CN207208414U - A kind of portable robot that itself can be supportted from the ground - Google Patents
A kind of portable robot that itself can be supportted from the ground Download PDFInfo
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- CN207208414U CN207208414U CN201720945386.2U CN201720945386U CN207208414U CN 207208414 U CN207208414 U CN 207208414U CN 201720945386 U CN201720945386 U CN 201720945386U CN 207208414 U CN207208414 U CN 207208414U
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- drive
- vertical slide
- slide bar
- driving
- bar
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Abstract
The utility model discloses a kind of portable robot that can be supportted itself from the ground, including body and supporting mechanism；Body includes housing and the photographing module being built in housing；Supporting mechanism includes folding landing leg and stretching, extension drive mechanism；Each folding landing leg includes being used for itself spacing mounting rod on housing and the drive link for driving pulls or folding；Stretching drive mechanism includes the two driving output shafts and two transmission components of synchronous axial system；Each transmission component includes driving gear, driven gear component, vertical slide bar, horizontal drive bar assembly and the back-moving spring for providing reseting elasticity for vertical slide bar；When each driving gear rotates, driving tooth wheel portion drives a corresponding driven gear to rotate by driven tooth wheel portion, and then drive a corresponding vertical slide bar to move up and down by the involute helicla flute on driven gear, and then drive horizontal drive bar and drive link to move up and down；Horizontal stud portion drives a corresponding mounting rod to move back and forth in the horizontal direction.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of portable machine that can be supportted itself from the ground
People.
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.
Utility model content
The purpose of this utility model is to provide a kind of portable robot with two folding landing legs, and two folds branch
Leg can folding extension, can be smaller by folding two overall space-consumings of folding landing leg during storage, stretch during work
Two folding landing legs support body from the ground.
Realizing the technical scheme of the utility model purpose is：It is a kind of itself portable robot of support from the ground to be wrapped
Include body and supporting mechanism；Body includes housing and the photographing module being built in housing；Supporting mechanism include folding landing leg and
Stretch drive mechanism；Each folding landing leg include being used for by itself spacing mounting rod on housing and for drive pulls or
The drive link of folding；
Stretching drive mechanism includes the two driving output shafts and two transmission components of synchronous axial system；Each transmission component includes
Driving gear, driven gear component, vertical slide bar, horizontal drive bar assembly and for providing answering for reseting elasticity for vertical slide bar
Position spring；
Driving gear includes driving tooth wheel portion, and driving tooth wheel portion is fixedly installed on corresponding driving output shaft, and
Reciprocating rotation on vertical guide；Each driven gear includes driven tooth wheel portion, involute helical groove portion and shaft；Horizontal drive bar group
The both ends of part are each connected with the drive link in a corresponding folding landing leg；Case top is provided with two lead with vertical slide opening
Hang down sleeve pipe, and each vertical slide bar is located in a corresponding vertical slide opening and can up and down reciprocatingly slided；The top of each vertical slide bar is provided with
The connecting portion being connected with main drive rod, the bottom of each vertical slide bar, which is provided with, is used for intercalation in the groove of involute helical groove portion
Guide and limit portion；Each back-moving spring is set on a corresponding vertical slide bar, for providing downward elastic force for vertical slide bar；
Drive a corresponding driven gear to rotate by driven tooth wheel portion when each driving gear rotates, and then pass through driven tooth
Involute helicla flute on wheel drives a corresponding vertical slide bar to move up and down, and then drives above and below horizontal drive bar and drive link
It is mobile.
In such scheme, the shape of driving tooth wheel portion and driven tooth wheel portion is the circumference gear to fit each other, driving gear
It is parallel horizontal line with the center of rotation axis of driven gear, driving gear is located at the surface of a corresponding driven gear；
Driven gear portion is located at driving gear and is located at the another of driving gear close to the side of stretching, extension motor, involute helical groove portion
Side, shaft include two evagination slide-bars positioned at driving gear both sides；It is fixed with housing multiple with spacing slide opening
Spacing sliding sleeve, the evagination slide-bar of each driven gear are located in the spacing slide opening of a corresponding spacing sliding sleeve respectively；Each driven gear
It can be reciprocatingly slided along spacing slide opening.
In such scheme, horizontal drive bar assembly includes main drive rod and two secondary drivings positioned at main drive rod both sides
Bar, main drive rod and secondary drive rod are horizontally disposed, and the outboard end of each secondary drive rod passes through pin and a corresponding biography
Lever is connected；The two side ends of main drive rod are equipped with the sliding projection of evagination, the side of the main drive rod of adjoining of each secondary drive rod
End is provided with center slide opening, and each sliding projection inserts a corresponding center slide opening and can reciprocatingly slided along the center slide opening.
In such scheme, folding landing leg also 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 and the support feet being connected with complex wrapping frame bottom；Each mounting rod is set
On housing wall body；Each uppermost X-frame of complex wrapping frame is arranged on a corresponding installation by a pin rotation
On bar；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.
In such scheme, stretching, extension drive mechanism includes a stretching, extension motor, and the stretching, extension motor is one pair and gone out
Shaft type motor, the both ends of its drive shaft, which are stretched out outside motor, forms described two driving output shafts.
In such scheme, two enhancing link assemblies are additionally provided between two support feets；Each enhancing link assembly includes solid
Surely the first connecting rod being arranged in a support feet and the second connecting rod being fixedly installed in another support feet, first connecting rod are set
There is slide opening portion, second connecting rod is provided with traveller portion, and the traveller portion of second connecting rod is located in the slide opening portion of first connecting rod.
In such scheme, lower housing portion is provided with transparent observation window.
In such scheme, the quantity of folding landing leg is two and is symmetricly set on the both sides of housing.
The utility model has positive effect：（1）Two folding landing leg energy folding extensions, folding can be passed through during storage
Two folding landing legs make it that overall space-consuming is smaller, stretch during work two folding landing legs body is supportted prevented from mud bottom it is dirty.
（2）Stretching, extension drive mechanism promotes vertical slide bar to move up it by using involute helical groove portion, and is pushed using back-moving spring
Vertical slide bar moves down it, so as to realize moving back and forth up and down for vertical slide bar.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram that the utility model 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.
Embodiment
（Embodiment 1）
The present embodiment is a kind of portable robot that can be supportted itself from the ground, as shown in Fig. 1 to Fig. 5, including body,
Supporting mechanism and propeller drive mechanism 6；Body includes housing 1 and the photographing module 2 being built in housing；Supporting mechanism includes
It is arranged on two folding landing legs 3 of hull outside and the stretching, extension driving machine for driving two folding landing leg synchronous extensions or folding
Structure 4.
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,
The top of two frame plates of the bottom of two frame plates of an X-frame and a following X-frame is rotatedly connected above；
The wall body of housing opposite sides is provided with two horizontal slide openings 12, and each mounting rod 34 is to be slidably arranged in corresponding one
Housing is exposed in horizontal sliding bar in horizontal slide opening, the outer end of 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, the pin is arranged on 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 causes each mounting rod horizontal sliding at corresponding one
Reciprocatingly slided in the horizontal direction in hole.
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 rotate phase
Even, in the present embodiment, the bottom of two frame plates and a corresponding drive link is hinged with what a bearing pin was realized in V-arrangement gangbar
It is connected.
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.Each enhancing link assembly includes the first connecting rod 361 being fixedly installed in a support feet and is fixedly installed on another
Second connecting rod 363 in support feet, first connecting rod are provided with slide opening portion, and second connecting rod is provided with traveller portion 364, the traveller of second connecting rod
Portion is located 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
In the slide opening of first connecting rod, namely cause 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 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 driving gear 51, driven gear component 52, vertical slide bar 53, horizontal drive bar assembly 54
With the back-moving spring 55 for providing reseting elasticity for vertical slide bar；
Driving gear 51 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 driving gear and horizontal stud portion are made into integration, and both are synchronized with the movement；When driving gear is extended driving
During motor driven, horizontal stud portion drives a corresponding mounting rod reciprocating rotation by screw drive mode so that the mounting rod
Moved back and forth along horizontal slide opening, realize that the both sides of two mounting rods towards housings elongate or shorten, so as to drive two folding landing legs
It is located remotely from each other or approaches.
Case top is provided with two vertical sleeve pipes 13 with vertical slide opening 131.
Each driven gear includes driven tooth wheel portion 521, involute helical groove portion 522 and shaft 523；Driving tooth wheel portion and
The shape of driven tooth wheel portion is the circumference gear to fit each other, and driving gear is parallel with the center of rotation axis of driven gear
Horizontal line, driving gear are located at the surface of a corresponding driven gear.
Driven gear portion is located at driving gear and is located at driving tooth close to the side of stretching, extension motor, involute helical groove portion
The opposite side of wheel, shaft include two evagination slide-bars 524 positioned at driving gear both sides；In the present embodiment, driven tooth wheel portion
521st, involute helical groove portion 522 and shaft 523 are made into integration.
Multiple spacing sliding sleeves 14 with spacing slide opening 141, the evagination slide-bar point of each driven gear are fixed with housing
Wei Yu not be in the spacing slide opening of a corresponding spacing sliding sleeve；Each evagination slide-bar can be rotated and slided in spacing slide opening.This knot
Structure can cause each driven gear both to be rolled along spacing slide opening, and and can is in the horizontal direction toward polyslip in spacing slide opening.
When each driving gear rotates, by driving driven tooth wheel portion to rotate, and then a corresponding driven gear is driven to rotate,
Namely the corresponding involute helical groove portion of synchronous drive and shaft rotate.
In the present embodiment, the outboard end of each horizontal slide opening and vertical slide opening is equipped with waterproof seal ring, so as to prevent liquid
Entered through slide opening in housing.
Horizontal drive bar assembly includes main drive rod 541 and two secondary drive rods 543 positioned at main drive rod both sides, main drive
Lever and secondary drive rod are horizontally disposed, and the outboard end of each secondary drive rod passes through pin and a corresponding drive link phase
Even；The two side ends of main drive rod 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 set
There is center slide opening 544, each sliding projection inserts a corresponding center slide opening and can reciprocatingly slided along the center slide opening.Namely main drive
Lever and two secondary drive rods form telescopic connection.When the both sides of two mounting rods towards housings elongate or shorten, by
It can be reciprocatingly slided in the sliding projection of main drive rod along the center slide opening of secondary 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 housing.
Each vertical slide bar is located in the vertical slide opening of a corresponding vertical sleeve pipe, and can up and down reciprocatingly be slided along vertical slide opening
It is dynamic；The top of each vertical slide bar is provided with the connecting portion 531 being connected with main drive rod, and the bottom of each vertical slide bar is provided with guide and limit
The involute helical groove portion adaptation of portion 532, the shape in the guide and limit portion and a corresponding driven gear, so that the guiding
Limiting section can be with intercalation in the groove of involute helical groove portion；In the present embodiment, the connecting portion is one and is set in main driving
The collar on bar.
Each back-moving spring is set on a corresponding vertical slide bar, for providing downward reseting elasticity for vertical slide bar,
So that the bottom of the vertical slide bar is crimped in the groove of corresponding involute helical groove portion all the time, prevent the vertical slide bar and from
Moving gear departs from.In the present embodiment, a baffle ring is fixed with the outer wall of vertical slide bar, the top of back-moving spring is connected to lead
Hang down on sleeve pipe, the bottom of back-moving spring is connected on baffle ring, and the back-moving spring is compression spring.
When driven gear rotates, due to a corresponding vertical slide bar bottom intercalation all the time and be crimped on the driven gear
Involute helical groove portion groove in, and because vertical slide bar is constant by vertical casing limit, central shaft line position；So
So that the driven gear reciprocatingly slides along the spacing slide opening of limit casing, the present embodiment is reciprocatingly slided along horizontal line direction；Institute
Can jack up or fall vertical slide bar with the involute helical groove portion of driven gear, realize drive horizontal drive bar assembly rise or
Move down, and then the drive link 33 in Foldable supporting leg.
In the present embodiment, the driving gear of stretching, extension motor synchronous drive two and two driven gear synchronous axial systems, two water
Flat stud portion drives two mounting rods synchronously overhanging or inside contract along horizontal slide opening, and then passes through folding landing leg and drive two secondary drivings
Bar is overhanging or inside contracts so that the distance between two folding landing legs increased or decrease；It is overall when the spacing increase of two folding landing legs
It is relatively stable, it is not easy to rock；When the spacing of two folding landing legs reduces, overall space-consuming reduces, and is easy to carry.
Two driven gears drive two vertical slide bars and horizontal drive bar assembly to move up or decline, and then drive each folding
Drive link in supporting leg 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
The X-frame of the top one of folded supporting leg is arranged on mounting rod, so whole stretching or pressure of the folding landing leg with V-arrangement gangbar
Contract and stretch or fold up；When folding landing leg full extension, support feet is displaced downwardly to more than housing bottom, so as to by housing branch
Prop up and so that hemispherical observation window can be higher by underwater mud face；When folding landing leg is folded, overall space-consuming compared with
It is small, it is easy to carry about with one.
Propeller blade 61, the blade of setting in the housing that propeller drive mechanism 6 is included directly over housing drive
Motor 62 and the blade drive rod 63 being rotatably arranged in housing top wall；Blade motor drives spiral by blade drive rod
Oar reciprocating rotation；Because horizontal drive bar assembly is also in the surface of housing, in order to avoid horizontal drive bar assembly hinders spiral
Oar rotates, and the annular bar portion 545 that the middle part of main drive rod has and propeller is arranged concentrically, the aperture of the annular bar portion is more than spiral shell
Revolve the maximum outside diameter of blade.This structure causes both not hinder each other, ensures respective normal operation.
Obviously, above-described embodiment of the present utility model is only intended to clearly illustrate the utility model example, and
It is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, in described above
On the basis of can also make other changes in different forms.There is no need and unable to give all embodiments
It is exhaustive.And these belong to the obvious changes or variations that connotation of the present utility model is extended out and still fall within this practicality
New protection domain.
Claims (1)
1. a kind of can be by itself portable robot of support from the ground, including body and supporting mechanism；Body includes housing and interior
The photographing module being placed in housing；It is characterized in that：Supporting mechanism includes folding landing leg and stretching, extension drive mechanism；Each folding landing leg
Including for by itself spacing mounting rod on housing and the drive link for driving pulls or folding；
Stretching drive mechanism includes the two driving output shafts and two transmission components of synchronous axial system；Each transmission component is included actively
Gear, driven gear component, vertical slide bar, horizontal drive bar assembly and the reset bullet for providing reseting elasticity for vertical slide bar
Spring；
Driving 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；Each driven gear includes driven tooth wheel portion, involute helical groove portion and shaft；Horizontal drive bar assembly
Both ends are each connected with the drive link in a corresponding folding landing leg；Case top is provided with two vertical sets with vertical slide opening
Pipe, each vertical slide bar are located in a corresponding vertical slide opening and can up and down reciprocatingly slided；The top of each vertical slide bar is provided with and led
The connected connecting portion of drive rod, the bottom of each vertical slide bar, which is provided with, is used for guiding of the intercalation in the groove of involute helical groove portion
Limiting section；Each back-moving spring is set on a corresponding vertical slide bar, for providing downward elastic force for vertical slide bar；
A corresponding driven gear is driven to rotate by driven tooth wheel portion when each driving gear rotates, and then by driven gear
Involute helicla flute drive a corresponding vertical slide bar to move up and down, and then drive and moved down on horizontal drive bar and drive link
It is dynamic；
Horizontal drive bar assembly includes main drive rod and two secondary drive rods positioned at main drive rod both sides, main drive rod and secondary drive
Lever is horizontally disposed, and the outboard end of each secondary drive rod is connected by pin with a corresponding drive link；Main drive rod
Two side ends be equipped with the sliding projection of evagination, a side of the main drive rod of adjoining of each secondary drive rod is provided with center slide opening, respectively
Sliding projection inserts a corresponding center slide opening and can reciprocatingly slided along the center slide opening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720945386.2U CN207208414U (en) | 2017-07-31 | 2017-07-31 | A kind of portable robot that itself can be supportted from the ground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720945386.2U CN207208414U (en) | 2017-07-31 | 2017-07-31 | A kind of portable robot that itself can be supportted from the ground |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207208414U true CN207208414U (en) | 2018-04-10 |
Family
ID=61814808
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720945386.2U Expired - Fee Related CN207208414U (en) | 2017-07-31 | 2017-07-31 | A kind of portable robot that itself can be supportted from the ground |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207208414U (en) |
-
2017
- 2017-07-31 CN CN201720945386.2U patent/CN207208414U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180410 Termination date: 20180731 |
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| CF01 | Termination of patent right due to non-payment of annual fee |