A driving device of a seabed sonar robot

Abstract

The application discloses a driving device of a seabed sonar robot, an output end of a first servo motor is connected with a main body frame, a second servo motor is embedded on the main body frame, an output end of the second servo motor is connected with a paddle cylinder, an output end of a rotary motor is connected with one end of a rotating shaft, a propeller fixed sleeve is connected with the rotating shaft, an output end of a third servo motor is connected with one end of a threaded rod, a translational block is sleeved on a threaded section of the threaded rod, a rotating plate is rotatably connected with a fixed baffle through the rotating shaft, a plurality of second through holes are formed in the fixed baffle, a plurality of first through holes are formed in the rotating plate, and a plurality of opening and closing plates are installed on the side wall of the paddle cylinder. The application changes the water flow direction to provide braking force for the sonar robot, so that the sonar robot can accurately stay at a specified position, the stability of the sonar robot during underwater movement is ensured, and the sonar robot can accurately collect data.

Description

Technical Field

[0001] This invention belongs to the field of robot drive technology, and in particular to a drive device for an underwater sonar robot. Background Technology

[0002] Sonar (Sound Navigation and Ranging, abbreviated as "SONAR") is an electronic device that utilizes the propagation characteristics of sound waves underwater. Through electroacoustic conversion and information processing, it performs underwater detection and communication tasks. There are two types: active and passive, and it falls under the category of acoustic positioning. The drive unit of an underwater sonar robot is a device used to propel the sonar robot to move.

[0003] Existing sonar robots often control their movement underwater by directing the direction of the propeller's discharge. When the sonar drive needs to stop at a certain position, the direction of the propeller's discharge is reversed. However, during the change of the propeller's angle, the continuous rotation of the propeller affects the sonar robot's altitude, preventing it from stopping at the designated position and resulting in poor underwater stability and inaccurate measurement data. Summary of the Invention

[0004] The purpose of this invention is to solve the problems in the prior art and provide a driving device for an underwater sonar robot.

[0005] To achieve the above objectives, the present invention employs the following technical solution:

[0006] A drive unit for an underwater sonar robot includes a propeller, a rotary motor, a first servo motor, and a translation block.

[0007] The output end of the first servo motor is connected to the main frame. A second servo motor and a first bearing are respectively embedded in the opposite side walls of the main frame. The output ends of the second servo motor and the first bearings are respectively connected to the opposite outer walls of the propeller barrel. The output end of the rotary motor is connected to one end of a rotating shaft. The other end of the rotating shaft is connected to a second bearing. The propeller is fixedly sleeved on the rotating shaft. The second bearing is connected to one side of a fixed plate. A third servo motor is embedded in the other side of the fixed plate. The output end of the third servo motor is connected to one end of a threaded rod. The threaded rod has a threaded section. A translation block is sleeved on the threaded section of the threaded rod. Several support rods are connected to one end of the translation block. The other end of the threaded rod is connected to the center of the rotating plate's rotating shaft. One side of the rotating plate is embedded in a fixed baffle. The rotating plate is rotatably connected to the fixed baffle via a rotating shaft. Several second through holes are opened on the fixed baffle. Several first through holes are opened on the rotating plate. The fixed baffle is connected to the inner side wall of one end of the propeller barrel. Several opening and closing plates are installed on the side wall of the propeller barrel. Several opening and closing plates are connected to the other ends of several support rods.

[0008] Furthermore, the first servo motor is embedded on one side of the top plate, and the other side of the top plate is connected to the sonar robot.

[0009] Furthermore, two annular protrusions are movably embedded in the top of the main frame, and the two annular protrusions are connected to the top plate through a cylindrical ring.

[0010] Furthermore, several water inlets are provided on the top and side walls of the main frame.

[0011] Furthermore, the output end of the second servo motor and the first bearing are respectively connected to the outer wall of the propeller barrel via connecting columns.

[0012] Furthermore, one end of several brackets is connected to the side wall of the rotary motor, the other end of several brackets is connected to the inner side wall of the propeller, and several brackets are distributed along the side wall of the rotary motor in an equal arc.

[0013] Furthermore, the translation block is hinged to the support rod, the support rod is hinged to the opening and closing plate, and a plurality of the support rods are distributed along the side wall of the translation block in equal arcs, with a plurality of the support rods corresponding one-to-one with the opening and closing plate.

[0014] Furthermore, one end of the opening and closing plate is hinged to the side wall of the propeller tube.

[0015] Furthermore, the first through hole and the second through hole are of equal size and number, and a number of the first through holes and the second through holes are located on the same arc and are evenly distributed along the arc.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] This invention provides a drive device for an underwater sonar robot. A first servo motor drives the main frame to rotate and adjust the water inlet direction of the propeller. A second servo motor adjusts the water outlet direction of the propeller. This allows the rotating module inside the propeller to not only provide forward propulsion for the sonar robot but also adjust its underwater depth. A third servo motor drives a threaded rod to rotate and adjust the distance between the translation block and the opening / closing plate. Under the action of the support rod, the opening / closing plate is pushed open to change the water outlet and inlet directions, thereby increasing the thrust on the sonar robot. At the same time, the rotation of the threaded rod causes the rotating plate to rotate and control the position of the through hole, thereby changing the direction of water discharge and forming a thrust braking force. This allows the sonar robot to accurately stop at a designated position and ensures the stability of the sonar robot during underwater movement, which is beneficial for the sonar robot to accurately collect data. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a front sectional view of the present invention.

[0020] Figure 2 This is a side sectional view of the propeller barrel of the present invention.

[0021] Figure 3 This is a diagram showing the connection relationship between the rotating plate and the fixed baffle of the present invention.

[0022] Figure 4 This is a side view of the present invention.

[0023] The components are: 1-Sonar robot, 2-Top plate, 3-Annular protrusion, 4-Water inlet, 5-Main frame, 6-Bracket, 7-Second servo motor, 8-Propeller, 9-Shaft, 10-Connecting column, 11-First bearing, 12-Rotating motor, 13-Propeller barrel, 14-Cylindrical ring, 15-First servo motor, 16-Second bearing, 17-Fixing plate, 18-Third servo motor, 19-Translation block, 20-Fixing baffle, 21-Second through hole, 22-First through hole, 23-Threaded rod, 24-Rotating plate, 25-Opening and closing plate, 26-Support rod. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0026] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0027] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0028] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0029] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0030] The present invention will now be described in further detail with reference to the accompanying drawings:

[0031] See Figures 1 to 4 This invention provides a drive device for an underwater sonar robot, comprising a top plate 2 and a main frame 5. A first servo motor 15 is embedded in the bottom of the top plate 2, and the output end of the first servo motor 15 is fixedly connected to the top of the main frame 5. The main frame 5 has an inverted U-shaped cross-section, and a drive system is provided between two opposite side walls of the main frame 5. The drive system includes a second servo motor 7, a first bearing 11, two connecting columns 10, a propeller 13, and a rotating module. The two connecting columns 10 are fixedly connected to the two opposite outer side walls of the propeller 13 and are located on the same... On the horizontal plane, the ends of the two connecting columns 10 away from the propeller 13 are fixedly connected to the output end of the second servo motor 7 and the first bearing 11, respectively. The second servo motor 7 and the first bearing 11 are respectively embedded on the two opposite vertical rods of the main frame 5. A cylindrical ring 14 is fixedly installed at the bottom of the top plate 2. The central axis of the cylindrical ring 14 is at the same position as the output end of the servo motor. The bottom of the cylindrical ring 14 is inserted into the top of the main frame 5, and the bottom of the cylindrical ring 14 is fixedly connected to the annular protrusion 3. The annular protrusion 3 is movably connected to the main frame 5.

[0032] The rotating module includes a rotating motor 12, a rotating shaft 9, a propeller 8, a second bearing 16, several brackets 6, a fixing plate 17, and a thrust reverser unit. The rotating motor 12 is located on the horizontal rotating shaft of the propeller 8, and the output end of the rotating motor 12 faces the central axis of the propeller barrel 13. The ends of several brackets 6 are simultaneously fixedly connected to the side wall of the rotating motor 12, and the brackets 6 are distributed along the side wall of the rotating motor 12 in equal arcs. The ends of several brackets 6 away from the rotating motor 12 are fixedly connected to the inner side wall of the propeller barrel 13. The brackets 6 are used to fix the rotating motor 12. The end of the rotating shaft 9 is fixedly connected to the output end of the rotating motor 12. The end of the rotating shaft 9 away from the rotating motor 12 is inserted into the second bearing 16 and fixedly connected. The propeller 8 is fixedly sleeved on the rotating shaft 9. The second bearing 16 is fixedly connected to the side wall of the fixing plate 17, and the side wall of the fixing plate 17 away from the second bearing 16 is connected to the thrust reverser unit.

[0033] The thrust reverser unit includes a third servo motor 18, a threaded rod 23, a translation block 19, several support rods 26, at least four opening and closing plates 25, and a blocking mechanism. The third servo motor 18 is embedded in the fixed plate 17. The output end of the third servo motor 18 is in the same direction as the output end of the rotary motor 12 and is located on the central axis of the propeller barrel 13. The output end of the third servo motor 18 is fixedly connected to the end of the threaded rod 23. The end of the threaded rod 23 away from the third servo motor 18 is fixedly connected to the blocking mechanism. The translation block 19 is sleeved on the threaded section of the threaded rod 23. The translation block 19 is cylindrical. The ends of several support rods 26 are simultaneously hinged to the circumferential surface of the translation block 19, and the several support rods 26 are distributed along the side wall of the translation block 19 in an arc. Several opening and closing plates 25 are installed on the side wall of the propeller barrel 13, and one end of the opening and closing plate 25 is hinged to the propeller barrel 13. The connection relationship between the opening and closing plate 25 and the propeller barrel 13 is as follows: Figure 2 As shown, the opening and closing plate 25 is used to open and close the through hole on the side wall of the propeller tube 13. Several opening and closing plates 25 have several support rods 26 corresponding to each other on their inner side walls, and the inner side walls of the opening and closing plates 25 are hinged to the ends of the support rods 26.

[0034] The blocking mechanism includes a fixed baffle 20 and a rotating plate 24. A portion of the length of the rotating plate 24 is located within the fixed baffle 20. The rotating plate 24 and the fixed baffle 20 are rotatably connected. The side wall of the fixed baffle 20 is fixedly connected to the side wall of the propeller cylinder 13 near the end. The fixed baffle 20 is used to fix the entire rotating module. The center of the rotating shaft of the rotating plate 24 is fixedly connected to the end of the threaded rod 23. Several second through holes 21 and first through holes 22 are respectively opened on the fixed baffle 20 and the rotating plate 24. The first through holes 22 and the second through holes 21 are the same size and the same number, and are located on the same arc. The several first through holes 22 and the second through holes 21 are evenly distributed with equal arc lengths.

[0035] Working principle of the drive device for the underwater sonar robot of this invention:

[0036] By connecting the two opposite sidewalls of the propeller barrel 13 to two connecting columns 10, and the two connecting columns 10 to the second servo motor 7 and the first bearing 11 respectively, the drainage direction of the propeller barrel 13 can be adjusted by the second servo motor 7. This allows the rotating module inside the propeller barrel 13 to not only provide forward power for the sonar robot 1, but also adjust the underwater depth of the sonar robot 1. The output end of the rotating motor 12, the rotating shaft 9, and the threaded rod 23 are arranged on the same axis, and the second bearing 16 and the threaded rod 23 are fixedly connected to the center of the rotating shaft 9 of the fixed plate 17 and the rotating plate 24 respectively. This improves the stability of the device during rotation. By supporting... The two ends of the rod 26 are hinged to the opening and closing plate 25 and the translation block 19, respectively. The translation block 19 is sleeved on the threaded section of the threaded rod 23. In this way, the support rod 26 plays a limiting role for the translation block 19, so that when the threaded rod 23 rotates, the translation block 19 can only move along the length direction of the threaded rod 23. At the same time, when the translation block 19 moves, the support rod 26 pushes the opening and closing plate 25 open, so that the water can be discharged from the through hole at the position of the opening and closing plate 25. Since the tangential direction of the opening and closing plate 25 and the propeller 13 is at an acute angle, the direction of the water discharged from the position of the opening and closing plate 25 is at an obtuse angle to the direction of water inlet, thereby providing braking force for the sonar robot 1 without affecting the depth of the sonar robot 1.

[0037] When the drive system propels the sonar robot 1 forward, the rotary motor 12 drives the propeller 8 to rotate at high speed, causing water to enter the propeller tube 13. During forward propulsion, the first through hole 22 and the second through hole 21 are connected and completely overlapped, so the water entering the propeller tube 13 is discharged from the first through hole 22 and the second through hole 21, thus achieving the effect of driving the entire sonar robot 1. When braking the sonar robot 1 is required, the third servo motor 18 is adjusted to rotate. The rotation of the third servo motor 18 drives the threaded rod 23 to rotate. Since the translation block 19 is sleeved on the threaded section of the threaded rod 23, this causes the translation block 19 to move towards the rotating plate 24. The distance between the translation block 19 and the opening and closing plate 25 is... As the distance decreases, the opening and closing plate 25 is pushed open by the support rod 26. When the translation block 19 reaches the position closest to the opening of the opening and closing plate 25, the third servo motor 18 stops rotating. At this time, the angle between the opening and closing plate 25 and the tangent direction of the propeller 13 at the outlet position of the opening and closing plate 25 is an acute angle. This ensures that the direction of water discharge from the opening of the opening and closing plate 25 is at an obtuse angle to the direction of water inlet, thereby increasing the reverse thrust. At the same time, when the threaded rod 23 rotates, it will drive the rotating plate 24 to rotate. When the translation block 19 reaches the final position, the first through hole 22 and the second through hole 21 are not connected. This ensures that the discharged water can only be discharged from the opening of the opening and closing plate 25, thus forming the reverse thrust braking force.

[0038] When the sonar robot 1 needs to be adjusted upwards, the second servo motor 7 drives the propeller 13 to rotate, so that the water inlet of the propeller 13 is close to the top of the main frame 5. The main frame 5 has several water inlets 4 on its side walls and top, and some water can enter the propeller 13 through the water inlets 4, which reduces the water inlet resistance. The annular protrusion 3 is used to limit the main frame 5. When adjusting the horizontal water inlet direction of the propeller 13, the first servo motor 15 drives the main frame 5 to rotate. The water flow power provided by the rotation of the propeller 8 is directed towards the rotating plate 24, which not only provides forward power for the sonar robot 1, but also provides reverse thrust braking force for the sonar robot 1.

[0039] In a specific embodiment of the present invention, there are four opening and closing plates 25, and the angle between the line segments of the four opening and closing plates 25 and the threaded rod 23 is 90°.

[0040] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A drive apparatus for a seabed sonar robot, characterized by comprising: Includes a propeller (8), a rotary motor (12), a first servo motor (15), and a translation block (19); The output end of the first servo motor (15) is connected to the main frame (5). The second servo motor (7) and the first bearing (11) are respectively embedded on the opposite side walls of the main frame (5). The output end of the second servo motor (7) and the first bearing (11) are respectively connected to the opposite side outer walls of the propeller (13). The output end of the rotary motor (12) is connected to one end of the rotating shaft (9). The other end of the rotating shaft (9) is connected to the second bearing (16). The propeller (8) is fixedly sleeved on the rotating shaft (9). The second bearing (16) is connected to one side of the fixing plate (17). The other side of the fixing plate (17) is embedded with a third servo motor (18). The output end of the third servo motor (18) is connected to one end of the threaded rod (23). The threaded rod (23) is provided with The translation block (19) is sleeved on the threaded section of the threaded rod (23). One end of several support rods (26) is connected to the translation block (19). The other end of the threaded rod (23) is connected to the center of the rotating shaft of the rotating plate (24). One side of the rotating plate (24) is embedded in the fixed baffle (20). The rotating plate (24) is rotatably connected to the fixed baffle (20) through the rotating shaft. Several second through holes (21) are opened on the fixed baffle (20). Several first through holes (22) are opened on the rotating plate (24). The fixed baffle (20) is connected to the inner side wall of one end of the propeller (13). Several opening and closing plates (25) are installed on the side wall of the propeller (13). Several opening and closing plates (25) are connected to the other end of several support rods (26). The translation block (19) is hinged to the support rod (26), the support rod (26) is hinged to the opening and closing plate (25), and a plurality of the support rods (26) are distributed along the side wall of the translation block (19) in equal arcs, and a plurality of the support rods (26) correspond one-to-one with the opening and closing plate (25); One end of the opening and closing plate (25) is hinged to the side wall of the propeller cylinder (13); The first through hole (22) and the second through hole (21) are of equal size and number, and several of the first through holes (22) and the second through holes (21) are located on the same arc and are evenly distributed along the arc.

2. The driving device for an underwater sonar robot according to claim 1, characterized in that, The first servo motor (15) is embedded on one side of the top plate (2), and the other side of the top plate (2) is connected to the sonar robot (1).

3. The driving device for an underwater sonar robot according to claim 1, characterized in that, The top of the main frame (5) is movably fitted with two annular protrusions (3), and the two annular protrusions (3) are connected to the top plate (2) through a circular cylinder (14).

4. The driving device for an underwater sonar robot according to claim 1, characterized in that, Several water inlets (4) are provided on the top and side walls of the main frame (5).

5. The driving device for an underwater sonar robot according to claim 1, characterized in that, The output end of the second servo motor (7) and the first bearing (11) are respectively connected to the outer wall of the propeller (13) through the connecting column (10).

6. The driving device for an underwater sonar robot according to claim 1, characterized in that, The rotating motor (12) has several brackets (6) connected to one end of its side wall, and the other end of the brackets (6) is connected to the inner side wall of the propeller (13). The brackets (6) are distributed along the side wall of the rotating motor (12) in an arc.

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