CN207697971U - A kind of multifunctional bionic underwater robot of wire and wireless mixing control - Google Patents
A kind of multifunctional bionic underwater robot of wire and wireless mixing control Download PDFInfo
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- CN207697971U CN207697971U CN201721460827.6U CN201721460827U CN207697971U CN 207697971 U CN207697971 U CN 207697971U CN 201721460827 U CN201721460827 U CN 201721460827U CN 207697971 U CN207697971 U CN 207697971U
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- waterproof
- nacelle
- shaft
- compartment body
- connection
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Abstract
The utility model discloses a kind of multifunctional bionic underwater robots of wire and wireless mixing control,Including waterproof nacelle,The steering-engine that the end of waterproof nacelle is arranged tail Biomimetic Fish Fin and is connect with tail Biomimetic Fish Fin,A shaft is fixed with inside waterproof compartment body,The both sides of shaft are respectively fixed with side Biomimetic Fish Fin,A pitch regulation steering engine is fixedly installed in waterproof compartment body,Pitch regulation steering engine is connect with rotating shaft transmission,Waterproof nacelle is additionally provided with two groups of dynamic Control motors,Power supply and control circuit board are provided in waterproof compartment body,A waterproof floating ball is connected with by communication cable outside waterproof compartment body,A wireless communication module being connect with communication cable is provided in the waterproof floating ball,The communication cable is connected with control circuit board communication,It is high that the utility model had both avoided the long price brought of cable,The problem of mobile restricted processed,It solves radio wave well again in water to decay soon,The short problem of transmission range.
Description
Technical field
The utility model is related to work in underwater unmanned remotely controlled submersible vehicle, and in particular to a kind of wire and wireless mixing control
Multifunctional bionic underwater robot.
Background technology
Underwater robot can replace manually under water in the waters of highly dangerous environment, contaminated environment and zero visibility
Long working is commonly equipped with the devices such as Sonar system, video camera, headlamp and mechanical arm on underwater robot, can provide real
When video, sonar image, mechanical arm can pick up weight, underwater robot oil development, maritime affair law enforcement evidence obtaining, scientific research and
It is used widely in the fields such as military affairs.
Existing underwater robot has been broadly divided into cable and untethered：Cableless underwater robot can break away from the limitation of cable,
But be exceedingly fast since under normal circumstances, radio wave is decayed in water, therefore wireless telecommunications system cost is higher, and communication quality
Difference.There is cable diving robot due to needing to carry a large amount of cables, when work is inconvenient, and due to build-out problem, robot
Underwater control is limited in scope.
Additionally due to existing underwater robot is often deep more demanding to diving, therefore structure all selects pressure-resistant configuration, under water
Locomitivity all compares general, it is hard to adapt to the exploration activities under complicated hydrologic condition very well.
Utility model content
（One）Technical problems to be solved
In order to overcome the shortage of prior art, it is proposed that a kind of multifunctional bionic underwater of wire and wireless mixing control
People possesses waters is freely explored under shallower complicated hydrologic condition ability and outstanding underwater manoeuvre ability；It can relatively pass through
Ji efficiently realizes the control problem of underwater robot.
（Two）Technical solution
The utility model is achieved through the following technical solutions：The utility model proposes a kind of mixing of wire and wireless to control
Multifunctional bionic underwater robot, including waterproof nacelle, waterproof nacelle front end both sides are respectively arranged with a headlamp, waterproof compartment
The front center of body is provided with picture pick-up device, and transparent acrylic waterproof cover, waterproof nacelle are provided on the outside of the picture pick-up device
End be provided with horizontal tailgate, be provided with tail Biomimetic Fish Fin on horizontal tailgate, the bottom of horizontal tailgate be installed with one with
The steering-engine of tail Biomimetic Fish Fin connection, being horizontally fixed with one by bearing mounting base inside waterproof compartment body can be freely rotated
The both sides of shaft, the shaft are pierced by waterproof nacelle and are respectively fixed with side Biomimetic Fish Fin at both ends, are fixed in waterproof compartment body
It is provided with a pitch regulation steering engine, the pitch regulation steering engine output shaft is connect by gear set with rotating shaft transmission, waterproof nacelle
Two groups of dynamic Control motors are additionally provided with, one of which dynamic Control motor is located at waterproof compartment body bottom by the connection of waterproof transmission shaft
The elevating screw in portion, another group of dynamic Control motor is by the connection of waterproof transmission shaft positioned at the flat spin of waterproof compartment body tail portion
Paddle, is provided with power supply and control circuit board in waterproof compartment body, and it is floating by communication cable to be connected with a waterproof outside waterproof compartment body
Ball is provided with a wireless communication module being connect with communication cable, the communication cable and control circuit in the waterproof floating ball
Plate communication connection.
Further, the gear set includes two gears of intermeshing transmission, and two gears are individually fixed in
On pitch regulation steering engine output shaft and shaft.
Further, the control circuit board respectively with headlamp, picture pick-up device, steering-engine, pitch regulation steering engine with
And dynamic Control motor control connection.
（Three）Advantageous effect
The utility model compared with the existing technology, has the advantages that：
A kind of multifunctional bionic underwater robot for wire and wireless mixing control that the utility model is mentioned, class fish type are bionical
Diving robot is more flexible, can adapt to all kinds of activities of complicated shallow waters very well, is located at by communication cable connection anti-
Wireless communication module in water floating ball, it is high both to have avoided the long price brought of cable, it is mobile restricted processed the problem of, and well
It solves radio wave in water to decay soon, the short problem of transmission range.
Description of the drawings
Fig. 1 is the utility model structure diagram.
Fig. 2 is waterproof nacelle half section structure diagram one.
Fig. 3 is waterproof nacelle half section structure diagram two.
1- waterproof nacelles；2- tail Biomimetic Fish Fins；3- steering-engines；4- shafts；The sides 5- Biomimetic Fish Fin；6- pitch regulation rudders
Machine；7- gear sets；8- dynamic Control motors；9- elevating screws；10- horizontal propellers；11- headlamps；12- picture pick-up devices；
13- wireless communication modules；14- communication cables；15- waterproof floating balls.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
A kind of multifunctional bionic underwater robot of wire and wireless mixing control as shown in Figure 1, Figure 2 and Figure 3, including it is anti-
Water tank body 1,1 front end both sides of waterproof nacelle are respectively arranged with a headlamp 11, and the front center of waterproof nacelle 1 is provided with camera shooting and sets
Standby 12, the outside of the picture pick-up device 12 is provided with transparent acrylic waterproof cover, and the end of waterproof nacelle 1 is provided with horizontal tail
Plate, is provided with tail Biomimetic Fish Fin 2 on horizontal tailgate, and the bottom of horizontal tailgate is installed with one and is connect with tail Biomimetic Fish Fin 2
Steering-engine 3 is horizontally fixed with a shaft 4 that can be freely rotated, the shaft inside waterproof nacelle 1 by bearing mounting base
4 both sides are pierced by waterproof nacelle 1 and are respectively fixed with side Biomimetic Fish Fin 5 at both ends, and being fixedly installed one in waterproof nacelle 1 bows
It faces upward and adjusts steering engine 6,6 output shaft of pitch regulation steering engine is sequentially connected by gear set 7 and shaft 4, and waterproof nacelle 1 is also set up
There are two groups of dynamic Control motors 8, one of which dynamic Control motor 8 to be located at 1 bottom of waterproof compartment body by the connection of waterproof transmission shaft
Elevating screw 9, another group of dynamic Control motor 8 by waterproof transmission shaft connection positioned at 1 tail portion of waterproof compartment body horizontal spiral shell
Paddle 10 is revolved, power supply and control circuit board is provided in waterproof nacelle 1, is connected with by communication cable 14 outside waterproof nacelle 1
One waterproof floating ball 15 is provided with a wireless communication module 13 being connect with communication cable 14 in the waterproof floating ball 15, described logical
Cable 14 is interrogated to connect with control circuit board communication.
Wherein, the gear set 7 includes two gears of intermeshing transmission, and two gears are individually fixed in pitching
It adjusts in 6 output shaft of steering engine and shaft 4；The control circuit board respectively with headlamp 11, picture pick-up device 12, steering-engine 3,
Pitch regulation steering engine 6 and the control connection of dynamic Control motor 8.
The multifunctional bionic underwater robot for a kind of wire and wireless mixing control that the utility model is mentioned, using control electricity
Road plate controls two groups of dynamic Control motors 8, to realize that the floating of waterproof nacelle 1 declines and forward-reverse, steering system are unified
Aspect controls tail Biomimetic Fish Fin 2 using steering-engine 3 and is turned to, and on the other hand passes through gear set 7 using pitch regulation steering engine 6
Output torque is swung to shaft 4 to control side Biomimetic Fish Fin 5, and headlamp 11 may be implemented underwater lighting, and picture pick-up device 12 can be with
Underwater photograph technical is carried out, image or image after shooting are sent to operating terminal by wireless communication module 13, while operating end
Operation signal can be sent to wireless communication module 13 to be manipulated to bionic underwater robot movement by end.
It is worth mentioning, waterproof floating ball 15 and waterproof nacelle 1 are sealing state, waterproof nacelle 1 and shaft 4 and prevent
Do sealing water-proofing treatment in water transmission shaft connection place.
Embodiment described above is only that preferred embodiments of the present invention are described, not to this practicality
Novel conception and scope is defined.Without departing from the design concept of the present utility model, ordinary people in the field couple
The all variations and modifications that the technical solution of the utility model is made, should fall within the protection scope of the present utility model, this reality
With novel claimed technology contents, all record in detail in the claims.
Claims (3)
1. a kind of multifunctional bionic underwater robot of wire and wireless mixing control, it is characterised in that：Including waterproof nacelle（1）,
Waterproof nacelle（1）Front end both sides are respectively arranged with a headlamp（11）, waterproof nacelle（1）Front center be provided with picture pick-up device
（12）, the picture pick-up device（12）Outside be provided with transparent acrylic waterproof cover, waterproof nacelle（1）End be provided with level
Tailgate is provided with tail Biomimetic Fish Fin on horizontal tailgate（2）, the bottom of horizontal tailgate is installed with one and tail Biomimetic Fish Fin（2）
The steering-engine of connection（3）, waterproof nacelle（1）Inside is horizontally fixed with a shaft that can be freely rotated by bearing mounting base
（4）, the shaft（4）Both sides be pierced by waterproof nacelle（1）And it is respectively fixed with side Biomimetic Fish Fin at both ends（5）, waterproof compartment
Body（1）Inside it is fixedly installed a pitch regulation steering engine（6）, the pitch regulation steering engine（6）Output shaft passes through gear set（7）With turn
Axis（4）It is sequentially connected, waterproof nacelle（1）It is additionally provided with two groups of dynamic Control motors（8）, one of which dynamic Control motor（8）
It is located at waterproof compartment body by the connection of waterproof transmission shaft（1）The elevating screw of bottom（9）, another group of dynamic Control motor（8）It is logical
It crosses the connection of waterproof transmission shaft and is located at waterproof compartment body（1）The horizontal propeller of tail portion（10）, waterproof nacelle（1）Inside be provided with power supply with
And control circuit board, waterproof nacelle（1）Outside passes through communication cable（14）It is connected with a waterproof floating ball（15）, the waterproof floating ball
（15）Inside it is provided with one and communication cable（14）The wireless communication module of connection（13）, the communication cable（14）With control circuit
Plate communication connection.
2. a kind of multifunctional bionic underwater robot of wire and wireless mixing control according to claim 1, feature exist
In：The gear set（7）Include two gears of intermeshing transmission, two gears are individually fixed in pitch regulation steering engine
（6）Output shaft and shaft（4）On.
3. a kind of multifunctional bionic underwater robot of wire and wireless mixing control according to claim 1, feature exist
In：The control circuit board respectively with headlamp（11）, picture pick-up device（12）, steering-engine（3）, pitch regulation steering engine（6）With
And dynamic Control motor（8）Control connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721460827.6U CN207697971U (en) | 2017-11-06 | 2017-11-06 | A kind of multifunctional bionic underwater robot of wire and wireless mixing control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721460827.6U CN207697971U (en) | 2017-11-06 | 2017-11-06 | A kind of multifunctional bionic underwater robot of wire and wireless mixing control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207697971U true CN207697971U (en) | 2018-08-07 |
Family
ID=63022125
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721460827.6U Expired - Fee Related CN207697971U (en) | 2017-11-06 | 2017-11-06 | A kind of multifunctional bionic underwater robot of wire and wireless mixing control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207697971U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109649096A (en) * | 2018-12-17 | 2019-04-19 | 上海交通大学 | A kind of Amphibious bionics robot |
| CN110316337A (en) * | 2019-03-25 | 2019-10-11 | 西安水泽动力科技有限公司 | A kind of multifunction changable pitch master and slave type underwater robot |
| CN110641660A (en) * | 2019-10-21 | 2020-01-03 | 中国科学院自动化研究所 | Underwater operation robot for marine product fishing |
| WO2020107272A1 (en) * | 2018-11-28 | 2020-06-04 | 唐山哈船科技有限公司 | Sonar apparatus used for undersea exploration |
-
2017
- 2017-11-06 CN CN201721460827.6U patent/CN207697971U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020107272A1 (en) * | 2018-11-28 | 2020-06-04 | 唐山哈船科技有限公司 | Sonar apparatus used for undersea exploration |
| CN109649096A (en) * | 2018-12-17 | 2019-04-19 | 上海交通大学 | A kind of Amphibious bionics robot |
| CN110316337A (en) * | 2019-03-25 | 2019-10-11 | 西安水泽动力科技有限公司 | A kind of multifunction changable pitch master and slave type underwater robot |
| CN110316337B (en) * | 2019-03-25 | 2022-07-12 | 青岛觉海科技有限公司 | Multifunctional variable-pitch primary-secondary underwater robot |
| CN110641660A (en) * | 2019-10-21 | 2020-01-03 | 中国科学院自动化研究所 | Underwater operation robot for marine product fishing |
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| 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: 20180807 Termination date: 20191106 |