CN207208441U - A kind of hybrid power underwater robot that power is provided using built-in power - Google Patents
A kind of hybrid power underwater robot that power is provided using built-in power Download PDFInfo
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- CN207208441U CN207208441U CN201720945387.7U CN201720945387U CN207208441U CN 207208441 U CN207208441 U CN 207208441U CN 201720945387 U CN201720945387 U CN 201720945387U CN 207208441 U CN207208441 U CN 207208441U
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- drive
- power
- sidesway
- motor
- jacking
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Abstract
The utility model discloses a kind of hybrid power underwater robot that power is provided using built-in power, including housing and the drive mechanism for drive shell movement；Drive mechanism includes sidesway drive mechanism and jacking drive mechanism；Sidesway drive mechanism include change, for drive change rotate main drive motor, be fixedly installed in change installation room, be rotatably arranged on install the sidesway propeller of outdoor side, be arranged on installation room in for drive sidesway propeller rotational sidesway motor and be arranged on install room in battery；Jacking drive mechanism includes jacking propeller and the jacking motor for driving jacking propeller rotational.In the utility model, it is fixed to jack power direction caused by drive mechanism relative to housing, and power direction caused by sidesway drive mechanism is variable relative to housing, and both Dynamic Synthesis, which get up, to be moved with drive shell with any angle.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of mixing that power is provided using built-in power is moved
Power underwater robot.
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.
A kind of existing underwater robot, it is under water on the basis of video camera, increases mobile module, it is autonomous so as to complete
Mobile or controlled movement.
Patent document CN201733377U discloses a kind of Underwater Camera, including seal casinghousing, video camera module, and
The control panel that controlled motor rotates；First gear disk is horizontally installed with the seal casinghousing and drives first tooth
The first motor that wheel disc rotates；The first gear disk center is provided with the conducting slip ring of a transmission electric power and signal,
The conducting slip ring is by screw with being tightened together at the top of the main support；A n is provided with below the first gear disk
Shape main support, the top of the main support are fixedly connected with the first gear disk；Is provided with the side wall of the main support
Two toothed discs and the second motor for driving the second gear disk to rotate；One U-shaped is installed in the main support to bear
Support, a side wall of the negative support are connected with the second gear disk；The video camera module is fixedly mounted on the negative branch
On frame.When the first motor drives first gear disc spins, main support will rotate therewith, you can realize video camera water
Square to 360 ° of rotation；When the second motor drives second gear disc spins, negative support can rotate therewith, you can
Realize the rotation of video camera ± 90 °.Video camera is powered in horizontal and vertical rotary course by conducting slip ring and the external world
With signal transmission, exchange, conducting slip ring ensures the not power down in course of normal operation of video camera module, not lossing signal, continuously
Work, while ensure that support can continuous 360 degree of rotations.
This kind of Underwater Camera is simple in construction, and video camera can be with 360 degree of rotations of horizontal direction, vertical direction ± 90 degree rotation
Turn, realize comprehensive observation, widen the underwater visual field.This kind of Underwater Camera has the following disadvantages：Without automatic moving
Ability, it need to hold or be used on other objects.
Utility model content
The purpose of this utility model is to provide a kind of hybrid power underwater robot that power is provided using built-in power.
Realizing the technical scheme of the utility model purpose is：A kind of hybrid power using built-in power offer power is underwater
Robot, including housing and the drive mechanism for drive shell movement；Drive mechanism includes sidesway drive mechanism and jacking is driven
Motivation structure；Sidesway drive mechanism includes change, for driving the main drive motor that change rotates, the peace being fixedly installed in change
Dress room, be rotatably arranged on install the sidesway propeller of outdoor side, be arranged in installation room be used for drive sidesway propeller turn
Dynamic sidesway motor and the battery being arranged in installation room；Jacking drive mechanism includes jacking propeller and for driving
Jack the jacking motor of propeller rotational.
In such scheme, case top is provided with the drive chamber projected upwards, and change is rotatably arranged in drive chamber's periphery wall
On, jacking motor is fixedly installed in drive chamber.
In such scheme, the top surface of change is provided with the face gear portion of annular, and main drive motor is located in drive chamber, main
The output shaft of motor is stretched out outside drive chamber, and the output shaft of main drive motor is provided with and the main driving of face gear portion adaptation
Gear, main drive motor drive change reciprocating rotation by main driving gear drives face gear portion；The side of change is fixed and set
There are two installation rooms, for each sidesway motor in corresponding one installation room, each sidesway propeller rotational is arranged on corresponding one
On the lateral wall of individual installation room.
In such scheme, the outer wall of drive chamber is circular, and change is directly slided on the outer wall of drive chamber.
In such scheme, the quantity for installing room is two, and power direction caused by two sidesway propellers is identical.
In such scheme, the bottom of housing is provided with transparent hemispherical observation ward.
The utility model has positive effect：（1）Power direction is solid relative to housing caused by jacking drive mechanism
Fixed, power direction caused by sidesway drive mechanism is variable relative to housing, and both Dynamic Synthesis get up, and can drive
Housing is moved with any angle.（2）Sidesway motor by be built in it is same installation room in battery powered, this structure without
Complicated supply line is needed, overall structure is simplified, reduces cost.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram of the present utility model；
Fig. 2 is a kind of half section structure diagram of robot shown in Fig. 1.
Reference is：Housing 1, hemispherical observation ward 11, drive chamber 12, radial direction through hole 121, radial convex pipe 122, step
13, annular stop baffle plate 14, photographing module 2, cradle head mechanism 21, camera 22, sidesway drive mechanism 3, change 31, face gear
Portion 311, main drive motor 32, main drive gear 321, sidesway propeller 33, sidesway motor 34, installation room 35, battery 36,
Drive mechanism 4 is jacked, jacks motor 41, jacks propeller 42.
Embodiment
（Embodiment 1）
The present embodiment is a kind of underwater robot with hybrid power, as shown in Fig. 1 to Fig. 2, including it is housing 1, built-in
Photographing module 2 in housing and the drive mechanism for drive shell movement.
The bottom of housing is provided with transparent hemispherical observation ward 11；Photographing module, which includes being built in housing, has driving
The cradle head mechanism 21 of motor, the camera 22 being arranged on cradle head mechanism and the illuminating lamp being arranged on cradle head mechanism（On figure not
Draw）.Camera 22 is fixedly installed on the bottom of cradle head mechanism, the transparent wall body of camera face hemispherical observation ward.
The top of housing is provided with the drive chamber 12 for being used for setting drive mechanism.
Drive mechanism includes sidesway drive mechanism 3 and jacking drive mechanism 4.
Sidesway drive mechanism 3 include be rotatably arranged on drive chamber's periphery wall change 31, for drive change rotate
Main drive motor 32, the installation room 35 being fixedly installed in change, it is rotatably arranged on the sidesway propeller 33 for installing outdoor side
With the sidesway motor 34 for being used to drive sidesway propeller rotational being arranged in installation room.
The top surface of change is provided with the face gear portion 311 of annular, and main drive motor is located in drive chamber, main drive motor
Output shaft stretch out outside drive chamber, the output shaft of main drive motor is provided with and the main drive gear 321 of face gear portion adaptation,
Main drive motor drives change reciprocating rotation by main driving gear drives face gear portion；The side of change is fixed with two
Room 35 is installed, for each sidesway motor in corresponding one installation room, each sidesway propeller rotational is arranged on a corresponding peace
On the lateral wall for filling room.Also it is fixed with each installation room for providing electric energy for a sidesway motor in the installation room
Battery 36.Each installation room and change synchronous axial system.
Jacking drive mechanism 4 includes the jacking motor 41 being fixedly installed in drive chamber and is rotatably arranged on drive chamber
The jacking propeller 42 of surface, jacking motor drive jacking propeller rotational.
In the present embodiment, power caused by two sidesway propellers is preferably equidirectional.
In the present embodiment, the outer wall of drive chamber is circular, and change is directly slided on the outer wall of drive chamber.
In the present embodiment, change is the step 13 being arranged on driving chamber outer wall and annular stop baffle plate 14 is spacing is driving
On dynamic chamber outer wall, it will not slide up and down.
In the present embodiment work, when jacking propeller 42 rotates, the power of a top-direction is provided to housing；Sidesway spiral shell
When revolving oar 33 and rotating, the direction that the direction of caused power and jacking propeller produce power is perpendicular；32 turns of main drive motor
When dynamic, change 31 is driven to be rotated around the periphery wall of drive chamber by main drive gear 321, and then two sidesway spirals of synchronous drive
Oar rotates around drive chamber, so as to adjust the direction that two sidesway propellers produce power；This structure can integrate jacking
The power of propeller and sidesway propeller so that it is overall to be moved towards predetermined direction, complex action can be completed.
Obviously, above-described embodiment of the present utility model is only intended to clearly illustrate the utility model example, and
It is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, in described above
On the basis of can also make other changes in different forms.There is no need and unable to give all embodiments
It is exhaustive.And these belong to the obvious changes or variations that connotation of the present utility model is extended out and still fall within this practicality
New protection domain.
Claims (4)
1. it is a kind of using built-in power provide power hybrid power underwater robot, including housing and for drive shell move
Drive mechanism；It is characterized in that：
Drive mechanism includes sidesway drive mechanism and jacking drive mechanism；
Sidesway drive mechanism includes change, for driving the main drive motor that change rotates, the installation being fixedly installed in change
Room, be rotatably arranged on install the sidesway propeller of outdoor side, be arranged on installation room in be used for drive sidesway propeller rotational
Sidesway motor and be arranged on installation room in battery；
Jacking drive mechanism includes jacking propeller and the jacking motor for driving jacking propeller rotational；
The quantity for installing room is two, and power direction caused by two sidesway propellers is identical.
2. the hybrid power underwater robot according to claim 1 that power is provided using built-in power, it is characterised in that：
Case top is provided with the drive chamber projected upwards, and change is rotatably arranged on drive chamber's periphery wall, and jacking motor, which is fixed, to be set
Put in drive chamber.
3. the hybrid power underwater robot according to claim 2 that power is provided using built-in power, it is characterised in that：
The top surface of change is provided with the face gear portion of annular, and main drive motor is located in drive chamber, the output shaft extension of main drive motor
Go out outside drive chamber, the output shaft of main drive motor is provided with and the main drive gear of face gear portion adaptation, main drive motor lead to
Cross main driving gear drives face gear portion and drive change reciprocating rotation；The side of change is fixed with two installation rooms, each side
Motor is moved in corresponding one installation room, each sidesway propeller rotational is arranged on the lateral wall of corresponding installation room
On.
4. the hybrid power underwater robot according to claim 3 that power is provided using built-in power, it is characterised in that：
The outer wall of drive chamber is circular, and change is directly slided on the outer wall of drive chamber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720945387.7U CN207208441U (en) | 2017-07-31 | 2017-07-31 | A kind of hybrid power underwater robot that power is provided using built-in power |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720945387.7U CN207208441U (en) | 2017-07-31 | 2017-07-31 | A kind of hybrid power underwater robot that power is provided using built-in power |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207208441U true CN207208441U (en) | 2018-04-10 |
Family
ID=61814825
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720945387.7U Expired - Fee Related CN207208441U (en) | 2017-07-31 | 2017-07-31 | A kind of hybrid power underwater robot that power is provided using built-in power |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207208441U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110351462A (en) * | 2019-07-08 | 2019-10-18 | 河海大学常州校区 | A kind of detection device of underwater works |
| CN111099005A (en) * | 2019-12-13 | 2020-05-05 | 中国南方电网有限责任公司超高压输电公司广州局 | Side pushing device for anti-cross-flow cableless underwater robot |
-
2017
- 2017-07-31 CN CN201720945387.7U patent/CN207208441U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110351462A (en) * | 2019-07-08 | 2019-10-18 | 河海大学常州校区 | A kind of detection device of underwater works |
| CN111099005A (en) * | 2019-12-13 | 2020-05-05 | 中国南方电网有限责任公司超高压输电公司广州局 | Side pushing device for anti-cross-flow cableless underwater robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180410 Termination date: 20190731 |