CN210338253U - Teaching and creating type underwater robot and control system thereof - Google Patents

Abstract

The utility model relates to an underwater robot field, more specifically say, it relates to a teach and creates type underwater robot and control system thereof, aims at solving the problem that current underwater robot is difficult for the new people to educate, and its technical scheme main points are: the modular type multifunctional electric vehicle is assembled in a modular mode and comprises a main cabin, an energy module, a propulsion module, an illumination module, a camera module, a communication interface and a sensor interface, wherein the energy module is used for supplying power through a battery cabin, the propulsion module is used for propelling through an underwater propeller, and each functional module is detachably connected with the main cabin and has a watertight structure. The utility model discloses a structural design and connected mode of each functional module realize the convenient dismouting of each functional module.

Description

Teaching and creating type underwater robot and control system thereof

Technical Field

The utility model relates to an underwater robot field, more specifically say, it relates to a teach and create type underwater robot and control system thereof.

Background

At present, with continuous progress and development of scientific technology, robots and AI are always hot topics in the science and technology field, and nowadays, intelligent robots are widely applied to various fields.

Underwater robots are one of the robots, and are not known because only some workers can directly contact with the robots, but as the underwater robot technology is more and more widely applied to industrial production and daily life, the underwater robots gradually attract attention of people.

Compared with the traditional robot technology, the underwater robot technology has a wider knowledge range, and not only comprises the subjects of mechanics, electronic engineering, mechanics and the like, but also comprises the subject fields of hydrodynamics, structurology and the like.

From the perspective of education, the technical knowledge related to the underwater robot is popularized, and through the combination of theory and manual actual operation, the cognition of people on the intelligent robot can be deepened, and the scientific innovation ability is enhanced. From the perspective of innovation and creation, the underwater robot is comprehensively known and used as a learning platform, so that resources and conditions can be provided for creators to create, originality of the underwater robot can be conveniently converted into actual products, and the underwater robot is learned to use. Therefore, the underwater robot is an important part of the intelligent robot for education and subsequent creative development.

However, to realize innovation and creation, the underwater robot has higher requirements on software and hardware design, and although the underwater robot on the market can meet the task requirements of the underwater robot in function, the underwater robot is not beneficial to the learning and transformation of people on the underwater robot, so that a user is difficult to comprehensively master all aspects of knowledge of the underwater robot, and the learning and popularization of underwater robot technology are greatly hindered.

Therefore, the utility model relates to an easy dismouting and the teaching creation type underwater robot who reforms transform.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art exists, the utility model aims to provide a teach and create type underwater robot realizes the convenient dismouting of each functional module through each functional module's structural design and connected mode.

The above technical purpose of the present invention can be achieved by the following technical solutions: a teaching and creating type underwater robot comprises a main cabin, an energy module, a propulsion module, an illumination module and a camera module, wherein the energy module, the propulsion module, the illumination module and the camera module are connected to the main cabin; the main cabin is also connected with a control module for controlling each functional module, the control module comprises a control panel positioned in the main cabin, a debugging interface is coupled with the control panel, and the debugging interface extends outwards to the outside of the main cabin.

In the utility model, in order to facilitate the beginners to understand the structure of the underwater robot, the main parts of the underwater robot are connected in a detachable connection mode, and the beginners can deepen the understanding of the structure of the underwater robot by detaching and installing the underwater robot;

meanwhile, the program of the underwater robot is an open source program, a beginner can debug the program and directly feed back the debugged program to the control board through the debugging interface, so that the understanding of the underwater robot is deepened in the aspect of intelligent control.

The utility model discloses further set up to: the main cabin comprises a cabin barrel for accommodating the control panel, a fixing ring fixed at the opening of the cabin barrel and a cabin cover detachably connected to the fixing ring, wherein the fixing ring is made of rigid materials, and the cabin cover is provided with a radial sealing watertight part for preventing water flow from flowing into the cabin barrel along the radial direction of the cabin cover and an axial sealing watertight part for preventing water flow from flowing into the cabin barrel along the axial direction of the cabin cover.

In order to guarantee buoyancy, the main cabin of the underwater robot is made of a light material, so that the cabin body is thin and soft, normal use requirements can be met, deformation can occur in collision when sealing connection is carried out, the sealing effect and the connection effect are affected, and therefore the rigid fixing ring is fixed to the cabin barrel to serve as a connecting piece.

The utility model discloses further set up to: the energy module comprises battery cabins connected with the main cabin, the two sides of the main cabin are respectively provided with one battery cabin, and the distance between the two battery cabins and the main cabin is the same; the main cabin is connected with the battery cabin through the support legs, the support legs are in a hollow design, threads are arranged at two ends of the support legs, the main cabin is provided with a first connecting through hole matched with the support legs, and the battery cabin is provided with a three-way connector matched with the support legs.

The battery cabins are respectively arranged on the two sides of the main cabin, so that not only is the supply of energy provided, but also the underwater robot can be balanced, and the underwater robot can run more stably;

through the electric connection of wire rod between main cabin and the battery compartment, the wire rod passes from the hollow part of stabilizer blade, and the stabilizer blade passes through the screw thread realization at both ends and is connected with main cabin, battery compartment, and wherein main cabin thickness is great, and inner space is great, so can be directly be connected with the stabilizer blade, and battery compartment space is less, will place the battery again, so use three way connection to increase connection area, guarantee the stability of connecting.

The utility model discloses further set up to: the debugging interface includes threaded connection in the cavity bolt of main cabin, installs in the debugging head of cavity bolt, and wherein cavity bolt has seted up the cavity along its axial and has walked the line hole, and cavity walks the line hole inner wall and has seted up the mounting groove, and the debugging head is installed in the mounting groove to walk the line hole electricity through the wire rod along the cavity and link in the control panel, it is sealed between the line hole is walked to wire rod and cavity.

Through the design of hollow bolt, expose the debugging interface outside main cabin to need not demolish the main cabin and directly use the debugging interface to debug, make user's operation very simple and convenient.

The utility model discloses further set up to: the main cabin is also connected with a balance mechanism through a fixing buckle, the balance mechanism comprises a balance stud connected with the main cabin through the fixing buckle and a balance block connected with the balance stud, and the balance block comprises a small-weight piece and a large-weight piece.

The utility model provides an underwater robot is as a teaching aid, and the meeting of expecting when using is through dismouting, change each part many times, and at this in-process, it is very important to accomplish underwater robot's balance again, and little weight piece uses when the slight adjustment of weight, and big weight piece is applicable to the robot and expands equipment outward, uses when weight has great change.

The utility model discloses further set up to: the fixing buckles are at least two, the balance stud is sequentially connected with a limit nut, a small weight piece, a first fixing buckle, a large weight piece, a positioner and a second fixing buckle along the length direction of the balance stud, the positioner is in threaded connection with the balance stud and is tightly abutted against the large weight piece, and the limit nut is in threaded connection with the balance stud and is tightly abutted against the small weight piece.

Because the balancing stud needs to have a longer length to accommodate more balancing blocks, both ends of the balancing stud are provided with at least one fixing buckle;

when the weight is adjusted, the small weight pieces are adjusted most of the time, so that the small weight pieces are placed at positions convenient to adjust, and the number of the small weight pieces can be adjusted by screwing down the limit nuts;

when the number of the large weights is adjusted, the number of the large weight pieces can be increased or decreased only by detaching the fixing buckles and unscrewing the positioner, and finally, the fixing buckles are reconnected with the main cabin.

The utility model discloses further set up to: the camera module is including rotating the printing opacity lens of connecting in the main cabin and accomodating the looks cabin in the module of making a video recording, sealing the second protecgulum in looks cabin, seting up in the second protecgulum, and wherein the one end that the second protecgulum was kept away from in the camera cabin is equipped with the screw hole, and screw hole threaded connection has the inlet wire bolt, and the inlet wire hole has been seted up along its axis to the inlet wire bolt, and the wire rod gets into the looks cabin along the inlet wire hole and links with the module electricity of making a video recording, seals between.

The camera module is protected through the camera cabin, meanwhile, the camera modules in different types and sizes can be adapted through the design of the camera cabin, and the underwater robot is compatible with various camera modules;

the camera cabin is sealed through second protecgulum and inlet wire bolt realization, and the inlet wire bolt has increased the joint strength of camera cabin and wire rod through the mode that increases area of contact on the one hand, and on the other hand has also increased the water proofness between wire rod and the camera cabin.

The utility model discloses further set up to: the control panel is the circuit board, control module still includes the remote control handle of remote control circuit board, and remote control handle passes through communication interface with the circuit board and is connected.

The remote control handle is used for controlling the circuit board, so that different functional components on the underwater robot can be controlled.

A control system of a teaching and creating type underwater robot comprises all technical characteristics in the claims, a power supply management board and a main control board, wherein the power supply management board comprises a power supply input end, a power supply output end, a voltage conversion chip and a power supply terminal for supplying power to the main control board, and the power supply input end and the power supply output end respectively use a male terminal and a female terminal; the main control board comprises a power supply interface matched with the power supply terminal, a communication interface, a debugging interface, a power supply signal output end for controlling the lighting module and the camera module, and a control signal output end for controlling the propelling module.

The power input end and the power output end respectively use a male terminal and a female terminal, so that the misoperation such as misplug can be avoided;

voltage conversion is realized through a voltage conversion chip, and power is supplied to different components;

the main control board outputs power supply signals to realize power supply control of underwater illuminating lamps of the underwater camera;

the control signal output of the underwater propeller is realized through the control signal output;

the motion attitude of the machine is monitored in real time through the integrated sensor, and external communication and program debugging are supported through the debugging interface and the communication interface.

The utility model discloses further set up to: the power management board and the main control board are both connected to the main cabin through the core frame, the main cabin is provided with a locking frame matched with the core frame, and the locking frame is detachably connected with the core frame.

Through the design of movement frame, with the position locking of power management board, main control board, prevent that underwater robot motion in-process, the circuit board takes place to rock.

To sum up, the utility model discloses following beneficial effect has:

firstly, the functional modules are conveniently disassembled and assembled through the structural design and the connection mode of the functional modules;

secondly, the control of each functional module is realized through the design of the control module;

thirdly, the watertight performance of the underwater robot is ensured through the cabin-penetrating inlet wires of the functional modules and the watertight structure;

fourthly, through the design of the camera module, various cameras are compatible, so that a user can conveniently replace and debug;

fifthly, through the design of the balance mechanism, the underwater balance can be adjusted after the underwater robot is disassembled and assembled, so that the underwater robot can be reused conveniently;

and sixthly, through the design of a debugging interface, a user can debug the control panel without detaching the main cabin.

Drawings

FIG. 1 is a first schematic structural diagram of the first embodiment;

FIG. 2 is an exploded schematic view of the hatch;

FIG. 3 is a schematic diagram of a battery compartment;

FIG. 4 is an enlarged view of portion A of FIG. 1;

FIG. 5 is a schematic structural diagram of the second embodiment;

FIG. 6 is an enlarged view of the portion B of FIG. 5;

FIG. 7 is a schematic structural view of a balancing mechanism;

FIG. 8 is a schematic structural diagram of a power management board;

FIG. 9 is a schematic structural diagram of a main control board;

fig. 10 is a schematic structural view of the movement frame.

In the figure: 1. a main cabin; 11. a communication interface; 12. debugging an interface; 121. a hollow bolt; 122. a hollow wiring hole; 123. mounting grooves; 13. a depth sensor; 14. a cabin barrel; 15. a hatch cover; 151. sealing the column; 152. a radially sealed watertight member; 153. axially sealing the watertight part; 154. a locking frame; 16. a fixing ring; 2. a control module; 21. a remote control handle; 22. a rocker; 23. a display screen; 24. a mode switching key; 25. a power switching key; 26. a motion control button; 3. a battery compartment; 31. a support leg; 32. a three-way joint; 33. a cabin body; 34. a pipe cap; 35. a copper screw nut head; 36. a first front cover; 4. a lighting module; 41. an underwater light; 42. a fixed block; 43. clamping a hoop; 44. a connecting bolt; 5. a camera module; 51. a camera chamber; 52. a second front cover; 53. a light-transmitting lens; 54. a stopper; 541. a limiting seat; 542. a limiting block; 543. tightly abutting the nut; 6. a propulsion module; 61. a horizontal thruster; 62. a vertical thruster; 7. a balancing mechanism; 71. a balancing stud; 72. fixing the buckle; 73. a small weight piece; 74. a large weight piece; 75. a limit nut; 76. a positioner; 8. a power management board; 81. a power supply input terminal; 82. a power supply output terminal; 83. a voltage conversion chip; 84. a power supply terminal; 9. a main control board; 91. a control signal output terminal; 92. a power supply signal output terminal; 93. a power supply interface; 94. debugging a connecting end; 95. a communication connection end; 96. an integrated sensor; 97. a movement frame; 98. and (7) fixing holes.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings and examples.

The first embodiment is as follows: the utility model provides a teach and create type underwater robot, adopt the equipment of modular mode, as shown in figure 1, including main cabin 1, the energy module, propulsion module 6, lighting module 4, camera module 5, communication and sensor interface, wherein the energy module realizes the power supply through battery compartment 3, propulsion module 6 realizes advancing through the underwater propulsor, be releasable connection between each functional module and the main cabin 1, and have the watertight structure, main cabin 1 still is equipped with the control module 2 of each functional module of control, control module 2 includes the control panel, remote control handle 21, each functional module all is in the control panel through the wire rod electricity.

The communication and sensor interface comprises a communication interface 11, a debugging interface 12 and a depth sensor 13, and the three interfaces are sequentially arranged at the top of the main cabin 1. Wherein the debugging interface 12 is coupled with the control board and extends to the outside of the main cabin 1, so that the debugging of the control board inside the main cabin 1 can be realized by using the external hardware debugging interface 12.

The debugging interface 12 comprises a hollow bolt 121 connected to the main cabin 1 and a debugging head arranged on the hollow bolt 121, wherein a watertight rubber ring is arranged on the top of the thread section of the hollow thread, the hollow bolt 121 penetrates through the cabin barrel 14 and is screwed by using a nut inside the cabin barrel 14, so that watertight sealing between the hollow bolt 121 and the main cabin 1 is realized.

The debugging head adopts Micro USB to debug the mouth, and cavity bolt 121 has seted up cavity along its axial and has walked line hole 122, and cavity is walked line hole 122 intercommunication and is had mounting groove 123, and mounting groove 123 exposes outside main cabin 1, and mounting groove 123 department is arranged in to the debugging head to handle through the encapsulating and realize debugging head and cavity bolt 121's watertight. The wire penetrates the main compartment 1 along the hollow wiring hole 122 and is electrically connected to the control board, thereby realizing control of the control board.

The control panel is a circuit board, the remote control handle 21 is connected with the motion host through the communication interface 11, the motion control key 26, the mode switching key 24, the power switching key 25, the rocker 22, the display screen 23 and the like are specifically arranged on the remote control handle 21, the on-off control of the camera module 5 and the lighting module 4 and the motion control of the underwater robot are realized, the use habits and the convenience of users are considered in the specific layout and structure, the rocker 22 and the control key are arranged on two sides of the handle, and the display screen 23 is arranged in the middle of the handle.

As shown in fig. 1 and 2, the main compartment 1 includes a compartment tube 14 for connecting the functional modules, a fixing ring 16 fixed to an opening of the compartment tube 14, and a lid 15 detachably connected to the fixing ring 16, wherein the compartment tube 14 is made of a light material such as PE, and the fixing ring 16 is made of a rigid material such as 6061 aluminum alloy. Eight screw fixing through holes are axially formed in the hatch cover 15 and are uniformly distributed on the end face of the hatch cover 15, threaded holes matched with screws are formed in the corresponding positions of the fixing rings 16, and the screws penetrate through the screw fixing through holes and the threaded holes to achieve locking of the hatch cover 15 and the fixing rings 16.

The central position of the end surface of the hatch 15 is provided with a sealing column 151 matched with the inner wall of the cabin barrel 14, so that the hatch 15 is integrally in a convex shape. When the hatch 15 is attached to the end surface of the trunk 14, the sealing post 151 penetrates into the trunk 14 and abuts against the inner wall of the trunk 14, thereby making it difficult for water to flow into the main compartment 1. The hatch cover 15 is further provided with a radial sealing watertight part 152 for preventing water flow from flowing into the cabin 14 along the radial direction of the hatch cover 15 and an axial sealing watertight part 153 for preventing water flow from flowing into the cabin 14 along the axial direction of the hatch cover 15, the radial sealing watertight part 152 and the axial sealing watertight part 153 both use an O-shaped rubber sealing ring fixed on the hatch cover 15, the axial sealing watertight part 153 is positioned at the joint of the sealing column 151 and the end face of the hatch cover 15, and the radial sealing watertight part 152 is positioned on the peripheral wall of the sealing column 151.

The underwater propeller comprises a horizontal propeller 61 and a vertical propeller 62 which are connected with the main cabin 1, wherein the horizontal propeller 61 is divided into a left propeller and a right propeller which are both arranged at the rear part of the main cabin 1; the vertical thruster 62 is also divided into two thrusters, left and right, located in the middle of the main tank 1.

As shown in fig. 1 and 3, the battery compartments 3 are respectively arranged on two sides of the main compartment 1 and are arranged at the bottom of the main compartment 1, and the distance between the two battery compartments 3 and the main compartment 1 is the same, so that not only is energy supply provided, but also the underwater robot can be balanced. Main cabin 1 is connected through stabilizer blade 31 with battery compartment 3, and stabilizer blade 31 is the cavity design and both ends all are equipped with the screw thread, main cabin 1 be equipped with stabilizer blade 31 complex first connect the via hole, battery compartment 3 is equipped with three way connection 32, an interface and the 31 screw-thread fit of stabilizer blade of three way connection 32. When the connection is performed, the lower threads of the support legs 31 are first connected with the three-way joints 32 by threads, then the upper threads of the support legs 31 are inserted into the first connection through holes of the cabin barrel 14, and the cabin barrel 14 is screwed by nuts. Each battery compartment 3 is stably connected by two legs 31, and wires between the main compartment 1 and the battery compartment 3 pass through the hollow portions of the legs 31.

The battery compartment 3 includes a compartment 33, an inner bag abutting against the compartment 33, a pipe cap 34 connected to one end of the compartment 33, a copper screw nut 35 connected to the other end of the compartment 33, and a first front cover 36 threadedly connected to the copper screw nut 35. The electrified cable is positioned between the inner bag and the cabin body 33, and is limited by the inner bag, so that the electrified cable is fixed along the wall. Meanwhile, the design of the inner bag can ensure that the batteries cannot be shaken in the cabin 33. The tail of the first front cover 36 is provided with threads, the outer wall of the first front cover is of an outer hexagonal structure, tools can be conveniently used for dismounting, and the first front cover is fixedly connected with the copper screw nut head 35 in a threaded mode.

When the battery compartment is connected, the pipe cap 34 is rigidly connected with one end of the compartment 33, the compartment 33 penetrates into the two three-way connectors 32, the inner bag is inserted and tightly abutted against the inner wall of the compartment 33, the copper screw nut 35 is installed at the other end of the compartment 33, and finally the batteries are sequentially placed in the compartment 33, and the first front cover 36 is screwed to seal the battery compartment 3.

As shown in fig. 1 and 4, the lighting module 4 uses underwater lighting lamps 41, and the underwater lighting lamps 41 are respectively arranged on two sides of the main chamber 1 and connected with the chamber barrel 14 through fixing blocks 42. One side of the fixing block 42 is a plane, the other side of the fixing block is an arc-shaped surface, and a bolt hole position and a locking hole position are arranged, wherein the arc-shaped surface is matched and abutted against the outer wall of the main cabin 1, and the main cabin 1 is provided with a through hole matched with the bolt hole position, so that the fixing of the fixing block 42 and the cabin barrel 14 is realized through a bolt. The hoop 43 is arranged around the peripheral wall of the underwater illuminating lamp 41, the hoop 43 tightly supports the underwater illuminating lamp 41 against the plane of the fixing block 42, the hoop 43 is provided with a through hole matched with the locking hole, the hoop 43 is connected with the fixing block 42 by penetrating through the locking hole and the passing screw, and the purpose of locking the underwater illuminating lamp 41 is achieved.

The power supply line and the control line of the underwater illuminating lamp 41 penetrate into the main cabin 1 through an underwater illuminating lamp 41 connecting hole arranged on the main cabin 1, the underwater illuminating lamp 41 connecting hole is sealed through a connecting bolt 44, the connecting bolt 44 is provided with a hollow hole along the axis, and the wire rod is wired along the hollow hole. The fixing block 42 is provided with a receiving hole which is matched with the connecting bolt 44 in size, one end of the connecting bolt 44 is in threaded connection with the connecting hole of the underwater illuminating lamp 41, and the other end of the connecting bolt 44 penetrates through the through hole of the fixing block 42 and is connected into the underwater illuminating lamp 41.

As shown in fig. 5 and 6, the camera module 5 includes a camera cabin 51 rotatably connected to the main cabin 1 and accommodating the camera module, a second front cover 52 closing the camera cabin 51, and a light-transmitting lens 53 provided on the second front cover 52, wherein a fixing hole is provided at the tail of the camera cabin 51, a wire-feeding bolt is screwed on the fixing hole, a wire-feeding hole is provided along the axis of the wire-feeding bolt, a wire enters the camera cabin 51 along the wire-feeding hole and is electrically connected with the camera module, and the wire-feeding hole is sealed with the wire by glue.

The camera cabin 51 is used for protecting the camera module, and simultaneously, the camera module of different sizes is compromise to the size in camera cabin 51 inner space to reserve has different wiring ports, but the design adaptation different grade type, the module of making a video recording of big or small specification through the camera cabin 51 realizes that underwater robot is to the compatibility of multiple camera module.

The head of the camera cabin 51 is in threaded connection with the second front cover 52, and the tail is in threaded connection with the incoming bolt, so that the camera cabin 51 is sealed. The incoming line bolt has increased the joint strength of camera cabin 51 and wire through the mode that increases with the wire area of contact on the one hand, and on the other hand has also increased the water proofness between wire and the camera cabin 51 through the screw thread. In order to further increase the water tightness, waterproof rubber rings are arranged between the front cover and the camera cabin 51 and between the transparent lens 53 and the front cover.

The camera cabin 51 is fixed with the main cabin 1 through the angle-adjustable stopper 54, the stopper 54 comprises a limiting seat 541 fixed on the main cabin 1, a rotating shaft rotatably connected to the limiting seat 541, and a limiting block 542 connected to the rotating shaft and fixed on the camera cabin 51, wherein both ends of the rotating shaft are provided with threads, and are in threaded connection with abutting nuts 543. When the abutting nut 543 is screwed, the abutting nut 543, the limiting block 542 and the limiting seat 541 are abutted, so that the camera cabin 51 and the main cabin 1 cannot rotate relatively.

As shown in fig. 5 and 7, the underwater robot of the present invention is used as a teaching aid, and can be expected to be disassembled and replaced many times, so that the balance mechanism 7 is connected to the bottom of the main cabin 1 through the fixing buckle 72. The balance mechanism 7 comprises a balance stud 71 and a balance weight connected to the balance stud 71, wherein the balance stud 71 is parallel to the main cabin 1 and is connected to the main cabin 1 through a fixing buckle 72, and the balance weight comprises a small-weight piece 73 and a large-weight piece 74. After the underwater robot is disassembled and assembled, the balance of the underwater robot is completed again through the balance block, the small weight piece 73 is used when the weight is slightly adjusted, and the large weight piece 74 is suitable for the robot expanding equipment and is used when the weight is greatly changed.

Because the balancing stud 71 needs to have a longer length to accommodate more balancing weights, both ends of the balancing stud 71 are provided with a fixing buckle 72 to ensure the stability of the balancing stud 71. The balance stud 71 is sequentially connected with a limit nut 75, a small weight piece 73, a first fixing buckle 72, a large weight piece 74, a positioner 76 and a second fixing buckle 72 along the length direction of the balance stud 71, wherein the positioner 76 is in threaded connection with the balance stud 71 and is tightly abutted against the large weight piece 74, and the limit nut 75 is in threaded connection with the balance stud 71 and is tightly abutted against the small weight piece 73.

When the balance weight is adjusted, the number of the small weight pieces 73 can be adjusted by unscrewing the limit nut 75; in adjusting the large weight amount, the fixing catch 72 is first detached, the retainer 76 is then unscrewed, the amount of the large weight pieces 74 is then adjusted, and finally the fixing catch 72 is reconnected to the main compartment 1.

The working process is as follows: before use, all the functional modules are assembled, and then the balance mechanism 7 is used for leveling, so that the underwater robot is ensured not to deflect due to gravity center when moving;

when in use, each functional part is controlled by the remote control handle 21, thereby realizing different functions.

Example two: a control system of an educational underwater robot, as shown in figures 8 and 9, is different from the first embodiment in that: the power supply management circuit further comprises a power supply management board 8 and a main control board 9, wherein the power supply management board 8 comprises a power supply input end 81, a power supply output end 82, a voltage conversion chip 83 and a power supply terminal 84 for supplying power to the main control board 9, and the power supply management board 8 and the main control board 9 are connected with a power supply interface 93 of the main control board 9 through the power supply terminal 84, so that power supply to the main control board 9 is realized. The power input end 81 of the power management board 8 uses a male terminal, and the power output end 82 uses a female terminal, so that erroneous operations such as misplugging can be avoided, and voltage conversion is realized through the voltage conversion chip 83 to supply power for different components.

As shown in fig. 9, the main control board 9 implements power supply control of the underwater illuminating lamp 41 of the underwater camera through the power supply signal output terminal 92, implements control signal output of the underwater propeller through the control signal output terminal 91, receives a depth signal through the integrated sensor 96, monitors the motion attitude of the machine in real time, and supports external communication and program debugging through the debugging connection terminal 94 and the communication connection terminal 95.

As shown in fig. 10, the power management board 8 (fig. 8) and the main control board 9 (fig. 9) are both connected to the hatch 15 of the main cabin 1 through a core frame 97, a locking frame 154 is arranged on the sealing column 151 of the hatch 15, the locking frame 154 is "L" shaped, wherein one side of the "L" shape of the locking frame 154 is connected to the sealing column 151, the other side of the "L" shape is suspended, and the core frame 97 is connected to the suspended side through a bolt.

The movement frame 97 is rectangular shape, and one end is connected with locking frame 154 to realize preliminary locking, simultaneously, the bottom of movement frame 97 and the stabilizer blade 31 butt that penetrates a cabin section of thick bamboo 14, thereby further carry on spacingly, make the whole remain stable of movement frame 97.

The power management board 8 and the main control board 9 are both provided with fixing holes 98 matched with the movement frame 97, and the locking of each circuit board and the movement frame 97 is realized by passing the fixing holes 98 through bolts.

It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection does not only confine above-mentioned embodiment, the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. The utility model provides a teach and create type underwater robot, includes main cabin (1), connects in the energy module of main cabin (1), propulsion module (6), lighting module (4), camera module (5), its characterized in that: each functional module is detachably connected with the main cabin (1) and has a watertight structure; the main cabin (1) is further connected with a control module (2) for controlling each functional module, the control module (2) comprises a control panel located in the main cabin, a debugging interface (12) is coupled to the control panel, and the debugging interface (12) extends outwards to the outside of the main cabin (1).

2. The educational underwater robot of claim 1, wherein: the main cabin (1) comprises a cabin barrel (14) for accommodating the control panel, a fixing ring (16) fixed at an opening of the cabin barrel (14), and a cabin cover (15) detachably connected to the fixing ring (16), wherein the fixing ring (16) is made of rigid materials, and a radial sealing watertight part (152) for preventing water flow from flowing into the cabin barrel (14) along the radial direction of the cabin cover (15) and an axial sealing watertight part (153) for preventing water flow from flowing into the cabin barrel (14) along the axial direction of the cabin cover (15) are arranged on the cabin cover (15).

3. The educational underwater robot of claim 1, wherein: the energy module comprises a battery compartment (3) connected to the main compartment (1), the two sides of the main compartment (1) of the battery compartment (3) are respectively provided with one battery compartment, and the distance between the two battery compartments (3) and the main compartment (1) is the same; main cabin (1) is connected through stabilizer blade (31) with battery cabin (3), and stabilizer blade (31) are the cavity design and both ends all are equipped with the screw thread, and main cabin (1) is equipped with the first connect the through-hole with stabilizer blade (31) complex, and battery cabin (3) are equipped with three way connection (32) with stabilizer blade (31) complex.

4. The educational underwater robot of claim 1, wherein: debugging interface (12) are including connecting in cavity bolt (121) of main cabin (1), installing in the debugging head of cavity bolt (121), and wherein cavity bolt (121) have been seted up along its axial and have been walked line hole (122), and cavity is walked line hole (122) inner wall and has been seted up mounting groove (123), and the debugging head is installed in mounting groove (123) to walk line hole (122) electricity and connect in the control panel along the cavity through the wire rod, it is sealed between wire rod and the cavity and walk line hole (122).

5. The educational underwater robot of claim 1, wherein: the main cabin (1) is further connected with a balance mechanism (7) through a fixing buckle (72), the balance mechanism (7) comprises a balance stud (71) connected to the main cabin (1) through the fixing buckle (72) and a balance block connected to the balance stud (71), and the balance block comprises a small weight piece (73) and a large weight piece (74).

6. The educational underwater robot of claim 5, wherein: the fixing buckles (72) are at least two, the balance studs (71) are sequentially connected with a limiting nut (75), a small weight piece (73), a first fixing buckle (72), a large weight piece (74), a positioner (76) and a second fixing buckle (72) along the length direction of the balance studs, the positioner (76) is in threaded connection with the balance studs (71) and is tightly abutted against the large weight piece (74), and the limiting nut (75) is in threaded connection with the balance studs (71) and is tightly abutted against the small weight piece (73).

7. The educational underwater robot of claim 1, wherein: camera module (5) including rotate connect in main cabin (1) and accomodate camera cabin (51) of making a video recording the module, seal second protecgulum (52) of looks cabin (51), set up printing opacity lens (53) in second protecgulum (52), wherein camera cabin (51) one end of keeping away from second protecgulum (52) is equipped with the screw hole, screw hole threaded connection has the inlet wire bolt, the inlet wire hole has been seted up along its axis to the inlet wire bolt, the wire rod gets into looks cabin (51) and links with the module electricity of making a video recording along the inlet wire hole, it is sealed between inlet wire hole and the wire rod.

8. The educational underwater robot of claim 1, wherein: the control panel is the circuit board, control module (2) still include remote control handle (21) of remote control circuit board, and remote control handle (21) are connected through communication interface (11) with the circuit board.

9. A control system of an educational underwater robot, comprising the educational underwater robot of claim 1, further comprising a power management board (8) and a main control board (9), wherein the power management board (8) comprises a power input end (81), a power output end (82), a voltage conversion chip (83) and a power supply terminal (84) for supplying power to the main control board (9), and the power input end (81) and the power output end (82) respectively use a male terminal and a female terminal; the main control board (9) comprises a power supply interface (93) matched with the power supply terminal (84), a communication interface (11), a debugging interface (12), a power supply signal output end (92) for controlling the lighting module (4) and the camera module (5), and a control signal output end (91) for controlling the propulsion module (6).

10. The control system of claim 9, wherein: the power management board (8) and the main control board (9) are connected to the main cabin (1) through the movement frame (97), the main cabin (1) is provided with a locking frame (154) matched with the movement frame (97), and the locking frame (154) is detachably connected with the movement frame (97).

Images