CN207225627U - The collapsible underwater robot of lifting type - Google Patents

Abstract

The utility model discloses a kind of collapsible underwater robot of lifting type, including body, supporting mechanism and propeller driving mechanism, body includes housing and the photographing module being built in housing；Lower housing portion is equipped with transparent observation window；Supporting mechanism includes two folding landing legs for being arranged on housing both sides and the stretching, extension driving mechanism for folding or stretching for two folding landing legs of synchronous drive；Screw blade, the blade of setting in the housing that propeller driving mechanism is included directly over housing drive motor and the blade drive rod being rotatably arranged in housing top wall；Blade drives motor to drive propeller reciprocating rotation by blade drive rod；Photographing module includes being built in cradle head mechanism, the camera being arranged on cradle head mechanism and the headlamp being arranged on cradle head mechanism with driving motor in housing.The utility model can be lifted independently in water, and be had the advantages that portable.

Description

The collapsible underwater robot of lifting type

Technical field

The utility model belongs to robotic technology field, and in particular to a kind of collapsible underwater robot of lifting type.

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, so as to complete autonomous Mobile or controlled movement.

Patent document CN201733377U discloses a kind of Underwater Camera, including seal casinghousing, video camera module, and The control panel for controlling motor to rotate；Seal casinghousing bottom is equipped with transparent ball cover；First is horizontally installed with the seal casinghousing Toothed disc and the first driving motor for driving the first gear disk to rotate；The first gear disk center is provided with one The conducting slip ring of electric power and signal is transmitted, the conducting slip ring is by screw with tightening together at the top of the main support；Institute State and be provided with a n shape main supports below first gear disk, the top of the main support is fixedly connected with the first gear disk； The second driving motor that the side wall of the main support is provided with second gear disk and drives the second gear disk to rotate； One U-shaped is installed in the main support and bears stent, the one side wall of the negative stent is connected with the second gear disk；The shooting Machine module is fixedly mounted on the negative stent.When the first driving motor drives first gear disc spins, main support will therewith Rotate together, you can realize the rotation in 360 ° of camera horizon direction；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 leads in horizontal and vertical rotary course Cross conducting slip ring and the external world be powered with signal transmission, exchange, conducting slip ring ensures video camera module in course of normal operation In not power down, not lossing signal, continuous work, while ensure that stent can continuous 360 degree of rotations.

This kind of Underwater Camera is simple in structure, and video camera can be with 360 degree of rotations of horizontal direction, vertical direction ± 90 degree rotation Turn, realize comprehensive observation, widen the underwater visual field.

This kind of Underwater Camera has the following disadvantages：Without automatic moving ability, need to hold or installed in other Used on object, when it is directly sunk 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 lifting that has electric foldable supporting leg and can independently lift in water The collapsible underwater robot of type.

Realizing the technical solution of the utility model aim is：A kind of collapsible underwater robot of lifting type, including body, branch Support mechanism and propeller driving mechanism, body include housing and the photographing module being built in housing；Lower housing portion is equipped with transparent Observation window；Supporting mechanism includes two folding landing legs for being arranged on housing both sides and for two folding landing leg folding of synchronous drive Folded or stretching, extension stretching, extension driving mechanism；Propeller driving mechanism includes screw blade directly over the housing, is arranged on housing In blade driving motor and the blade drive rod that is rotatably arranged in housing top wall；Blade driving motor passes through blade drive rod Drive propeller reciprocating rotation；Photographing module includes being built in having the cradle head mechanism of driving motor, being arranged on cloud in housing Camera in platform mechanism and the headlamp being arranged on cradle head mechanism；Camera is fixed at the bottom of cradle head mechanism, takes the photograph As the transparent wall body of head face hemispherical observation ward.

The utility model has positive effect：（1）The utility model can be stretched folding landing leg by electronic mode And folding, when folding landing leg is folded completely, its overall occupied space is smaller, storage easy to carry；When folding landing leg is complete During full expansion, enable to it is overall there is larger supporting surface, and body is supportted from mud bottom, prevents the dirty observation window of sludge and shadow Ring shooting；（2）The utility model has the propeller that itself can be driven to lift, and is moved easy to autonomy-oriented.（3）The utility model Due to cradle head mechanism, so as to drive camera and headlamp to rotate within a preset range, being observed so as to effectively expand The visual field.

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 underwater robot, as shown in Fig. 1 to Fig. 5, including body, supporting mechanism and propeller driving Mechanism 6；Body includes housing 1 and the photographing module 2 being built in housing；Supporting mechanism includes be arranged on hull outside two Folding landing leg 3 and the stretching, extension driving mechanism 4 for driving two folding landing leg synchronous extensions or folding.

The lower part of housing is equipped with transparent hemispherical observation ward 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 ward.Drive Dynamic motor drives camera and headlamp to rotate within a preset range by cradle head mechanism, so as to expand field of view.

Two folding landing legs 3 are located at the both sides of housing 1 respectively；Each folding landing leg 3 includes combining shape by multiple X-frames 311 Into complex wrapping frame 31, with complex wrapping frame topmost an X-frame 311 be connected V-arrangement interlocking bar 32, with V-arrangement linkage Drive link 33, mounting rod 34 and the support feet 35 being arranged on below complex wrapping frame that bar center of rotation is connected；

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 equipped 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, which 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 slide in the horizontal direction in hole.

V-arrangement interlocking bar 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 interlocking bar The abutting end of plate forms hinged end；The top of two frame plates of one X-frame in the top and V-arrangement interlocking bar 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 interlocking bar rotate phase Even, in the present embodiment, the bottom 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 of one of frame plate and support feet are rotatedly connected, and the bottom 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.Each enhancing link assembly includes the first connecting rod 361 being fixed in a support feet and is fixed at another Second connecting rod 363 in support feet, first connecting rod are equipped with slide opening portion, and second connecting rod is equipped 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 driving mechanism 4 includes a stretching, extension driving motor 41 and two transmission components 5, and 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 its drive shaft 411 are stretched out outside motor, so that 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 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, both are synchronized with the movement；When drive bevel gear is extended When driving motor drive, 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.

Case top is equipped with two vertical casings 13 with vertical slide opening 131, and the bottom 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.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 rotate synchronously.

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 pair 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 pillar 542 of evagination, and a side of the main drive rod of adjoining of each pair drive rod is set There is center slide opening 544, each sliding pillar is inserted into a corresponding center slide opening and can simultaneously reciprocatingly slide 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 reciprocatingly slide in the sliding pillar 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 casing, and place is equipped with and vertical in the bottom of vertical slide bar The vertical screw hole 531 of stud portion adaptation, the top of vertical slide bar is equipped with the connecting portion 532 being connected with main drive rod；The present embodiment In, which is the lantern ring 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 is moved back and forth along vertical slide opening, is realized 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 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 occupied space reduces, 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 interlocking bar of Foldable supporting leg, due to each The X-frame of the top one of folding landing leg is installed on mounting rod, thus whole folding landing leg with V-arrangement interlocking bar 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 that by housing Support so that hemispherical observation ward can be higher by underwater mud face；When folding landing leg is folded, overall occupied space compared with It is small, it is easy to carry about with one.

Screw blade 61, the blade of setting in the housing that propeller driving mechanism 6 is included directly over housing drive Motor 62 and the blade drive rod 63 being rotatably arranged in housing top wall；It is spiral that blade drives motor to be driven by blade drive rod Paddle reciprocating rotation；Since horizontal drive bar assembly is also in the surface of housing, in order to avoid horizontal drive bar assembly hinder it is spiral Paddle 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 utility model is only intended to clearly illustrate the utility model example, and It is not the restriction to the embodiment of the utility model.For those of ordinary skill in the field, in described above On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments It is exhaustive.And the obvious changes or variations that these connotations for belonging to the utility model are extended out still falls within this practicality New protection domain.

Claims (1)

1. a kind of collapsible underwater robot of lifting type, including body, supporting mechanism and propeller driving mechanism, body include shell Body and the photographing module being built in housing；Lower housing portion is equipped with transparent observation window；It is characterized in that：

Supporting mechanism include two folding landing legs for being arranged on housing both sides and folded for two folding landing legs of synchronous drive or The stretching, extension driving mechanism of stretching, extension；

Screw blade, the blade of setting in the housing that propeller driving mechanism is included directly over housing drive motor and turn The dynamic blade drive rod being arranged in housing top wall；Blade drives motor to drive propeller reciprocating rotation by blade drive rod；

Photographing module includes being built in cradle head mechanism, the camera being arranged on cradle head mechanism with driving motor in housing With the headlamp being arranged on cradle head mechanism；Camera is fixed at the bottom of cradle head mechanism, and camera face hemispherical is seen Examine the transparent wall body of room.