CN108045534A - A kind of orientation blade driving mechanism for universal robot - Google Patents
A kind of orientation blade driving mechanism for universal robot Download PDFInfo
- Publication number
- CN108045534A CN108045534A CN201711485478.8A CN201711485478A CN108045534A CN 108045534 A CN108045534 A CN 108045534A CN 201711485478 A CN201711485478 A CN 201711485478A CN 108045534 A CN108045534 A CN 108045534A
- Authority
- CN
- China
- Prior art keywords
- orientation
- propeller
- shaft
- drive motors
- driving mechanism
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/16—Arrangements on vessels of propulsion elements directly acting on water of propellers characterised by being mounted in recesses; with stationary water-guiding elements; Means to prevent fouling of the propeller, e.g. guards, cages or screens
- B63H5/165—Propeller guards, line cutters or other means for protecting propellers or rudders
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
The invention discloses a kind of orientation blade driving mechanism for universal robot, the orientation drive motors including two orientation propellers and for synchronously driving this two orientation propeller rotationals；Orientation drive motors are a double shaft-protruding type drive motors, and the both ends of shaft stretch out motor both sides and form two orientation output shafts, and each propeller that orients is fixed on corresponding orientation output shaft.The present invention has positive effect：By using the directed driven power that synchronous two orientation propeller offers of driving are located along the same line, the technique effect that larger driving force is provided using smaller propeller is obtained.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of orientation blade driving machine for universal robot
Structure.
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 is mostly under water on the basis of video camera, increases mobile module, so as to complete independently to move
Dynamic or controlled movement, but the driving direction of its driving mechanism is limited, it is impossible to arbitrarily change direction under water, it is necessary to which longer changes
Commutation work could be completed to distance.
The content of the invention
The object of the present invention is to provide a kind of orientation blade driving mechanism for universal robot, for for universal machine
People is provided compared with the constant directed driven power of housing direction.
Realizing the technical solution of the object of the invention is：A kind of orientation blade driving mechanism for universal robot, including
Two orientation propellers and the orientation drive motors for synchronously driving this two orientation propeller rotationals；Orientation drive motors are
One double shaft-protruding type drive motor, the both ends of shaft stretch out motor both sides and form two orientation output shafts, respectively orient propeller
It is fixed on corresponding orientation output shaft.
In said program, two orientation propellers generation power directions are identical, and are located along the same line.
The present invention has positive effect：It is located along the same line by using synchronous two orientation propeller offers of driving
Directed driven power, obtain the technique effect that larger driving force is provided using smaller propeller.
Description of the drawings
Fig. 1 is a kind of dimensional structure diagram of the present invention；
Fig. 2 is using a kind of dimensional structure diagram that universal robot made of blade driving mechanism is oriented shown in Fig. 1；
Fig. 3 is that robot shown in Fig. 2 removes a kind of dimensional structure diagram after head cover；
Fig. 4 is a kind of half sectional view of robot shown in Fig. 3；
Fig. 5 is a kind of dimensional structure diagram of blade driver in robot shown in Fig. 4；
Fig. 6 is a kind of explosive view of blade driver shown in Fig. 5；
Fig. 7 is a kind of dimensional structure diagram when robot shown in Fig. 2 is in the fully extended state；
Fig. 8 is that robot shown in Fig. 7 removes a kind of half sectional view after head cover.
Reference numeral is：Housing 1, hemispherical observation window 11, locating support 12 seal slide opening 13, orient blade driving machine
Structure 2, orientation propeller 21, orientation drive motors 22, orientation output shaft 221, tuning blade driving mechanism 3, blade driver 4,
Closed chamber 41, power supply 42, blade 43, protective cover 44, blade drive motor 45, annular seal space 46, mounting portion 47, the first rotation section
48, first rotating shaft 481, connecting hole 482, the second rotation section 49, slideway portion 491, sliding slot 4911, nut 4912, /V slide opening
492, the second axle mount 493, slider body portion 4931, anticreep projected board 4932, positioning convex platform portion 4933, axle hole
4934, the second shaft 494, spring 495, adjusted device 5, tuning drive motor 51, tuning drive motor output shaft 511, outer spiral shell
Rasp bar 52, flexible slide bar 53, inner bolt hole 531, cleaning agency 6, semi-circular support plate 61, cleaning brush 62, photographing module 7, holder
Mechanism 71, camera 72.
Specific embodiment
（Embodiment 1, orientation blade driving mechanism）
The present embodiment is a kind of orientation blade driving mechanism, and as shown in Figure 1, which includes two orientations
Propeller 21 and the orientation drive motors 22 for synchronously driving this two orientation propeller rotationals；Orientation drive motors are one
Double shaft-protruding type drive motors, the both ends of shaft stretch out motor both sides and form two orientation output shafts 221, and each propeller that orients is consolidated
Surely it is arranged on corresponding orientation output shaft.
In said program, two orientation propellers generation power directions are identical, and are located along the same line.
The present embodiment has positive effect：It is provided by using synchronous two orientation propellers of driving and is located at same straight line
On directed driven power, obtain the technique effect that larger driving force is provided using smaller propeller.
（Application examples 1）
The application example is using a kind of universal underwater robot made of above-described embodiment 1, as shown in Fig. 2 to Fig. 8, including housing
1st, the photographing module 7 being built in housing and the driving mechanism for drive shell movement.
The global shape of housing is spherical shape, and the lower part of housing is equipped with transparent hemispherical observation window 11；Photographing module includes
The cradle head mechanism 71 with drive motor that is built in housing, the camera 72 being arranged on cradle head mechanism and it is arranged on holder
Headlamp in mechanism.Camera is fixed at the bottom of cradle head mechanism, the transparent wall of camera face hemispherical observation window
Body.
Driving mechanism include driving direction compared with the fixed orientation blade driving mechanism 2 of housing and driving direction compared with
The adjustable tuning blade driving mechanism 3 of housing；
Orientation blade driving mechanism 2 include being arranged on the orientation propeller 21 of hull outside and set in the housing be used to drive
Orient the orientation drive motors 22 of propeller rotational.
In the application example, orientation drive motors are a double shaft-protruding type drive motors, and motor two is stretched out at the both ends of shaft
Side forms two orientation output shafts 221, and housing is stretched out in each outer end for orienting output shaft；The quantity for orienting propeller is two, respectively
Orientation propeller is fixed on corresponding orientation output shaft；By designing the shape of blade, this two orientation propellers
The power direction of generation is identical, and point-blank, and its power direction is changeless compared with housing.
Tuning blade driving mechanism 3 includes the blade driver 4 being rotatably arranged on housing exterior walls and for driving blade
Driver is with respect to the adjusted device 5 of housing into rotation；
Blade driver 4 includes closed chamber 41, the power supply 42 being arranged in closed chamber, the blade being rotatably arranged on closed chamber
43rd, be arranged on sealing chamber outer wall for the blade drive motor protecting the protective cover 44 of blade and be arranged in closed chamber
45；Closed chamber is equipped with annular seal space 46 and mounting portion 47, and power supply and blade drive motor are fixed in annular seal space；
Mounting portion is equipped with the first rotation section 48 and the second rotation section 49；First rotation section 48 includes first with connecting hole 482
Shaft 481, first rotating shaft are rotatably arranged on the first rotation section；Second rotation section 49 includes the slideway equipped with /V slide opening 492
Portion 491, the second axle mount 493 being slidably arranged in /V slide opening, be arranged on the second axle mount second turn
It axis 494 and is arranged in /V slide opening and positioned at two springs 495 of the second axle mount both sides；One end of each spring abuts
On the second axle mount, the other end of each spring is connected on a side of /V slide opening namely in slideway portion, so as to for
Second axle mount provides reseting elasticity；The rotary centerline of first rotating shaft and the rotary centerline of the second shaft are parallel.This
In application examples, the shape of closed chamber is tubulose, and the acute angle that the center line clamping of the center line and /V slide opening of closed chamber is formed is
45 degree.This angle enables to blade driver 4 that can generate the driving force that housing is driven to rise when in original state,
And the driving force for driving housing sidesway is generated when in the fully extended state.
In the application example, slideway portion 491 sets to open for blocking the sliding slot there are one the sliding slot 4911 with opening and one
The nut 4912 of mouth, after nut twist-on is fixed on sliding slot opening, remaining sliding slot forms the /V slide opening 492；It is described
Second axle mount 493 includes and the slider body portion 4931 of /V slide opening adaptation, the use for being arranged on slider body portion both sides
In two anticreep projected boards 4932 for preventing from slipping from /V slide opening, be arranged on slider body for the two of retaining spring
A positioning convex platform portion 4933 and the axle hole 4934 for setting the second shaft；Each spring is connected on the second axle mount
One end be set in a corresponding positioning convex platform portion.This structure causes the second axle mount and the second shaft by two bullets
Spring is abutted and is centrally positioned, and can compress some spring under external force so as to be slided towards the spring direction.
In the application example, housing exterior walls are equipped with locating support 12, and the second shaft is rotatably arranged on the locating support.
Adjusted device 5 includes setting tuning drive motor 51 in the housing, is fixed at the output of tuning drive motor
External thread rod 52 on axis 511 and the flexible slide bar 53 with the inner bolt hole 531 with external thread rod adaptation；Housing is equipped with close
Slide opening 13 is sealed, each flexible slide bar is located in corresponding one sealing slide opening, and housing and and corresponding one is stretched out in the outer end of flexible slide bar
A first rotation section is rotatedly connected；In the application example, the outer end of flexible slide bar is inserted into the connecting hole of a corresponding first rotating shaft；
When tuning drive motor rotates, by external thread rod flexible slide bar is driven to reciprocatingly slide along sealing slide opening；Flexible slide bar is along close
When sealing slide opening slip, coupled blade driver is driven to be rotated around the second shaft.
In the application example, the quantity of blade driver is two, and is symmetricly set on housing both sides；So in the application example
Tuning drive motor preferably using double shaft-protruding type drive motors, the both ends of shaft stretch out motor both sides and form two output shafts
511, the tuning drive motor drives two external thread rods to rotate synchronously, so as to fulfill two blade drivers around respective second
Shaft rotates synchronously.
In concrete practice, two tuning drive motors can also be used namely individually driven using each tuning drive motor
One external thread rod rotates, and is individually rotated around respective second shaft so as to fulfill two blade drivers.
In the application example, the rotary centerline of blade is coplanar in the center line of flexible slide bar and blade driver, orients spiral shell
Power direction that the rotary centerline of paddle is generated perpendicular to the face namely orientation propeller is revolved always in blade driver
The power direction that blade generates.
In the application example, the adjustable direction of the tuning driving force of two tuning blade driving mechanisms is all located at same plane
Interior, which is known as tuning face；The directed driven power of propeller is oriented perpendicular to the tuning face where tuning driving force.
The application example also has the cleaning agency 6 for cleaning hemispherical observation window outer wall, and cleaning agency includes semi-circular
Support plate 61, set in the housing for drive semi-circular support plate reciprocally swinging cleaning drive motor, be fixed at
The cleaning brush 62 of semi-circular support plate inner wall uplink；The output shaft stretching housing for cleaning drive motor is fixed at semi-circular branch
One end of plate is held, the other end of semi-circular support plate is rotatably arranged on by axis pin on housing；Cleaning brush preferably uses elastic gum
Skin or hairbrush are made；It cleans drive motor and semi-circular support plate reciprocally swinging is driven by output shaft, and then drive cleaning brush brush
Except the foul on hemispherical observation window outer wall.
In the application example work, the power direction that propeller provides of orienting in blade driving mechanism is oriented compared with housing
Immobilize, the power direction that blade in tuning blade driving mechanism provides can change compared with housing, so as to fulfill compared with
For complicated shift action.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.And these
The obvious changes or variations that the connotation for belonging to of the invention is extended out still falls within protection scope of the present invention.
Claims (2)
1. a kind of orientation blade driving mechanism for universal robot, it is characterised in that：Including two orientation propellers and use
In the orientation drive motors for synchronously driving this two orientation propeller rotationals；
Orientation drive motors are a double shaft-protruding type drive motors, and both ends two orientations of stretching motor both sides formation of shaft are defeated
Shaft, each propeller that orients are fixed on corresponding orientation output shaft.
2. the orientation blade driving mechanism according to claim 1 for universal robot, it is characterised in that：Two orientations
Propeller generation power direction is identical, and is located along the same line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711485478.8A CN108045534A (en) | 2017-12-30 | 2017-12-30 | A kind of orientation blade driving mechanism for universal robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711485478.8A CN108045534A (en) | 2017-12-30 | 2017-12-30 | A kind of orientation blade driving mechanism for universal robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108045534A true CN108045534A (en) | 2018-05-18 |
Family
ID=62129519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711485478.8A Pending CN108045534A (en) | 2017-12-30 | 2017-12-30 | A kind of orientation blade driving mechanism for universal robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108045534A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436252A (en) * | 2018-12-29 | 2019-03-08 | 哈工大机器人（岳阳）军民融合研究院 | A kind of rotary type underwater propulsion unit |
| CN111846183A (en) * | 2020-07-24 | 2020-10-30 | 曾韵陶 | Self-balancing traffic entertainment tool on water |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87214029U (en) * | 1987-10-08 | 1988-10-26 | 中国船舶工业总公司七院第702研究所 | Contrary-turning paddle all-around traverse propeller |
| CN1236347A (en) * | 1996-11-07 | 1999-11-24 | 约瑟夫·比克有限公司施奥泰尔船厂 | Dual propeller propulsion system for a water craft |
| CN1359345A (en) * | 1999-05-11 | 2002-07-17 | 西门子公司 | Electric rudder propeller of lower installation height |
| CN105377693A (en) * | 2013-07-18 | 2016-03-02 | 西门子公司 | Electric pod drive for a ship |
| CN207972773U (en) * | 2017-12-30 | 2018-10-16 | 殷红平 | A kind of orientation blade driving mechanism for universal robot |
-
2017
- 2017-12-30 CN CN201711485478.8A patent/CN108045534A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87214029U (en) * | 1987-10-08 | 1988-10-26 | 中国船舶工业总公司七院第702研究所 | Contrary-turning paddle all-around traverse propeller |
| CN1236347A (en) * | 1996-11-07 | 1999-11-24 | 约瑟夫·比克有限公司施奥泰尔船厂 | Dual propeller propulsion system for a water craft |
| CN1359345A (en) * | 1999-05-11 | 2002-07-17 | 西门子公司 | Electric rudder propeller of lower installation height |
| CN105377693A (en) * | 2013-07-18 | 2016-03-02 | 西门子公司 | Electric pod drive for a ship |
| CN207972773U (en) * | 2017-12-30 | 2018-10-16 | 殷红平 | A kind of orientation blade driving mechanism for universal robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436252A (en) * | 2018-12-29 | 2019-03-08 | 哈工大机器人（岳阳）军民融合研究院 | A kind of rotary type underwater propulsion unit |
| CN111846183A (en) * | 2020-07-24 | 2020-10-30 | 曾韵陶 | Self-balancing traffic entertainment tool on water |
| CN111846183B (en) * | 2020-07-24 | 2021-06-08 | 曾韵陶 | Self-balancing traffic entertainment tool on water |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180518 |
|
| RJ01 | Rejection of invention patent application after publication |