CN217009527U

CN217009527U - Antenna folding mechanism, folding antenna and underwater robot

Info

Publication number: CN217009527U
Application number: CN202220798874.6U
Authority: CN
Inventors: 潘如东; 杨艳彬; 张川; 刘滨
Original assignee: Harbin Institute Of Technology Robot Group Hangzhou Bay International Innovation Research Institute
Current assignee: Harbin Institute Of Technology Robot Group Hangzhou Bay International Innovation Research Institute
Priority date: 2022-04-07
Filing date: 2022-04-07
Publication date: 2022-07-19
Anticipated expiration: 2032-04-07

Abstract

The utility model relates to an antenna folding mechanism, a folding antenna and an underwater robot, which comprise a gear box and a box cover which are connected in a sealing way, wherein a transmission shaft is supported in the gear box through a bearing; the gear box comprises an integrally formed base, an antenna rotating shaft is supported in the base through a bearing, one end of the antenna rotating shaft extends into the gear box and is provided with an output gear meshed with the transmission gear II, the other end of the antenna rotating shaft extends out of the base and is provided with an antenna connecting structure, a sealing element is arranged between the antenna rotating shaft and the base, and the sealing element is positioned at one end, far away from the gear box, of the base; has the advantages that: the whole structure adopts bevel gear transmission, the gear box adopts the sealing mode that an O-shaped ring is in sealing fit with a Glare ring, the non-leakage operation can be achieved, and the long-term stable work of an internal mechanism is realized.

Description

Antenna folding mechanism, folding antenna and underwater robot

Technical Field

The utility model belongs to the field of underwater robots, and particularly relates to an antenna folding mechanism, a folding antenna and an underwater robot.

Background

The underwater robot comprises a cable remote control underwater Robot (ROV) and a cable-free autonomous underwater robot (AUV), and an antenna is a main component for realizing a communication function of the cable-free autonomous underwater robot. Most AUVs adopt streamline structures for realizing higher navigational speed, convex structures are reduced on the surface as much as possible to reduce the fluid resistance, and the antenna shell parts generally adopt fin or water drop type shells, so that the antenna can be prevented from being broken in the AUV movement process and the fluid resistance is reduced, but the antenna is generally higher in height, so that the AUV is still subjected to larger resistance although the antenna shell adopts the streamline shape, and the movement and control are further influenced.

Aiming at the existing problems, the prior art provides a folding antenna, and the folding mechanism is adopted to lift or put down the antenna, so that the influence of the antenna on the AUV movement resistance is reduced, but the existing folding mechanisms have the defect that the transmission component part is exposed in the water environment, and the risk of being blocked or influenced by foreign matters is caused. For example, in patent CN113708039A, a worm gear transmission form is adopted, and the worm gear is exposed to water environment during underwater operation; for example, in patent CN112018488A, a transmission form of a lead screw and a slide bar is adopted, but the lead screw and the slide bar are exposed to water environment.

Based on this, the present disclosure is thus directed.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an AUV antenna folding mechanism based on a sealed transmission mechanism, which reduces the influence of an antenna on the movement resistance of an AUV on the premise of ensuring the practicability.

In order to achieve the purpose, the technical scheme of the utility model is as follows:

an antenna folding mechanism comprises a gear box and a box cover which are connected in a sealing mode, wherein a transmission shaft is supported in the gear box through a bearing, a first transmission gear is arranged at one end of the transmission shaft, a second transmission gear is arranged at the other end of the transmission shaft, a motor mechanism is connected to the gear box in a sealing mode, and a motor rotating shaft of the motor mechanism extends into the gear box and is provided with an input gear meshed with the first transmission gear; the gear box includes integrated into one piece's base, has the antenna pivot through the bearing support in the base, the one end of antenna pivot stretches into in the gear box and is equipped with the output gear with two meshing of drive gear, and the other end stretches out the base and is equipped with antenna connection structure, be equipped with the sealing member between antenna pivot and the base, the sealing member is located the one end that the gear box was kept away from to the base.

Furthermore, the motor mechanism comprises an input gear, a shaft sleeve, a reducer shell, a reducer, a frameless motor, a driver shell and a watertight connector in sequence from the side close to the gear box to the side far away from the gear box, a flange used for fixing the motor mechanism is arranged on the gear box, and a sealing element is arranged between the flange and the motor mechanism.

Furthermore, the input gear, the output gear, the first transmission gear and the second transmission gear all adopt bevel gears.

Furthermore, a clamping groove is formed in the position, where the bearing is installed, in the gear box.

Furthermore, a clamping groove is formed in the base at the position where the bearing is installed.

Furthermore, a maintenance hole is formed in the gear box, a blind plate is installed on the maintenance hole, and a sealing element is arranged between the maintenance hole and the blind plate.

Further, the base is one or more.

A folding antenna comprises an antenna and the antenna folding mechanism, wherein the antenna is connected with the antenna rotating shaft through an antenna connecting structure.

Furthermore, the antenna and the antenna rotating shaft are connected by a key and a key slot.

An underwater robot comprises the folding antenna.

The utility model has the advantages that: the structure can enable the antenna to be recovered into the fluid structure in the running process of the underwater robot, thereby greatly reducing the underwater running resistance, and lifting the antenna when communication is needed, so that the communication operation can be completed; the whole structure adopts bevel gear transmission, the gear box adopts the sealing mode that an O-shaped ring is in sealing fit with a Glare ring, the non-leakage operation can be achieved, and the long-term stable work of an internal mechanism is realized.

Drawings

Fig. 1 is a schematic three-dimensional configuration diagram of an antenna folding mechanism in an embodiment;

FIG. 2 is a schematic view showing an internal configuration of the gear case of FIG. 1;

FIG. 3 is an exploded view of FIG. 1;

FIG. 4 is an exploded view of FIG. 1 from another perspective;

FIG. 5 is a schematic cross-sectional view of an embodiment of an antenna folding mechanism at the base;

FIG. 6 is a schematic diagram of an antenna recovery state of the underwater robot in the embodiment;

FIG. 7 is a schematic diagram illustrating a lifting state of an antenna of the underwater robot in the embodiment;

description of the reference symbols

The gear box comprises a gear box 1, a flange 11, a base 12, a maintenance hole 2 and a blind plate 21; the small bevel gear I31, the small bevel gear II 32, the shaft sleeve I41, the shaft sleeve II 42, the bearing I51, the bearing II 52, the transmission shaft 6 and the box cover 7;

the antenna comprises a first large bevel gear 81, a third shaft sleeve 82, a third bearing 83, an antenna rotating shaft 84, a fourth bearing 85, a GREEN ring 86, an antenna 87 and an antenna gland 88;

the motor mechanism 9, the big bevel gear II 91, the shaft sleeve IV 92, the speed reducer shell 93, the speed reducer 94, the frameless motor 95, the motor shell 96, the driver shell 97 and the watertight connector 98.

Detailed Description

The present invention will be described in further detail with reference to examples.

The embodiment provides a cableless autonomous underwater robot, and as shown in fig. 1, the underwater robot comprises a folding antenna, a transmission part of the folding antenna is sealed in a gear box 1, a motor mechanism 9 transmits power through the gear box 1, so that the folding of an antenna 87 is realized, and the risk that the transmission part is blocked or influenced by foreign matters can be effectively avoided.

Referring to fig. 2 to 4, a case cover 7 is fixed on the gear case 1 through screws, and a sealing ring can be arranged between the gear case 1 and the case cover 7 to prevent leakage. The gear box 1 is of a rectangular structure, the end faces of two axial ends of the gear box 1 are provided with maintenance holes 2, the maintenance holes 2 are plugged by blind plates 21, and the blind plates 21 are provided with O-shaped rings to realize static sealing. Two fixed supports are arranged in the gear box 1, a first bearing 51 is arranged on one fixed support, a second bearing 52 is arranged on the other fixed support, a transmission shaft 6 is supported on the first bearing 51 and the second bearing 52, and a first small bevel gear 31 and a second small bevel gear 32 are respectively arranged at two ends of the transmission shaft 6. Taking fig. 3 as an example, during installation, a first bearing 51 is installed in the left fixed support, then the transmission shaft 6 penetrates through the installed first bearing 51 from the right maintenance hole 2, then a second bearing 52 is installed on the right side of the transmission shaft 6, then the second bearing 52 is installed on the right fixed support, then the first shaft sleeve 41 and the first small umbrella tooth 31 are sequentially sleeved at the left end of the transmission shaft 6 and fixed through bolts, and the second shaft sleeve 42 and the second small umbrella tooth 32 are sequentially sleeved at the right end of the transmission shaft 6 and fixed through bolts.

Still referring to fig. 3, an integrally formed base 12 is disposed on one side of the right end of the gear box 1, and the base 12 is sequentially provided with a first large bevel gear 81, a third shaft sleeve 83, a third bearing 83, an antenna rotating shaft 84, a fourth bearing 85, a glary ring 86, an antenna 87 and an antenna gland 88 from inside to outside. As shown in fig. 2, the first large bevel gear 81 is engaged with the second small bevel gear 32, the first large bevel gear 81 is fixed to one end of an antenna rotating shaft 84, the antenna rotating shaft 84 is supported in the base 12 through two bearings, and the other end of the antenna rotating shaft 84 extends out of the base 12 and is connected to an antenna 87 through a key and a key groove. As shown in fig. 5, the greige ring 86 is located at the end of the base 12 remote from the gear case 1 and serves as a seal against leakage.

One side of the left end of the gear box 1 is provided with a motor mechanism 9, a flange 11 is installed on the gear box 1, and the flange 11 is fixed with the motor mechanism 9 and is statically sealed by adopting an O-shaped sealing ring. The motor mechanism 9 comprises a large bevel gear II 91, a shaft sleeve IV 92, a speed reducer shell 93, a speed reducer 94, a frameless motor 95, a motor shell 96, a driver shell 97 and a watertight connector 98 in sequence, wherein the large bevel gear II 91 is meshed with the small bevel gear I31, and a rotating shaft of the frameless motor 95 extends into the gear box 1 and is fixed with the large bevel gear II 91.

The power transmission route of the folding antenna of the embodiment is as follows: the power of the rotating shaft of the frameless motor 95 passes through the large bevel gear II 91, the small bevel gear I31, the transmission shaft 6, the small bevel gear II 32, the large bevel gear I81 and the antenna rotating shaft 84 in sequence and then is transmitted to the antenna 87, so that the antenna 87 is driven to rotate, and folding and lifting are achieved. As shown in fig. 6, the antenna recovery state of the underwater robot is schematically shown; fig. 7 is a schematic diagram showing the antenna of the underwater robot in a lifted state.

Preferably, the embodiment is provided with a clamping groove at the position where the bearing is installed in the gear box 1, and the clamping groove is also provided at the position where the bearing is installed in the base 12 to prevent the bearing from sliding.

Referring to fig. 3, the base 12 is only arranged on one side of the right end of the gear box 1, and when the underwater robot needs multiple sets of antennas 87, the bases 12 can be arranged on both sides of the right end of the gear box 1, so that transmission of the multiple sets of antennas 87 is realized.

The above-mentioned embodiments are merely illustrative of the inventive concept and are not intended to limit the scope of the utility model, which is defined by the claims and the insubstantial modifications of the inventive concept can be made without departing from the scope of the utility model.

Claims

1. An antenna folding mechanism which characterized in that: the gearbox is connected with a box cover in a sealing way, a transmission shaft is supported in the gearbox through a bearing, a first transmission gear is arranged at one end of the transmission shaft, a second transmission gear is arranged at the other end of the transmission shaft, a motor mechanism is connected to the gearbox in a sealing way, and a motor rotating shaft of the motor mechanism extends into the gearbox and is provided with an input gear meshed with the first transmission gear; the gear box includes integrated into one piece's base, has the antenna pivot through the bearing support in the base, the one end of antenna pivot stretches into in the gear box and is equipped with the output gear with two meshing of drive gear, and the other end stretches out the base and is equipped with antenna connection structure, be equipped with the sealing member between antenna pivot and the base, the sealing member is located the one end that the gear box was kept away from to the base.

2. An antenna folding mechanism as claimed in claim 1, wherein: the motor mechanism comprises an input gear, a shaft sleeve, a reducer shell, a reducer, a frameless motor, a driver shell and a watertight connector in sequence from the side close to the gear box to the side far away from the gear box, a flange used for fixing the motor mechanism is arranged on the gear box, and a sealing element is arranged between the flange and the motor mechanism.

3. An antenna folding mechanism as claimed in claim 1, wherein: the input gear, the output gear, the first transmission gear and the second transmission gear are all bevel gears.

4. An antenna folding mechanism as claimed in claim 1, wherein: a clamping groove is formed in the position where the bearing is installed in the gear box.

5. An antenna folding mechanism as claimed in claim 1, wherein: a clamping groove is formed in the position, where the bearing is installed, in the base.

6. An antenna folding mechanism as claimed in claim 1, wherein: be equipped with the maintenance hole on the gear box, install the blind plate on the maintenance hole, be equipped with the sealing member between maintenance hole and the blind plate.

7. An antenna folding mechanism as claimed in claim 1, wherein: one or more of the bases.

8. A folded antenna, characterized by: the antenna folding mechanism comprises an antenna and the antenna folding mechanism as claimed in any one of claims 1 to 7, wherein the antenna is connected with the antenna rotating shaft through an antenna connecting structure.

9. A folded antenna according to claim 8, wherein: the antenna and the antenna rotating shaft are connected through a key and a key groove.

10. An underwater robot, characterized in that: comprising a folded antenna according to claim 8 or 9.