CN207208418U - A kind of collapsible underwater robot of lifting type - Google Patents
A kind of collapsible underwater robot of lifting type Download PDFInfo
- Publication number
- CN207208418U CN207208418U CN201720935943.2U CN201720935943U CN207208418U CN 207208418 U CN207208418 U CN 207208418U CN 201720935943 U CN201720935943 U CN 201720935943U CN 207208418 U CN207208418 U CN 207208418U
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- China
- Prior art keywords
- housing
- drive
- stretching
- blade
- propeller
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Abstract
The utility model discloses a kind of collapsible underwater robot of lifting type, including body, supporting mechanism and propeller drive mechanism, body includes housing and the photographing module being built in housing；Lower housing portion is provided with transparent observation window；Supporting mechanism includes two folding landing legs for being arranged on housing both sides and the stretching, extension drive mechanism for folding or stretching for two folding landing legs of synchronous drive；The blade drive rod that propeller drive mechanism includes propeller blade directly over the housing, sets blade motor in the housing and be rotatably arranged in housing top wall；Blade motor drives propeller reciprocating rotation by blade drive rod.The utility model can independently lift in water, and have the advantages of portable.
Description
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, 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；Seal casinghousing bottom is provided with transparent ball cover；First is horizontally installed with the seal casinghousing
Toothed disc and the first 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 being tightened 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 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 support, a side wall of the negative support is connected with the second gear disk；The shooting
Machine module is fixedly mounted on the negative support.When the first 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 motor drives second gear disc spins,
Negative support 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, exchanges, conducting slip ring guarantee video camera module is in course of normal operation
In not power down, not lossing signal, continuous work, while ensure support can continuous 360 degree rotate.
This kind of Underwater Camera is simple in construction, 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 be lifted in water
The collapsible underwater robot of type.
Realizing the technical scheme of the utility model purpose is：A kind of collapsible underwater robot of lifting type, including body, branch
Support mechanism and propeller drive mechanism, body include housing and the photographing module being built in housing；Lower housing portion is provided 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 drive mechanism；Propeller drive mechanism includes propeller blade directly over the housing, is arranged on housing
In blade motor and the blade drive rod that is rotatably arranged in housing top wall；Blade motor passes through blade drive rod
Drive propeller reciprocating rotation；Stretching drive mechanism includes a stretching, extension motor and two transmission components, stretching, extension driving electricity
Machine is folded or stretched along plumb line direction by two transmission component synchronous drives, two two folding landing legs.
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 space-consuming is smaller, and be easy to carry storage；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 easy to autonomy-oriented to move.
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 drive mechanism 4 for driving two folding landing leg synchronous extensions or folding.
The bottom of housing is provided 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 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 ward.
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 gangbar 32, with V-arrangement linkage
Bar center of rotation connected drive link 33, mounting rod 34 and the support feet 35 being arranged on 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 ward 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 collapsible underwater robot of lifting type, including body, supporting mechanism and propeller drive mechanism, body include 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 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 drive mechanism of stretching, extension；
Propeller drive mechanism includes propeller blade directly over the housing, sets blade motor in the housing and turn
The dynamic blade drive rod being arranged in housing top wall；Blade motor drives propeller reciprocating rotation by blade drive rod；
Stretching drive mechanism includes a stretching, extension motor and two transmission components, and stretching, extension motor passes through two transmission groups
Two two folding landing legs of part synchronous drive are folded or stretched along plumb line direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720935943.2U CN207208418U (en) | 2017-07-30 | 2017-07-30 | A kind of collapsible underwater robot of lifting type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720935943.2U CN207208418U (en) | 2017-07-30 | 2017-07-30 | A kind of collapsible underwater robot of lifting type |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207208418U true CN207208418U (en) | 2018-04-10 |
Family
ID=61814639
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720935943.2U Expired - Fee Related CN207208418U (en) | 2017-07-30 | 2017-07-30 | A kind of collapsible underwater robot of lifting type |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207208418U (en) |
-
2017
- 2017-07-30 CN CN201720935943.2U patent/CN207208418U/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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180410 Termination date: 20180730 |