CN207225631U - A kind of underwater robot that can be driven with any angle - Google Patents
A kind of underwater robot that can be driven with any angle Download PDFInfo
- Publication number
- CN207225631U CN207225631U CN201720945220.0U CN201720945220U CN207225631U CN 207225631 U CN207225631 U CN 207225631U CN 201720945220 U CN201720945220 U CN 201720945220U CN 207225631 U CN207225631 U CN 207225631U
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- gear
- drive
- ring
- annular
- housing
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Abstract
The utility model discloses a kind of underwater robot that can be driven with any angle, including housing and the driving mechanism for drive shell movement；Annular matrix that driving mechanism includes being rotatably arranged on housing, the ring gear being rotatably arranged on annular matrix, for the propeller drives that drive ring gear and gear driven mechanism around housing into rotation, be arranged on ring gear and for driving annular matrix around the matrix driving mechanism of housing into rotation；Drive propeller drives synchronous around housing into rotation when ring gear rotates.Propeller drives in the utility model can turn to any angular position relative to housing, namely be capable of providing power drive at any angle.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of underwater that can be driven with any angle
People.
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, the power direction of its driving mechanism relative to the direction of body be usually it is fixed, according to
Change direct of travel by changing rudder direction, this traveling mode is difficult to meet the needs of complex action.
Utility model content
The purpose of this utility model is to provide a kind of underwater robot that can be driven with any angle.
Realizing the technical solution of the utility model aim is：A kind of underwater robot that can be driven with any angle, including
Housing and the driving mechanism for drive shell movement；Driving mechanism includes annular matrix, the rotation being rotatably arranged on housing
The ring gear that is arranged on annular matrix, for driving ring gear and gear driven mechanism around housing into rotation, being arranged on
Propeller drives on ring gear and for driving annular matrix around the matrix driving mechanism of housing into rotation；Ring gear
Drive propeller drives synchronous around housing into rotation during rotation；Annular matrix includes annular flat plate portion, ring sealing plate portion and annular
Block machine portion, ring sealing plate portion are that the inner periphery of annular flat plate portion is protruded to be formed vertically upward, and annular block machine portion is from annular flat
Plate portion annular convex platform protruding upward；Ring gear includes ring body and the driving teeth portion for being arranged on ring body upper surface；
Ring gear is set in annular block machine portion, and the periphery wall in the internal perisporium of ring gear and annular block machine portion is slidably matched, annular
The bottom wall of gear and the roof of annular flat plate portion are slidably matched；Rotated in ring sealing plate portion and be provided with a drive gear and five
Position limited gear, drive gear and position limited gear are adapted to ring gear；Drive gear and position limited gear are crimped on ring gear
Driving teeth portion on.
Such scheme is further preferably：Ring sealing plate portion is higher by annular block machine portion, and ring sealing plate portion is kept off positioned at annular
The inner side in platform portion.
Such scheme is further preferably：The internal perisporium in ring sealing plate portion is equipped with inwardly projecting keyhole portion；Keyhole
Portion is fixed on the inner wall in ring sealing plate portion, and keyhole portion is equipped with keyhole；Matrix driving mechanism includes setting in the housing
Matrix drives motor, and the output shaft of matrix driving motor, which stretches out housing and is inserted into, to be fixed in the keyhole in keyhole portion；Annular envelope
The open-work of face drive gear setting is additionally provided with plate portion, the open-work and matrix drive the output shaft of motor to be arranged concentrically；Gear
Driving mechanism includes setting gear drive motor in the housing, and the output shaft of the gear drive motor stretches out housing, through ring
It is fixedly linked after open-work in shape sealing plate portion with drive gear.
Such scheme is further preferably：The output shaft of matrix driving motor and the output shaft of gear drive motor are same
The heart is set.
Such scheme is further preferably：Each propeller drives include being fixed on ring gear periphery wall
Drive chamber, the blade being arranged in drive chamber driving motor and the propeller being rotatably arranged on driving chamber outer wall, each blade drive
Dynamic motor drives a corresponding propeller rotational.
The utility model has positive effect：Matrix driving motor can drive annular matrix around housing into rotation, gear
Motor is driven to drive the ring gear on annular matrix around housing into rotation, since propeller drives are by ring gear
Synchronous drive, therefore the propeller drives in the utility model can turn to any angular position relative to housing, namely
It is capable of providing power drive at any angle.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram of the utility model；
Fig. 2 is a kind of dimensional structure diagram when robot is from another angle shown in Fig. 1；
Fig. 3 is a kind of bottom view of robot shown in Fig. 1；
Fig. 4 is a kind of dimensional structure diagram of robot annular substrate shown in Fig. 1；
Fig. 5 is a kind of dimensional structure diagram when annular matrix is from another angle shown in Fig. 4.
Reference numeral is：Housing 1, hemispherical observation window 11, cleaning agency 2, semi-circular support plate 21, cleaning brush 22, clearly
Sweep driving motor output shaft 23, axis pin 24, annular matrix 4, annular flat plate portion 41, ring sealing plate portion 42, annular block machine portion 43,
Drive gear 44, position limited gear 45, keyhole portion 46, keyhole 461, open-work 47, ring gear 5, ring body 51, drives teeth portion
52, gear driven mechanism 6, the output shaft 61 of gear drive motor, propeller drives 7, drive chamber 71, propeller 72.
Embodiment
（Embodiment 1）
The present embodiment is a kind of underwater robot that can be driven with any angle, as shown in Fig. 1 to Fig. 5, including housing 1,
The photographing module being built in housing and the driving mechanism for drive shell movement.
The global shape of housing is spherical, and the lower part of housing is equipped with transparent hemispherical observation window 11；Photographing module includes
It is built in there is the cradle head mechanism of driving motor, the camera that is arranged on cradle head mechanism and be arranged on cradle head mechanism in housing
On headlamp（It is not drawn on figure）.Camera is fixed at the bottom of cradle head mechanism, camera face hemispherical observation window
Transparent wall body.
Driving mechanism includes the annular matrix 4 being rotatably arranged on housing, the annular tooth being rotatably arranged on annular matrix
Wheel 5, two propellers for driving ring gear and gear driven mechanism 6 around housing into rotation, being arranged on ring gear
Driver 7 and for driving annular matrix around the matrix driving mechanism of housing into rotation.
Annular matrix 4 includes annular flat plate portion 41, ring sealing plate portion 42 and annular block machine portion 43, and ring sealing plate portion is annular
The inner periphery of flat part is protruded to be formed vertically upward, and annular block machine portion is from annular flat plate portion annular convex platform protruding upward.
Ring sealing plate portion is higher by annular block machine portion, and ring sealing plate portion is located at the inner side in annular block machine portion.Housing and annular matrix are set with one heart
Put.
Ring gear includes ring body 51 and the driving teeth portion 52 for being arranged on ring body upper surface；Ring gear is arranged
In annular block machine portion, the periphery wall in the internal perisporium of ring gear and annular block machine portion is slidably matched, the bottom wall of ring gear and
The roof of annular flat plate portion 41 is slidably matched.
Rotated in ring sealing plate portion and be provided with a drive gear 44 and five position limited gears 45, drive gear and limiting tooth
Wheel is adapted to ring gear；Drive gear and position limited gear are crimped in the driving teeth portion of ring gear, so that by annular tooth
Wheel is crimped in the annular flat plate portion of annular matrix, prevents ring gear from teetertottering.In the present embodiment, drive gear and spacing
The shape size of gear is identical.
The internal perisporium in ring sealing plate portion is equipped with inwardly projecting keyhole portion 46；Keyhole portion is fixed at ring sealing plate portion
Inner wall on, keyhole portion is equipped with keyhole 461；Matrix driving mechanism includes setting matrix driving motor in the housing, the matrix
The output shaft of driving motor, which stretches out housing and is inserted into, to be fixed in the keyhole in keyhole portion.
The open-work 47 of the setting of face drive gear 44 is additionally provided with ring sealing plate portion, the open-work and matrix drive the defeated of motor
Shaft is arranged concentrically；Preferably a kind of scheme is：The centre of sphere of housing and the centerline collineation of open-work.
Gear driven mechanism 6 includes setting gear drive motor in the housing, the output shaft 61 of the gear drive motor
Stretch out housing, through the open-work 47 in ring sealing plate portion after and drive gear be fixedly linked.
In the present embodiment, the output shaft of matrix driving motor and the output shaft of gear drive motor are to be arranged concentrically, gear
Drive rotation axis of the output shaft of motor also as matrix around housing into rotation.
When matrix driving motor rotates, the center line with kinetoplast around open-work rotates；When gear drive motor rotates,
Ring gear is driven around housing into rotation.
Two propeller drives 7 are symmetricly set on the both sides of ring gear, and each propeller drives 7 include fixed setting
Drive chamber 71 on ring gear periphery wall, the blade being arranged in drive chamber driving motor and it is rotatably arranged on outside drive chamber
Propeller 72 on wall, each blade driving motor drive a corresponding propeller rotational；Preferable scheme is two propeller productions
Raw power direction is identical.
The present embodiment also has the cleaning agency 2 for being used for cleaning hemispherical observation window outer wall, and cleaning agency includes semi-circular
Support plate 21, set the cleaning for being used to drive semi-circular support plate reciprocally swinging in the housing to drive motor, be fixed at
The cleaning brush 22 of semi-circular support plate inner wall uplink；The stretching housing of output shaft 23 for cleaning driving motor is fixed at semi-circular
One end of support plate, the other end of semi-circular support plate are rotatably arranged on housing by axis pin 24；Cleaning brush preferably uses bullet
Property rubber pad or hairbrush are made；Clean driving motor and semi-circular support plate reciprocally swinging is driven by output shaft, and then drive clear
Brush brushes the foul on hemispherical observation window outer wall.
In the present embodiment work, gear drive motor drives drive gear to rotate, and then drives ring gear to turn around housing
Dynamic, two propeller drives are also synchronous as ring gear moves, so as to adjust the driving direction of propeller drives.It is this
Structure can realize complex traveling action due to that can adjust position of the propeller drives relative to housing.
Obviously, above-described embodiment of the utility model is only intended to clearly illustrate the utility model example, and
It is not the restriction to the embodiment of the utility model.For those of ordinary skill in the field, in described above
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
It is exhaustive.And the obvious changes or variations that these connotations for belonging to the utility model are extended out still falls within this practicality
New protection domain.
Claims (5)
1. a kind of underwater robot that can be driven with any angle, including housing and the driving mechanism for drive shell movement；
It is characterized in that：
Driving mechanism includes the annular matrix being rotatably arranged on housing, the ring gear being rotatably arranged on annular matrix, use
In driving ring gear and gear driven mechanism around housing into rotation, the propeller drives and use that are arranged on ring gear
Matrix driving mechanism in driving annular matrix around housing into rotation；Drive propeller drives synchronous around shell when ring gear rotates
Body rotates；Annular matrix includes annular flat plate portion, ring sealing plate portion and annular block machine portion, and ring sealing plate portion is annular flat plate portion
Inner periphery is protruded to be formed vertically upward, and annular block machine portion is from annular flat plate portion annular convex platform protruding upward；
Ring gear includes ring body and the driving teeth portion for being arranged on ring body upper surface；Ring gear is set in annular gear
In platform portion, the periphery wall in the internal perisporium of ring gear and annular block machine portion is slidably matched, the bottom wall and ring plate of ring gear
The roof in portion is slidably matched；Rotated in ring sealing plate portion and be provided with a drive gear and five position limited gears, drive gear and
Position limited gear is adapted to ring gear；Drive gear and position limited gear are crimped in the driving teeth portion of ring gear.
2. the underwater robot according to claim 1 that can be driven with any angle, it is characterised in that：Ring sealing plate portion is high
Go out annular block machine portion, ring sealing plate portion is located at the inner side in annular block machine portion.
3. the underwater robot according to claim 2 that can be driven with any angle, it is characterised in that：Ring sealing plate portion
Internal perisporium is equipped with inwardly projecting keyhole portion；Keyhole portion is fixed on the inner wall in ring sealing plate portion, and keyhole portion is equipped with key
Hole；Matrix driving mechanism includes setting matrix driving motor in the housing, and the output shaft of matrix driving motor stretches out housing
And it is inserted into and is fixed in the keyhole in keyhole portion；
The open-work of face drive gear setting is additionally provided with ring sealing plate portion, the open-work and matrix drive the output shaft of motor concentric
Set；Gear driven mechanism includes setting gear drive motor in the housing, and the output shaft of the gear drive motor stretches out shell
Body, through the open-work in ring sealing plate portion after and drive gear be fixedly linked.
4. the underwater robot according to claim 3 that can be driven with any angle, it is characterised in that：Matrix drives motor
Output shaft and the output shaft of gear drive motor be to be arranged concentrically.
5. the underwater robot according to claim 4 that can be driven with any angle, it is characterised in that：Each propeller driving
Device is set including the drive chamber being fixed on ring gear periphery wall, the blade being arranged in drive chamber driving motor and rotation
The propeller on driving chamber outer wall is put, each blade driving motor drives a corresponding propeller rotational.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720945220.0U CN207225631U (en) | 2017-07-31 | 2017-07-31 | A kind of underwater robot that can be driven with any angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720945220.0U CN207225631U (en) | 2017-07-31 | 2017-07-31 | A kind of underwater robot that can be driven with any angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207225631U true CN207225631U (en) | 2018-04-13 |
Family
ID=61856169
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720945220.0U Expired - Fee Related CN207225631U (en) | 2017-07-31 | 2017-07-31 | A kind of underwater robot that can be driven with any angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207225631U (en) |
-
2017
- 2017-07-31 CN CN201720945220.0U patent/CN207225631U/en not_active Expired - Fee Related
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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 |
Granted publication date: 20180413 Termination date: 20180731 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |