CN107352004A - A kind of synchronous folding or the underwater robot for stretching two folding landing legs - Google Patents
A kind of synchronous folding or the underwater robot for stretching two folding landing legs Download PDFInfo
- Publication number
- CN107352004A CN107352004A CN201710635072.7A CN201710635072A CN107352004A CN 107352004 A CN107352004 A CN 107352004A CN 201710635072 A CN201710635072 A CN 201710635072A CN 107352004 A CN107352004 A CN 107352004A
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- Prior art keywords
- stretching
- drive
- folding
- vertical
- folding landing
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- B63C11/48—Means for searching for underwater objects
-
- 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
- B63C11/48—Means for searching for underwater objects
- B63C11/49—Floating structures with underwater viewing devices, e.g. with windows ; Arrangements on floating structures of underwater viewing devices, e.g. on boats
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of underwater robot of two folding landing legs of synchronous folding or stretching, extension, including body and supporting mechanism；Body includes housing and the photographing module being built in housing；Lower housing portion is provided with transparent observation window；Supporting mechanism includes folding landing leg and stretching, extension drive mechanism；The quantity of folding landing leg is two and is arranged on housing both sides, and stretching, extension drive mechanism drives two folding landing leg synchronous foldings or stretching, extension.When folding landing leg full extension, support feet is displaced downwardly to more than housing bottom the present invention, so as to which housing be supported so that hemispherical observation window can be higher by underwater mud face；When folding landing leg is folded, overall space-consuming is smaller, is easy to carry about with one.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of portable underwater robot with folding landing leg.
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.
A kind of existing underwater robot, it is under water on the basis of video camera, increases mobile module, it is autonomous so as to complete
Mobile or controlled movement.
Patent document CN201733377U discloses a kind of Underwater Camera, including seal casinghousing, video camera module, and
The control panel that controlled motor rotates；First gear disk is horizontally installed with the seal casinghousing and drives first tooth
The first motor that wheel disc rotates；The first gear disk center is provided with the conducting slip ring of a transmission electric power and signal,
The conducting slip ring is by screw with being tightened together at the top of the main support；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 provided with the side wall of the main support
Two toothed discs and the second motor for driving the second gear disk to rotate；One U-shaped is installed in the main support to bear
Support, a side wall of the negative support are connected with the second gear disk；The video camera module is fixedly mounted on the negative branch
On frame.When the first motor drives first gear disc spins, main support will rotate therewith, you can realize video camera water
Square to 360 ° of rotation；When the second motor drives second gear disc spins, negative support can rotate therewith, you can
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 ensures the not power down in course of normal operation of video camera module, not lossing signal, continuously
Work, while ensure that support can continuous 360 degree of rotations.This kind of Underwater Camera is simple in construction, and video camera can be with horizontal direction
360 degree of rotations, vertical direction ± 90 degree rotation, realize comprehensive observation, widen the underwater visual field.
This kind of Underwater Camera has the following disadvantages：It need to hold or be used on other objects, when its is straight
Connect when sinking under water, transparent ball cover will be made dirty by mud, hinder shooting.
The content of the invention
It is an object of the invention to provide a kind of underwater robot of two folding landing legs of synchronous folding or stretching, extension, when two folding branch
During leg full extension, by housing support from the ground, prevent sludge from making transparent windows dirty.
Realizing the technical scheme of the object of the invention is：A kind of synchronous folding or the underwater robot for stretching two folding landing legs,
Including body and supporting mechanism；Body includes housing and the photographing module being built in housing；Lower housing portion is provided with transparent sight
Examine window；Supporting mechanism includes folding landing leg and stretching, extension drive mechanism；The quantity of folding landing leg is two and is arranged on housing both sides,
Stretch drive mechanism and drive two folding landing leg synchronous foldings or stretching, extension.
In such scheme, each folding landing leg includes combining the complex wrapping frame and complex wrapping frame formed by multiple X-frames
The connected V-arrangement gangbar of middle one X-frame in the top, the drive link, mounting rod and and the complex wrapping that are connected with V-arrangement gangbar
The connected support feet in frame bottom；Two mounting rods are fixedly installed on the two side of housing, each complex wrapping frame uppermost one
Individual X-frame is arranged on a corresponding mounting rod by a pin rotation；Drive link is set along plumb line direction；Drive link
Bottom and the hinged end of a corresponding V-arrangement gangbar are rotatedly connected；Stretching drive mechanism includes a stretching, extension motor and two
Individual transmission component, stretching, extension motor are back and forth moved by two transmission component synchronous drives, two drive links along plumb line direction
It is dynamic.
In such scheme, stretching, extension motor is a double shaft-protruding type motor, and motor is stretched out at the both ends of its drive shaft
It is outer to form two driving output shafts.
In such scheme, each transmission component includes drive bevel gear, driven wheel of differential, vertical slide bar and horizontal drive bar group
Part；Drive bevel gear includes driving tooth wheel portion, and driving tooth wheel portion is fixedly installed on corresponding driving output shaft, and in vertical
Reciprocating rotation on face；Case top is provided with two vertical sleeve pipes with vertical slide opening, and the bottom of each vertical sleeve pipe is fixed with
One roller bearing；Each driven wheel of differential includes driven tooth wheel portion, installation portion and vertical stud portion；Driven tooth wheel portion is reciprocal in the horizontal plane
Rotate, installation position is in the bottom in vertical stud portion and in a corresponding roller bearing；The both ends of horizontal drive bar assembly lead to
Cross pin and two drive links are connected；Vertical slide bar is located in the vertical slide opening of a corresponding vertical sleeve pipe, the bottom of vertical slide bar
The vertical screw that place is provided with end and vertical stud portion is adapted to, the top of vertical slide bar is connected with horizontal drive bar assembly.
In such scheme, two enhancing link assemblies are additionally provided between two support feets.
The present invention has positive effect：（1）When folding landing leg full extension, support feet is displaced downwardly to more than housing bottom
Portion, so as to which housing be supported so that hemispherical observation window can be higher by underwater mud face；When folding landing leg is folded,
Overall space-consuming is smaller, is easy to carry about with one.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram that the first scheme of the invention is in folded state；
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 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 dimensional structure diagram that robot shown in Fig. 1 is in extended configuration；
Fig. 6 is a kind of dimensional structure diagram that second scheme of the present invention is in folded state；
Fig. 7 is a kind of dimensional structure diagram when robot is from another angle shown in Fig. 6；
Fig. 8 is a kind of explosive view of robot shown in Fig. 6；
Fig. 9 is a kind of half section structure diagram of robot shown in Fig. 6；
Figure 10 is a kind of dimensional structure diagram that robot shown in Fig. 6 is in extended configuration.
Reference is：Housing 1, hemispherical observation window 11, horizontal slide opening 12, vertical sleeve pipe 13, vertical slide opening 131, rolling
Axle 132, photographing module 2, cradle head mechanism 21, part 211 is rotated horizontally, rotate horizontally motor 212, vertical rotary part 213, hang down
Straight rotary drive motor 214, camera 22, folding landing leg 3, frame plate 30, complex wrapping frame 31, X-frame 311, V-arrangement gangbar
32, drive link 33, mounting rod 34, horizontal screw 341, support feet 35, kidney-shaped slide opening 351, bearing pin 352 is rolled, strengthen connection rod set
Part 36, first connecting rod 361, second connecting rod 363, traveller portion 364, drive mechanism 4 is stretched, stretch 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, installation portion 522, vertical stud portion 523, vertical slide bar 53, vertical screw 531, connecting portion 532,
Horizontal drive bar assembly 54, main drive rod 541, slip projection 542, secondary drive rod 543, center slide opening 544.
Embodiment
（Embodiment 1）
The present embodiment is a kind of synchronous folding or the underwater robot for stretching two folding landing legs, as shown in Fig. 1 to Fig. 5, including this
Body and supporting mechanism；Body includes housing 1 and the photographing module 2 being built in housing；Supporting mechanism includes folding landing leg 3 and stretched
Open up drive mechanism 4；The quantity of folding landing leg is two and is arranged on housing both sides, and stretching, extension drive mechanism drives two folding landing legs
Synchronous folding or stretching, extension.
The bottom of housing is provided with transparent hemispherical observation window 11；Photographing module, which includes being built in housing, has driving
The cradle head mechanism 21 of motor 211, the camera 22 being arranged on cradle head mechanism and the illuminating lamp being arranged on cradle head mechanism（On figure
It is not drawn into）.Camera 22 is fixedly installed on 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
The connected V-arrangement gangbar 32 of an X-frame 311, the drive link 33, the mounting rod 34 that are connected with V-arrangement gangbar center of rotation above
And it is arranged on the support feet 35 below complex wrapping frame；
Each X-frame 311 is to be hinged and connected to be formed by respective middle part by two frame plates 30, in adjacent two X-frames, above
The top of two frame plates of the bottom of two frame plates of one X-frame and a following X-frame is rotatedly connected；
Two mounting rods are fixedly installed on the two side of housing, and housing is exposed in the outer end of each mounting rod；Each complex wrapping frame is most
An X-frame above is arranged on a corresponding mounting rod by a pin rotation, and in the present embodiment, the pin is arranged on
At the outer end center of a corresponding mounting rod, two frame plates of the X-frame are around the pin rotation.This structure causes each mounting rod
It can be reciprocatingly slided in the horizontal direction in a corresponding horizontal slide opening.
V-arrangement gangbar is to be rotatedly connected to combine by the abutting end of two frame plates 30 to be formed, namely two framves of V-arrangement gangbar
The abutting end of plate forms hinged end；The top of two frame plates of one X-frame in the top and V-arrangement gangbar in each complex wrapping frame
In the bottoms of two frame plates be rotatedly connected；
Drive link is set along plumb line direction；The bottom of drive link and the hinged end of a corresponding V-arrangement gangbar are rotatedly connected, this
In embodiment, the bottom of two frame plates and a corresponding drive link is hinged and connected with what a bearing pin was realized in V-arrangement gangbar.
Support feet is provided with horizontal-extending kidney-shaped slide opening 351, two of a bottom X-frame in each complex wrapping frame
Frame plate, the bottom of one of frame plate and support feet are rotatedly connected, and the bottom of another frame plate is provided with level to rolling bearing pin
352, the rolling bearing pin 352 is located in a corresponding kidney-shaped slide opening；When the complex wrapping frame stretches or folds, bearing pin edge is rolled
Kidney-shaped slide opening slides.
In order to increase by the intensity and stability of two folding landing legs, two enhancing connection rod sets are additionally provided between two support feets
Part 36.
Stretching drive mechanism 4 includes a stretching, extension motor 41 and two transmission components 5, and stretching, extension motor passes through two
Individual two drive links 33 of transmission component synchronous drive move back and forth along plumb line direction, are folded so as to realize to fold or deploy two
Supporting leg.
Stretching, extension motor 41 is a double shaft-protruding type motor, and the both ends of its drive shaft 411 are stretched out outside motor, so as to
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 driving tooth wheel portion is fixedly installed on corresponding driving output shaft, and
Reciprocating rotation on vertical guide.
Case top is provided with two vertical sleeve pipes 13 with vertical slide opening 131, and the bottom of each vertical sleeve pipe is fixed with
One roller bearing 132；Each driven wheel of differential includes driven tooth wheel portion 521, installation portion 522 and vertical stud portion 523；Driven tooth wheel portion exists
Reciprocating rotation on horizontal plane, installation position is in the bottom in vertical stud portion and in a corresponding roller bearing；In the present embodiment,
Driven tooth wheel portion, installation 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 is answered to rotate, namely the corresponding driven tooth wheel portion of synchronous drive and vertical stud portion synchronous axial system.
In the present embodiment, the outboard end of each vertical slide opening is equipped with waterproof seal ring, so as to prevent liquid through vertical slide opening
Enter in housing.
Vertical slide bar is located in the vertical slide opening of a corresponding vertical sleeve pipe, and place is provided with and vertical in the bottom of vertical slide bar
The vertical screw 531 of stud portion adaptation, the top of vertical slide bar are provided with the connecting portion 532 being connected with horizontal drive bar assembly 54；
In the present embodiment, the connecting portion is the collar being set in horizontal drive bar assembly 54.When driven wheel of differential rotates, its
Vertical stud portion drives corresponding vertical slide bar reciprocating rotation by screw drive mode so that the vertical slide bar is slided along vertical
Hole moves back and forth, and realizes and drives horizontal drive bar assembly to rise or move down, and then the drive link 33 in Foldable supporting leg.
In the present embodiment, the drive bevel gear of stretching, extension motor synchronous drive two and two driven wheel of differential synchronous axial systems, two
Individual vertical stud portion drives two vertical slide bars and horizontal drive bar assembly to move up or decline, and then drives in each folding landing leg
Drive link is moved up or declined；When drive link is moved up or declined, the V-arrangement gangbar of Foldable supporting leg, due to each folding landing leg
Topmost an X-frame is arranged on mounting rod, so whole folding landing leg stretches with the stretching or compression of V-arrangement gangbar
Or fold up；When folding landing leg full extension, support feet is displaced downwardly to more than housing bottom, so as to which housing be supported,
Hemispherical observation window is allowd to be higher by underwater mud face；When folding landing leg is folded, overall space-consuming is smaller, is easy to take
Band.
（Embodiment 2）
Fig. 6 to Figure 10 shows the embodiment of second scheme of the present invention.
The present embodiment and embodiment 1 are essentially identical, and difference is：The wall body of housing opposite sides is provided with two water
Smooth holes 12, each mounting rod 34 are the horizontal sliding bars being slidably arranged in a corresponding horizontal slide opening.
Drive bevel gear includes driving tooth wheel portion 511 and horizontal stud portion 512, driving tooth wheel portion are fixedly installed on corresponding one
On individual driving output shaft, and the reciprocating rotation on vertical guide；One side of each mounting rod close to stretching, extension motor is provided with and water
The horizontal screw 341 of flat stud portion adaptation, horizontal stud portion is located in the horizontal screw 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 both are synchronized with the movement；When drive bevel gear is extended
When motor drives, horizontal stud portion drives a corresponding mounting rod reciprocating rotation by screw drive mode so that the peace
Dress bar moves back and forth along horizontal slide opening, realizes that the both sides of two mounting rods towards housings elongate or shorten, so as to drive two foldings
Supporting leg is located remotely from each other or approached.
Stretch two drive bevel gears of synchronous drive when motor rotates to rotate, two horizontal stud portions drive two peaces
Dress bar is synchronously overhanging or inside contract along horizontal slide opening, and then drives two secondary drive rods overhanging by folding landing leg or inside contract so that
The distance between two folding landing legs increased or decrease；It is overall relatively stable when the spacing increase of two folding landing legs, it is not easy to shake
It is dynamic；When the spacing of two folding landing legs reduces, overall space-consuming reduces, and is easy to carry.
In order that must strengthen link assembly can adapt to the approaching and distancing of two folding landing legs, in the present embodiment
Each enhancing link assembly includes the first connecting rod 361 being fixedly installed in a support feet and is fixedly installed on another support feet
On second connecting rod 363, first connecting rod is provided with slide opening portion, and second connecting rod is provided with traveller portion 364, and the traveller portion of second connecting rod is located at
In the slide opening portion of first connecting rod.When this structure causes two folding landing legs away from each other, the traveller portion of second connecting rod is still located at
In the slide opening of one connecting rod, namely each first connecting rod strengthened in link assembly and second connecting rod is caused to form telescopic connection,
To adapt to the away from each other and close of two folding landing legs.
In order that horizontal drive bar assembly can adapt to the approaching and distancing of two folding landing legs, in the present embodiment
Horizontal drive bar assembly include main drive rod 541 and two secondary drive rods 543 positioned at main drive rod both sides, main drive rod and
Secondary drive rod is horizontally disposed, and the outboard end of each secondary drive rod is connected by pin with a corresponding drive link；Main drive
The two side ends of lever are equipped with the sliding projection 542 of evagination, and a side of the main drive rod of adjoining of each secondary drive rod is provided with center
Slide opening 544, each sliding projection insert a corresponding center slide opening and can reciprocatingly slided along the center slide opening.Namely main drive rod and
Two secondary drive rods form telescopic connection.When the both sides of two mounting rods towards housings elongate or shorten, due to main drive
The sliding projection of lever can reciprocatingly slide along the center slide opening of secondary drive rod, so that the integral level of horizontal drive bar assembly
Length also elongates or shortens therewith.In the present embodiment, horizontal drive bar assembly is located at the surface of housing.
In the present embodiment, the outboard end of each horizontal slide opening is equipped with waterproof seal ring, so as to prevent liquid through horizontal slide opening
Enter in housing.
The present embodiment causes two folding landing legs while stretching or folding along plumb line direction, also away from each other or to connect
Closely, not only entirety is easy to carry, again can be overall relatively stable when using supporting.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair
The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.And these
The obvious changes or variations that the connotation for belonging to of the invention is extended out still falls within protection scope of the present invention.
Claims (5)
1. a kind of synchronous folding or the underwater robot for stretching two folding landing legs, including body and supporting mechanism；Body includes shell
Body and the photographing module being built in housing；Lower housing portion is provided with transparent observation window；It is characterized in that：
Supporting mechanism includes folding landing leg and stretching, extension drive mechanism；The quantity of folding landing leg is two and is arranged on housing both sides,
Stretch drive mechanism and drive two folding landing leg synchronous foldings or stretching, extension.
2. synchronous folding according to claim 1 or the underwater robot for stretching two folding landing legs, it is characterised in that：Each folding
Folded supporting leg includes combining the complex wrapping frame formed by multiple X-frames, is connected with one X-frame in the top in complex wrapping frame
V-arrangement gangbar, the drive link being connected with V-arrangement gangbar, mounting rod and the support feet being connected with complex wrapping frame bottom；Two
Mounting rod is fixedly installed on the two side of housing, and each uppermost X-frame of complex wrapping frame passes through a pin rotation
It is arranged on a corresponding mounting rod；Drive link is set along plumb line direction；The bottom of drive link and a corresponding V-arrangement gangbar
Hinged end be rotatedly connected；
Stretching drive mechanism includes a stretching, extension motor and two transmission components, and stretching, extension motor passes through two transmission groups
Two drive links of part synchronous drive move back and forth along plumb line direction.
3. synchronous folding according to claim 2 or the underwater robot for stretching two folding landing legs, it is characterised in that：Stretching, extension
Motor is a double shaft-protruding type motor, and the both ends of its drive shaft, which are stretched out outside motor, forms two driving output shafts.
4. synchronous folding according to claim 3 or the underwater robot for stretching two folding landing legs, it is characterised in that：It is each to pass
Dynamic component includes drive bevel gear, driven wheel of differential, vertical slide bar and horizontal drive bar assembly；
Drive bevel gear includes driving tooth wheel portion, and driving tooth wheel portion is fixedly installed on corresponding driving output shaft, and in lead
Reciprocating rotation on vertical plane；
Case top is provided with two vertical sleeve pipes with vertical slide opening, and the bottom of each vertical sleeve pipe is fixed with a roller bearing；Respectively
Driven wheel of differential includes driven tooth wheel portion, installation portion and vertical stud portion；Driven tooth wheel portion reciprocating rotation in the horizontal plane, installation
Portion is located at the bottom in vertical stud portion and in a corresponding roller bearing；
The both ends of horizontal drive bar assembly are connected by pin and two drive links；
Vertical slide bar is located in the vertical slide opening of a corresponding vertical sleeve pipe, and place is provided with and vertical stud in the bottom of vertical slide bar
The vertical screw of portion's adaptation, the top of vertical slide bar is connected with horizontal drive bar assembly.
5. synchronous folding according to claim 4 or the underwater robot for stretching two folding landing legs, it is characterised in that：Two
Two enhancing link assemblies are additionally provided between support feet.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810556328.XA CN108789369A (en) | 2017-07-30 | 2017-07-30 | A kind of synchronous folding or the underwater robot for stretching two folding landing legs |
| CN201710635072.7A CN107352004B (en) | 2017-07-30 | 2017-07-30 | A kind of synchronous folding or the underwater robot for stretching two folding landing legs |
| CN201810553643.7A CN108750048A (en) | 2017-07-30 | 2017-07-30 | The synchronous folding of built-in photographing module or the underwater robot for stretching two folding landing legs |
| CN201810552700.XA CN108725723A (en) | 2017-07-30 | 2017-07-30 | Synchronous folding or the underwater robot for stretching two folding landing legs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710635072.7A CN107352004B (en) | 2017-07-30 | 2017-07-30 | A kind of synchronous folding or the underwater robot for stretching two folding landing legs |
Related Child Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810556328.XA Division CN108789369A (en) | 2017-07-30 | 2017-07-30 | A kind of synchronous folding or the underwater robot for stretching two folding landing legs |
| CN201810553643.7A Division CN108750048A (en) | 2017-07-30 | 2017-07-30 | The synchronous folding of built-in photographing module or the underwater robot for stretching two folding landing legs |
| CN201810552700.XA Division CN108725723A (en) | 2017-07-30 | 2017-07-30 | Synchronous folding or the underwater robot for stretching two folding landing legs |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107352004A true CN107352004A (en) | 2017-11-17 |
| CN107352004B CN107352004B (en) | 2018-06-19 |
Family
ID=60286563
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810553643.7A Withdrawn CN108750048A (en) | 2017-07-30 | 2017-07-30 | The synchronous folding of built-in photographing module or the underwater robot for stretching two folding landing legs |
| CN201810556328.XA Withdrawn CN108789369A (en) | 2017-07-30 | 2017-07-30 | A kind of synchronous folding or the underwater robot for stretching two folding landing legs |
| CN201710635072.7A Active CN107352004B (en) | 2017-07-30 | 2017-07-30 | A kind of synchronous folding or the underwater robot for stretching two folding landing legs |
| CN201810552700.XA Withdrawn CN108725723A (en) | 2017-07-30 | 2017-07-30 | Synchronous folding or the underwater robot for stretching two folding landing legs |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810553643.7A Withdrawn CN108750048A (en) | 2017-07-30 | 2017-07-30 | The synchronous folding of built-in photographing module or the underwater robot for stretching two folding landing legs |
| CN201810556328.XA Withdrawn CN108789369A (en) | 2017-07-30 | 2017-07-30 | A kind of synchronous folding or the underwater robot for stretching two folding landing legs |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810552700.XA Withdrawn CN108725723A (en) | 2017-07-30 | 2017-07-30 | Synchronous folding or the underwater robot for stretching two folding landing legs |
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| CN (4) | CN108750048A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113716002A (en) * | 2021-08-17 | 2021-11-30 | 杭州电子科技大学 | Compact underwater vehicle component retraction device and method driven by composite belt |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108750048A (en) | 2018-11-06 |
| CN107352004B (en) | 2018-06-19 |
| CN108725723A (en) | 2018-11-02 |
| CN108789369A (en) | 2018-11-13 |
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