CN1836972A - Microminiature underwater robot submerging and surfacing device - Google Patents
Microminiature underwater robot submerging and surfacing device Download PDFInfo
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- CN1836972A CN1836972A CN 200610024412 CN200610024412A CN1836972A CN 1836972 A CN1836972 A CN 1836972A CN 200610024412 CN200610024412 CN 200610024412 CN 200610024412 A CN200610024412 A CN 200610024412A CN 1836972 A CN1836972 A CN 1836972A
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Abstract
The submerging and surfacing apparatus for subminiature underground robot is a cylinder with end opening, a dual output shaft motor fixed in the center of the cylinder, two small gears separately on the output shafts, two large gears meshed separately with the small gears, two lead screws with inner ends separately connected to the two large gears and opposite thread directions, two inner nuts screwed separately to the outer ends of the two lead screws, and two pistons connected to the two inner nuts separately through two pull rods and slide fitting to the inner wall of the cylinder. The present invention has simple structure, stable performance and low power consumption.
Description
Technical field
The present invention relates to the submerging and surfacing device of a kind of submerging and surfacing device of submersible, particularly a kind of microminiature underwater robot.
Background technology
Along with economic development, particularly to the development and utilization of rivers,lakes and seas water resource, and near-coastal resources are surveyed, utilize, to can be in the lake, river course, the coastal waters demand of walking the microminiature underwater robot with characteristics such as practical value, reliability height, price are cheap of operation constantly increases.This under-water robot can have pollution in narrow, water quality, operation in the shallow-water environment of certain danger is arranged, the regular detection that is mainly used between reservoir dam, flood control embankment, bank, harbour, the boats and ships etc.Be particularly useful for the daily blowdown of waters, river course, sluice etc., the guiding indication work that discharges water, detects.This class work is in the past mostly finished by the diver, and diver's dive is once costly, and has greater risk.
Designing this kind has the microminiature underwater robot of the floating function of diving, and will be the hydrodynamic performances of China's in-depth study under-water robot sink-float, propelling, establishes the microminiature underwater robot platform of practical value; Series of key techniques researchs such as the under-water robot coordinated movement of various economic factors, control provide necessary theory and practice basis.
In the large diving device, generally use air compression type variable volume jacking system.Its advantage is: can produce uniform lift or decline power, be difficult for causing before and after the submersible or horizontal tilt; Weight of equipment is little, and power consumption is little; Can stand influence of certain current fluctuation or the like.Shortcoming is: bulky, and bigger to the single-piece vibration influence, even can produce resonance effect or the like.
In microminiature underwater robot, generally use the propeller type jacking system.Its advantage is: volume is little, and alerting ability is strong; Sometimes can lateral translational movement or the like.Shortcoming is: consumption of power is big, produces lifting power and is difficult to make submersible to keep balance; Because electrical motor produces the cause of moment, need to consider the balance of electrical motor to whole moment; Control on rotating speed is often not fully up to expectations or the like.
When also having under some under-water robots water, be to use the water filling of special-purpose cabin, make its submerged.When reclaiming under-water robot, the ballast water in the dedicated bay is got rid of, made it float to level attitude again.
Summary of the invention
The objective of the invention is to overcome the problem that prior art exists, a kind of microminiature underwater robot submerging and surfacing device is provided, volume is little, and alerting ability is strong, and consumption of power is little.
For achieving the above object, design of the present invention is: the advantage of comprehensive air compression type submerging and surfacing system and propeller type submerging and surfacing system, and, design a kind of follow-on " draining of twin-output shaft type piston " submerging and surfacing system in conjunction with the little feature of this remote-operated vehicle volume.It can produce vibrations hardly to under-water robot integral body, makes submersible stressed evenly, can keep well stability when rising or descend, and compares with the propeller type submerging and surfacing system, has saved the energy; And control can provide buoyancy to integral body flexibly.
The effect of submerging and surfacing device mainly is the motion by its internal piston, produces the little variation of volume, under-water robot single-piece buoyancy is reduced or increases, descends or the application force of rising thereby produce.The buoyancy that submerging and surfacing device integral body produces in water is greater than the weight of self, thereby it is can in the vertical direction in water more stable to help submersible.The shape of submerging and surfacing device is a cylinder, helps like this keeping submersible balance in the horizontal direction in advancing, and is unlikely to pitch the stable and pickup quality of influence.
Submerging and surfacing device is considered stability and mechanical controllability, has adopted " piston type draining " jacking system according to the characteristics of under-water robot small scale.It can keep the stability of whole submersible when cooresponding raising force and decline power are provided.
Piston drive has partly adopted graphic thread transmission, and this mechanism design compactness is flexible for installation.Because nut directly is not made on the piston, leak tightness improves.
According to above-mentioned inventive concept, the present invention adopts following technical proposals:
A kind of microminiature underwater robot submerging and surfacing device, the cylinder that comprises a both ends open, one pair of the centre fixed in position that it is characterized in that described cylinder goes out spindle motor, miniature gears of each captive joint on its two shaft, this two miniature gears meshes with two big gear wheels respectively, this two big gear wheel is respectively by the inners of supporting base positioning support captive joint two rhizoid bars, the screw thread rotation direction of two rhizoid bars mutually on the contrary the outer end revolve with two inner nuts respectively and join, two inner nuts are captiveed joint with two pistons by pull bar respectively, and the inner round wall cunning of these two pistons and described cylinder is joined.
In above-mentioned microminiature underwater robot submerging and surfacing device, described cylinder internal fixation is installed a level sensor.
The present invention has following conspicuous characteristics and advantage compared with prior art: adopts the draining of twin-output shaft type piston to realize diving in the present invention and floats, and stable performance, stressed even, do not produce vibration; Compare with the propeller type submerging and surfacing device of prior art, consumption of power is less, and by controlling pair rotating that goes out spindle motor, it is floating to realize diving, and alerting ability is strong.The present invention is simple in structure, compact, reasonable, is applicable to various minisubs and microminiature underwater robot.
Description of drawings
Accompanying drawing is the structural representation of one embodiment of the invention.
The specific embodiment
A preferred embodiment of the present invention is: referring to accompanying drawing, this microminiature underwater robot submerging and surfacing device, include the circle letter 17 of a both ends open, one pair of the centre fixed in position of this circle letter 17 goes out spindle motor 13, miniature gears 14 of each captive joint on its two shaft, 11, this two miniature gears 14,11 respectively with two big gear wheels 3,6 engagements, this two big gear wheel is the captive joint two rhizoid bars 2 by the supporting base positioning support respectively, the inner of 7, two rhizoid bars 2,7 screw thread rotation direction mutually on the contrary the outer end respectively with two inner nuts 15,10 revolve and join, two inner nuts 15,10 respectively by pull bar 1,8 and two pistons 16,9 captive joints, these two pistons 16,9 join with the inner round wall cunning of described circle letter 17.
Its main principle of work is as follows:
As figure, twoly go out spindle motor by the spur wheel transmission, drive the nut screw mandrel and rotate.The nut screw mandrel is connected with inner nut spare.Screw axis is little, and to be that the floating drum axle center exists eccentric with piston axes, thereby can prevent piston rotation, guarantees that piston can make axially reciprocating along the floating drum inboard.Transmission device is installed in the drawings on the arc-shaped base, and the lower end is fastened on the floating drum with screw, and guarantees sealing.The two ends piston installs with three pull bars and inner nut earlier outside, is pressed into from two then.When nut with after the screw mandrel termination contacts, can start motor it is screwed in, finish installation.
The compressing and expanding motion of piston has formed the variation of volume, thereby correspondingly increases buoyancy or reduce buoyancy, reaches the effect that rises or descend.
Axial symmetric arrangement piston, on the one hand being to produce submersible moving in the horizontal direction in order to prevent the mono-antagonistic force, is in order to give uniform buoyancy of submersible, to guarantee in the whole dipping and heaving on the other hand, centre of buoyancy and center of gravity keep in vertical direction, do not cause its Pitching.
Claims (1)
- A kind of microminiature underwater robot submerging and surfacing device, the cylinder (17) that comprises a both ends open, one pair of the centre fixed in position that it is characterized in that described cylinder (17) goes out spindle motor (13), miniature gears (14 of each captive joint on its two shaft, 11), this two miniature gears (14,11) respectively with two big gear wheels (3,6) engagement, this two big gear wheel (3,6) respectively by supporting base positioning support captive joint two rhizoid bars (2,7) the inner, two rhizoid bars (2,7) screw thread rotation direction mutually on the contrary the outer end respectively with two inner nuts (15,10) revolve and join, two inner nuts (15,10) respectively by pull bar (1,8) with two pistons (16,9) captive joint, these two pistons (16,9) join with the inner round wall cunning of described cylinder (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100244124A CN100383021C (en) | 2006-03-07 | 2006-03-07 | Microminiature underwater robot submerging and surfacing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100244124A CN100383021C (en) | 2006-03-07 | 2006-03-07 | Microminiature underwater robot submerging and surfacing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1836972A true CN1836972A (en) | 2006-09-27 |
| CN100383021C CN100383021C (en) | 2008-04-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100244124A Expired - Fee Related CN100383021C (en) | 2006-03-07 | 2006-03-07 | Microminiature underwater robot submerging and surfacing device |
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| CN (1) | CN100383021C (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101708770B (en) * | 2009-11-26 | 2011-09-07 | 上海大学 | Counterweight adjusting mechanism for underwater robot |
| CN102616355A (en) * | 2012-04-06 | 2012-08-01 | 西北工业大学 | Centroid-variable adjustment device for multi-load remote autonomous underwater vehicle |
| CN105730655A (en) * | 2016-04-20 | 2016-07-06 | 西北工业大学 | Small underwater vehicle sinking and floating device |
| CN107052002A (en) * | 2017-05-16 | 2017-08-18 | 广东海洋大学 | A kind of novel deep sea net cage cleaning robot |
| CN108001644A (en) * | 2017-11-13 | 2018-05-08 | 重庆大学 | The system that snorkels based on slider-crank mechanism |
| CN108177748A (en) * | 2018-01-12 | 2018-06-19 | 河海大学常州校区 | A kind of underwater robot, which drifts along, device and to drift along method |
| CN109649615A (en) * | 2018-11-13 | 2019-04-19 | 浙江大学 | A kind of memory alloy driven underwater attitude-control device |
| CN111619774A (en) * | 2020-05-29 | 2020-09-04 | 鹏城实验室 | Buoyancy adjusting device and underwater robot |
| CN112027037A (en) * | 2020-08-11 | 2020-12-04 | 江苏科技大学 | Bidirectional volume type buoyancy adjusting device and testing method thereof |
| CN113002743A (en) * | 2021-04-25 | 2021-06-22 | 三亚学院 | Underwater vehicle buoyancy adjusting device based on shape memory alloy |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4187796A (en) * | 1975-06-27 | 1980-02-12 | The United States Of America As Represented By The Secretary Of The Navy | Specific gravity equalizer system |
| JPS62187692A (en) * | 1986-02-13 | 1987-08-17 | Mitsubishi Heavy Ind Ltd | Hydraulic drive type underwater floating amount regulator for submarine |
| US5165360A (en) * | 1991-03-11 | 1992-11-24 | The United States Of America As Represented By The Secretary Of The Navy | Underwater rapid-fire ram pump |
| US6142092A (en) * | 1997-06-13 | 2000-11-07 | The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland | Depth control device |
| CN1299951C (en) * | 2004-04-27 | 2007-02-14 | 上海大学 | Sinking-floating apparatus of superminiature shallow water robot |
-
2006
- 2006-03-07 CN CNB2006100244124A patent/CN100383021C/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101708770B (en) * | 2009-11-26 | 2011-09-07 | 上海大学 | Counterweight adjusting mechanism for underwater robot |
| CN102616355A (en) * | 2012-04-06 | 2012-08-01 | 西北工业大学 | Centroid-variable adjustment device for multi-load remote autonomous underwater vehicle |
| CN105730655A (en) * | 2016-04-20 | 2016-07-06 | 西北工业大学 | Small underwater vehicle sinking and floating device |
| CN107052002A (en) * | 2017-05-16 | 2017-08-18 | 广东海洋大学 | A kind of novel deep sea net cage cleaning robot |
| CN108001644A (en) * | 2017-11-13 | 2018-05-08 | 重庆大学 | The system that snorkels based on slider-crank mechanism |
| CN108177748A (en) * | 2018-01-12 | 2018-06-19 | 河海大学常州校区 | A kind of underwater robot, which drifts along, device and to drift along method |
| CN108177748B (en) * | 2018-01-12 | 2019-10-25 | 河海大学常州校区 | A kind of underwater robot drifts along device and method of drifting along |
| CN109649615A (en) * | 2018-11-13 | 2019-04-19 | 浙江大学 | A kind of memory alloy driven underwater attitude-control device |
| CN109649615B (en) * | 2018-11-13 | 2020-08-04 | 浙江大学 | Underwater attitude control device driven by memory alloy |
| CN111619774A (en) * | 2020-05-29 | 2020-09-04 | 鹏城实验室 | Buoyancy adjusting device and underwater robot |
| CN112027037A (en) * | 2020-08-11 | 2020-12-04 | 江苏科技大学 | Bidirectional volume type buoyancy adjusting device and testing method thereof |
| CN113002743A (en) * | 2021-04-25 | 2021-06-22 | 三亚学院 | Underwater vehicle buoyancy adjusting device based on shape memory alloy |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100383021C (en) | 2008-04-23 |
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Granted publication date: 20080423 Termination date: 20110307 |