CN207208416U - Synchronous folding or the underwater robot for stretching two folding landing legs - Google Patents
Synchronous folding or the underwater robot for stretching two folding landing legs Download PDFInfo
- Publication number
- CN207208416U CN207208416U CN201720935106.XU CN201720935106U CN207208416U CN 207208416 U CN207208416 U CN 207208416U CN 201720935106 U CN201720935106 U CN 201720935106U CN 207208416 U CN207208416 U CN 207208416U
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- CN
- China
- Prior art keywords
- stretching
- folding
- housing
- cradle head
- camera
- Prior art date
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Abstract
The utility model 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；Photographing module includes the cradle head mechanism with motor being built in housing, the camera being arranged on cradle head mechanism and the illuminating lamp being arranged on cradle head mechanism；Camera is fixedly installed on the bottom of cradle head mechanism, the transparent wall body of camera face hemispherical observation window.Motor in the utility model drives camera and illuminating lamp to rotate within a preset range by cradle head mechanism, so as to expand field of view.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of portable underwater machine with folding landing leg
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 synchronous folding or stretches the underwater robot of two folding landing legs, when two foldings
During folded supporting leg full extension, by housing support from the ground, prevent sludge from making transparent windows dirty.
Realizing the technical scheme of the utility model purpose is：A kind of synchronous folding or the underwater for stretching two folding landing legs
People, 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 two
Side, stretching, extension drive mechanism drive two folding landing leg synchronous foldings or stretching, extension；Photographing module includes being built in having in housing
The cradle head mechanism of motor, the camera being arranged on cradle head mechanism and the illuminating lamp being arranged on cradle head mechanism；Camera
It is fixedly installed on the bottom of cradle head mechanism, the transparent wall body of camera face hemispherical observation window.
Motor drives camera and illuminating lamp to rotate within a preset range by cradle head mechanism, is regarded so as to expand observation
It is wild.
The utility model has positive effect：（1）When folding landing leg full extension, support feet is displaced downwardly to more than housing
Bottom, 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
When, 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 utility model the first scheme 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 synchronous folding or the underwater robot for stretching two folding landing legs, as shown in Fig. 1 to Fig. 5, bag
Include body and supporting mechanism；Body includes housing 1 and the photographing module 2 being built in housing；Supporting mechanism includes folding
Supporting leg 3 and stretching, extension 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
Individual folding landing leg 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.Drive
Dynamic motor drives camera and illuminating lamp to rotate within a preset range by cradle head mechanism, so as to expand field of view.
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；
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
The uppermost X-frame of frame is arranged on a corresponding mounting rod by a pin rotation, and in the present embodiment, the pin is set
Put 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 reciprocatingly slide 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 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.
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 the 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.
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 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；
Photographing module includes the cradle head mechanism with motor being built in housing, the camera being arranged on cradle head mechanism
With the illuminating lamp being arranged on cradle head mechanism；Camera is fixedly installed on the bottom of cradle head mechanism, and camera face hemispherical is seen
Examine the transparent wall body of window.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720935106.XU CN207208416U (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 |
|---|---|---|---|
| CN201720935106.XU CN207208416U (en) | 2017-07-30 | 2017-07-30 | Synchronous folding or the underwater robot for stretching two folding landing legs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207208416U true CN207208416U (en) | 2018-04-10 |
Family
ID=61814541
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720935106.XU Expired - Fee Related CN207208416U (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 (1) | CN207208416U (en) |
-
2017
- 2017-07-30 CN CN201720935106.XU patent/CN207208416U/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: 20180730 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |