CN207643138U - A kind of portable robot with photographing module - Google Patents
A kind of portable robot with photographing module Download PDFInfo
- Publication number
- CN207643138U CN207643138U CN201720936012.4U CN201720936012U CN207643138U CN 207643138 U CN207643138 U CN 207643138U CN 201720936012 U CN201720936012 U CN 201720936012U CN 207643138 U CN207643138 U CN 207643138U
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- China
- Prior art keywords
- cradle head
- shell
- folding landing
- camera
- folding
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Abstract
The utility model discloses a kind of portable robots with photographing module, including ontology and supporting mechanism；Ontology includes shell；Supporting mechanism includes folding landing leg and stretching, extension driving mechanism；The quantity of folding landing leg is two and is arranged in shell both sides that each folding landing leg is along plumb line direction folding extension；Driving mechanism is stretched while driving two folding landing legs along plumb line direction synchronous folding or stretching, extension, and two folding landing legs of synchronous drive are closer to each other or separate；Photographing module includes the cradle head mechanism with driving motor being built in shell, the camera being arranged on cradle head mechanism and the headlamp being arranged on cradle head mechanism；Camera is fixed at the bottom of cradle head mechanism, the transparent wall body of camera face hemispherical observation window.Driving motor in the utility model drives camera and headlamp to rotate within a preset range by cradle head mechanism, to expand field of view.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of portable 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 is to increase mobile module under water on the basis of video camera, autonomous 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；It is horizontally installed with first gear disk 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；It is provided with a n below the first gear disk
Shape main support, the top of the main support are fixedly connected with the first gear disk；It 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；It is negative that one U-shaped is installed in the main support
Holder, the one side wall of the negative holder 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 holder 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 ensureing that holder 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.
Utility model content
The purpose of this utility model is to provide a kind of portable robot with photographing module.
Realizing the technical solution of the utility model aim is：A kind of portable robot with photographing module, including this
Body and supporting mechanism；Ontology includes shell and the photographing module that is built in shell；Lower part of the housing is equipped with transparent hemispherical and sees
Examine window；Supporting mechanism includes folding landing leg and stretching, extension driving mechanism；The quantity of folding landing leg is two and setting in shell both sides,
Driving mechanism is stretched while driving two folding landing leg synchronous foldings or stretching, extension, and two folding landing legs of synchronous drive connect each other
Close or remote from；Photographing module includes the cradle head mechanism with driving motor being built in shell, is arranged on cradle head mechanism
Camera and the headlamp being arranged on cradle head mechanism；Camera is fixed at the bottom of cradle head mechanism, and camera is just half-and-half
The transparent wall body of spherical observation window.
Driving motor drives camera and headlamp to rotate within a preset range by cradle head mechanism, is regarded to expand observation
It is wild.
The utility model has the effect of positive：Two folding landing legs folding extension but also can away from each other approach, and deposit
Whole occupied space can be made smaller by folding two folding landing legs when putting, two folding landing legs can be away from each other when work
To promote bearing area to ensure stability, and ontology is supportted and prevents sludge dirty transparent from mud bottom by two folding landing leg of tensible
Observation window.
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 is in extended configuration shown in Fig. 1.
Specific implementation mode
（Embodiment 1）
The present embodiment is a kind of portable underwater robot, is seen shown in Fig. 1 to Fig. 5, including ontology and supporting mechanism；Ontology
Including shell 1 and the photographing module 2 being built in shell；Supporting mechanism includes folding landing leg 3 and stretching, extension driving mechanism 4；It folds
The quantity of supporting leg is two and is arranged in shell both sides that each folding landing leg is along plumb line direction folding extension；Stretch driving mechanism
While driving two folding landing legs along plumb line direction synchronous folding or stretching, extension, two folding landing legs of synchronous drive connect each other
Close or remote from.
The lower part of shell is equipped with transparent hemispherical observation window 11；Photographing module includes being built in shell to have 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.It drives
Dynamic motor drives camera and headlamp to rotate within a preset range by cradle head mechanism, 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
An X-frame 311 connected V-arrangement interlocking bar 32 above, the drive link 33, the mounting rod 34 that are connected with V-arrangement interlocking bar center of rotation
And the support leg 35 being arranged 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；
Horizontal slide opening 12 there are two being set on the wall body of shell opposite sides, each mounting rod 34 is to be slidably arranged in corresponding one
Expose shell in the outer end of horizontal sliding bar in horizontal slide opening, 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 in 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 makes each mounting rod horizontal sliding at corresponding one
It reciprocatingly slides in the horizontal direction in hole.
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 of two frame plates of one X-frame in the top and V-arrangement interlocking bar in each complex wrapping frame
In the bottom ends of two frame plates be rotatedly connected；
Drive link is arranged along plumb line direction；The bottom end of drive link and the hinged end of a corresponding V-arrangement interlocking bar rotate 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 leg 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 leg 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 legs
Part 36.Each enhancing link assembly includes the first connecting rod 361 being fixed in a support leg and is fixed at another
Second connecting rod 363 in support leg, 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 makes 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 make 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.
It includes a stretching, extension driving motor 41 and two transmission components 5 to stretch driving mechanism 4, and stretching, extension driving motor passes through two
Two drive links 33 of a transmission component synchronous drive are moved back and forth along plumb line direction, to realize two foldings of folding or expansion
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, 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, and driving tooth wheel portion is 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 moves synchronously；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 shells elongate or shorten, to drive two to fold
Supporting leg is located remotely from each other or approaches.
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 in vertical stud portion lower part and in the 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 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 horizontal slide opening and vertical slide opening is equipped with waterproof seal ring, to prevent liquid
It is entered in shell through slide opening.
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 are center slide opening 544, each sliding pillar to be inserted into a corresponding center slide opening and can 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 shells elongate or shorten, by
It can reciprocatingly slide along the center slide opening of secondary drive rod in the sliding pillar of main 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 shell.
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 is equipped with the interconnecting piece 532 being connected with main drive rod；The present embodiment
In, which is a lantern ring being set on main drive rod.When driven wheel of differential rotates, 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 to synchronize overhanging along horizontal slide opening or inside contract, and then drives two pairs by folding landing leg
Drive rod is overhanging or inside contracts so that the distance between two folding landing legs increased or decrease；When the spacing of two folding landing legs increases,
It is whole relatively stable, it is not easy to shake；When the spacing of two folding landing legs reduces, whole 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 moves up or declines；When drive link moves up or declines, the V-arrangement interlocking bar of Foldable supporting leg, due to each
The X-frame of the top one of folding landing leg is mounted on mounting rod, thus entire folding landing leg with V-arrangement interlocking bar stretching or
It compresses and stretches or fold up；When folding landing leg full extension, support leg is displaced downwardly to more than housing bottom, thus by shell
It supports so that hemispherical observation window can be higher by underwater mud face；When folding landing leg is folded, whole occupied space compared with
It is small, it is easy to carry about with one.
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 art, in above description
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 fall within this practicality
Novel protection domain.
Claims (1)
1. a kind of portable robot with photographing module, including ontology and supporting mechanism；Ontology includes shell and is built in
Photographing module in shell；Lower part of the housing is equipped with transparent hemispherical 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 setting in shell both sides,
Driving mechanism is stretched while driving two folding landing leg synchronous foldings or stretching, extension, and two folding landing legs of synchronous drive connect each other
Close or remote from；
Photographing module includes the cradle head mechanism with driving motor being built in shell, the camera being arranged on cradle head mechanism
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 window.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720936012.4U CN207643138U (en) | 2017-07-30 | 2017-07-30 | A kind of portable robot with photographing module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720936012.4U CN207643138U (en) | 2017-07-30 | 2017-07-30 | A kind of portable robot with photographing module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207643138U true CN207643138U (en) | 2018-07-24 |
Family
ID=62886573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720936012.4U Expired - Fee Related CN207643138U (en) | 2017-07-30 | 2017-07-30 | A kind of portable robot with photographing module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207643138U (en) |
-
2017
- 2017-07-30 CN CN201720936012.4U patent/CN207643138U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180809 Address after: 116000 No. 209, innovation building, 1 innovation road, Lushunkou District, Dalian, Liaoning. Patentee after: DALIAN ADDITIVE MATERIAL MANUFACTURING INTELLECTURAL PROPERTY OPERATION CENTER Co.,Ltd. Address before: 215000 Room 903, Huasheng Plaza, 158 North Tower, Suya Road, Suzhou Industrial Park, Jiangsu. Patentee before: SUZHOU YUANYOUXUN ELECTRONIC TECHNOLOGY CO.,LTD. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200927 Address after: Room 3-203, building 2, Chuangye building, 66 Yuanshi Road, hi tech Zone, Ningbo, Zhejiang Province, 315000 Patentee after: Ningbo sailei New Material Technology Co.,Ltd. Address before: 116000 No. 209, innovation building, 1 innovation road, Lushunkou District, Dalian, Liaoning. Patentee before: DALIAN ADDITIVE MATERIAL MANUFACTURING INTELLECTURAL PROPERTY OPERATION CENTER Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180724 Termination date: 20210730 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |