CN107352001B - A kind of portable underwater robot that can change bearing area - Google Patents
A kind of portable underwater robot that can change bearing area Download PDFInfo
- Publication number
- CN107352001B CN107352001B CN201710635073.1A CN201710635073A CN107352001B CN 107352001 B CN107352001 B CN 107352001B CN 201710635073 A CN201710635073 A CN 201710635073A CN 107352001 B CN107352001 B CN 107352001B
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- Prior art keywords
- horizontal
- mounting rod
- driving
- stretching
- folding landing
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the portable underwater robots that one kind can change bearing area, including ontology and supporting mechanism；Ontology includes shell and photographing module；Supporting mechanism includes stretching, extension driving mechanism and two folding landing legs；Each mounting rod is the horizontal sliding bar being slidably arranged on housing wall；Each folding landing leg is arranged on the outer end of a corresponding mounting rod；Stretching, extension driving mechanism includes the two driving output shafts and two transmission components rotated synchronously；Each transmission component includes two drive bevel gears；Each drive bevel gear includes driving tooth wheel portion and horizontal stud portion；Driving tooth wheel portion is fixed on corresponding driving output shaft；Each mounting rod is equipped with horizontal screw hole, and each horizontal stud portion is located in the horizontal screw hole of a corresponding mounting rod.Two folding landing legs distance is close so that whole occupied space is smaller when the present invention stores, and two folding landing legs are far to promote bearing area to guarantee stability when work.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to one kind can change the portable underwater machine of bearing area
People.
Background technique
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 is to increase mobile module under water on the basis of video camera, to complete autonomous
Mobile or controlled movement.
Patent document CN201733377U discloses a kind of Underwater Camera, including seal casinghousing, video camera mould group, and
Control the control panel of motor rotation；It is horizontally installed with first gear disk in the seal casinghousing and drives first tooth
First driving motor of wheel disc rotation；The first gear disk center is provided with the conducting slip ring of a transmission electric power and signal,
The conducting slip ring at the top of screw and the main support by tightening together；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 equipped in the side wall of the main support
Two toothed discs and the second driving motor for driving the second gear disk rotation；It is negative that one U-shaped is installed in the main support
Bracket, the one side wall of the negative bracket are connect with the second gear disk；The video camera mould group is fixedly mounted on the negative branch
On frame.When the first driving motor drives first gear disc spins, main support will be rotated therewith, and video camera water can be realized
Square to 360 ° of rotation；When the second driving motor drives second gear disc spins, negative bracket can be rotated therewith
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 guarantees the not power down in course of normal operation of video camera mould group, not lossing signal, continuously
Work, while guaranteeing that bracket can continuous 360 degree rotation.This kind of Underwater Camera structure is simple, and video camera can be with horizontal direction
360 degree rotation, vertical direction ± 90 degree rotation, realizes comprehensive observation, widens the underwater visual field.
This kind of Underwater Camera has the following disadvantages: need to hold or be mounted on and use on other objects, when it is straight
It connects when sinking under water, transparent ball cover will be made dirty by mud, interfere shooting.
Summary of the invention
The object of the present invention is to provide a kind of tool, there are two the portable underwater robots of folding landing leg, two folds branch
Leg can approach away from each other, and two folding landing legs distances are close so that whole occupied space is smaller when storage, and two fold when work
Supporting leg is far to promote bearing area to guarantee stability.
Realizing the technical solution of the object of the invention is: one kind can change the portable underwater robot of bearing area, packet
Include ontology and supporting mechanism；Ontology includes shell and photographing module；Supporting mechanism includes stretching, extension driving mechanism and two folding branch
Leg；Horizontal slide opening there are two setting on the wall body of shell opposite sides, each mounting rod is to be slidably arranged in a corresponding horizontal slide opening
In horizontal sliding bar, shell is exposed in the outer end of each mounting rod；Each folding landing leg is arranged on the outer end of a corresponding mounting rod simultaneously
Follow the mounting rod mobile；Stretching, extension driving mechanism includes the two driving output shafts and two transmission components rotated synchronously；It is each to pass
Dynamic component includes two drive bevel gears；Each drive bevel gear includes driving tooth wheel portion and horizontal stud portion；Driving tooth wheel portion is solid
It is fixed to be arranged on corresponding driving output shaft；Two drive bevel gears are located between two mounting rods, and each mounting rod is close to phase
The horizontal screw hole that a side an of drive bevel gear is equipped with and horizontal stud portion is adapted to is answered, each horizontal stud portion is located at corresponding one
In the horizontal screw hole of a mounting rod.
In above scheme, stretching, extension driving mechanism includes stretching, extension driving motor；Stretching, extension driving motor is a double shaft-protruding type electricity
Machine, the both ends of drive shaft, which are stretched out outside motor, forms described two driving output shafts.
In above scheme, driving output shaft is horizontally disposed.
The present invention has the effect of positive: two folding landing legs can approach away from each other, when storage two folding landing legs away from
From close so that whole occupied space is smaller, two folding landing legs are far to promote bearing area to guarantee stability when work.
Detailed description of the invention
Fig. 1 is a kind of schematic perspective view that the present invention is in folded state；
Fig. 2 be Fig. 1 shown in robot from another angle when a kind of schematic perspective view；
Fig. 3 is a kind of explosive view of robot shown in Fig. 1；
Fig. 4 is a kind of half section structure diagram of robot shown in Fig. 1；
Fig. 5 is a kind of schematic perspective view that robot shown in Fig. 1 is in extended state.
Appended drawing reference are as follows: shell 1, hemispherical observation window 11, horizontal slide opening 12, vertical casing 13, vertical slide opening 131, rolling
Axis 132, photographing module 2, cradle head mechanism 21 rotate horizontally part 211, rotate horizontally driving motor 212, and vertical rotary part 213 hangs down
Straight rotary drive motor 214, camera 22, folding landing leg 3, frame plate 30, complex wrapping frame 31, X-frame 311, V-arrangement interlocking bar
32, drive rod 33, mounting rod 34, horizontal screw hole 341, support leg 35, kidney-shaped slide opening 351, rolling pin shaft 352, enhancing connection rod set
Driving mechanism 4 is stretched in part 36, first connecting rod 361, second connecting rod 363, traveller portion 364, stretches driving motor 41, drive shaft
411, drive output shaft 412, transmission component 5, drive bevel gear 51, driving tooth wheel portion 511, horizontal stud portion 512, from mantle tooth
Wheel 52, driven tooth wheel portion 521, mounting portion 522, vertical stud portion 523, vertical slide bar 53, vertical screw hole 531, interconnecting piece 532,
Horizontal drive bar assembly 54, main drive rod 541 slip pillar 542, secondary drive rod 543, center slide opening 544.
Specific embodiment
(embodiment 1)
The present embodiment is a kind of portable underwater robot, as shown in Fig. 1 to Fig. 5, including ontology and supporting mechanism；Ontology
Including shell 1 and the photographing module 2 being built in shell；Supporting mechanism includes folding landing leg 3 and stretching, extension driving mechanism 4；It folds
The quantity of supporting leg is two and is arranged in shell two sides that each folding landing leg is along plumb line direction folding extension；Stretch driving mechanism
While driving two folding landing legs along plumb line direction synchronous folding or stretching, extension, two folding landing legs of synchronous drive connect each other
Close or remote from.
The lower part of shell is equipped with transparent hemispherical observation window 11；Photographing module includes being built in shell to have driving
The cradle head mechanism 21 of motor 211, the camera 22 being arranged on cradle head mechanism and the headlamp being arranged on cradle head mechanism are (on figure
It is not drawn into).Camera 22 is fixed at the bottom of cradle head mechanism, the transparent wall body of camera face hemispherical observation window.
Each folding landing leg 3 includes being combined in the complex wrapping frame 31 formed and complex wrapping frame most by multiple X-frames 311
An X-frame 311 connected V-arrangement interlocking bar 32 above, the drive rod 33, the mounting rod 34 that are connected with V-arrangement interlocking bar center of rotation
And the support leg 35 below complex wrapping frame is set；
Each X-frame 311 is to be hinged and connected to be formed by respective middle part by two frame plates 30, in two adjacent X-frames,
The top of two frame plates of the bottom end of two frame plates of an X-frame and a following X-frame is rotatedly connected above；
Horizontal slide opening 12 there are two setting on the wall body of shell opposite sides, each mounting rod 34 is to be slidably arranged in corresponding one
Expose shell in the outer end of horizontal sliding bar in horizontal slide opening, each mounting rod；Each uppermost X-frame of complex wrapping frame passes through
One pin rotation is arranged on a corresponding mounting rod, and in the present embodiment, which is arranged in the outer of a corresponding mounting rod
At the center of end, two frame plates of the X-frame are around the pin rotation.This structure makes each mounting rod horizontal sliding at corresponding one
It reciprocatingly slides in the horizontal direction in hole.
V-arrangement interlocking bar is that the combination that is rotatedly connected by the abutting end of two frame plates 30 is formed namely two framves of V-arrangement interlocking bar
The abutting end of plate forms hinged end；The top of two frame plates of one X-frame in the top and V-arrangement interlocking bar in each complex wrapping frame
In the bottom ends of two frame plates be rotatedly connected；
Drive rod is arranged along plumb line direction；The bottom end of drive rod and the hinged end of a corresponding V-arrangement interlocking bar rotate phase
Even, in the present embodiment, the bottom end of two frame plates and a corresponding drive rod is hinged with pin shaft realization in V-arrangement interlocking bar
It is connected.
Support leg is equipped with horizontal-extending kidney-shaped slide opening 351, two of a bottom X-frame in each complex wrapping frame
Frame plate, the bottom end of one of frame plate and support leg are rotatedly connected, and the bottom end of another frame plate is equipped with horizontal direction and rolls pin shaft
352, which is located in a corresponding kidney-shaped slide opening；When the complex wrapping frame stretches or folds, pin shaft edge is rolled
The sliding of kidney-shaped slide opening.
In order to increase the intensity and stability of two folding landing legs, two enhancing connection rod sets are additionally provided between two support legs
Part 36.Each enhancing link assembly includes the first connecting rod 361 being fixed in a support leg and is fixed at another
Second connecting rod 363 in support leg, first connecting rod are equipped with slide opening portion, and second connecting rod is equipped with traveller portion 364, the traveller of second connecting rod
Portion is located in the slide opening portion of first connecting rod.This structure make two folding landing legs away from each other when, the traveller portion of second connecting rod is still
In the slide opening of first connecting rod, namely make it is each enhancing link assembly in first connecting rod and second connecting rod formed it is telescopic
Connection, to adapt to the away from each other and close of two folding landing legs.
Stretching driving mechanism 4 includes a stretching, extension driving motor 41 and two transmission components 5, and stretching, extension driving motor passes through two
Two drive rods 33 of a transmission component synchronous drive are moved back and forth along plumb line direction, to realize two foldings of folding or expansion
Supporting leg.
Stretching, extension driving motor 41 is a double shaft-protruding type motor, and the both ends of drive shaft 411 are stretched out outside motor, thus
Form two driving output shafts 412.
Each transmission component 5 includes drive bevel gear 51, driven wheel of differential 52, vertical slide bar 53 and horizontal drive bar assembly
54；
Drive bevel gear includes driving tooth wheel portion 511 and horizontal stud portion 512, and driving tooth wheel portion is fixed at corresponding one
On a driving output shaft, and the reciprocating rotation on vertical guide；One side of each mounting rod close to stretching, extension driving motor is equipped with and water
The horizontal screw hole 341 of flat stud portion adaptation, horizontal stud portion is located in the horizontal screw hole of a corresponding mounting rod；The present embodiment
In, the driving tooth wheel portion of drive bevel gear and horizontal stud portion are made into integration, and the two moves synchronously；When drive bevel gear is extended
When driving motor drives, horizontal stud portion drives a corresponding mounting rod reciprocating rotation by screw drive mode, so that the peace
Dress bar is moved back and forth along horizontal slide opening, realizes that the two sides of two mounting rods towards shells elongate or shorten, to drive two to fold
Supporting leg is located remotely from each other or approaches.
Case top is set there are two the vertical casing 13 with vertical slide opening 131, and the bottom end of each vertical casing is fixed with
One roller bearing 132；Each driven wheel of differential includes driven tooth wheel portion 521, mounting portion 522 and vertical stud portion 523；Driven tooth wheel portion exists
Reciprocating rotation on horizontal plane, installation position in vertical stud portion lower part and be mounted in a corresponding roller bearing；In the present embodiment,
Driven tooth wheel portion, mounting portion and the vertical stud portion of each driven wheel of differential are made into integration.When each drive bevel gear rotates, phase is driven
A driven wheel of differential rotation namely the corresponding driven tooth wheel portion of synchronous drive and vertical stud portion is answered to rotate synchronously.
In the present embodiment, the outboard end of each horizontal slide opening and vertical slide opening is equipped with waterproof seal ring, to prevent liquid
It is entered in shell through slide opening.
Horizontal drive bar assembly includes main drive rod 541 and two secondary drive rods 543 positioned at main drive rod two sides, main drive
Lever and secondary drive rod are horizontally disposed, and the outboard end of each pair drive rod passes through pin and a corresponding drive rod phase
Even；The two side ends of main drive rod are equipped with the sliding pillar 542 of evagination, and a side of the main drive rod of adjoining of each pair drive rod is set
There is center slide opening 544, each sliding pillar is inserted into a corresponding center slide opening and can reciprocatingly slide along the center slide opening.Namely main drive
Lever and two secondary drive rods form telescopic connection.When the two sides of two mounting rods towards shells elongate or shorten, by
It can reciprocatingly slide along the center slide opening of secondary drive rod in the sliding pillar of main drive rod, so that horizontal drive bar assembly is whole
Body horizontal length also elongates or shortens therewith.In the present embodiment, horizontal drive bar assembly is located at the surface of shell.
Vertical slide bar is located in the vertical slide opening of a corresponding vertical casing, is equipped in the bottom end of vertical slide bar and vertical
The vertical screw hole 531 of stud portion adaptation, the top of vertical slide bar is equipped with the interconnecting piece 532 being connected with main drive rod；The present embodiment
In, which is the lantern ring being set on main drive rod.When driven wheel of differential rotation, vertical stud portion passes through spiral shell
Line driving method drives corresponding vertical slide bar reciprocating rotation, so that the vertical slide bar is moved back and forth along vertical slide opening, realizes
Horizontal drive bar assembly is driven to rise or move down, and then the drive rod 33 in Foldable supporting leg.
In the present embodiment, stretches two drive bevel gear of driving motor synchronous drive and two driven wheel of differential rotate synchronously, two
A horizontal stud portion drives two mounting rods to synchronize overhanging along horizontal slide opening or inside contract, and then drives two pairs by folding landing leg
Drive rod is overhanging or inside contracts, so that the distance between two folding landing legs increased or decrease；When the spacing of two folding landing legs increases,
It is whole relatively stable, it is not easy to shake；When the spacing of two folding landing legs reduces, whole occupied space reduces, easy to carry.
Two vertical stud portions drive two vertical slide bars and horizontal drive bar assembly to move up or decline, and then drive each folding
Drive rod in folded supporting leg moves up or declines；When drive rod moves up or declines, the V-arrangement interlocking bar of Foldable supporting leg, due to each
The X-frame of the top one of folding landing leg is mounted on mounting rod, thus entire folding landing leg with V-arrangement interlocking bar stretching or
It compresses and stretches or fold up；When folding landing leg full extension, support leg is displaced downwardly to more than housing bottom, thus by shell
It supports, hemispherical observation window is allowed to be higher by underwater mud face；When folding landing leg is folded, whole occupied space compared with
It is small, it is easy to carry about with one.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.And these
Belong to the obvious changes or variations that connotation of the invention is extended out and still falls within protection scope of the present invention.
Claims (3)
1. one kind can change the portable underwater robot of bearing area, including ontology and supporting mechanism；Ontology includes shell
And photographing module；Supporting mechanism includes stretching, extension driving mechanism；It is characterized by:
Supporting mechanism further includes two folding landing legs；Horizontal slide opening there are two being set on the wall body of shell opposite sides, each mounting rod
It is the horizontal sliding bar being slidably arranged in a corresponding horizontal slide opening, shell is exposed in the outer end of each mounting rod；Each folding landing leg is set
It sets on the outer end of a corresponding mounting rod and follows the mounting rod mobile；
Stretching, extension driving mechanism includes the two driving output shafts and two transmission components rotated synchronously；Each transmission component includes two
Drive bevel gear；Each drive bevel gear includes driving tooth wheel portion and horizontal stud portion；Driving tooth wheel portion is fixed at corresponding one
On a driving output shaft；Two drive bevel gears are located between two mounting rods, and each mounting rod is close to a corresponding active conical tooth
One side of wheel is equipped with and the horizontal screw hole of horizontal stud portion adaptation, and each horizontal stud portion is located at the level of a corresponding mounting rod
In screw hole.
2. the portable underwater robot according to claim 1 that bearing area can be changed, it is characterised in that: stretching, extension is driven
Motivation structure includes stretching, extension driving motor；Stretching, extension driving motor is a double shaft-protruding type motor, and the both ends of drive shaft are stretched out
Described two driving output shafts are formed outside motor.
3. the portable underwater robot according to claim 2 that bearing area can be changed, it is characterised in that: driving is defeated
Shaft is horizontally disposed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910125041.6A CN109911152A (en) | 2017-07-30 | 2017-07-30 | The portable underwater robot of bearing area can be changed |
| CN201710635073.1A CN107352001B (en) | 2017-07-30 | 2017-07-30 | A kind of portable underwater robot that can change bearing area |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710635073.1A CN107352001B (en) | 2017-07-30 | 2017-07-30 | A kind of portable underwater robot that can change bearing area |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910125041.6A Division CN109911152A (en) | 2017-07-30 | 2017-07-30 | The portable underwater robot of bearing area can be changed |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107352001A CN107352001A (en) | 2017-11-17 |
| CN107352001B true CN107352001B (en) | 2019-03-15 |
Family
ID=60285187
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710635073.1A Active CN107352001B (en) | 2017-07-30 | 2017-07-30 | A kind of portable underwater robot that can change bearing area |
| CN201910125041.6A Pending CN109911152A (en) | 2017-07-30 | 2017-07-30 | The portable underwater robot of bearing area can be changed |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910125041.6A Pending CN109911152A (en) | 2017-07-30 | 2017-07-30 | The portable underwater robot of bearing area can be changed |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN107352001B (en) |
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| CN104800041B (en) * | 2015-03-20 | 2016-11-09 | 中国科学院自动化研究所 | A kind of Multi-position lower limb rehabilitation training robot |
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- 2017-07-30 CN CN201710635073.1A patent/CN107352001B/en active Active
- 2017-07-30 CN CN201910125041.6A patent/CN109911152A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103192965A (en) * | 2013-03-18 | 2013-07-10 | 浙江海洋学院 | Giant squid bionic sea floor exploration intelligent robot |
| CN104925709A (en) * | 2015-05-28 | 2015-09-23 | 中国科学院自动化研究所（洛阳）机器人与智能装备创新研究院 | Water lifting and supporting device |
| CN106628072A (en) * | 2016-09-30 | 2017-05-10 | 哈尔滨工程大学 | Bionic multi-navigation-state deep unmanned submersible |
| CN106926992A (en) * | 2017-04-10 | 2017-07-07 | 武汉尼维智能科技有限公司 | A kind of multiaxis advances search and rescue robot waterborne |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107352001A (en) | 2017-11-17 |
| CN109911152A (en) | 2019-06-21 |
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Effective date of registration: 20211208 Address after: 256599 intersection of Xingbo third road and Xingye fifth road, Boxing County Economic Development Zone, Binzhou City, Shandong Province Patentee after: Binzhou boxing Zhichuang Digital Technology Co.,Ltd. Address before: 325600 Jinguang Lan Village, Liushi Town, Yueqing City, Zhejiang Province Patentee before: Yueqing Jupai Enterprise Management Consulting Co.,Ltd. |
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Effective date of registration: 20220418 Address after: 226600 169 Li Fa FA Road, Chengdong Town, Haian City, Nantong, Jiangsu. Patentee after: Jiangsu Jingjiang Industrial Equipment Co.,Ltd. Address before: 256599 intersection of Xingbo third road and Xingye fifth road, Boxing County Economic Development Zone, Binzhou City, Shandong Province Patentee before: Binzhou boxing Zhichuang Digital Technology Co.,Ltd. |