CN109911158A - A kind of underwater robot - Google Patents
A kind of underwater robot Download PDFInfo
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- CN109911158A CN109911158A CN201910180312.8A CN201910180312A CN109911158A CN 109911158 A CN109911158 A CN 109911158A CN 201910180312 A CN201910180312 A CN 201910180312A CN 109911158 A CN109911158 A CN 109911158A
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- sealing
- main shell
- underwater robot
- shell
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- 230000007246 mechanism Effects 0.000 claims abstract description 109
- 238000007667 floating Methods 0.000 claims abstract description 40
- 230000001141 propulsive effect Effects 0.000 claims abstract description 16
- 238000007789 sealing Methods 0.000 claims description 91
- 230000005540 biological transmission Effects 0.000 claims description 40
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 238000003780 insertion Methods 0.000 claims description 8
- 230000037431 insertion Effects 0.000 claims description 8
- 238000005516 engineering process Methods 0.000 abstract description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 21
- 238000010586 diagram Methods 0.000 description 10
- 238000005452 bending Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000007665 sagging Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to robotic technology fields, propose a kind of underwater robot, including cylindrical main shell, the circumferential direction of described main shell one end is evenly distributed with several propulsive mechanisms, the main shell top is circumferentially provided with several floating body mechanisms, and power mechanism is provided on the side wall of the other end, is provided with Working mechanism on the power mechanism, the Working mechanism drives operation by the power mechanism, solves the big technical problem of existing underwater robot ship resistance.
Description
Technical field
The invention belongs to robotic technology fields, are related to a kind of underwater robot.
Background technique
Autonomous Underwater Vehicle (AUV), is called underwater robot, is one kind of underwater unmanned vehicle (UUV).Under water
No matter militarily or civilian aspect is not all new things, development starts from the fifties to unmanned vehicles (UUV) technology,
Early stage is mainly used for the exploitation etc. of offshore oil and natural gas, and military aspect is mainly used for salvaging the seabed weapon that test is lost
(such as torpedo).The end of the eighties, with computer technology, artificial intelligence technology, microelectric technique, table, Zhi Huiyu
Control hardware, logical AND software technology are advanced by leaps and bounds, and Autonomous Underwater Vehicle (AUV) greatly developed.It is existing
Submarine technology AUV robot, up and down pass through mostly changes the ontology i.e. hydraulic pressure cabin water filling of buoyancy in water, drains to realize
It dives under water, swim.
Existing underwater robot is mostly cube and irregular airflow design.This can all cause in some direction
Ship resistance increases the anti-current ability decline of city's aircraft.
The operating system of existing underwater robot is mostly whole design.Dynamical system does not adapt to various hands are grabbed and tool
Operation mode, set of system can only adapt to a kind of manner of execution.The mostly modes such as oil pressure, air pressure, electric pushrod.
The operation gripper of existing underwater robot mostly uses the modes such as screw thread, structural member to fix on the body, and electrically connects
Blow-by is connect, Yao Caiyong underwater electrical connector is electrically connected.It causes the replacement of operation gripper inconvenient, is caused with underwater electrical connector
Product cost improves, and there is also seal insecure problem.
More two jaw systems of the operating system of existing underwater robot, use scope is smaller, can not for a few thing target
It is effectively grabbed, such as cup-shaped, the object for seeking shape shape.
Summary of the invention
The invention proposes a kind of underwater robots, solve the big technical problem of above-mentioned ship resistance.
The technical scheme of the present invention is realized as follows:
A kind of underwater robot, comprising:
Cylindrical main shell, the circumferential direction of described main shell one end are evenly distributed with several propulsive mechanisms, on the main shell
Portion is circumferentially provided with several floating body mechanisms, and power mechanism is provided on the side wall of the other end, work is provided on the power mechanism
Industry mechanism, the Working mechanism drive operation by the power mechanism.
As further technical solution, the power mechanism includes the sealing shell being fixedly connected with the main shell,
The end of the sealing shell is provided with the first sealing block, and motor is provided in the sealing shell, and the motor output shaft is logical
Coaxially connected transmission shaft is crossed to connect with the Working mechanism.
As further technical solution, first sealing block is provided with motor close to the side of the sealing shell and consolidates
Price fixing, the motor output shaft passes through shaft coupling after passing through the motor fixing plate and the transmission shaft is coaxially connected, described
Axis device is located in first sealing block.
As further technical solution, it is provided with the second sealing block between first sealing block and the transmission shaft,
Interior seal groove and external seal slot, the interior seal groove and the drive shaft seal are provided on second sealing block, it is described outer
Seal groove and first sealing block seal.
As further technical solution, the floating body mechanism includes several floating bodies being fixed on the main shell
Bracket, disassembly is provided with floating body on the floating-body bracket, and the floating body axis is parallel with the main shell axis, the floating body branch
Frame includes two arc being stuck on floating body outer wall buckles.
As further technical solution, the Working mechanism includes being fixed on first sealing block far from the sealing
The mounting disc of shell side, the transmission shaft extend vertically through the mounting disc, several peaces are evenly arranged in the mounting disc
Block is filled, the mounting disc is provided with grasping mechanism far from the side of the motor,
The grasping mechanism includes the threaded block moved along the transmission shaft, is provided on the transmission shaft and the screw thread
The external screw thread of the screw-internal thread fit of block, is hingedly provided with gripper on the mounting blocks, the middle part of the gripper by connecting rod with
The threaded block is hinged, hinged in the middle part of described connecting rod one end and the gripper.
As further technical solution, gripper includes pawl arm body, and pawl arm body one end and the mounting blocks are cut with scissors
It connects, the other end is provided with hook, and the hook is bent towards the transmission shaft, is provided with several bar shapeds in the hook side
Tooth, the bar shaped tooth extend along the hook width direction,
Several perforative through-holes are provided on the pawl arm body length direction.
As further technical solution, the propulsive mechanism includes the roof support being fixedly connected with the main shell,
Round fixed frame is fixedly installed on the roof support, rotation is provided with propeller in the fixed frame, the propeller
Two sides are provided with propeller tail portion, and the propeller tail portion is fixed on the fixed frame.
As further technical solution, the power mechanism is connect by attachment device with the main shell,
The attachment device includes the connecting plate being fixed on the main shell, is provided through on the connecting plate and institute
The first through hole being connected to inside main shell is stated, the symmetrical two sides of first through hole are provided with the second through-hole, and described second is logical
The connecting plate is run through in hole, is provided through third through-hole, the axially bored line of the third through-hole and institute on the connecting plate side wall
The axially bored line for stating the second through-hole is vertical, and the third through-hole passes through second through-hole,
The sealing drum being inserted into the first through hole, the sealing drum and the working rig are provided on the Working mechanism
Connection inside structure, the two sides of the sealing drum are provided with the locating piece for being inserted into second through-hole, are arranged on the locating piece
There is the location hole being connected to the third through-hole, disassembly is provided with for the locating piece to be fixed on institute in the third through-hole
State the positioning pin in the second through-hole.
As further technical solution, the positioning pin includes pin rod, and the both ends of the pin rod are respectively arranged with pull ring
The plunger being hingedly arranged, the length of the pin rod are greater than the length of the third through-hole.
Compared with prior art, it working principle of the present invention and has the beneficial effect that
1, in the present invention, the inside of cylindrical main shell is control system, loads control circuit etc., cylindrical main shell
Ship resistance can be made to reduce under water, the enhancing of anti-current ability.The propulsive mechanism of main shell one end is for passing through the disturbance to water
It drives entire underwater robot to advance, is evenly distributed on main shell end, the different rotating speeds tune of each propulsive mechanism can be passed through
The forward-reverse of whole underwater robot, and move up and down, it is equal in propeller quantity compared with existing underwater robot
In the case where, route speed greatly improves, and complete machine cost reduces, and improves anti-current ability.Detachable floating body mechanism can
The number and size for adjusting floating body mechanism at any time with the varying in weight for equipment carried on underwater robot, thus under water
Balancing gravity, can also front and back adjust position of floating body, to ensure the attitude stabilization of underwater robot.It is provided in the bottom of main shell
Power mechanism and the Working mechanism connecting with power mechanism, power mechanism are used to provide power, and engine for Working mechanism
It is connected to, is included into control system inside structure and main shell, Working mechanism is for grabbing immersed body.
2, in the present invention, four propellers are uniformly distributed peace by 90 ° of vertical plane on the main shell of robot under water
Dress, propulsive mechanism can provide underwater operation power in multiple angle directions.
3, in the present invention, power mechanism includes motor, and motor seal in sealing shell, dismantle by the opening of sealing shell
Be provided with the first sealing block, when installation motor is put into after sealed with the first sealing block, avoid water from entering broken in sealing shell
Bad motor.The output shaft of motor is coaxially connected with Working mechanism after the first sealing block.Power mechanism can be adapted to several work
Tool, such as: three-jaw, two pawls, water sampler, deposit sampler etc., the cost of reduced operating system, suitability is significantly
It improves.
4, in the present invention, motor is fixed in motor fixing plate, and motor fixing plate is arranged in sealing shell, the first sealing
Shaft coupling is provided in block, the transmission shaft and motor output shaft of Working mechanism are realized coaxially connected by shaft coupling.Second sealing
The first sealing block is arranged in one end of Working mechanism in block, is used for further seal transmission shaft and the first sealing block.
5, in the present invention, floating body mechanism includes floating-body bracket and floating body, floating-body bracket for fixing floating body, floating body axis with
Main shell axis is parallel, and floating body is mounted on the top half of main shell.Floating-body bracket is made of two arc buckles, can be bound round
Firmly cylindrical float.Arc buckles the disassembly that can facilitate floating body, is also capable of providing enough pressure and holds floating body tightly.
6, in the present invention, Working mechanism includes mounting disc, and mounting disc is fixed on the first sealing block of motor, and transmission shaft is worn
Mounting disc is crossed, mounting disc side is provided with threaded block, threaded through-hole is provided on threaded block, and threaded block is equivalent to screw,
It is moved on transmission shaft along its axis.Several grippers are provided in threaded block circumferential direction, one end of gripper, which is hingedly arranged in, installs
On disk, the middle part of gripper is hingedly provided with connecting rod, and the free end of connecting rod and threaded block are hinged, as motor drives transmission shaft
Rotation, threaded block move back and forth along transmission shaft, drive opening and closing in the middle part of gripper, realize gripper free end hook to article
It clamps crawl or hooks up.
7, in the present invention, gripper includes the pawl arm body in bar shaped, and one end of pawl arm body is arc-shaped, can be smoothly
Mounting blocks around articulated connection rotate, and the other end of pawl arm body is provided with hook, link up with towards internal bend, on bending side
It is provided with bar shaped tooth, the friction being capable of increasing when grabbing object and grasp force.The length direction of bar shaped tooth and the length of pawl arm body
It is vertical to spend direction, for example grabs longer bottle shape object, frictional force between the two is the length along pawl arm body after crawl
Spend direction, if therefore bar shaped tine length direction it is vertical with the direction, can make to grab stronger.The middle part of pawl arm body is logical
It is hinged with transmission shaft to cross connecting rod, as transmission shaft rotates, threaded block moves linearly on transmission shaft, drives three grippers oneself
By end simultaneously far from or close to transmission shaft, the folding of gripper is realized, to grab article.
8, in the present invention, roof support is provided with round fixed frame on roof support for realizing the connection with main shell,
Middle part in round fixed frame is provided with propeller, and the two sides of propeller are provided with propeller tail portion, and propeller passes through rotation
Water is pushed to realize the movement of underwater robot, the propeller tail portion at both ends can be effectively protected propeller, avoid miscellaneous in water
Object or aquatic plant are wound with propeller.
9, in the present invention, attachment device is provided between power mechanism and main shell, attachment device includes being fixed on outside main
Connecting plate on shell is provided on connecting plate through the first through hole of its thickness direction and two the second through-holes, and first through hole is used
Sealing drum in insertion power mechanism sealing shell, the second through-hole are used for two locating pieces being inserted into sealing shell；
The third through-hole through its length direction, third through-hole and first through hole, the second through-hole are additionally provided on connecting plate
Axis it is vertical, the location hole conllinear with third through-hole after insertion is provided on locating piece, locating piece is inserted into the second through-hole
Later, positioning pin insertion third through-hole and location hole, sealing shell is fixed on main shell, and is realized outside sealing drum and master
Connection inside shell, the electric wire of motor are electrically connected after passing through sealing drum with the control system inside main shell.
10, in the present invention, positioning pin includes the pin rod of rod, and pull ring and plunger is respectively set in pin rod both ends, and pull ring is used for
Facilitate manual operation, plunger is freely rotated in the groove of pin rod end, and plunger is adjusted to coaxial with pin rod, and insertion third is logical
Hole and positioning hole, after penetrating, plunger is freely sagging, and positioning pin can not be extracted outward, to realize simply and easily main shell
With being fixedly connected for sealing shell, and it is not easy to loosen.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is an angle schematic perspective view of the invention；
Fig. 2 is another angle schematic perspective view of the present invention；
Fig. 3 is power mechanism structural schematic diagram in the present invention；
Fig. 4 is the second sealing block structural schematic diagram of power mechanism in the present invention；
Fig. 5 is enlarged structure schematic diagram at A in the present invention；
Fig. 6 is Working mechanism structural schematic diagram in the present invention；
Fig. 7 is median claw arm body structural schematic diagram of the present invention；
Fig. 8 is propulsive mechanism enlarged structure schematic diagram in the present invention；
Fig. 9 is bindiny mechanism's structural schematic diagram in the present invention；
Figure 10 is connecting board structure schematic diagram in the present invention；
Figure 11 is sealing shell structural schematic diagram in the present invention；
Figure 12 is locating pin structure schematic diagram in the present invention；
In figure: 2- main shell, 3- propulsive mechanism, 31- roof support, 32- fixed frame, 33- propeller, 34- propeller tail
Portion, 4- floating body mechanism, 41- floating-body bracket, 411- arc buckle, 42- floating body, 5- power mechanism, 51- sealing shell, 52- first
Sealing block, 53- motor, 54- transmission shaft, 55- motor fixing plate, 56- shaft coupling, the second sealing block of 57-, seal groove in 571-,
572- external seal slot, 6- Working mechanism, 61- mounting disc, 62- mounting blocks, 63- grasping mechanism, 631- threaded block, 632- gripper,
6321- pawl arm body, 6322- hook, 6323- bar shaped tooth, 6324- through-hole, 633- connecting rod, 64- sealing drum, 65- locating piece,
651- location hole, 66- positioning pin, 661- pin rod, 662- pull ring, 663- plunger, 7- attachment device, 71- connecting plate, 72- first
Through-hole, the second through-hole of 73-, 74- third through-hole.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Fig. 1-Figure 12, the present invention proposes a kind of underwater robot, comprising:
Cylindrical main shell 2, the circumferential direction of 2 one end of main shell are evenly distributed with several propulsive mechanisms 3,2 top of main shell week
To several floating body mechanisms 4 are provided with, it is provided with power mechanism 5 on the side wall of the other end, is provided with Working mechanism on power mechanism 5
6, Working mechanism 6 drives operation by power mechanism 5.
In the present embodiment, the inside of cylindrical main shell 2 is control system, control circuit etc. is loaded, outside cylindrical master
Shell 2 can be such that ship resistance reduces under water, the enhancing of anti-current ability.The propulsive mechanism 3 of 2 one end of main shell is used for by water
Disturbance drives entire underwater robot to advance, and is evenly distributed on 2 end of main shell, can pass through the difference of each propulsive mechanism 3
Revolving speed adjusts the forward-reverse of underwater robot, and moves up and down, compared with existing underwater robot, in propeller number
Measure it is equal in the case where, route speed greatly improves, complete machine cost reduce, improve anti-current ability.Detachable floating body 42
Mechanism 4 can adjust at any time the number of 42 mechanism 4 of floating body and big with the varying in weight for equipment carried on underwater robot
It is small, thus balancing gravity under water, can also front and back adjust 42 position of floating body, to ensure the attitude stabilization of underwater robot.In master
The bottom of shell 2 is provided with power mechanism 5 and the Working mechanism connecting with power mechanism 56, and power mechanism 5 is used to be operation
Mechanism 6 provides power, and is connected to inside power mechanism 5 and main shell 2, is included into control system, and Working mechanism 6 is for grabbing water
Lower object.
Further, there are four propulsive mechanism 3 is total to.
In the present embodiment, four propellers are uniformly distributed peace by 90 ° of vertical plane on the main shell 2 of robot under water
Dress, propulsive mechanism 3 can provide underwater operation power in multiple angle directions.
Further, power mechanism 5 includes the sealing shell 51 being fixedly connected with main shell 1, and the end of sealing shell 51 is set
It is equipped with the first sealing block 52, motor 53 is provided in sealing shell 51,53 output shaft of motor passes through coaxially connected transmission shaft 54
It is connect with Working mechanism 6.
In the present embodiment, power mechanism 5 includes motor 53, and motor 53 is sealed in sealing shell 51, sealing shell 51
Opening disassembly is provided with the first sealing block 52, when installation motor 53 is put into after sealed with the first sealing block 52, avoid water
Motor 53 is destroyed in into sealing shell 51.The output shaft of motor 53 coaxially connects after passing through the first sealing block 52 with Working mechanism 6
It connects.Power mechanism 5 can be adapted to several work tool, such as: three-jaw, two pawls, water sampler, deposit sampler etc. reduce
Operating system cost, suitability greatly improves.
Further, the first sealing block 52 is provided with motor fixing plate 55 close to the side of sealing shell 51, and motor 53 exports
Axis passes through shaft coupling 56 after passing through motor fixing plate 55 and transmission shaft 54 is coaxially connected, and shaft coupling 56 is located at the first sealing block 52
It is interior.
In the present embodiment, motor 53 is fixed in motor fixing plate 55, and motor fixing plate 55 is arranged in sealing shell 51,
Shaft coupling 56 is provided in first sealing block 52, the transmission shaft 54 and 53 output shaft of motor of Working mechanism 6 are real by shaft coupling 56
It is existing coaxially connected.
Further, it is provided with the second sealing block 57 between the first sealing block 52 and transmission shaft 54, is set on the second sealing block 57
It is equipped with interior seal groove 571 and external seal slot 572, interior seal groove 571 is sealed with transmission shaft 54, external seal slot 572 and the first sealing
Block 52 seals.
In the present embodiment, the first sealing block 52 is arranged in one end of Working mechanism 6 in the second sealing block 57, for into
One step seal transmission shaft 54 and the first sealing block 52.
Further, floating body mechanism 4 includes several floating-body brackets 41 for being fixed on main shell 2, on floating-body bracket 41
Disassembly is provided with floating body 42, and 42 axis of floating body is parallel with 1 axis of main shell,
Floating-body bracket 41 includes two arc being stuck on 42 outer wall of floating body buckles 411.
In the present embodiment, 42 mechanism 4 of floating body includes floating-body bracket 41 and floating body 42, and floating-body bracket 41 is for fixing floating body
42,42 axis of floating body is parallel with 2 axis of main shell, and floating body 42 is mounted on the top half of main shell 2.Floating-body bracket 41 is by two
A arc buckle 411 is constituted, and can wale cylindrical float 42.Arc buckle 411 can facilitate the disassembly of floating body 42, also can
Enough pressure is provided and holds floating body 42 tightly.
Further, Working mechanism 6 includes being fixed on mounting disc 61 of first sealing block 52 far from 51 side of sealing shell, is passed
Moving axis 54 extends vertically through mounting disc 61, several mounting blocks 62 is evenly arranged in mounting disc 61, mounting disc 61 is far from motor 53
Side be provided with grasping mechanism 63, grasping mechanism 63 includes the threaded block 631 moved along transmission shaft 54, is arranged on transmission shaft 54
There is the external screw thread with the screw-internal thread fit of threaded block 631, gripper 632 is hingedly provided on mounting blocks 62, the middle part of gripper 632 is logical
It crosses connecting rod 633 and threaded block 631 is hinged, 633 one end of connecting rod and 632 middle part of gripper are hinged.
In the present embodiment, Working mechanism 6 includes mounting disc 61, and mounting disc 61 is fixed on the first sealing block 52 of motor 53
On, transmission shaft 54 passes through mounting disc 61, and 61 side of mounting disc is provided with threaded block 633, is provided on threaded block 633 threaded
Through-hole 6324, threaded block 633 are equivalent to screw, move on transmission shaft 54 along its axis.If being provided in 633 circumferential direction of threaded block
Dry gripper 632, one end of gripper 632 are hingedly arranged in mounting disc 61, and the middle part of gripper 632 is hingedly provided with connecting rod
633, the free end of connecting rod 633 and threaded block 633 are hinged, and as motor 53 drives transmission shaft 54 to rotate, threaded block 633 is along biography
Moving axis 54 moves back and forth, and drives 632 middle part opening and closing of gripper, realizes that 632 free end of gripper links up with the folder of 6322 pairs of articles
It keeps a firm hand on and takes or hook up.
Further, gripper 632 includes pawl arm body 6321, and 6321 one end of pawl arm body and mounting blocks 62 are hinged, the other end
It is provided with hook 6322, hook 6322 is bent towards transmission shaft 54, is linked up with and is provided with several bar shaped teeth 6323, item on 6322 sides
Shape tooth 6323 extends along 6322 width directions of hook,
Several perforative through-holes 6324 are provided on 6321 length direction of pawl arm body.
Further, the middle part of pawl arm body 6321 is provided with the second lug boss 6325, and 6321 one end of pawl arm body is provided with
Third protrusion portion 6326,6322 setting of hook are provided with perforative through-hole, connecting rod on the other end, the second lug boss 6325
633 is hinged by the pin shaft being arranged in through-hole and the second lug boss 6325,6326 one end of third protrusion portion and pawl arm body
6321 connections, the other end are arc-shaped, and through-hole is provided in third protrusion portion 6326, and third protrusion portion 6326 passes through pin shaft and peace
It is hinged to fill block 62.
In the present embodiment, gripper 632 includes the pawl arm body 6321 in bar shaped, and one end of pawl arm body 6321 is in circular arc
Shape can smoothly be rotated around the mounting blocks of articulated connection 62, and the other end of pawl arm body 6321 is provided with hook 6322, hangs
Hook 6322 is provided with bar shaped tooth 6323 on bending side towards internal bend, friction and grasp force when being capable of increasing crawl object.
The length direction of bar shaped tooth 6323 is vertical with the length direction of pawl arm body 6321, for example grabs longer bottle shape object, grabs
Frictional force between the two is the length direction along pawl arm body 6321 after taking, if therefore 6323 length direction of bar shaped tooth with
The direction is vertical, can make to grab stronger.
In the present embodiment, the middle part of pawl arm body 6321 is hinged by connecting rod 633 and transmission shaft 54, with transmission shaft 54
Rotation, threaded block 633 move linearly on transmission shaft 54, drive the free end of three grippers 632 simultaneously far from or close to biography
Moving axis 54 realizes the folding of gripper 632, to grab article.
Further, propulsive mechanism 3 includes the roof support 31 being fixedly connected with main shell 2, and fixation is set on roof support 31
It is equipped with round fixed frame 32, rotation is provided with propeller 33 in fixed frame 32, and the two sides of propeller 33 are provided with propeller tail
Portion 34, propeller tail portion 34 are fixed on fixed frame 32.
In the present embodiment, roof support 31 is provided with round solid for realizing the connection with main shell 2 on roof support 31
Determine frame 32, the middle part in round fixed frame 32 is provided with propeller 33, and the two sides of propeller 33 are provided with propeller tail portion 34,
Propeller 33 realizes the movement of underwater robot by rotation forces water, and spiral shell can be effectively protected in the propeller tail portion 34 at both ends
Paddle 33 is revolved, sundries or aquatic plant and propeller 33 in water is avoided to wind.
Further, power mechanism 5 is connect by attachment device 7 with main shell 2, and attachment device 7 includes being fixed on main shell 2
On connecting plate 71, the first through hole 72 being connected to inside main shell 2 is provided through on connecting plate 71, first through hole 72 is symmetrical
Two sides be provided with the second through-hole 73, the second through-hole 73 runs through connecting plate 71, is provided through third on 71 side wall of connecting plate
Through-hole 74, the axially bored line of third through-hole 74 is vertical with the axially bored line of the second through-hole 73, and third through-hole 74 passes through the second through-hole 73,
It is provided with the sealing drum 64 being inserted into first through hole 72 on Working mechanism 6, is connected to inside sealing drum 64 and Working mechanism 6, seals
The two sides of cylinder 64 are provided with the locating piece 65 of the second through-hole 73 of insertion, are provided on locating piece and determine with what third through-hole 74 was connected to
Position hole 651, the interior disassembly of third through-hole 74 are provided with the positioning pin 66 for being fixed on locating piece 65 in second through-hole 73.
In the present embodiment, attachment device 7 is provided between power mechanism 5 and main shell 2, attachment device 7 includes being fixed on
Connecting plate 71 on main shell 2 is provided with through the first through hole 72 of its thickness direction and two the second through-holes on connecting plate 71
73, first through hole 72 is used for the sealing drum 64 being inserted into 5 sealing shell 51 of power mechanism, and the second through-hole 73 is outer for being inserted into sealing
Two locating pieces 65 on shell 51；The third through-hole 74 through its length direction, third through-hole 74 are additionally provided on connecting plate 71
It is vertical with the axis of first through hole 72, the second through-hole 73, it is provided on locating piece 65 conllinear with third through-hole 74 after insertion
Location hole 651, after the insertion of locating piece 65 second through-hole 73 is interior, positioning pin 66 is inserted into third through-hole 74 and location hole 651, will be close
Envelope shell 51 is fixed on main shell 2, and realizes the connection inside sealing drum 64 and main shell 2, and the electric wire of motor 53 passes through
It is electrically connected after sealing drum 64 with the control system inside main shell 2.
Further, positioning pin 66 includes pin rod 661, and the both ends of pin rod 661 are respectively arranged with pull ring 662 and are hingedly arranged
Plunger 663, the length of pin rod 661 are greater than the length of third through-hole 74.
In the present embodiment, positioning pin 66 includes the pin rod 661 of rod, and pull ring 662 and plunger is respectively set in 661 both ends of pin rod
663, for facilitating manual operation, plunger 663 is freely rotated pull ring 662 in the groove of 661 end of pin rod, and plunger 663 is adjusted
It is whole coaxially, to be inserted into third through-hole 74 and location hole 651 to pin rod 661, after penetrating, free sagging, the positioning pin 66 of plunger 663
It can not extract outward, to realize being fixedly connected for simply and easily main shell 2 and sealing shell 51, and be not easy to loosen.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of underwater robot, which is characterized in that including cylindrical main shell (2), the circumferential direction of described main shell (2) one end is
Even to be distributed with several propulsive mechanisms (3), main shell (2) top is circumferentially provided with several floating body mechanisms (4), the side of the other end
It is provided on wall power mechanism (5), is provided with Working mechanism (6) on the power mechanism (5), the Working mechanism (6) passes through
The power mechanism (5) drives operation.
2. a kind of underwater robot according to claim 1, which is characterized in that the power mechanism (5) include with it is described
The end of the sealing shell (51) that main shell (2) is fixedly connected, the sealing shell (51) is provided with the first sealing block (52), institute
It states and is provided with motor (53) in sealing shell (51), motor (53) output shaft passes through coaxially connected transmission shaft (54) and institute
State Working mechanism (6) connection.
3. a kind of underwater robot according to claim 2, which is characterized in that first sealing block (52) is close to described
The side of sealing shell (51) is provided with motor fixing plate (55), and motor (53) output shaft passes through the motor fixing plate
(55) coaxially connected by shaft coupling (56) and the transmission shaft (54) afterwards, the shaft coupling (56) is located at first sealing block
(52) in.
4. a kind of underwater robot according to claim 3, which is characterized in that first sealing block (52) and the biography
It is provided between moving axis (54) the second sealing block (57), interior seal groove (571) and outer is provided on second sealing block (57)
Seal groove (572), the interior seal groove (571) and the transmission shaft (54) seal, the external seal slot (572) and described first
Sealing block (52) sealing.
5. a kind of underwater robot according to claim 1, which is characterized in that the floating body mechanism (4) includes that fixation is set
Several floating-body brackets (41) on the main shell (2) are set, disassembly is provided with floating body (42), institute on the floating-body bracket (41)
It is parallel with the main shell (1) axis to state floating body (42) axis,
The floating-body bracket (41) includes two arc being stuck on the floating body (42) outer wall buckles (411).
6. a kind of underwater robot according to claim 2, which is characterized in that the Working mechanism (6) includes being fixed on
Mounting disc (61) of first sealing block (52) far from the sealing shell (51) side, the transmission shaft (54) extend vertically through
The mounting disc (61) is evenly arranged with several mounting blocks (62) on the mounting disc (61), and the mounting disc (61) is separate
The side of the motor (53) is provided with grasping mechanism (63),
The grasping mechanism (63) includes the threaded block (631) moved along the transmission shaft, is provided on the transmission shaft (54)
With the external screw thread of the screw-internal thread fit of the threaded block (631), gripper (632), institute are hingedly provided on the mounting blocks (62)
The middle part for stating gripper (632) passes through connecting rod (633) and the threaded block (631) hingedly, described connecting rod (633) one end and institute
It states hinged in the middle part of gripper (632).
7. a kind of underwater robot according to claim 6, which is characterized in that the gripper (632) includes pawl arm body
(6321), hingedly, the other end is provided with hook (6322), described for described pawl arm body (6321) one end and the mounting blocks (62)
It links up with (6322) to bend towards the transmission shaft (54), is provided with several bar shaped teeth (6323) on described hook (6322) side,
The bar shaped tooth (6323) extends along hook (6322) width direction,
Several perforative through-holes (6324) are provided on pawl arm body (6321) length direction.
8. a kind of underwater robot according to claim 1, which is characterized in that the propulsive mechanism (3) include with it is described
The roof support (31) that main shell (2) is fixedly connected is fixedly installed round fixed frame (32), institute on the roof support (31)
It states rotation in fixed frame (32) to be provided with propeller (33), the two sides of the propeller (33) are provided with propeller tail portion
(34), the propeller tail portion (34) is fixed on the fixed frame (32).
9. a kind of underwater robot according to claim 1, which is characterized in that the power mechanism (5) passes through connection dress
(7) are set to connect with the main shell (2),
The attachment device (7) includes the connecting plate (71) being fixed on the main shell (2), is run through on the connecting plate (71)
The first through hole (72) for being provided with and being connected to inside the main shell (2), the symmetrical two sides of the first through hole (72) are respectively provided with
Have the second through-hole (73), second through-hole (73) runs through the connecting plate (71), runs through on connecting plate (71) side wall and sets
It is equipped with third through-hole (74), the axially bored line of the third through-hole (74) is vertical with the axially bored line of second through-hole (73), and institute
It states third through-hole (74) and passes through second through-hole (73),
The sealing drum (64) being inserted into the first through hole (72), the sealing drum (64) are provided on the Working mechanism (6)
It is connected to the Working mechanism (6) inside, the two sides of the sealing drum (64) are provided with insertion second through-hole (73)
Locating piece (65) is provided with the location hole (651) being connected to the third through-hole (74), the third through-hole on the locating piece
(74) disassembly is provided with the positioning pin (66) for being fixed on the locating piece (65) in second through-hole (73) in.
10. a kind of underwater robot according to claim 9, which is characterized in that the positioning pin (66) includes pin rod
(661), the plunger (663) that the both ends of the pin rod (661) are respectively arranged with pull ring (662) and are hingedly arranged, the pin rod
(661) length is greater than the length of the third through-hole (74).
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| CN201910180312.8A CN109911158B (en) | 2019-03-11 | 2019-03-11 | Underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910180312.8A CN109911158B (en) | 2019-03-11 | 2019-03-11 | Underwater robot |
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| CN109911158B CN109911158B (en) | 2023-11-24 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4098547A1 (en) * | 2021-06-02 | 2022-12-07 | BAE SYSTEMS plc | Method and apparatus for control |
| WO2022254178A1 (en) * | 2021-06-02 | 2022-12-08 | Bae Systems Plc | Method and apparatus for control |
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| Publication number | Publication date |
|---|---|
| CN109911158B (en) | 2023-11-24 |
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