CN211107937U - Spherical underwater robot of four rotors of miniature no cable - Google Patents
Spherical underwater robot of four rotors of miniature no cable Download PDFInfo
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- CN211107937U CN211107937U CN201921678337.2U CN201921678337U CN211107937U CN 211107937 U CN211107937 U CN 211107937U CN 201921678337 U CN201921678337 U CN 201921678337U CN 211107937 U CN211107937 U CN 211107937U
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Abstract
The utility model relates to an underwater robot field aims at providing a spherical underwater robot of four rotors of miniature no cable. The main body of the robot body comprises two hemispherical pressure-resistant shells which are fixed on two sides of a flange plate in a mode that openings are oppositely arranged, four cantilevers are arranged on the outer edge of the flange plate at equal intervals and are respectively provided with a group of propellers; a depth meter is arranged at the bottom of the machine body main body; a lithium battery pack, a core control panel, a motor driving module, a camera module and a magnetic switch are arranged in the machine body main body. The utility model discloses the size is little, light in weight, and is easy and simple to handle, need not other auxiliary assembly, does not have the individual of any professional background and can operate. The functions of underwater camera shooting, underwater lighting, fixed-depth hovering and the like can be completed, and the device has strong entertainment, practicability and interestingness. Easy processing and production, and simple process. The main body is spherical, the pressure resistance is good, and the style is novel and attractive. The lithium battery pack can be charged without disassembling the case.
Description
Technical Field
The utility model relates to an underwater robot field especially relates to a spherical underwater robot of four rotors of miniature no cable. The underwater robot is a small spherical underwater vehicle which has small scale and intellectualization and can automatically navigate underwater.
Background
The robot technology is a new intelligent manufacturing technology and is widely applied at home and abroad. The autonomous underwater robot is a robot capable of autonomous navigation at a depth of several meters or even thousands of meters below the water surface, and has the capabilities of automatic navigation, autonomous navigation and autonomous underwater task execution. Compared with unmanned planes, unmanned vehicles and unmanned ships, the unmanned vehicles and unmanned ships are more complex in task environments, and different in sensors and propulsion systems. The concrete points are as follows: 1) the high-frequency radio waves cannot be used below ten meters underwater, so that the good communication between an operator and the underwater robot is difficult to maintain; the underwater acoustic communication machine is high in cost, and the communication rate and the communication capacity cannot be compared with radio waves; 2) any nonwatertight electronic component, mechanical component and propulsion component, such as electronic component, etc., need to be protected from water and pressure, otherwise water seepage and water leakage will occur, which results in that normal underwater navigation cannot be realized.
At present, users of underwater robots are basically all countries, places or enterprises and colleges, the prices are very high, the sizes and the weights are very large, most of loaded sensors are scientific instruments, and common underwater model airplane enthusiasts are difficult to start. This patent provides an unmanned aerial vehicle model under water for the fan of model aeroplane and model ship under water, and the user can carry out the remote control through wireless mode, lets the robot navigate by water according to user's instruction.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is, overcome not enough among the prior art, provide a spherical underwater robot of four rotors of no cable.
For solving the technical problem, the utility model discloses the technical scheme who adopts is:
The utility model provides a micro cableless quadrotor spherical underwater robot, which comprises a hollow main body and a propeller consisting of a motor and a propeller; the machine body main body comprises two hemispherical pressure-resistant shells, the pressure-resistant shells are fixed on two sides of the flange plate in a mode that openings are oppositely arranged, and the pressure-resistant shells and the flange plate are sealed through O-shaped sealing rings; four cantilevers with the same length are arranged at equal intervals on the outer edge of the flange plate, and a group of propellers is arranged at the tail ends of the cantilevers respectively;
A depth meter for measuring the water depth is arranged at the bottom of the machine body main body; the lithium battery pack, the core control panel, the motor driving module, the camera module and the magnetic switch are limited or mounted by the mounting bracket; the motor driving module is respectively connected with the lithium battery pack, the core control panel and a motor of the propeller through wires; the core control panel is provided with a basic control module, a wireless communication module, an attitude sensor and a memory card, and the basic control module is respectively connected with other equipment through a lead.
As an improvement, the pressure-resistant shell is a hemisphere made of transparent organic glass or acrylic, a plurality of protruding mounting parts are arranged at intervals on the outer edge of an opening of the pressure-resistant shell, and the pressure-resistant shell is fastened on two sides of the flange plate through bolts; a charging port is provided in the pressure-resistant casing.
As an improvement, the depth gauge is a stainless steel plastic shell lead type pressure sensor, the used communication interface is ADC, and the pressure range is 0 to 4 Bar; the pressure sensor is connected to the basic control module on the core control board by wires.
As an improvement, the motor is a 12V brushless direct current motor, and the propeller is a ship model three-blade propeller; the four groups of propellers comprise two forward rotating propellers and two reverse rotating propellers, and the rotating directions of the two adjacent propellers are different.
As a modification, the lithium battery pack consists of 9-section 3.3V lithium batteries and is provided with a current protection plate of 60A.
As an improvement, the motor driving module is a 12V and 20A direct current motor driving module and is used for carrying out PWM speed regulation.
As an improvement, the camera module is an OpenMV3 CamM7 intelligent camera, and is provided with an OV7725 photosensitive element and an ARM Cortex M7 processor.
As an improvement, the magnetic switch comprises an electromagnetic relay and a holding type magnetic reed pipe.
As an improvement, the basic control module comprises an ARM single chip microcomputer and an auxiliary circuit, the wireless communication module is an E39-TT L-1002.4 GHz wireless module and is used for achieving wireless remote control and wireless program updating, the attitude sensor is a nine-axis attitude sensor, and the basic control module is connected with the wireless communication module and the attitude sensor through conducting wires and is used for achieving data transmission.
As an improvement, the underwater robot has the weight of 2.5kg in the air and the maximum outer diameter of 30 cm.
Compared with the prior art, the beneficial effects of the utility model reside in that:
(1) The utility model discloses the size is little, light in weight, and is easy and simple to handle, need not other auxiliary assembly, does not have the individual of any professional background and can operate.
(2) The utility model discloses low price can let every user have the ability to use.
(3) The utility model discloses can accomplish function such as make a video recording under water, under water illumination, depthkeeping hover, have very strong recreational, practicality and interest.
(4) The utility model discloses easily processing, production, simple process is convenient for put in market fast.
(5) The utility model discloses the main part is spherical, and pressure resistance is good, and the pattern is novel pleasing to the eye.
(6) The utility model discloses can charge to lithium cell group in the shell under the condition of not unpacing apart the casing, also can carry out wireless procedure and update, promoted the robot greatly and charged the simple operation degree with procedure update.
Drawings
Fig. 1 is a schematic view of the external structure of the present invention;
Fig. 2 is a schematic view of the internal structure of the fuselage body.
Reference numerals in the drawings: 1 a fuselage main body; 2, a charging port; 3, a depth meter; 4, a propeller; 5, a core control panel; 6, a camera module; 7, a holding type magnetic reed pipe; 8 lithium battery protection plates; 9, a motor driving module; 10 lithium battery pack.
Detailed Description
First, the present invention relates to a robot technology. In the implementation process of the present invention, the application of a plurality of hardware functional modules may be involved. The applicant believes that the skilled person will be able to apply his own techniques to implement the invention in combination with the known art, after having read this application in detail and having accurately understood the principles and objects of the invention. The applicant does not enumerate one by one as far as the application documents of the present invention are concerned. Additionally, the utility model discloses a realization relies on multiple electronic components's application, and these electronic components are prior art, and have the acquirement of mature product marketable to obtain.
The utility model discloses a spherical underwater robot of miniature no cable four rotors is 2.5kg in the weight of air, and the biggest external diameter is 30 cm. Comprises a hollow fuselage main body 1 and a propeller 4 (comprising four propellers 4A, 4B, 4C and 4D) consisting of a motor and a propeller; the machine body main body 1 comprises two hemispherical pressure-resistant shells, the pressure-resistant shells are fixed on two sides of the flange plate in a mode that openings are oppositely arranged, and the pressure-resistant shells and the flange plate are sealed through O-shaped sealing rings; four cantilevers with the same length are arranged at equal intervals on the outer edge of the flange plate, and a group of propellers 4 are respectively arranged at the tail ends of the cantilevers; a depth meter 3 for measuring the water depth is arranged at the bottom of the fuselage body 1; a mounting bracket is arranged in the machine body main body, and the lithium battery pack 10, the core control panel 5, the motor driving module 9, the camera module 6 and the magnetic switch are limited or mounted by the mounting bracket; the motor driving module 9 is respectively connected with the lithium battery pack 10, the core control panel 5 and the motor of the propeller 4 through wires; the core control panel 5 is provided with a basic control module, a wireless communication module, an attitude sensor and a memory card, and the basic control module is respectively connected with other equipment through wires and used for realizing data acquisition, storage, control, communication and power supply.
The pressure-resistant shell of the underwater robot is a hemisphere made of transparent organic glass or acrylic, a plurality of protruding installation parts are arranged at the outer edge of an opening of the pressure-resistant shell at intervals, and the pressure-resistant shell is fastened on two sides of a flange plate through bolts; the pressure-resistant housing is provided with a charging port 2, and the battery in the housing can be charged from outside the housing without disassembling the housing. The depth meter 3 is a stainless steel plastic shell lead type pressure sensor, the used communication interface is ADC, and the pressure measuring range is 0 to 4 Bar; the pressure sensors are wired to the basic control module on the core control board 5. The motor is a 12V brushless direct current motor, and the propeller is a ship model three-blade propeller; the four groups of propellers 4A, 4B, 4C and 4D comprise two forward propellers and two reverse propellers, and the rotating directions of the two adjacent propellers are different. The motor driving module comprises two modules 9A and 9B which are respectively used for driving propellers in different rotating directions.
the lithium battery pack 10 comprises 9 sections of 3.3V lithium batteries and is provided with a 60A current protection board, the motor driving module 9 is a 12V and 20A direct current motor driving module and is used for PWM speed regulation, the camera module 6 is an OpenMV3CamM7 intelligent camera and is used for image acquisition and video shooting, the camera module 6 is provided with an OV7725 photosensitive element and an ARM Cortex M7 processor and can use MicroPython language for program development, the magnetic switch comprises an electromagnetic relay and a holding type magnetic reed pipe 7, the electromagnetic relay is used for controlling the on L-off of a power supply of a vertical propeller, the holding type magnetic reed pipe 7 is used for controlling the on L-off of a power supply of a control panel core, the basic control module comprises an ARM single L-chip microcomputer and an auxiliary circuit, the wireless communication module is an E39L-TT L-1002.4 GHz wireless module and is used for wireless remote control and wireless program updating, the attitude sensor is a nine L-axis attitude sensor, and the basic control module is connected with the wireless communication module and the attitude sensor through wires and is used for data transmission.
Claims (10)
1. A miniature cableless quadrotor spherical underwater robot comprises a hollow main body and a propeller consisting of a motor and a propeller; the pressure-resistant sealing device is characterized in that the machine body main body comprises two hemispherical pressure-resistant shells, the pressure-resistant shells are fixed on two sides of the flange plate in a mode that openings are oppositely arranged, and the pressure-resistant shells and the flange plate are sealed through O-shaped sealing rings; four cantilevers with the same length are arranged at equal intervals on the outer edge of the flange plate, and a group of propellers is arranged at the tail ends of the cantilevers respectively;
A depth meter for measuring the water depth is arranged at the bottom of the machine body main body; the lithium battery pack, the core control panel, the motor driving module, the camera module and the magnetic switch are limited or mounted by the mounting bracket; the motor driving module is respectively connected with the lithium battery pack, the core control panel and a motor of the propeller through wires; the core control panel is provided with a basic control module, a wireless communication module, an attitude sensor and a memory card, and the basic control module is respectively connected with other equipment through a lead.
2. The miniature cableless quad-rotor spherical underwater robot according to claim 1, wherein the pressure-resistant housing is a hemisphere made of transparent organic glass or acrylic, a plurality of protruding mounting portions are arranged at intervals on the outer edge of the opening of the pressure-resistant housing, and the pressure-resistant housing is fastened on two sides of the flange plate through bolts; a charging port is provided in the pressure-resistant casing.
3. The miniature cableless quad-rotor spherical underwater robot according to claim 1, wherein the depth gauge is a stainless steel plastic shell lead-type pressure sensor, the used communication interface is ADC, and the pressure range is 0 to 4 Bar; the pressure sensor is connected to the basic control module on the core control board by wires.
4. A miniature cableless quad-rotor spherical underwater robot as claimed in claim 1 in which the motor is a 12V brushless dc motor and the propellers are ship model tri-bladed propellers; the four groups of propellers comprise two forward rotating propellers and two reverse rotating propellers, and the rotating directions of the two adjacent propellers are different.
5. The miniature cableless quad-rotor spherical underwater robot of claim 1, wherein the lithium battery pack consists of 9 sections of 3.3V lithium batteries with a 60A current protection plate.
6. A miniature cableless quad-rotor spherical underwater robot as claimed in claim 1 in which the motor drive modules are 12V, 20A dc motor drive modules for PWM speed regulation.
7. The miniature cableless quad-rotor spherical underwater robot of claim 1, wherein said camera module is an OpenMV3 CamM7 smart camera, carrying an OV7725 photosensitive element and an ARM Cortex M7 processor.
8. A miniature cableless quad-rotor spherical underwater robot as claimed in claim 1 in which the magnetic switch comprises an electromagnetic relay and a hold-type reed switch.
9. the miniature cableless quad-rotor spherical underwater robot of claim 1, wherein the basic control module comprises an ARM single chip microcomputer and an auxiliary circuit, the wireless communication module is an E39-TT L-1002.4 GHz wireless module, the attitude sensor is a nine-axis attitude sensor, and the basic control module is connected with the wireless communication module and the attitude sensor through wires for realizing data transmission.
10. A miniature cableless quad-rotor spherical underwater robot as claimed in claim 1 having a weight in air of 2.5kg and a maximum outer diameter of 30 cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921678337.2U CN211107937U (en) | 2019-10-09 | 2019-10-09 | Spherical underwater robot of four rotors of miniature no cable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921678337.2U CN211107937U (en) | 2019-10-09 | 2019-10-09 | Spherical underwater robot of four rotors of miniature no cable |
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| Publication Number | Publication Date |
|---|---|
| CN211107937U true CN211107937U (en) | 2020-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921678337.2U Active CN211107937U (en) | 2019-10-09 | 2019-10-09 | Spherical underwater robot of four rotors of miniature no cable |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114852300A (en) * | 2022-07-07 | 2022-08-05 | 中国空气动力研究与发展中心空天技术研究所 | Vector-propelled underwater vehicle and navigation method thereof |
-
2019
- 2019-10-09 CN CN201921678337.2U patent/CN211107937U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114852300A (en) * | 2022-07-07 | 2022-08-05 | 中国空气动力研究与发展中心空天技术研究所 | Vector-propelled underwater vehicle and navigation method thereof |
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