates to the technical field of underwater robots, in particular to an auxiliary steering propulsion device of an underwater robot.
Background
An underwater robot is also called an unmanned remote control submersible vehicle and is a limit operation robot working underwater. Underwater robots, which have become important tools for developing the ocean due to the severe danger of underwater environment and limited diving depth of people, are gradually put into practical use, and in order to search and propel in various directions, they are provided with a propeller mechanism for assisting the advancing, which consists of the simplest motor, a rotating shaft fixed to a motor output shaft, and a propeller fixed to the rotating shaft, and the propeller mechanism is further provided with an angle rotating mechanism for assisting the steering, so that the underwater robot can advance in a designated direction.
However, the holistic spare part of this kind of traditional angle rotary mechanism is more, lead to the later stage to its inside when overhauing and maintaining, still need progressively demolish, the maintenance process of giving people brings inconvenience, and, the screw in the screw mechanism is the beading on the rotation axis mostly, in-process carrying out the cooperation and using, because it exposes outside for a long time, the number of times with the foreign object contact is more, the loss is comparatively serious, when the later stage is changed, need take whole rotation axis with the screw to pull down and change, the spare part that whole change process demolishd is more, be difficult for the maintenance.
Therefore, it is necessary to provide a steering auxiliary propulsion device for an underwater robot to solve the above technical problems.
SUMMERY OF THE UTILITY MODEL
The utility model solves the technical problem of providing an underwater robot steering auxiliary propulsion device which is simple in steering mechanism, convenient to overhaul and maintain in the later period and capable of quickly and conveniently replacing a propeller.
In order to solve the above technical problem, the present invention provides an underwater robot steering auxiliary propulsion device, comprising: the connecting shaft is arranged on the underwater robot, and one end of the connecting shaft extends out of the underwater robot; the propeller is arranged on one side of the underwater robot; a cylinder disposed below the underwater robot; a box disposed below the cylinder; the bearing shaft is rotatably and hermetically installed in the cylinder, and the top end of the bearing shaft extends to the upper part of the cylinder; the first motor is fixedly arranged on the inner wall of one side of the cylinder; the joint seat is fixedly arranged at the top of the box body; the movable column is hinged to the connecting seat, and the top end of the movable column is fixedly connected with the cylinder; the arc-shaped rack is fixedly arranged at the bottom of the cylinder, penetrates through the top of the box body and is movably connected with the top of the box body; the second motor is fixedly arranged on the inner wall of the bottom of the box body; the first gear is fixedly sleeved on an output shaft of the second motor and meshed with the arc-shaped rack.
Preferably, the propeller is fixedly connected with one end of the connecting shaft, which is positioned outside the underwater robot.
Preferably, an output shaft of the first motor is fixedly sleeved with a second gear, a third gear is fixedly sleeved on the bearing shaft, and the second gear is meshed with the third gear.
Preferably, T type annular has been seted up on the outer wall of drum, slidable mounting has two T type pieces in the T type annular, underwater robot's bottom fixed mounting has two curb plates, two one side that T type piece kept away from each other all extends to outside the T type annular and with corresponding curb plate fixed connection.
Preferably, the bottom of the box body is fixedly provided with two push rod motors, the output shafts of the two push rod motors are fixedly provided with arc-shaped bearing sheets, the inner walls of the arc-shaped bearing sheets are fixedly provided with pushing teeth, and the pushing teeth are abutted to the outer walls of the arc-shaped racks.
Preferably, the screw with even the axle is located the outer one end movable contact of underwater robot, even the axle with the square groove has been seted up to the one end of screw contact, be equipped with the square in the square groove, one side of square with screw fixed connection, the screw thread blind hole has all been seted up to the top and the bottom of square, even epaxial two counter sink of having seted up, two the counter sink all with the square groove is linked together, two all be equipped with countersunk head bolt in the counter sink, two one side that countersunk head bolt is close to each other all extends to the correspondence in the screw thread blind hole and with correspond the inner wall of screw thread blind hole closes the connection soon.
Preferably, a circular groove is formed in the square block, a circular block is arranged in the circular groove, and one side of the circular block is fixedly connected with the inner wall of one side of the square groove.
Compared with the related art, the underwater robot steering auxiliary propulsion device provided by the utility model has the following beneficial effects:
the utility model provides an underwater robot steering auxiliary propulsion device, which can realize horizontal steering work of an underwater robot through a rotatable bearing shaft, and can enable a cylinder to be connected with the underwater robot to perform steering work in a direction of an up-down inclination angle through the meshing arrangement of an arc-shaped rack and a first gear, and can also form steering work in multiple directions through the use of the arc-shaped rack and the first gear.
Drawings
FIG. 1 is a schematic front view of a first embodiment of a steering auxiliary propulsion device for an underwater robot provided by the present invention;
FIG. 2 is an enlarged schematic view of portion A shown in FIG. 1;
FIG. 3 is a schematic front view of a second embodiment of a steering auxiliary propulsion device for an underwater robot according to the present invention;
fig. 4 is an enlarged schematic view of a portion B shown in fig. 3.
Reference numbers in the figures: 1. an underwater robot; 2. a connecting shaft; 3. a propeller; 4. a cylinder; 5. a box body; 6. a load bearing shaft; 7. a first motor; 8. a linking seat; 9. a movable post; 10. an arc-shaped rack; 11. a second motor; 12. A first gear; 13. a square groove; 14. a square block; 15. a threaded blind hole; 16. a countersunk hole; 17. a countersunk bolt; 18. a circular groove; 19. and (7) round blocks.
Detailed Description
The utility model is further described with reference to the following figures and embodiments.
First embodiment
Referring to fig. 1-2, in a first embodiment of the present invention, a steering auxiliary propulsion device for a underwater robot includes: the underwater robot comprises a connecting shaft 2 arranged on an underwater robot 1, wherein one end of the connecting shaft 2 extends out of the underwater robot 1; the propeller 3 is arranged on one side of the underwater robot 1; a cylinder 4, the cylinder 4 being disposed below the underwater robot 1; the box body 5 is arranged below the cylinder 4, the cylinder 4 and the box body 5 are both made of metal materials with heavier mass, and the total weight is larger than the total weight of the underwater robot 1, the connecting shaft 2 and the propeller 3, so that enough self-supporting force can be provided to drive the underwater robot 1 to steer and enable the underwater robot to steer smoothly, and two rubber pads are fixedly arranged at the top of the box body 5 to prevent the cylinder 4 from colliding with the top of the box body 5 during rotation; the bearing shaft 6 is rotatably and hermetically installed in the cylinder 4, and the top end of the bearing shaft 6 extends to the upper part of the cylinder 4; the motor I7, the motor I7 is fixedly arranged on the inner wall of one side of the cylinder 4; the joint seat 8 is fixedly arranged on the top of the box body 5; the movable column 9 is hinged to the connecting seat 8, the top end of the movable column 9 is fixedly connected with the cylinder 4, the hinged position of the movable column 9 and the connecting seat 8 is the center of the circle of the rotation of the cylinder 4, and the hinged position and the arc-shaped rack 10 are positioned on the same axis, so that the cylinder 4 can rotate smoothly; the arc-shaped rack 10 is fixedly arranged at the bottom of the cylinder 4, and the arc-shaped rack 10 penetrates through the top of the box body 5 and is movably connected with the top of the box body 5; the second motor 11 is fixedly arranged on the inner wall of the bottom of the box body 5; the first gear 12 is fixedly sleeved on an output shaft of the second motor 11, the first gear 12 is meshed with the arc-shaped rack 10, and the cylinder 4 and the underwater robot 1 can be smoothly driven to rotate through the meshing of the first gear 12 and the arc-shaped rack 10.
The propeller 3 is fixedly connected with one end of the connecting shaft 2, which is positioned outside the underwater robot 1.
The fixed cover of output shaft of motor one 7 is equipped with gear two, fixed cover of bearing shaft 6 is equipped with gear three, gear two with the meshing of gear three-phase can drive bearing shaft 6 and rotate under the operation of motor one 7 through the meshing of gear two and gear three to can accomplish 1 ascending turning to of underwater robot horizontal direction.
The T type annular has been seted up on the outer wall of drum 4, slidable mounting has two T type pieces in the T type annular, underwater robot 1's bottom fixed mounting has two curb plates, two one side that T type piece was kept away from each other all extends to outside the T type annular and with corresponding curb plate fixed connection, the setting of T type annular and T type piece can be for underwater robot 1 provides the strong point when rotatory to can make underwater robot 1's rotation more stable.
The bottom fixed mounting of box 5 has two push rod motors, two equal fixed mounting has the arc bearing piece on the output shaft of push rod motor, fixed mounting has a tooth on the inner wall of arc bearing piece, top the tooth with the outer wall of arc rack 10 is inconsistent, can support arc rack 10 through arc bearing piece and the tooth that pushes up on it to can share a part gravity for the output shaft of motor two 11, thereby can reduce the rate of wear of motor two 11 output shafts.
The utility model provides an underwater robot steering auxiliary propulsion device, which has the following working principle:
in the device, the total weight of a cylinder 4 and a box body 5 is more than that of an underwater robot 1, a connecting shaft 2 and a propeller 3, and one end of the connecting shaft 2, which is positioned in the underwater robot 1, is fixedly connected with an output shaft of an external motor arranged in the underwater robot 1, so that the propeller 3 can rotate, and in an initial state, the output shaft of an electric push rod is in an extending state;
when the underwater robot 1 needs to perform steering work, if only horizontal steering is performed, the output shaft of the electric push rod is started to retract firstly, so that the top tooth is separated from the arc-shaped rack 10, the first motor 7 can be started, the output shaft of the first motor 7 drives the second gear to rotate, the second gear can drive the bearing shaft 6 to rotate under the meshing transmission of the second gear and the third gear, and the underwater robot 1 can be driven to perform steering work in the horizontal direction;
if only steering of up-and-down inclination is carried out, the second motor 11 can be started, the first gear 12 is driven to rotate by the output shaft of the second motor 11, so that the first gear 12 and the arc-shaped rack 10 can be driven to rotate under the meshing transmission of the first gear 12 and the arc-shaped rack 10, the cylinder 4 can be driven to do circular motion by taking the hinged position of the movable column 9 as the center of a circle, and the direction of the up-and-down inclination angle of the underwater robot 1 can be changed;
similarly, can carry out the ascending work that turns to in many spatial directions through starter motor one 7 and motor two 11, and after turning to at every turn, alright start push rod motor's output shaft stretches out, makes the top tooth on the arc bearing piece contradict with arc rack 10 to can form certain support to it, reduce the holding capacity of motor two 11 output shafts.
Compared with the related art, the underwater robot steering auxiliary propulsion device provided by the utility model has the following beneficial effects:
this device is through the axle 6 that bears that can rotate that sets up, alright realize underwater robot 1's level and turn to work, and, through the meshing setting of arc rack 10 and gear 12, make drum 4 can carry underwater robot 1 to carry out inclination's direction and turn to work from top to bottom, still can be through both uses together, form the diversified work of turning to, compare in the angle rotating mechanism on traditional underwater robot 1, the spare part of this device is less, moreover, the steam generator is simple in structure, can make things convenient for subsequent maintenance work.
Second embodiment:
based on the underwater robot steering auxiliary propulsion device provided by the first embodiment of the application, the second embodiment of the application provides another underwater robot steering auxiliary propulsion device. The second embodiment is merely a preferred way of the first embodiment, and the implementation of the second embodiment does not affect the implementation of the first embodiment alone.
The second embodiment of the present invention will be further described with reference to the drawings and the following description.
Referring to fig. 3 to fig. 4, in a second embodiment of the underwater robot steering auxiliary propulsion device of the present invention: the propeller 3 is movably contacted with one end of the connecting shaft 2, which is positioned outside the underwater robot 1, the connecting shaft 2 is contacted with one end of the propeller 3, a square groove 13 is arranged at the end, which is contacted with the propeller 3, of the connecting shaft 2, a square block 14 is arranged in the square groove 13, the arrangement of the square groove 13 and the square block 14 can ensure that the propeller 3 is fixed according to the same shape, two threaded blind holes 15 are arranged in the upward and downward direction, so that the installation of countersunk bolts 17 is convenient, one side of the square block 14 is fixedly connected with the propeller 3, the top and the bottom of the square block 14 are both provided with the threaded blind holes 15, the connecting shaft 2 is provided with two countersunk holes 16, the two countersunk holes 16 are both communicated with the square groove 13, countersunk bolts 17 are arranged in the two countersunk holes 16, one side, which is close to each other, of the two countersunk bolts 17 both extend into the corresponding threaded blind holes 15 and are screwed with the inner walls of the corresponding threaded blind holes 15, the square block 14 can be reliably fixed in the square groove 13 through the thread matching between the countersunk head bolt 17 and the threaded blind hole 15, so that the propeller 3 is stably and firmly installed.
The square block 14 is provided with a circular groove 18, a circular block 19 is arranged in the circular groove 18, one side of the circular block 19 is fixedly connected with the inner wall of one side of the square groove 13, the arrangement of the circular block 19 and the circular groove 18 can further improve the installation stability of the propeller 3, and the circular block 19 is arranged in the circular groove 18 and is in a contact state.
In this embodiment, when needs tear open the screw 3 that damages and trade, only need utilize the hexagon socket head wrench that corresponds to unscrew two countersunk head bolts 17, then take off square 14 with screw 3 jointly, insert square 13 with square 14 on the new screw 3 afterwards in, and make round 19 insert the circular slot 18 in, then with countersunk head bolt 17 screw in screw thread blind hole 15 in can, whole dismouting work is simple swift, can make things convenient for people to carry out quick simple work of changing of tearing open it, the maintenance work in later stage has further been made things convenient for.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. An underwater robot steering auxiliary propulsion device, comprising:
the connecting shaft is arranged on the underwater robot, and one end of the connecting shaft extends out of the underwater robot;
the propeller is arranged on one side of the underwater robot;
a cylinder disposed below the underwater robot;
a box disposed below the cylinder;
the bearing shaft is rotatably and hermetically installed in the cylinder, and the top end of the bearing shaft extends to the upper part of the cylinder;
the first motor is fixedly arranged on the inner wall of one side of the cylinder;
the joint seat is fixedly arranged at the top of the box body;
the movable column is hinged to the connecting seat, and the top end of the movable column is fixedly connected with the cylinder;
the arc-shaped rack is fixedly arranged at the bottom of the cylinder, penetrates through the top of the box body and is movably connected with the top of the box body;
the second motor is fixedly arranged on the inner wall of the bottom of the box body;
the first gear is fixedly sleeved on an output shaft of the second motor and meshed with the arc-shaped rack.
2. The underwater robot steering auxiliary propulsion device of claim 1, wherein the propeller is fixedly connected with one end of the connecting shaft, which is positioned outside the underwater robot.
3. The underwater robot steering auxiliary propulsion device as claimed in claim 1, wherein a second gear is fixedly sleeved on an output shaft of the first motor, a third gear is fixedly sleeved on the bearing shaft, and the second gear is engaged with the third gear.
4. The underwater robot steering auxiliary propulsion device of claim 1, wherein a T-shaped ring groove is formed in the outer wall of the cylinder, two T-shaped blocks are slidably mounted in the T-shaped ring groove, two side plates are fixedly mounted at the bottom of the underwater robot, and one sides, away from each other, of the two T-shaped blocks extend out of the T-shaped ring groove and are fixedly connected with the corresponding side plates.
5. The underwater robot steering auxiliary propulsion device of claim 1, wherein two push rod motors are fixedly mounted at the bottom of the box body, arc-shaped bearing sheets are fixedly mounted on output shafts of the two push rod motors, pushing teeth are fixedly mounted on inner walls of the arc-shaped bearing sheets, and the pushing teeth are abutted to outer walls of the arc-shaped racks.
6. The underwater robot steering auxiliary propulsion device of claim 1, wherein the propeller is movably contacted with one end of the connecting shaft, which is located outside the underwater robot, a square groove is formed in one end of the connecting shaft, which is contacted with the propeller, a square block is arranged in the square groove, one side of the square block is fixedly connected with the propeller, threaded blind holes are formed in the top and the bottom of the square block, two countersunk holes are formed in the connecting shaft, the two countersunk holes are communicated with the square groove, countersunk bolts are arranged in the two countersunk holes, and one side, which is close to each other, of the two countersunk bolts extends into the corresponding threaded blind hole and is screwed with the inner wall of the corresponding threaded blind hole.
7. The underwater robot steering auxiliary propulsion device of claim 6, wherein a round groove is formed in the block, a round block is arranged in the round groove, and one side of the round block is fixedly connected with the inner wall of one side of the square groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122226883.6U CN215436875U (en) | 2021-09-15 | 2021-09-15 | Steering auxiliary propulsion device of underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122226883.6U CN215436875U (en) | 2021-09-15 | 2021-09-15 | Steering auxiliary propulsion device of underwater robot |
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| Publication Number | Publication Date |
|---|---|
| CN215436875U true CN215436875U (en) | 2022-01-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202122226883.6U Active CN215436875U (en) | 2021-09-15 | 2021-09-15 | Steering auxiliary propulsion device of underwater robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114516391A (en) * | 2022-03-02 | 2022-05-20 | 杭州市萧山区湘湖环境研究院 | Underwater surveying robot for ecological dredging |
-
2021
- 2021-09-15 CN CN202122226883.6U patent/CN215436875U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114516391A (en) * | 2022-03-02 | 2022-05-20 | 杭州市萧山区湘湖环境研究院 | Underwater surveying robot for ecological dredging |
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