CN107352004B - 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
- CN107352004B CN107352004B CN201710635072.7A CN201710635072A CN107352004B CN 107352004 B CN107352004 B CN 107352004B CN 201710635072 A CN201710635072 A CN 201710635072A CN 107352004 B CN107352004 B CN 107352004B
- Authority
- CN
- China
- Prior art keywords
- stretching
- drive
- vertical
- folding
- housing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- 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
- 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
Landscapes
- 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 ontology and supporting mechanism；Ontology includes housing and the photographing module being built in housing；Lower part of the housing is equipped with transparent observation window；Supporting mechanism includes folding landing leg and stretching, extension driving mechanism；The quantity of folding landing leg is two and is arranged on housing both sides, and stretching, extension driving 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, whole occupied space is smaller, is easy to carry about with one.
Description
Technical field
The invention belongs to robotic technology fields, 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 is under water on the basis of video camera, increases mobile module, 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
Control the control panel of motor rotation；First gear disk is horizontally installed 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；One U-shaped is installed to bear in the main support
Stent, the one side wall of the negative stent are connect with the second gear disk；The video camera module is fixedly mounted on the negative branch
On frame.When the first driving 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 driving motor drives second gear disc spins, negative stent 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 stent can continuous 360 degree rotation.This kind of Underwater Camera is simple in structure, 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：It need to hold or be used on other objects, when it is straight
It connects when sinking under water, transparent ball cover will be made dirty by mud, interfere shooting.
Invention content
The object of the present invention is 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 solution of the object of the invention is：A kind of synchronous folding or the underwater robot for stretching two folding landing legs,
Including ontology and supporting mechanism；Ontology includes housing and the photographing module being built in housing；Lower part of the housing is equipped with transparent sight
Examine window；Supporting mechanism includes folding landing leg and stretching, extension driving mechanism；The quantity of folding landing leg is two and is arranged on housing both sides,
It stretches driving mechanism and drives two folding landing leg synchronous foldings or stretching, extension.
In said program, each folding landing leg includes combining the complex wrapping frame formed and complex wrapping frame by multiple X-frames
V-arrangement interlocking bar that middle one X-frame in the top is connected, drive link, mounting rod and and the complex wrapping being connected with V-arrangement interlocking bar
The support feet that frame bottom is connected；Two mounting rods are fixed on the two side of housing, each complex wrapping frame uppermost one
A X-frame is arranged on by a pin rotation on a corresponding mounting rod；Drive link is set along plumb line direction；Drive link
Bottom end and the hinged end of a corresponding V-arrangement interlocking bar are rotatedly connected；It stretches driving mechanism and includes a stretching, extension driving motor and two
A transmission component, stretching, extension driving motor are back and forth moved by two transmission component synchronous drives, two drive links along plumb line direction
It is dynamic.
In said program, stretching, extension driving motor is a double shaft-protruding type motor, and motor is stretched out at the both ends of drive shaft
It is outer to form two driving output shafts.
In said program, 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 fixed on corresponding driving output shaft, and in vertical
Reciprocating rotation on face；Case top is set there are two the vertical casing with vertical slide opening, and the bottom end of each vertical casing is fixed with
One roller bearing；Each driven wheel of differential includes driven tooth wheel portion, mounting portion and vertical stud portion；Driven tooth wheel portion is reciprocal in the horizontal plane
Rotation, installation position is in the lower part in vertical stud portion and in a corresponding roller bearing；The both ends of horizontal drive bar assembly lead to
It crosses pin and two drive links is connected；Vertical slide bar is located in the vertical slide opening of a corresponding vertical casing, the bottom of vertical slide bar
The vertical screw hole with vertical stud portion adaptation is equipped in end, the top of vertical slide bar is connected with horizontal drive bar assembly.
In said program, 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,
Whole occupied space is smaller, is easy to carry about with one.
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 numeral is：Housing 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 link 33, mounting rod 34, horizontal screw hole 341, support feet 35, kidney-shaped slide opening 351, rolling axis pin 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, connecting portion 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 synchronous folding or the underwater robot for stretching two folding landing legs, as shown in Fig. 1 to Fig. 5, packet
Include ontology and supporting mechanism；Ontology includes housing 1 and the photographing module 2 being built in housing；Supporting mechanism includes folding landing leg 3
With stretching, extension driving mechanism 4；The quantity of folding landing leg is two and is arranged on housing both sides, and stretching, extension driving mechanism drives two foldings
Supporting leg synchronous folding or stretching, extension.
The lower part of housing is equipped 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 headlamp being arranged on cradle head mechanism（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
The connected V-arrangement interlocking bar 32 of an X-frame 311, the drive link 33, the mounting rod 34 that are connected with V-arrangement interlocking bar 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,
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；
Two mounting rods are fixed on the two side of housing, and housing is exposed in the outer end of each mounting rod；Each complex wrapping
The uppermost X-frame of frame is arranged on by a pin rotation on a corresponding mounting rod, and in the present embodiment, which sets
It puts 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 peace
Dress bar can in the horizontal direction reciprocatingly slide in a corresponding horizontal slide opening.
V-arrangement interlocking bar is formed namely two framves of V-arrangement interlocking bar by the combination that is rotatedly connected of the abutting end of two frame plates 30
The abutting end of plate forms hinged end；The top top of two frame plates of one X-frame and V-arrangement interlocking bar in each complex wrapping frame
In the bottom ends of two frame plates be rotatedly connected；
Drive link is set along plumb line direction；The bottom end of drive link and the hinged end of corresponding V-arrangement interlocking bar rotation phase
Even, in the present embodiment, the bottom end of two frame plates and a corresponding drive link is hinged with what an axis pin was realized in V-arrangement interlocking bar
It is connected.
Support feet 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 feet are rotatedly connected, and the bottom end of another frame plate is equipped with horizontal direction and rolls axis pin
352, which is located in a corresponding kidney-shaped slide opening；When the complex wrapping frame stretches or folds, axis 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.
It stretches driving mechanism 4 and includes a stretching, extension driving motor 41 and two transmission components 5, stretching, extension driving motor passes through two
A two drive links 33 of transmission component synchronous drive are moved back and forth along plumb line direction, so as to fulfill folding or two foldings being unfolded
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, 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 fixed on corresponding driving output shaft,
And the reciprocating rotation on vertical guide.
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 is in the lower part in vertical stud portion and 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.During each drive bevel gear rotation, 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 vertical slide opening is equipped with waterproof seal ring, so as to prevent liquid through vertical slide opening
It enters in housing.
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 are equipped with the connecting portion 532 being connected with horizontal drive bar assembly 54；
In the present embodiment, which is a lantern ring being set in horizontal drive bar assembly 54.When driven wheel of differential rotates,
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 horizontal drive bar assembly is driven to rise or move down, and then the drive link 33 in Foldable supporting leg.
In the present embodiment, two drive bevel gear of stretching, extension driving motor synchronous drive and two driven wheel of differential rotate synchronously, and two
A 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 is declined；When drive link is moved up or is declined, the V-arrangement interlocking bar of Foldable supporting leg, due to each folding landing leg
Topmost an X-frame is mounted on mounting rod, so entire folding landing leg is stretched with the stretching or compression of V-arrangement interlocking bar
Or it folds 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, whole occupied space is smaller, is easy to take
Band.
（Embodiment 2）
Fig. 6 to Figure 10 shows the specific embodiment of second scheme of the present invention.
The present embodiment and embodiment 1 are essentially identical, the difference lies in：Water there are two being set on the wall body of housing opposite sides
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 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 is synchronized with the movement；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 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 approaches.
Two drive bevel gear rotations of synchronous drive, two horizontal stud portions drive two peaces when stretching driving motor rotation
Dress bar is synchronized overhanging or is inside contracted along horizontal slide opening, and then is driven two secondary drive rods overhanging by folding landing leg or inside contracted so that
The distance between two folding landing legs increased or decrease；It is whole 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, whole occupied space reduces, easy to carry.
In order to enable enhancing 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 fixed in a support feet and is fixed at another support feet
On second connecting rod 363, first connecting rod be equipped with slide opening portion, second connecting rod be equipped with traveller portion 364, 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 first connecting rod and second connecting rod in each enhancing link assembly is caused to form telescopic connection,
To adapt to the away from each other and close of two folding landing legs.
In order to enable 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 positioned at two of main drive rod both sides secondary drive rods 543, main drive rod and
Secondary drive rod is horizontally disposed, and the outboard end of each pair drive rod is connected by pin with a corresponding drive link；Main drive
The two side ends of lever 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 equipped with center
Slide opening 544, each sliding pillar are inserted into a corresponding center slide opening and can simultaneously reciprocatingly slide 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 pillar 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
It enters 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 so that entirety is easy to carry, and can be whole relatively stable when using support.
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
The obvious changes or variations that the connotation for belonging to of the invention is extended out still fall within protection scope of the present invention.
Claims (2)
1. a kind of synchronous folding or the underwater robot for stretching two folding landing legs, including ontology and supporting mechanism；Ontology includes shell
Body and the photographing module being built in housing；Lower part of the housing is equipped with transparent observation window；It is characterized in that：
Supporting mechanism includes folding landing leg and stretching, extension driving mechanism；The quantity of folding landing leg is two and is arranged on housing both sides,
It stretches driving mechanism and drives two folding landing leg synchronous foldings or stretching, extension；Each folding landing leg includes being combined by multiple X-frames being formed
Complex wrapping frame, the V-arrangement interlocking bar with topmost an X-frame is connected in complex wrapping frame, the biography that is connected with V-arrangement interlocking bar
Lever, mounting rod and the support feet being connected with complex wrapping frame bottom；Two mounting rods are fixed at the two side of housing
On, each uppermost X-frame of complex wrapping frame is arranged on by a pin rotation on a corresponding mounting rod；Drive link
It is set along plumb line direction；The bottom end of drive link and the hinged end of a corresponding V-arrangement interlocking bar are rotatedly connected；
It stretches driving mechanism and includes a stretching, extension driving motor and two transmission components, stretching, extension driving motor passes through two transmission groups
Two drive links of part synchronous drive are moved back and forth along plumb line direction；
Stretching, extension driving motor is a double shaft-protruding type motor, and the both ends of drive shaft stretch out outside motor that form two drivings defeated
Shaft；
Each transmission 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 fixed on corresponding driving output shaft, and in lead
Reciprocating rotation on vertical plane；
Case top is set there are two the vertical casing with vertical slide opening, and the bottom end of each vertical casing is fixed with a roller bearing；Respectively
Driven wheel of differential includes driven tooth wheel portion, mounting portion and vertical stud portion；Driven tooth wheel portion reciprocating rotation in the horizontal plane, installation
Portion is located at the lower part 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 casing, is equipped with and vertical stud in the bottom end of vertical slide bar
The vertical screw hole of portion's adaptation, the top of vertical slide bar is connected with horizontal drive bar assembly.
2. synchronous folding according to claim 1 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 |
|---|---|---|---|
| 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 |
| 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 |
| 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 CN107352004A (en) | 2017-11-17 |
| CN107352004B true CN107352004B (en) | 2018-06-19 |
Family
ID=60286563
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
| 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 |
| 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 (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 (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 |
| CN201810552700.XA Withdrawn CN108725723A (en) | 2017-07-30 | 2017-07-30 | Synchronous folding or the underwater robot for stretching two folding landing legs |
Country Status (1)
| Country | Link |
|---|---|
| CN (4) | CN108789369A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113716002B (en) * | 2021-08-17 | 2022-11-04 | 杭州电子科技大学 | Compact underwater vehicle component retraction device and method driven by composite belt |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6349665B1 (en) * | 2000-08-14 | 2002-02-26 | Mentor Subsea Technology Services, Inc. | Drone vessel for an ROV |
| CN103192965A (en) * | 2013-03-18 | 2013-07-10 | 浙江海洋学院 | Giant squid bionic sea floor exploration intelligent robot |
| CN103895841A (en) * | 2014-03-10 | 2014-07-02 | 哈尔滨工程大学 | Automatic lifting device for smart underwater robots |
| 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 |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0655470A (en) * | 1992-08-05 | 1994-03-01 | Hitachi Zosen Corp | Work robot transfer device in box structure |
| CN201733377U (en) * | 2010-08-10 | 2011-02-02 | 深圳市蓝恩数字技术有限公司 | Underwater camera |
| KR20120121947A (en) * | 2011-04-28 | 2012-11-07 | 현대중공업 주식회사 | Mobile robot for working inside of hull block |
| CN102705632B (en) * | 2012-05-30 | 2014-01-01 | 浙江理工大学 | Bionic robot capable of extending to avoid obstacles |
| CN203442082U (en) * | 2013-09-10 | 2014-02-19 | 大陆汽车电子(芜湖)有限公司 | Cam gear and linear driving device comprising cam gear |
| ES2544007B2 (en) * | 2014-02-25 | 2016-02-19 | Universidad Politécnica de Madrid | Transformable humanoid submarine robot |
| CN104589312B (en) * | 2015-01-24 | 2016-02-24 | 江西省机械科学研究所 | The swingable parallel electric cylinder synchronous telescoping mechanism of gear driven type |
| CN205111837U (en) * | 2015-10-31 | 2016-03-30 | 吉林江机特种工业有限公司 | Explosive ordnance disposal mechanical hand |
| KR102434531B1 (en) * | 2015-12-31 | 2022-08-18 | 대우조선해양 주식회사 | Loading apparatus for pressure vessel of underwater moving object |
| CN105563466A (en) * | 2016-01-28 | 2016-05-11 | 燕山大学 | Three-degree-of-freedom parallel attitude-adjusting and vibration-isolating platform comprising tower-shaped telescopic branches |
| CN106737578B (en) * | 2016-12-15 | 2018-11-13 | 山东大学 | A kind of quadruped robot |
-
2017
- 2017-07-30 CN CN201810556328.XA patent/CN108789369A/en not_active Withdrawn
- 2017-07-30 CN CN201710635072.7A patent/CN107352004B/en active Active
- 2017-07-30 CN CN201810553643.7A patent/CN108750048A/en not_active Withdrawn
- 2017-07-30 CN CN201810552700.XA patent/CN108725723A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6349665B1 (en) * | 2000-08-14 | 2002-02-26 | Mentor Subsea Technology Services, Inc. | Drone vessel for an ROV |
| CN103192965A (en) * | 2013-03-18 | 2013-07-10 | 浙江海洋学院 | Giant squid bionic sea floor exploration intelligent robot |
| CN103895841A (en) * | 2014-03-10 | 2014-07-02 | 哈尔滨工程大学 | Automatic lifting device for smart underwater robots |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108750048A (en) | 2018-11-06 |
| CN108789369A (en) | 2018-11-13 |
| CN107352004A (en) | 2017-11-17 |
| CN108725723A (en) | 2018-11-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107225554B (en) | Intelligent inspection equipment for maintenance work of photovoltaic power generation device | |
| CN107352000B (en) | A kind of collapsible underwater robot of lifting type | |
| CN107352004B (en) | A kind of synchronous folding or the underwater robot for stretching two folding landing legs | |
| CN107214733A (en) | A kind of stretching, extension drive mechanism for robot | |
| CN107352001B (en) | A kind of portable underwater robot that can change bearing area | |
| CN107352002B (en) | A kind of portable robot | |
| CN207643138U (en) | A kind of portable robot with photographing module | |
| CN207208417U (en) | A kind of portable underwater robot that can change Area of bearing | |
| CN207208419U (en) | The portable underwater robot of Area of bearing can be changed | |
| CN207225627U (en) | The collapsible underwater robot of lifting type | |
| CN207208416U (en) | Synchronous folding or the underwater robot for stretching two folding landing legs | |
| CN207208418U (en) | A kind of collapsible underwater robot of lifting type | |
| CN107444588B (en) | A kind of portable robot that itself can be supportted from the ground | |
| CN107434017B (en) | A kind of portable robot | |
| CN207208420U (en) | A kind of stretching, extension drive mechanism for robot | |
| CN207208414U (en) | A kind of portable robot that itself can be supportted from the ground | |
| CN207884427U (en) | A kind of driven gear for robot | |
| CN207206406U (en) | A kind of stretching, extension drive mechanism for robot | |
| CN107398890A (en) | A kind of folding landing leg for robot | |
| CN107448583A (en) | A kind of driven gear for robot | |
| CN107214691A (en) | A kind of stretching, extension drive mechanism for robot | |
| CN203905247U (en) | Soft roof mechanism allowing opening and closing | |
| CN220832875U (en) | Telescopic rotary window cleaning machine | |
| CN101603620A (en) | Micro-miniature directional cradle head | |
| CN216381178U (en) | Telescopic vertical hinged door |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180517 Address after: 325600 Yueqing City, Zhejiang Province, Chengdong street, Niu nose Cave Village Applicant after: Yueqing Huazun Electric Co., Ltd. Address before: 215000 Room 903, Huasheng Plaza, 158 North Tower, Suya Road, Suzhou Industrial Park, Jiangsu. Applicant before: Suzhou yuan Xun Electronic Technology Co., Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190702 Address after: 226000 Area B of Riding Coast Industrial Concentration Zone, Shizhong Town, Tongzhou District, Nantong City, Jiangsu Province Patentee after: Jiangsu Haoweiward Electronic Technology Co., Ltd. Address before: 325600 Yueqing City, Zhejiang Province, Chengdong street, Niu nose Cave Village Patentee before: Yueqing Huazun Electric Co., Ltd. |