CN207607623U - One kind repairing sized underwater observation robot based on environmental ecology - Google Patents

Abstract

The utility model discloses one kind repairing sized underwater observation robot based on environmental ecology,Its structure includes control host,Impeller,Propeller,Transparent shield,Camera,Manipulator,Support leg,Connecting rod,Video collector,Camera pan-tilt,Upper system,Man-machine interactive platform,Intelligence instrument,The next system,The length of the utility model fuselage is 480mm,Width is 280mm,A height of 250mm,Aerial quality is 12kg,The small-sized robot solves existing observation robot there is volumes big,The problem of somewhat expensive,And pass through manipulator,Propeller and holder design,Acp chip using the MSP430 microcontrollers of low-power consumption as processor,Realize the movement to sized underwater observation robot and function control,Control accuracy is high and has stronger anti-interference ability,It can be carried out effectively underwater observation operation.

Description

One kind repairing sized underwater observation robot based on environmental ecology

Technical field

The utility model is that one kind repairing sized underwater observation robot based on environmental ecology, belongs to sized underwater observation robot neck Domain.

Background technology

Underwater robot is also referred to as unmanned remotely controlled submersible vehicle, is a kind of to work in underwater limit operation robot.Underwater ring Border is badly dangerous, and the diving depth of people is limited, so underwater robot has become the important tool of exploitation ocean, it is unmanned remote controlled latent Hydrophone mainly has:Have two kinds of cable remote-controlled vehicle and untethered remotely operated vehicle, wherein there is cable remote-controlled vehicle to be divided into water from Boat formula, towage formula and can three kinds of creeping-type, underwater robot can be in highly dangerous environment, contaminated environment on seafloor structure And the waters of zero visibility replaces artificial long working under water, and Sonar system, camera shooting are commonly equipped on underwater robot The devices such as machine, headlamp and mechanical arm can provide real-time video, sonar image, and mechanical arm can pick up weight, and underwater robot exists The fields such as oil development, maritime affair law enforcement evidence obtaining, scientific research and military affairs are used widely, and ecological environment is exactly " to be closed by ecology The abbreviation of the environment of system's composition ", refers to closely related with the mankind, influences human lives and produces movable various natures (packet Include the second nature formed under manual intervention) strength (matter and energy) or effect summation.

Ecological environment refers to water resource, land resource, living resources and the climate resources for influencing human survival and development The general name of quantity and quality is the complex ecosystem for being related to society and sustained economic development.Ecological environment problem refers to people Class is its own survival and development, during using with nature remodeling, to danger caused by natural environment destruction and pollution The various negative-feedback effects of evil human survival.And so-called restoration of the ecosystem refers to stopping human interference to the ecosystem, it is negative to mitigate Lotus pressure makes it develop to orderly direction, Huo Zheli by capacity of self-regulation and the self organization ability of the ecosystem With this self-recovery ability of the ecosystem, it is aided with artificial measures, the ecosystem destroyed is made gradually to restore or make life State system develops to benign cycle direction；Refer mainly to be dedicated to those under natural mutation and the effect of human activity by destroying The recovery and reconstruction of natural ecosystems, the looks of restored ecosystem script.

Prior art discloses application No. is：A kind of marine environment restoration of the ecosystem underwater observation of CN201620412682.1 Robot, floating body are set to above frame, are bonded with frame, for keeping robot pose to balance；AMR microcontrollers are placed in frame It inside frame, and connects the water surface by umbilical cables and receives control terminal, multi-parameter sensor is fixed on frame, and it is micro- to connect AMR Collected data are sent to AMR microcontrollers by controller；Video observation module is fixed on frame front end, and connects AMR Microcontroller, for being sent to AMR microcontrollers after acquiring video image；LED light is fixed on floating body, and observes mould with video Block homonymy, for illuminating；Voluntarily track module is set to frame lower end, and connects AMR microcontrollers.The utility model is being crossed Keep stable with robot itself during climbing, will not disequilibrium and overturn；The quantity of cable is saved, to realize one The transmission for the data and power supply that a 8 core is fastened, solve the problems, such as the cable of underwater ROV slightly with it is more, in the seawater can be from height Salinity is corroded, and existing observation robot generally existing volume is larger, the incomplete situation of somewhat expensive, function, and in water The environment of lower robot operation is complicated, and the noise of underwater sound signal is big, therefore there are detection accuracies that poor, saltus step frequently lacks for equipment Point causes to be easy to be interfered and can not effectively carry out underwater observation in the kinematic system of sized underwater observation robot.

Utility model content

It is seen under water in view of the deficienciess of the prior art, the utility model aim is to provide a kind of repaired based on environmental ecology Robot is surveyed, with larger, the incomplete situation of somewhat expensive, function that solves existing observation robot generally existing volume, and And the environment of robot operation under water is complicated, the noise of underwater sound signal is big, therefore that there are detection accuracies is poor, saltus step is frequent for equipment The shortcomings that, it causes to be easy to be interfered and can not effectively carry out asking for underwater observation in the kinematic system of sized underwater observation robot Topic.

To achieve the goals above, the utility model is to realize by the following technical solutions：One kind is given birth to based on environment State repair sized underwater observation robot, structure include control host, impeller, propeller, transparent shield, camera, manipulator, Support leg, connecting rod, video collector, camera pan-tilt, Upper system, man-machine interactive platform, intelligence instrument, the next system, The video collector is mounted on the lower end of control host and with the circuit board inside control host by being electrically connected, the control Mechanical connection has propeller, the propeller to be equipped with more than two and be equipped with impeller on four angles of host, and the video is adopted The left end fastening of storage has transparent shield, the transparent shield to be internally provided with camera and be connected to video collector, Protruding end between the support leg is fixedly connected by connecting rod, and the manipulator is mounted on the bottom end of video collector And be mechanically connected with support leg, the video collector is internally provided with camera pan-tilt and is matched with camera, described upper System, man-machine interactive platform are connected to camera, the next system by intelligence instrument signal, and the camera pan-tilt includes actively Axis, transmission belt, DC servo motor transmission shaft, fixed screw, the driving shaft are movably connected on the inside of camera, the master Moving axis is mechanically connected to DC servo motor transmission shaft by transmission belt, and the surrounding of the DC servo motor transmission shaft is by setting There are four fixed screw fix, the manipulator by finger, guide rod screw, arm, trundle, drive link, compression spring, backing pin, Motor form, the finger are bolted by one end of guide rod screw and arm, the arm set there are two and the other end it is logical Cross trundle flexible connection, the arm is connected to backing pin by drive link, the inside of the drive link be equipped with compression spring and with It is connected to motor, the propeller is equipped with rotor, rotating ring, sealing ring, O-ring, push-off pin, promotes head, bearing, bearing block, institute The junction for stating rotor and push-off pin is equipped with sealing ring, and the both ends of the rotor are equipped with rotating ring close to the side of push-off pin, described The outer end both sides of rotor are fixed with bearing block, and the both ends of the push-off pin are respectively provided with O-ring close to the side of sealing ring, described to push away One end mechanical connection of the rod far from rotor has bearing and is matched with head is promoted, and the Upper system includes primary processor, regards Frequency handover module, depth gauge, thermometer, accelerometer, drive module, compass, the signal input part difference of the primary processor It is connected to video frequency switching module, depth gauge, thermometer, the accelerometer, drive module, compass are electrically connected to primary processor Signal output end, the drive module are electrically connected in propeller, manipulator, camera pan-tilt, and the bottom system includes It is main display, focusing button, the first control rocking bar, the second control rocking bar, master controller, auxiliary control rocking bar, main control rocking bar, auxiliary Display screen, adjusting knob, the main display are connected to the signal output end of master controller, the focusing button, the first control Rocking bar, second control rocking bar, auxiliary control rocking bar, main control rocking bar, auxiliary display screen, adjusting knob respectively with the signal of master controller End communicates and using electrical connection.

Further, the surrounding of the camera surround and is connected with more than two headlamps.

Further, the finger sets there are two intermeshing and is internally provided with for anti-skidding rubber ring.

Further, the front end both sides of the video collector are respectively provided with two propellers and the across knot that intersects Structure.

Further, the support leg sets that there are two be reverse U shape structure and depressed area upper end is welded on video and adopts The outer surface of storage bottom end.

Further, the second control rocking bar is for adjusting manipulator, and the adjusting knob is for adjusting illuminating lamp Brightness.

Further, it is described focusing button can realize video switching, camera zoom and focusing function, it is described first control Rocking bar is for adjusting camera pan-tilt.

Further, the primary processor be MSP microcontrollers as processing chip, have the characteristics that low-power consumption.

Further, high impedance communication cable, the height are used between the intelligence instrument and Upper system, the next system Impedance communication cable includes conductor, insulating layer, internal shield, external shielding layer, sheath.

Further, the conductor is set there are two the inside for being mounted on internal shield at horizontal linear, the conductor Outer surface is equipped with external shielding layer around insulating layer is connected between the internal shield and sheath.

Advantageous effect

The utility model one kind being based on environmental ecology and repairs sized underwater observation robot, the main software connection of the utility model System is made of Upper system, man-machine interactive platform, intelligence instrument, the next four part of system, operating personnel by wired remote control, In conjunction with the underwater video image on the human-computer interaction interface on man-machine interactive platform, it is only necessary to pull phase on Upper system control plane The motion control to sized underwater observation robot had both may be implemented in the motion control button answered, since the decaying of Underwater Optical is very big, Scattering phenomenon is comparable serious, in order to expand the viewfinder range of camera, improves image definition, therefore devise video camera cloud Platform, DC servo motor transmission shaft drives the 60 ° of rotations of entire camera elevation mount vertical direction through transmission belt, due to underwater ring Border it is seriously polluted, it is therefore desirable to pick up research of some samples as environomental pollution source, and devise manipulator, on manipulator The motor being equipped with drives drive link to realize the movement of horizontal direction, and by trundle, arm drives finger to realize opening and closing, therefore, It realizes the pickup to underwater sample, in order to make robot realize the movement on all 6 DOFs under water, therefore devises six and push away Into device, realize the propulsion of underwater robot, heave, it is traversing, turn head, trim, rolling motion, seal under water be robot pass Key, once the case where intaking equipment cannot work, therefore, in the mechanical seal that is internally provided with of propeller, rotor drives Rotating ring rotates, and rotating ring rotation drives push-off pin to travel forward, and push-off pin, which drives, promotes head to release, and medium is from push-off pin in order to prevent Gap is revealed between rotor, therefore is equipped with sealing ring and O-ring, and underwater robot is when being worked, the main process task that is equipped with Device and drive module, sensor and video frequency switching module realize the driving of taking offence to robot propeller, the communication of upper and lower computer And the switching of video image, depth gauge, thermometer, accelerometer, compass effectively detect underwater environment information, are conveniently operated Personnel record, and by control platform waterborne, master controller and auxiliary display screen can complete communication between upper and lower computer, regard Human-computer interaction is realized in the display of screen image, sensor information.Using MSP430F135 as main process task in the control system Device, applies 12,14 tunnel analog-digital converter and serial communication module that it is internally integrated, and operating personnel only need to pass through setting Each button, rocking bar on control panel, by AD conversion, each analog quantity is converted into digital quantity, is realized by serial communication module Control platform sets the movement of the control of each impeller speed, direction, the brightness regulation of headlamp and camera pan-tilt, manipulator Fixed, the length of the fuselage is 480mm, width 280mm, a height of 250mm, and aerial quality is 12kg, the small-sized machine People solves the problems, such as existing observation robot there is volumes big, somewhat expensive, and passes through manipulator, propeller and cloud Platform design, the acp chip using the MSP430 microcontrollers of low-power consumption as processor, realize to sized underwater observation robot Movement and function control, control accuracy is high and has stronger anti-interference ability, can be carried out effectively underwater observation work Industry.

Description of the drawings

Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model Sign, objects and advantages will become more apparent upon：

Fig. 1 is a kind of structural schematic diagram for repairing sized underwater observation robot based on environmental ecology of the utility model.

Fig. 2 is the structural schematic diagram of the utility model camera pan-tilt.

Fig. 3 is the sectional view of the utility model manipulator.

Fig. 4 is the mechanical seal structure schematic diagram of the utility model propeller.

Fig. 5 is the surface structure schematic diagram of the utility model manipulator.

Fig. 6 is another angled arrangement schematic diagram of the utility model Fig. 1.

Fig. 7 is a kind of control system block diagram for repairing sized underwater observation robot based on environmental ecology of the utility model.

Fig. 8 is the Upper system control flow block diagram of the utility model.

Fig. 9 is the next system control process block diagram of the utility model.

Figure 10 is the internal cross section structural schematic diagram of the utility model high impedance communication cable.

In figure：Control host -1, impeller -2, propeller -3, transparent shield -4, camera -5, manipulator -6, support Foot -7, connecting rod -8, video collector -9, camera pan-tilt -10, Upper system -11, man-machine interactive platform -12, Intelligent Instrument Table -13, the next system -14, driving shaft -1001, transmission belt -1002, DC servo motor transmission shaft -1003, fixed screw - 1004, finger -601, guide rod screw -602, arm -603, trundle -604, drive link -605, compression spring -606, backing pin -607, Motor -608, rotating ring -302, sealing ring -303, O-ring -304, push-off pin -305, promotes head -306, bearing-at rotor -301 307, bearing block -308, primary processor -111, video frequency switching module -112, depth gauge -113, thermometer -114, accelerometer - 115, drive module -116, compass -117, main display -141, focusing button -142, the first control rocking bar -143, the second control Rocking bar -144 processed, master controller -145, auxiliary control rocking bar -146, main control rocking bar -147, auxiliary display screen -148, adjusting knob - 149, conductor -131, insulating layer -132, internal shield -133, external shielding layer -134, sheath -135.

Specific implementation mode

To make the technical means, creative features, achievement of purpose, and effectiveness of the utility model be easy to understand, below In conjunction with specific implementation mode, the utility model is expanded on further.

Embodiment 1

- Fig. 9 is please referred to Fig.1, the utility model provides a kind of based on environmental ecology reparation sized underwater observation robot, structure Including control host 1, impeller 2, propeller 3, transparent shield 4, camera 5, manipulator 6, support leg 7, connecting rod 8, video Collector 9, camera pan-tilt 10, Upper system 11, man-machine interactive platform 12, intelligence instrument 13, the next system 14, the video Collector 9 is mounted on the lower end of control host 1 and with the circuit board inside control host 1 by being electrically connected, the control host 1 Four angles on mechanical connection have a propeller 3, the propeller 3 is equipped with more than two and is equipped with impeller 2, and the video is adopted The left end fastening of storage 9 has transparent shield 4, the transparent shield 4 to be internally provided with camera 5 and be connected to video acquisition Device 9, the protruding end between the support leg 7 are fixedly connected by connecting rod 8, and the manipulator 6 is mounted on video acquisition The bottom end of device 9 and with support leg 7 be mechanically connected, the video collector 9 be internally provided with camera pan-tilt 10 and with camera 5 It matches, the Upper system 11, man-machine interactive platform 12 are connected to camera 5, the next system by 13 signal of intelligence instrument 14, the camera pan-tilt 10 includes driving shaft 1001, transmission belt 1002, DC servo motor transmission shaft 1003, fixed screw 1004, the driving shaft 1001 is movably connected on the inside of camera 5, and the driving shaft 1001 is connected by 1002 machinery of transmission belt It is connected to DC servo motor transmission shaft 1003, the surrounding of the DC servo motor transmission shaft 1003 passes through consolidating there are four setting Determine screw 1004 fixation, the manipulator 6 by finger 601, guide rod screw 602, arm 603, trundle 604, drive link 605, Compression spring 606, backing pin 607, motor 608 form, and the finger 601 is connected by a terminal bolt of guide rod screw 602 and arm 603 Connect, the arm 603 set there are two and the other end be flexibly connected by trundle 604, the arm 603 passes through drive link 605 Be connected to backing pin 607, the inside of the drive link 605 be equipped with compression spring 606 and be connected to motor 608, the propeller 3 is set There is rotor 301, rotating ring 302, sealing ring 303, O-ring 304, push-off pin 305, promote head 306, bearing 307, bearing block 308, institute It states rotor 301 and the junction of push-off pin 305 is equipped with sealing ring 303, the both ends of the rotor 301 are close to the one of push-off pin 305 Side is equipped with rotating ring 302, and the outer end both sides of the rotor 301 are fixed with bearing block 308, and the both ends of the push-off pin 305 are close to close The side of seal 303 is respectively provided with O-ring 304, and one end mechanical connection of the push-off pin 305 far from rotor 301 has bearing 307 And with promote head 306 match, the Upper system 11 include primary processor 111, video frequency switching module 112, depth gauge 113, Thermometer 114, accelerometer 115, drive module 116, compass 117, the signal input part of the primary processor 111 are separately connected In video frequency switching module 112, depth gauge 113, thermometer 114, the accelerometer 115, drive module 116, compass 117 are electrically connected It is connected to the signal output end of primary processor 111, the drive module 116 is electrically connected in propeller 3, manipulator 6, video camera Holder 10, the bottom system 14 include main display 141, the focusing control control rocking bar of rocking bar 143, second of button 142, first 144, master controller 145, auxiliary control rocking bar 146, main control rocking bar 147, auxiliary display screen 148, adjusting knob 149, the master are aobvious Display screen 141 is connected to the signal output end of master controller 145, and the focusing button 142, first controls rocking bar 143, second and controls Rocking bar 144, auxiliary control rocking bar 146, main control rocking bar 147, auxiliary display screen 148, adjusting knob 149 respectively with master controller 145 Signal end communicate and using electrical connection, the surrounding of the camera 5 is around being connected with more than two headlamps, the finger 601 set there are two intermeshing and are internally provided with for anti-skidding rubber ring, and the front end both sides of the video collector 9 are respectively provided with Two propellers 3 and the across structure that intersects, the support leg 7 are set there are two being reverse U shape structure and recessed portion Position upper end is welded on the outer surface of 9 bottom end of video collector, and the second control rocking bar 144 is for adjusting manipulator 6, the tune Save knob 149 be used for adjusting illuminating lamp brightness, it is described focusing button 142 can realize video switching, camera 5 zoom and focusing Function, the first control rocking bar 143 are made for adjusting camera pan-tilt 10, the primary processor 111 for MSP430 microcontrollers For processing chip, has the characteristics that low-power consumption.

The operation principle of this practicality as shown in fig. 7, the main software linkage system of the utility model by Upper system 11, people Machine interaction platform 12, intelligence instrument 13,14 4 part of the next system composition, operating personnel are by wired remote control, in conjunction with man-machine friendship The underwater video image on human-computer interaction interface on mutual platform 12, it is only necessary to pull and be transported accordingly on 11 control plane of Upper system The motion control to sized underwater observation robot had both may be implemented in dynamic control button, and since the decaying of Underwater Optical is very big, scattering is existing As comparable serious, in order to expand the viewfinder range of camera 5, image definition is improved, therefore devise camera pan-tilt 10, As shown in Fig. 2, DC servo motor transmission shaft 1003 drives 5 elevation mount vertical direction of entire camera through transmission belt 1002 60 ° of rotations, it is seriously polluted due to underwater environment, it is therefore desirable to pick up research of some samples as environomental pollution source, and set Manipulator 6 has been counted, as shown in Fig. 3, the motor 608 that manipulator 6 is equipped with drives the movement of the realization horizontal direction of drive link 605, By trundle 604, arm 603 drives finger 601 to realize opening and closing, therefore, the pickup to underwater sample is realized, in order to make machine People realizes the movement on all 6 DOFs under water, therefore devises six propellers 3, therefore devises six propellers 3, realizes The propulsion of underwater robot, heave, traversing, turn head, trim, rolling motion, sealing is the key that robot under water, once go out The case where now intaking equipment cannot work, and therefore, mechanical seal is internally provided in propeller 3, as shown in figure 4, rotor 301 Rotating ring 302 is driven to rotate, the rotation of rotating ring 3 drives push-off pin 305 to travel forward, and push-off pin 305, which drives, promotes head 306 to release, and is Prevent medium gap between push-off pin 305 and rotor 301 from revealing, therefore equipped with sealing ring 303 and O-ring 304, underwater machine Device people is when working, control system as shown in Figure 8, the primary processor 111 and drive module 116 that are equipped with, sensor and Video frequency switching module 112 realizes the driving of taking offence to robot propeller 3, the communication of upper and lower computer and cutting for video image It changes, depth gauge 113, thermometer 114, accelerometer 115, compass 117 effectively detect underwater environment information, are conveniently operated personnel It is recorded, by control platform waterborne, as shown in figure 9, master controller 145 and auxiliary display screen 148 can complete upper and lower computer Between communication, screen image, sensor information display, realize human-computer interaction.It is used in the control system MSP430F135 applies 12, the 14 tunnel analog-digital converter and serial communication module that it is internally integrated as primary processor, behaviour Make personnel only to need, by setting each button, rocking bar on control panel, by AD conversion, each analog quantity to be converted to digital quantity, Realize control platform to 3 speed of each propeller, the control in direction, the brightness regulation of headlamp and camera shooting by serial communication module The movement setting of machine head 10, manipulator 6.

Embodiment 2

- Figure 10 is please referred to Fig.1, it is logical using high impedance between the intelligence instrument 13 and Upper system 11, the next system 14 Cable is interrogated, the high impedance communication cable includes conductor 131, insulating layer 132, internal shield 133, external shielding layer 134, sheath 135, the conductor 131 set there are two at horizontal linear be mounted on internal shield 133 inside, the appearance of the conductor 131 Face ring is equipped with external shielding layer 134 around insulating layer 131 is connected between the internal shield 133 and sheath 135.

Due to the influence of underwater noise, high impedance communication cable is used, when using 13 interface of intelligence instrument, For specific transmission line, from 13 interface of intelligence instrument to the load permitted maximum cable length of its data signal transmission with The baud rate of signal transmission is inversely proportional, this length data is mainly influenced by distorted signals and noise etc., this is done in order to carry The cable design of traffic rate, intelligence instrument 13 is high impedance communication cable, insulating layer 132, internal shield 133, external shielding layer 134, sheath 135 be combined with each other design, can effectively avoid influencing caused by noise.

Intelligence instrument 13 described in the utility model is also known as RS-485, and using differential signal positive logic, logic, " 1 " with two Voltage difference between line is+(2~6) V expressions；Logic " 0 " with the voltage difference of line-to-line is-(2~6) V indicates.Interface signal electricity It is flat to be reduced than RS-232-C, it is just hardly damaged the chip of interface circuit, and the level is compatible with Transistor-Transistor Logic level, can facilitated and TTL Circuit connects；The data maximum transmission rate of RS-485 is 10Mbps；RS-485 interfaces are connect using balance driver and difference The combination of device is received, anti-common mode interference ability enhancing, i.e., noise immunity is good；The maximum communication distances of RS-485 are about 1219m, Peak transfer rate is 10Mbps, and transmission rate is inversely proportional with transmission range, under the transmission rate of 100KbpS, can just be reached To maximum communication distance, if longer distance need to be transmitted, need to add 485 repeaters.The general maximum support of RS-485 buses If 32 nodes can reach 128 or 256 nodes using 485 special chips, maximum to support to 400 A node.

Its structure and principle, which are all this technology personnel, can be learnt by technical manual or be known by routine experiment method, The utility model solves the problems, such as it is that existing observation robot generally existing volume is larger, and somewhat expensive, function are incomplete Situation, and the environment of robot operation under water is complicated, the noise of underwater sound signal is big, thus equipment that there are detection accuracies is poor, The frequent disadvantage of saltus step causes to be easy to be interfered in the kinematic system of sized underwater observation robot and can not effectively carry out underwater Observation, the utility model is combined with each other by above-mentioned component, and the length of the fuselage is 480mm, width 280mm, a height of 250mm, aerial quality be 12kg, the small-sized robot solve existing observation robot there is volume greatly, The problem of somewhat expensive, and it is used as place by the design of manipulator, propeller and holder, using the MSP430 microcontrollers of low-power consumption The acp chip for managing device, realizes the movement to sized underwater observation robot and function control, control accuracy it is high and with compared with Strong anti-interference ability can be carried out effectively underwater observation operation, described in detail below：

The camera pan-tilt 10 includes driving shaft 1001, transmission belt 1002, DC servo motor transmission shaft 1003, fixes Screw 1004, the driving shaft 1001 are movably connected on the inside of camera 5, and the driving shaft 1001 passes through 1002 machine of transmission belt Tool is connected to DC servo motor transmission shaft 1003, and the surrounding of the DC servo motor transmission shaft 1003 is by there are four setting Fixed screw 1004 is fixed, and the manipulator 6 is by finger 601, guide rod screw 602, arm 603, trundle 604, drive link 605, compression spring 606, backing pin 607, motor 608 form, one end spiral shell that the finger 601 passes through guide rod screw 602 and arm 603 Tether and connect, the arm 603 set there are two and the other end be flexibly connected by trundle 604, the arm 603 passes through transmission Bar 605 is connected to backing pin 607, the inside of the drive link 605 be equipped with compression spring 606 and be connected to motor 608, it is described to push away It is equipped with rotor 301 into device 3, rotating ring 302, sealing ring 303, O-ring 304, push-off pin 305, promotes head 306, bearing 307, axis The junction of bearing 308, the rotor 301 and push-off pin 305 is equipped with sealing ring 303, and the both ends of the rotor 301 are close to release The side of bar 305 is equipped with rotating ring 302, and the outer end both sides of the rotor 301 are fixed with bearing block 308, the push-off pin 305 Both ends are respectively provided with O-ring 304, one end mechanical connection of the push-off pin 305 far from rotor 301 close to the side of sealing ring 303 Have bearing 307 and with promote head 306 match, the Upper system 11 include primary processor 111, video frequency switching module 112, Depth gauge 113, thermometer 114, accelerometer 115, drive module 116, compass 117, the signal of the primary processor 111 are defeated Enter end and is connected to video frequency switching module 112, depth gauge 113, thermometer 114, the accelerometer 115, drive module 116, compass 117 is electrically connected to the signal output end of primary processor 111, and the drive module 116 is electrically connected in propeller 3, manipulator 6, camera pan-tilt 10, the bottom system 14 includes main display 141, the control of button 142, first of focusing is shaken Bar 143, second controls rocking bar 144, master controller 145, auxiliary control rocking bar 146, main control rocking bar 147, auxiliary display screen 148, adjusts Knob 149 is saved, the main display 141 is connected to the signal output end of master controller 145, the focusing button 142, first It controls rocking bar 143, second and controls rocking bar 144, auxiliary control rocking bar 146, main control rocking bar 147, auxiliary display screen 148, adjusting knob 149 communicate respectively with the signal end of master controller 145 and using being electrically connected.

The advantages of basic principles and main features and the utility model of the utility model have been shown and described above, for For those skilled in the art, it is clear that the present invention is not limited to the details of the above exemplary embodiments, and without departing substantially from this In the case of the spirit or essential attributes of utility model, the utility model can be realized in other specific forms.Therefore, no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the utility model is by institute Attached claim rather than above description limit, it is intended that will fall within the meaning and scope of the equivalent requirements of the claims All changes are embraced therein.Any reference numeral in claim should not be considered as to the involved right of limitation It is required that.

In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art The other embodiment being appreciated that.

Claims (5)

1. one kind repairing sized underwater observation robot based on environmental ecology, structure includes control host (1), impeller (2), propeller (3), transparent shield (4), camera (5), manipulator (6), support leg (7), connecting rod (8), video collector (9), camera shooting Machine head (10), Upper system (11), man-machine interactive platform (12), intelligence instrument (13), the next system (14), feature exists In：

The video collector (9) is mounted on the lower end of control host (1) and the circuit board internal with control host (1) passes through electricity Connection, mechanical connection has a propeller (3) on four angles of the control host (1), the propeller (3) be equipped with it is more than two and Impeller (2) is installed, the left end fastening of the video collector (9) has transparent shield (4), the transparent shield (4) It is internally provided with camera (5) and is connected to video collector (9), the protruding end between the support leg (7) passes through connecting rod (8) It is fixedly connected, the manipulator (6) is mounted on the bottom end of video collector (9) and is mechanically connected with support leg (7), described Video collector (9) is internally provided with camera pan-tilt (10) and is matched with camera (5), the Upper system (11), man-machine Interaction platform (12) is connected to camera (5), the next system (14), the camera pan-tilt by intelligence instrument (13) signal (10) include driving shaft (1001), transmission belt (1002), DC servo motor transmission shaft (1003), fixed screw (1004), institute The inside that driving shaft (1001) is movably connected on camera (5) is stated, the driving shaft (1001) passes through transmission belt (1002) machinery It is connected to DC servo motor transmission shaft (1003), the surrounding of the DC servo motor transmission shaft (1003) is by there are four setting Fixed screw (1004) it is fixed；

The manipulator (6) by finger (601), guide rod screw (602), arm (603), trundle (604), drive link (605), Compression spring (606), backing pin (607), motor (608) composition, the finger (601) pass through guide rod screw (602) and arm (603) One end is bolted, the arm (603) set there are two and the other end pass through trundle (604) flexible connection, the arm (603) backing pin (607) is connected to by drive link (605), the inside of the drive link (605) be equipped with compression spring (606) and with It is connected to motor (608)；

The propeller (3) be equipped with rotor (301), rotating ring (302), sealing ring (303), O-ring (304), push-off pin (305), Head (306), bearing (307), bearing block (308), the rotor (301) and the junction of push-off pin (305) is promoted to be equipped with sealing It encloses (303), the both ends of the rotor (301) are equipped with rotating ring (302) close to the side of push-off pin (305), the rotor (301) Outer end both sides are fixed with bearing block (308), and the both ends of the push-off pin (305) are respectively provided with O-shaped close to the side of sealing ring (303) Enclose (304), the push-off pin (305) far from rotor (301) one end mechanical connection have bearing (307) and with promote head (306) It matches；

The Upper system (11) includes primary processor (111), video frequency switching module (112), depth gauge (113), thermometer (114), accelerometer (115), drive module (116), compass (117), the signal input part difference of the primary processor (111) It is connected to video frequency switching module (112), depth gauge (113), thermometer (114), the accelerometer (115), drive module (116), compass (117) is electrically connected to the signal output end of primary processor (111), and the drive module (116) is electrically connected In propeller (3), manipulator (6), camera pan-tilt (10)；

The bottom system (14) includes main display (141), focusing button (142), the first control rocking bar (143), the second control Rocking bar (144) processed, auxiliary control rocking bar (146), main control rocking bar (147), auxiliary display screen (148), is adjusted master controller (145) Knob (149), the main display (141) are connected to the signal output end of master controller (145), the focusing button (142), First control rocking bar (143), the second control rocking bar (144), auxiliary control rocking bar (146), main control rocking bar (147), auxiliary display screen (148), adjusting knob (149) is communicated and is used with the signal end of master controller (145) and is electrically connected respectively.

2. according to claim 1 a kind of based on environmental ecology reparation sized underwater observation robot, it is characterised in that：It is described to take the photograph It is connected with more than two headlamps as the surrounding of head (5) is surround.

3. according to claim 1 a kind of based on environmental ecology reparation sized underwater observation robot, it is characterised in that：The hand Refer to (601) to set there are two intermeshing and be internally provided with for anti-skidding rubber ring.

4. according to claim 1 a kind of based on environmental ecology reparation sized underwater observation robot, it is characterised in that：It is described to regard The front end both sides of frequency collector (9) are respectively provided with two propellers (3) and the across structure that intersects.

5. according to claim 1 a kind of based on environmental ecology reparation sized underwater observation robot, it is characterised in that：The branch Spike (7) sets that there are two be outer surface that reverse U shape structure and depressed area upper end are welded on video collector (9) bottom end.