CN207208419U - The portable underwater robot of Area of bearing can be changed - Google Patents

Abstract

The utility model discloses a kind of portable underwater robot that can change Area of bearing, including body and supporting mechanism；Body includes housing and photographing module；Supporting mechanism includes stretching, extension drive mechanism and two folding landing legs；Each mounting rod is the horizontal sliding bar being slidably arranged on housing wall；Each folding landing leg is arranged on the outer end of a corresponding mounting rod；Stretching drive mechanism includes the two driving output shafts and two transmission components of synchronous axial system；Each transmission component includes two drive bevel gears；Each drive bevel gear includes driving tooth wheel portion and horizontal stud portion；Driving tooth wheel portion is fixedly installed on corresponding driving output shaft；Each mounting rod is provided with horizontal screw, and each horizontal stud portion is located in the horizontal screw of a corresponding mounting rod；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.Two folding landing legs are away from so as to improving stability during utility model works.

Description

The portable underwater robot of Area of bearing can be changed

Technical field

The utility model belongs to robotic technology field, and in particular to a kind of portable underwater that can change Area of bearing Robot.

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 underwater robot with two folding landing legs, two folding Folded supporting leg can approach away from each other, and two folding landing legs distances are close to make it that overall space-consuming is smaller during storage, two during work Folding landing leg is away from so as to lifting Area of bearing to ensure stability.

Realizing the technical scheme of the utility model purpose is：A kind of portable underwater machine that can change Area of bearing People, including body and supporting mechanism；Body includes housing and photographing module；Supporting mechanism includes stretching, extension drive mechanism and two foldings Folded supporting leg；The wall body of housing opposite sides is provided with two horizontal slide openings, and each mounting rod is to be slidably arranged in a corresponding level Housing is exposed in horizontal sliding bar in slide opening, the outer end of each mounting rod；Each folding landing leg is arranged on the outer end of a corresponding mounting rod Go up and follow the mounting rod to move；

Stretching drive mechanism includes the two driving output shafts and two transmission components of synchronous axial system；Each transmission component includes Two drive bevel gears；Each drive bevel gear includes driving tooth wheel portion and horizontal stud portion；Driving tooth wheel portion is fixedly installed on phase Answer on a driving output shaft；Two drive bevel gears are between two mounting rods, and each mounting rod is close to a corresponding active A side for bevel gear is provided with and the horizontal screw of horizontal stud portion adaptation, and each horizontal stud portion is located at a corresponding mounting rod In horizontal screw；Stretching drive mechanism includes stretching, extension motor；Stretching, extension motor is a double shaft-protruding type motor, and it drives The both ends of rotating shaft, which are stretched out outside motor, forms described two driving output shafts；Drive output shaft horizontally disposed；

Photographing module include be built in housing the cradle head mechanism with motor, be arranged on taking the photograph on cradle head mechanism As head and the illuminating lamp being arranged on cradle head mechanism；Camera is fixedly installed on the bottom of cradle head mechanism, camera face hemisphere The transparent wall body of shape 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：Two folding landing legs can approach away from each other, and two fold branch during storage Leg distance is close to make it that overall space-consuming is smaller, and two folding landing legs are away from so as to lifting Area of bearing to ensure stabilization during work Property.

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.

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 portable underwater robot, as shown in Fig. 1 to Fig. 5, including body and supporting mechanism；Body Including including housing 1 and the photographing module 2 being built in housing；Supporting mechanism includes folding landing leg 3 and stretching, extension drive mechanism 4； The quantity of folding landing leg is two and is arranged on housing both sides, and each folding landing leg is along plumb line direction folding extension；Stretching, extension driving Mechanism drive two folding landing legs along plumb line direction synchronous folding or stretching, extension while, two folding landing legs of synchronous drive that This close to or away from.

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；

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 drive bevel gear 51, driven wheel of differential 52, vertical slide bar 53 and horizontal drive bar assembly 54；

Drive bevel gear includes driving tooth wheel portion 511 and horizontal stud portion 512, 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.

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 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.

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 is provided with the connecting portion 532 being connected with main drive rod；The present embodiment In, the connecting portion is the collar being set on main drive rod.When driven wheel of differential rotates, its vertical stud portion passes through spiral shell Line type of drive drives corresponding vertical slide bar reciprocating rotation so that the vertical slide bar moves back and forth along vertical slide opening, realizes 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, the drive bevel gear of stretching, extension motor synchronous drive two and two driven wheel of differential synchronous axial systems, two Individual horizontal 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 pairs Drive rod is overhanging or inside contracts so that the distance between two folding landing legs increased or decrease；When the spacing increase of two folding landing legs, It is overall 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 vertical stud portions drive two vertical slide bars and horizontal drive bar assembly to move up or decline, and then drive each folding Drive link in folded 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 The X-frame of the top one of folding landing leg is arranged on mounting rod, thus whole folding landing leg with V-arrangement gangbar stretching or Compress 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 Support 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.

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 portable underwater robot that can change Area of bearing, including body and supporting mechanism；Body includes housing And photographing module；It is characterized in that：

Supporting mechanism includes stretching, extension drive mechanism and two folding landing legs；It is sliding that the wall body of housing opposite sides is provided with two levels Hole, each mounting rod are the horizontal sliding bars being slidably arranged in a corresponding horizontal slide opening, and housing is exposed in the outer end of each mounting rod；Respectively Folding landing leg is arranged on the outer end of a corresponding mounting rod and follows the mounting rod to move；

Stretching drive mechanism includes the two driving output shafts and two transmission components of synchronous axial system；Each transmission component includes two Drive bevel gear；Each drive bevel gear includes driving tooth wheel portion and horizontal stud portion；Driving tooth wheel portion is fixedly installed on corresponding one On individual driving output shaft；Two drive bevel gears are between two mounting rods, and each mounting rod is close to a corresponding active conical tooth One side of wheel is provided with and the horizontal screw of horizontal stud portion adaptation, and each horizontal stud portion is located at the level of a corresponding mounting rod In screw；Stretching drive mechanism includes stretching, extension motor；Stretching, extension motor is a double shaft-protruding type motor, its drive shaft Both ends stretch out outside motor and form described two driving output shafts；Drive output shaft horizontally disposed；

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.