CN211032974U - Wide visual angle observation type underwater robot - Google Patents
Wide visual angle observation type underwater robot Download PDFInfo
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- CN211032974U CN211032974U CN201922085762.7U CN201922085762U CN211032974U CN 211032974 U CN211032974 U CN 211032974U CN 201922085762 U CN201922085762 U CN 201922085762U CN 211032974 U CN211032974 U CN 211032974U
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Abstract
The utility model relates to an advanced manufacturing field of underwater robot, more specifically say, it relates to a wide visual angle observation type underwater robot, aims at solving the problem that underwater robot observation scope is little and the unable regulation of angle of making a video recording. The key points of the technical scheme are as follows: including the main cabin, connect in the energy module, propulsion module, lighting module and the camera module of main cabin, be releasable connection and have the watertight structure between each module and the main cabin, the main cabin is including the control panel of controlling each module work, the cabin section of thick bamboo of acceping the control panel, connect in the anterior transparent spherical cover of a cabin section of thick bamboo, connect in the cabin lid at cabin section of thick bamboo rear portion, and wherein camera module rotates and connects in spherical cover, be equipped with drive camera module pivoted driving piece in the cabin section of thick bamboo. The utility model discloses spherical cover and the module of making a video recording rotate the design of being connected for the module of making a video recording can rotate, thereby obtains broader visual angle.
Description
Technical Field
The utility model relates to an advanced manufacturing field of underwater robot, more specifically say, it relates to a wide visual angle observation type underwater robot.
Background
The underwater robot is used as a core technology for ocean and water area development, and refers to a device which can move underwater and has certain vision and perception capability, additional functions which the underwater robot should have are determined by different use scenes, the more the functions of the robot are, the higher the structural design requirements are, and the underwater robot applied to different occasions can be constructed only by reasonably distributing functional modules of different systems on a robot frame.
The observation type underwater robot is used as an important means of underwater detection, needs an integrated control system, an energy system, a propulsion system and an observation system, and relates to various fields of military affairs, scientific research, ocean detection, water conservancy and hydropower facility detection, education, entertainment and the like. With the increasingly wide application range and the increasingly mature technical research, the requirements on the observation type underwater robot are higher and higher, and the requirements on the observation type underwater robot are mainly reflected in the visible range and the image definition.
The observation system comprises an underwater camera and an underwater illuminating lamp, wherein the underwater camera explores eyes of the underwater world for the underwater robot, the underwater illuminating lamp is used as an underwater light source, the underwater camera and the underwater illuminating lamp both relate to an underwater sealing technology, and can be mounted on the underwater robot by adopting an independent cabin body structure design mode, so that when the underwater robot is stabilized at one position, the angle of the camera cannot be adjusted, and the camera shooting range is limited.
In view of the above-mentioned deficiencies of the prior art, there is a need for improvement, and the technical solutions described below are made in this context.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a wide visual angle observation type underwater robot.
The above technical purpose of the present invention can be achieved by the following technical solutions: the utility model provides a wide visual angle observation type underwater robot, includes the main cabin, connects in the energy module of main cabin, propulsion module, lighting module and camera module, is releasable connection and has watertight structure between each module and the main cabin, the main cabin is including the control panel of controlling each module work, the cabin section of thick bamboo of acceping the control panel, connect in the anterior transparent spherical cover of a cabin section of thick bamboo, connect in the cabin lid at cabin section of thick bamboo rear portion, and wherein camera module rotates to be connected in spherical cover, be equipped with drive camera module pivoted driving piece in the cabin section of thick bamboo.
By adopting a modular design, all the functional modules are combined with the main cabin, so that the underwater robot has complete functions; and the design of collocation spherical cover for the whole condition of accomodating the main cabin of camera module still can keep the visual angle of wide visual angle, and can install the driving piece in the anhydrous environment in the main cabin, control camera module and rotate.
Further: the camera module comprises a core plate connected to the cabin barrel, and a camera module connected to the core plate and facing the spherical cover, the driving piece uses a pan-tilt steering engine, the pan-tilt steering engine is connected to the core plate, an output shaft of the pan-tilt steering engine is connected with a steering engine gear, and the camera module is provided with a gear groove matched with the steering engine gear.
The camera module is the functional part of making a video recording, through the collocation of cloud platform steering wheel with the camera module for the camera module can angle regulation when having wide visual angle, realizes observation effect on a large scale.
Further: the energy module comprises battery cabins symmetrically arranged at two sides of the cabin barrel, the battery cabins are integrally arranged and connected to the main cabin through wiring pipes, and battery cabin control lines penetrate into the main cabin along the wiring pipes and are electrically connected to the power supply board; the cabin cover is provided with a charging interface which is coupled with the power supply board and extends out of the cabin.
The battery cabins are symmetrically arranged on two sides of the cabin barrel, so that the overall balance performance of the underwater robot can be improved; meanwhile, the battery compartment is integrally designed, and a replacement interface of the battery is not arranged, so that the watertight performance of the battery compartment can be greatly improved, and the battery compartment is supplied with power through the charging interface when the battery needs to be charged.
Further: the charging interface is circumferentially provided with a threaded section, the charging interface is provided with a charging connector in a matching way, the charging connector is sleeved with a threaded water-tight sleeve matched with the threaded section, after the charging interface is electrically connected with the charging connector, one end of the threaded water-tight sleeve is screwed in along the threaded section, and the other end of the threaded water-tight sleeve is abutted against one end of the charging connector, which is far away from the charging interface; when the charging connector is not used, the thread section is in threaded connection with a watertight cover for sealing the charging interface.
When the charging interface is not used, the watertight sealing is carried out by connecting a watertight cover through threads;
when needing to charge, insert the joint that charges to rotatory screw thread water tight cover will charge the joint and support tightly with the interface that charges, make the in-process of charging, still can keep underwater robot's watertight and normal operating.
Further: the propulsion module comprises an underwater propeller connected to the main cabin, the underwater propeller comprises a fixed seat connected to the main cabin, a motor shell connected to the fixed seat, a driving motor coaxially connected to the motor shell, a paddle connected to the driving motor and a flow guide cover connected to the motor shell and used for guiding water flow, wherein the paddle is located in the flow guide cover, and the flow guide cover is connected with the motor shell through a locking mechanism.
The water flow is guided by the guide cover, so that the blades and the guide cover have better cutting angles, and the driving effect is improved; the driving motor is directly connected to the underwater propeller, and heat can be dissipated to the driving motor through water flow, so that the operation is more stable.
Further: the motor shell and the air guide sleeve are both in a barrel shape and are coaxially connected, the locking mechanism comprises a locking block arranged at the opening end of the motor shell and a locking groove arranged at the opening end of the air guide sleeve, the locking block extends along the circumferential direction of the motor shell, the locking groove extends along the circumferential direction of the air guide sleeve, and a notch facilitating a limiting block to enter the locking groove is reserved at the opening end of the air guide sleeve; the fixing seat is fixedly connected with the motor shell, and the locking mechanism further comprises a fastening bolt which penetrates through the fixing seat and is fastened to the outer wall of the air guide sleeve.
When the air guide sleeve and the motor shell are installed, firstly aligning the notch of the air guide sleeve with the locking block of the motor shell to enable the locking block to be inserted into the notch, then rotating the air guide sleeve to enable the locking block to be screwed into the locking groove of the air guide sleeve until the air guide sleeve cannot rotate continuously, enabling the locking block to be abutted to the deepest part of the locking groove, and enabling the locking groove to be abutted to the locking block at the moment to lock the air guide sleeve and the motor shell;
after the air guide sleeve is screwed in, the abutting bolt is rotated to abut against the air guide sleeve, and the limiting effect on the air guide sleeve is further enhanced.
Further: the driving motor realizes control through the motor control board, dig in the fixing base and be equipped with the mounting groove of accomodating the motor control board, a cabin section of thick bamboo is seted up and is walked the line hole with the mounting groove intercommunication, the motor control board is packed into in the mounting groove and sealed, and a cabin section of thick bamboo and electric connection control board are worn along walking the line hole to the control line of motor control board.
The motor control board is arranged in the underwater propeller instead of the main cabin, so that the space in the main cabin can be saved, the whole volume of the underwater propeller is reduced, and the heat dissipation performance of the underwater propeller is greatly improved by performing water cooling on the motor control board through external water flow.
Further: the cabin barrel is made of PE materials, and the cabin cover is made of rigid materials; a sealing platform which is tightly propped against the inner wall of the cabin barrel is arranged in the center of the cabin cover, so that the cabin cover is integrally convex; the peripheral wall of the sealing platform is provided with a limiting groove, the cabin barrel is provided with a threaded through hole communicated with the limiting groove and a limiting screw connected with the threaded through hole, and after the cabin cover is pushed into the cabin barrel, the limiting screw penetrates through the threaded through hole and is inserted into the cabin cover limiting groove.
In order to reduce the overall weight of the underwater robot, the cabin barrel is made of a light material, but the light material is generally soft, if the cabin cover and the cabin barrel are in threaded connection directly, the strength of threads can be poor, and the cabin cover cannot be firmly connected, so that the cabin cover is made of a material with high rigidity, a limit groove is formed in the cabin cover, a limit screw is inserted into the limit groove, and the cabin cover is locked by abutting between the limit groove and the limit screw.
Further: the lighting module comprises underwater lighting lamps positioned on two sides of the main cabin and an angle regulator for regulating the angle of the underwater lighting lamps, the angle regulator comprises a locking frame and a clamping frame for clamping the underwater lighting lamps, the clamping frame is rotatably connected to the locking frame, and an angle locking mechanism for locking the rotating angle of the clamping frame is further arranged between the clamping frame and the locking frame.
Realize spacing to the light under water through holding frame, locking frame to through the change of holding frame with locking frame contained angle, adjust the illumination angle of light under water, after angular adjustment accomplishes, lock through angle locking mechanical system, make the illumination angle of light under water can lock.
Further: the underwater illuminating lamp comprises a lamp barrel, a lens connected to the front end of the lamp barrel, a lamp cover connected to the rear end of the lamp barrel, an illuminating control panel accommodated in the lamp barrel and a lamp bead connected to one end of the illuminating control panel, wherein the lamp barrel is provided with a partition plate between the illuminating control panel and the lens, the partition plate is provided with a mounting hole for accommodating the lamp bead to pass through, one end of the illuminating control panel is tightly abutted to the partition plate, and the other end of the illuminating control panel is tightly abutted to the lamp cover.
Through the cooperation of division board and lamp lid, realize the locking to the illumination control panel to realize the locking to the lamp pearl position, guarantee the illuminating effect of lamp pearl.
To sum up, the utility model discloses following beneficial effect has:
1. the miniature design of the underwater robot is realized through the appearance design and reasonable layout of each functional module;
2. through the design of the propulsion module, the combination of the driving part and the motor part is realized, and the aim of integrally designing the underwater propeller is fulfilled;
3. the camera module is integrated in the main cabin through the design of the camera module, and has a holder control function to realize angle adjustment;
4. through the structural design of the spherical cover at the front part of the main cabin, the camera module is ensured to be free of shielding in the observation range in the angle adjusting process, and the large-range observation effect is realized;
5. through the design of the lighting module, the lighting angle of the underwater robot is adjustable.
Drawings
FIG. 1 is a schematic structural diagram of the present embodiment;
FIG. 2 is a schematic view of the hatch cover portion when open;
FIG. 3 is an enlarged view of portion A of FIG. 2;
FIG. 4 is a schematic structural view of a propulsion module;
fig. 5 is an exploded view of the lighting module;
fig. 6 is an exploded view of the camera module.
In the figure: 1. a main cabin; 11. a hatch cover; 111. a limiting groove; 112. a limiting screw; 113. a sealing ring slot position; 114. a sealing table; 12. a cabin barrel; 13. a depth sensor; 14. a charging interface; 141. a charging connector; 143. a watertight cover; 144. thread water tight sleeve; 15. a communication interface; 16. a spherical cover; 161. a mounting seat; 162. a flange plate; 2. an energy module; 21. a battery compartment; 22. a wiring pipe; 3. a propulsion module; 31. a fixed seat; 311. mounting grooves; 32. a pod; 321. a locking groove; 322. a notch; 33. a motor housing; 331. a locking block; 34. a drive motor; 35. a paddle; 36. tightly abutting against the bolt; 4. a lighting module; 41. a lamp barrel; 42. a lens; 43. a lamp cover; 44. a lamp bead; 45. an illumination control panel; 46. an angle adjuster; 461. a locking frame; 462. a clamping frame; 463. a first clamping plate; 464. a second clamping plate; 465. a drive bolt; 466. a handle; 467. a first rotating plate; 468. a second rotating plate; 47. a separator plate; 48. mounting holes; 5. a camera module; 51. a camera module; 52. a lens; 53. a module mounting base; 54. a cradle head steering engine; 541. a steering gear; 55. a core board; 56. a control group; 6. a control box; 7. a control handle.
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 wide visual angle observation type underwater robot, adopts the modular mode equipment, as shown in figure 1, includes main cabin 1, energy module 2, propulsion module 3, lighting module 4 and camera module 5, and wherein main cabin 1 includes the control panel of controlling each module work, the power supply board of electricity connection control panel, is detachable connection and has watertight construction between each module and the main cabin 1. The control device is also provided with a control handle 7 coupled with the main cabin 1, a control box 6 is also arranged between the control handle 7 and the main cabin 1, and the control box 6 is provided with a display screen.
The energy module 2 includes an integrally designed battery compartment 21 to achieve a stable power supply function, making it difficult for water to permeate into the battery compartment. Two battery cabins 21 are arranged, and the two battery cabins 21 are symmetrically connected to the lateral lower positions of the two sides of the main cabin 1, so that the gravity center of the main cabin 1 is lowered, and the main cabin 1 is balanced. Two battery compartments 21 are connected with the main compartment 1 through two wiring pipes 22, a power control line in the battery compartment 21 penetrates into the main compartment 1 through the wiring pipes 22 and is electrically connected with the control panel, and the propulsion module 3, the lighting module 4 and the camera module 5 realize power supply through the battery compartments 21.
As shown in fig. 2 and 3, the main cabin 1 further includes a cabin barrel 12 for accommodating the control board and the power supply board, a transparent spherical cover 16 connected to the front portion of the cabin barrel 12, and a cabin cover 11 connected to the rear portion of the cabin barrel 12. And a charging interface 14, a communication interface 15 and a depth sensor 13 are arranged on the hatch cover 11. Because the battery compartment 21 is designed integrally, the charging interface 14 is electrically connected with the power supply board and extends to be externally connected to the outside of the compartment tube 12, so that the batteries in the battery compartment 21 can be charged by using the charging interface 14 without disassembling the battery compartment 21.
The circumference of the charging interface 14 is provided with a sealing ring, a threaded section is arranged on one side of the sealing ring facing the cabin barrel 12, and when the charging interface 14 is not used, the threaded section is directly in threaded connection with the water-tight cover 143 to seal the charging interface 14, so that the water tightness of the charging interface 14 is realized.
The interface 14 that charges is supporting to be provided with the joint 141 that charges, and the joint 141 overcoat that charges is equipped with screw thread section complex screw thread water tight cover 144, and screw thread water tight cover 144 one end is equipped with screw thread section complex internal thread, and the other end is equipped with the line hole that walks of the joint 141 threading that supplies to charge. When the charging connector 141 needs to be inserted for charging, the threaded water-tight sleeve 144 is moved to the vicinity of the charging connector 141 along the electric wire of the charging connector 141, and then the charging connector 141 is inserted into the charging interface 14, so that the charging connector 141 and the charging interface 14 are electrically connected; and aligning one end of the spiral watertight sleeve with an internal thread to the thread section of the charging interface 14, rotating the spiral watertight sleeve 144 to enable the spiral watertight sleeve 144 to be screwed in along the thread section until the end of the spiral watertight sleeve provided with the wiring hole tightly abuts against the charging connector 141 and the charging interface 14, and realizing the watertight between the charging connector 141 and the charging interface 14. The communication interface 15 is also provided with a communication joint and a watertight cover 143, and the watertight mode between the communication joint and the communication interface 15 is the same as that between the charging interface 14 and the charging joint 141.
In order to reduce the overall weight of the underwater robot, the cabin barrel 12 is made of a lighter PE material, but the PE material is softer, and if the mode of connecting the cabin cover 11 and the cabin barrel 12 by screw threads is directly used, the strength of the screw threads is poor, and the cabin cover 11 cannot be firmly connected. Therefore, the hatch cover 11 is made of 6061 aluminum alloy with high rigidity, the end face of one side of the hatch cover 11 is provided with the charging interface 14, the communication interface 15 and the depth sensor 13 interface, the center position of the end face of the other side is provided with the sealing platform 114 matched with the inner wall of the cabin barrel 12, so that the hatch cover 11 is integrally in a convex shape, the peripheral wall of the sealing platform 114 is provided with the limiting groove 111, the rear part of the cabin barrel 12 is provided with the threaded through hole communicated with the limiting groove 111 and the limiting screw 112 in threaded connection with the threaded through hole along the radial direction of the cabin barrel 12, after the hatch cover 11 is pushed into the cabin barrel 12, the limiting screw 112 is screwed, so that the limiting screw 112 is inserted into the limiting groove 111 of the hatch cover 11 from the threaded through hole along the radial direction of the cabin barrel 12, and the installation and fixation of.
The sealing platform 114 is provided with a sealing ring groove 113 for preventing water flow from flowing into the cabin barrel 12 along the radial direction of the cabin cover 11, the sealing ring groove 113 uses an O-shaped rubber sealing ring matched with the radial dimension of the cabin barrel, and when the cabin cover 11 is attached to the end face of the cabin barrel 12, the rubber sealing ring can be tightly abutted against the inner wall of the cabin barrel 12, so that the water flow is difficult to flow into the main cabin 1.
As shown in fig. 4, the propulsion module 3 includes an underwater propeller connected to the main tank 1, the underwater propeller including two horizontal propellers for adjusting a horizontal movement direction and two vertical propellers for adjusting a vertical movement direction; the two horizontal propellers are respectively arranged at the two sides of the rear part of the cabin barrel 12, and the two vertical propellers are respectively arranged at the two sides of the middle part of the main cabin 1.
The underwater propeller comprises a driving motor 34 with an output shaft connected with a paddle 35, a fixed seat 31 connected with the cabin barrel 12, a motor shell 33 connected with the fixed seat 31 and protecting the driving motor 34, and a flow guide cover 32 connected with the motor shell 33.
The outer wall of the cabin barrel 12 is provided with a connecting seat matched with the fixed seat 31, when the installation is carried out, the fixed seat 31 is connected to the outer wall of the cabin barrel 12 through a bolt, then the driving motor 34 is connected to a motor fixing base inside the motor shell 33 through the bolt, then a paddle 35 structure is installed, and at the moment, the assembly of the driving motor 34 is completed; the motor shell 33 and the fixed seat 31 are integrally formed, so that the connection between the driving motor 34 and the cabin barrel 12 is completed at this time, and finally the air guide sleeve 32 is installed on the motor shell 33 through the locking mechanism, so that the connection of the whole underwater propeller is realized.
The locking mechanism further comprises a fastening bolt 36 which is in threaded connection with the fixed seat 31 and faces the outer wall of the air guide sleeve 32, and after the air guide sleeve 32 is installed, the fastening bolt 36 in threaded connection with the fixed seat 31 is rotated, so that the fastening bolt 36 is fastened to the air guide sleeve 32, and the air guide sleeve 32 is further locked. And the installation and the fixation of the mechanical part of the underwater propeller are finished.
The driving motor 34 is controlled by the motor control board, the fixing base 31 is internally provided with a mounting groove 311 for accommodating the motor control board, and the cabin barrel 12 is provided with a wiring hole communicated with the mounting groove 311. After the motor control board is placed into the mounting groove 311, sealant is poured in to perform water sealing treatment, and a control line of the motor control board is led into the main cabin 1 through the wiring hole and is electrically connected with the control board, so that the electric wire connection of the underwater propeller is completed. The motor control board is arranged in the underwater propeller instead of the main cabin 1, so that the space in the main cabin 1 can be saved, the integral volume of the underwater propeller is reduced, and the heat dissipation performance of the underwater propeller is greatly improved by performing water cooling on the motor control board through external water flow.
As shown in fig. 5, the lighting module 4 includes an underwater illumination lamp provided one at each front of the two battery compartments 21, and an angle adjuster 46 for adjusting an angle of the underwater illumination lamp. The underwater illuminating lamp includes a lamp cylinder 41, a lens 42 connected to the front end of the lamp cylinder 41, a lamp cover 43 connected to the rear end of the lamp cylinder 41, an illumination control panel 45 received in the lamp cylinder 41, and a lamp bead 44 connected to one end of the illumination control panel 45. When in connection, the lamp bead 44 is welded with the lighting control board 45, and then the lighting control board 45 and the lamp bead 44 are put into the lamp cylinder 41; the lamp tube 41 is provided with a partition plate 47 between the lighting control panel 45 and the lens 42, the partition plate 47 is provided with a mounting hole 48 for accommodating the lamp bead 44, the front part of the lighting control panel 45 is a hexagonal plate, the lamp bead 44 passes through the mounting hole 48, the hexagonal plate in the front part of the lighting control panel 45 is abutted against the partition plate 47, and then the lamp cover 43 is installed, the length of the lighting control panel 45 is just enough to enable the front part of the lighting control panel to be abutted against the partition plate 47, and the rear part of the lighting control panel is abutted against the lamp cover 43, so that the lighting control panel 45 is ensured. The rear portion of the illumination control panel 45 is connected with an electric wire which passes through the lamp cover 43 and penetrates the main compartment 1 to be electrically connected with the control panel. The electric wire and the main cabin and the electric wire and the lamp cover are sealed in a glue sealing mode.
The front part of the lamp tube 41 and the lens 42 are fixed and sealed through glue, the rear part of the lamp tube 41 is provided with a threaded hole, the lamp cover 43 is provided with a corresponding screw through hole, the lamp cover and the threaded hole are fixed through screws, the lamp cover 43 is provided with a sealing ring groove 113, and an O-shaped rubber ring with matched diameter and size is placed on the sealing ring groove 113 to realize water sealing treatment.
The angle adjuster 46 includes a locking frame 461 coupled to a front portion of the battery compartment 21 and a clamping frame 462 clamping the underwater illuminating lamp, wherein the clamping frame 462 includes a first clamping plate 463 rotatably coupled to the locking frame 461, a second clamping plate 464 rotatably coupled to the first clamping plate 463, and a driving bolt 465 driving the second clamping plate 464 to move relative to the first clamping plate 463. The lamp barrel 41 of the underwater illuminating lamp is clamped between the first clamping plate 463 and the second clamping plate 464, and the first clamping plate 463 and the second clamping plate 464 are both provided with arc-shaped friction grooves matched with the lamp barrel 41. One end of the driving bolt 465 is rotatably connected to the first clamping plate 463, and a handle 466 is further provided on the driving bolt 465 for facilitating the rotation of the driving bolt 465. Second grip block 464 is equipped with logical groove, leads to sliding connection in the groove and has the slider, the other end of drive bolt 465 pass the slider and with slider threaded connection.
The bottom of locking frame 461 passes through bolted connection in battery compartment 21, and the bottom that the top of locking frame 461 was equipped with first rotating plate 467, first centre gripping plate 463 is equipped with two second rotating plates 468 of the first rotating plate 467 of package clamp, and first rotating plate 467, second rotating plate 468 have all been seted up and have been rotated the through-hole, wear to be equipped with the rotation bolt in rotating the through-hole, and the rotation bolt is the axis of rotation of locking frame 461 and holding frame 462 promptly. The end of the rotating bolt passing through the second rotating plate 468 is provided with a tightening nut in threaded fit with the rotating bolt, and the rotating bolt and the tightening nut need to be loosened first in the lighting lamp angle adjusting process, then the angle is adjusted, and finally the tightening nut is screwed to realize fixation.
As shown in fig. 6, the spherical cover 16 of the main cabin 1 is used for protecting the camera modules, and meanwhile, the size of the internal space is compatible with the camera modules with different sizes, and different wiring ports are reserved. In order to ensure a stable connection of the spherical cap 16, a mounting seat 161 for connecting the spherical cap 16 is provided at the front of the nacelle 12. The peripheral wall of the spherical cover 16 extends outwards to form a rim abutting against the mounting seat 161, a flange 162 is arranged on one side of the rim of the spherical cover 16 away from the mounting seat 161, and the flange 162 is connected with the mounting seat 161 through bolts to clamp the rim of the spherical cover 16. An "O" shaped rubber seal is also provided between the mounting seat 161 and the rim of the spherical cap 16 to ensure water tightness between the spherical cap 16 and the mounting seat 161. The watertight and fixing structure between the mount 161 and the nacelle 12 is completely the same as the watertight and fixing structure between the canopy 11 and the nacelle 12, and includes a radial sealing structure for preventing water from flowing into the nacelle 12 and a stopper structure for preventing the mount 161 from falling off from the nacelle 12.
The camera module 5 comprises a core plate 55 connected to the cabin barrel 12, a camera module 51 connected to the core plate 55 and facing the spherical cover 16, and a pan-tilt steering engine 54 for controlling the rotation of the camera module 51, wherein the camera module 51 comprises a control group 56 for controlling the lens 52, a lens 52, and a module mounting seat 53 connected to the pan-tilt steering engine 54. The control group 56 and the lens 52 and the control group 56 and the module mounting seat 53 are fixed through screws, an output shaft of the holder steering gear 54 is connected with a steering gear 541, and the module mounting seat 53 is provided with a gear groove matched with the steering gear 541. After the pan/tilt actuator 54 is connected to the module mounting base 53, the pan/tilt actuator 54 is mounted in a fixed slot on the core plate 55, and the pan/tilt actuator 54 and the core plate 55 are fixed by 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 wide visual angle observation type underwater robot, includes main cabin (1), connects in energy module (2), propulsion module (3), lighting module (4) and camera module (5) of main cabin (1), its characterized in that: each module and the main cabin (1) are detachably connected and have a watertight structure, the main cabin (1) comprises a control panel for controlling each module to work, a cabin barrel (12) for accommodating the control panel, a transparent spherical cover (16) connected to the front part of the cabin barrel (12) and a cabin cover (11) connected to the rear part of the cabin barrel (12), wherein the camera module (5) is rotatably connected in the spherical cover (16), and a driving piece for driving the camera module (5) to rotate is arranged in the cabin barrel (12).
2. The wide-view observation type underwater robot according to claim 1, wherein: camera module (5) are including connecting in the quick-witted core board (55) of cabin section of thick bamboo (12), connecting in quick-witted core board (55) and towards camera module (51) of spherical cover (16), the driving piece uses cloud platform steering wheel (54), and cloud platform steering wheel (54) are connected in quick-witted core board (55), and the output shaft of cloud platform steering wheel (54) is connected with steering wheel gear (541), camera module (51) be equipped with steering wheel gear (541) complex gear groove.
3. The wide-view observation type underwater robot according to claim 1, wherein: a power supply board is also contained in the cabin barrel (12), the energy module (2) comprises battery cabins (21) symmetrically arranged at two sides of the cabin barrel (12), the battery cabins (21) are integrally arranged and connected to the main cabin (1) through wiring pipes (22), and control lines of the battery cabins (21) penetrate into the main cabin (1) along the wiring pipes (22) and are electrically connected to the power supply board; the hatch cover (11) is provided with a charging interface (14) which is coupled with the power supply board and extends out of the hatch barrel (12).
4. The wide-view observation type underwater robot according to claim 3, wherein: the charging connector (14) is circumferentially provided with a threaded section, the charging connector (14) is provided with a charging connector (141) in a matched mode, a threaded water-tight sleeve (144) matched with the threaded section is sleeved outside the charging connector (141), after the charging connector (14) is electrically connected with the charging connector (141), one end of the threaded water-tight sleeve (144) is screwed in along the threaded section, and the other end of the threaded water-tight sleeve abuts against one end, away from the charging connector (14), of the charging connector (141); when the charging connector (141) is not used, the thread section is in threaded connection with a watertight cover (143) for sealing the charging interface (14).
5. The wide-view observation type underwater robot according to claim 1, wherein: the propulsion module (3) comprises an underwater propeller connected to the main cabin (1), the underwater propeller comprises a fixing seat (31) connected to the main cabin (1), a motor shell (33) connected to the fixing seat (31), a driving motor (34) coaxially connected to the motor shell (33), a paddle (35) connected to the driving motor (34) and a flow guide cover (32) connected to the motor shell (33) and used for guiding water flow, wherein the paddle (35) is located in the flow guide cover (32), and the flow guide cover (32) is connected with the motor shell (33) through a locking mechanism.
6. The wide-view observation type underwater robot according to claim 5, wherein: the motor shell (33) and the air guide sleeve (32) are both in a barrel shape and are coaxially connected, the locking mechanism comprises a locking block (331) arranged at the opening end of the motor shell (33) and a locking groove (321) arranged at the opening end of the air guide sleeve (32), the locking block (331) extends along the circumferential direction of the motor shell (33), the locking groove (321) extends along the circumferential direction of the air guide sleeve (32), and a notch (322) convenient for a limiting block to enter the locking groove (321) is reserved at the opening end of the air guide sleeve (32); the fixing seat (31) is fixedly connected with the motor shell (33), and the locking mechanism further comprises a fastening bolt (36) which penetrates through the fixing seat (31) and is fastened to the outer wall of the air guide sleeve (32).
7. The wide-view observation type underwater robot according to claim 5, wherein: drive motor (34) realize control through the motor control board, dig in fixing base (31) and be equipped with mounting groove (311) of accomodating the motor control board, the line hole of walking of intercommunication with mounting groove (311) is seted up in a cabin section of thick bamboo (12), the motor control board is packed into in mounting groove (311) and is sealed, and a cabin section of thick bamboo (12) and electric connection in control panel are worn along walking the line hole to the control line of motor control board.
8. The wide-view observation type underwater robot according to claim 1, wherein: the cabin barrel (12) is made of PE materials, and the cabin cover (11) is made of rigid materials; a sealing platform (114) which is tightly propped against the inner wall of the cabin barrel (12) is arranged at the central position of the cabin cover (11), so that the cabin cover (11) is integrally convex; the peripheral wall of the sealing platform (114) is provided with a limiting groove (111), the cabin barrel (12) is provided with a threaded through hole communicated with the limiting groove (111) and a limiting screw (112) connected with the threaded through hole, and after the cabin cover (11) is pushed into the cabin barrel (12), the limiting screw (112) penetrates through the threaded through hole and is inserted into the limiting groove (111) of the cabin cover (11).
9. The wide-view observation type underwater robot according to claim 1, wherein: illumination module (4) are including being located the underwater lighting lamp of main cabin (1) both sides and angle modulation ware (46) of regulation underwater lighting lamp angle, angle modulation ware (46) are including locking frame (461) and centre gripping clamping frame (462) of centre gripping underwater lighting lamp, and wherein clamping frame (462) rotate to be connected in locking frame (461), still are equipped with the angle locking mechanism of locking clamping frame (462) turned angle between clamping frame (462) and locking frame (461).
10. The wide-view observation type underwater robot according to claim 9, wherein: the underwater illuminating lamp comprises a lamp tube (41), a lens (42) connected to the front end of the lamp tube (41), a lamp cover (43) connected to the rear end of the lamp tube (41), an illuminating control plate (45) accommodated in the lamp tube (41) and a lamp bead (44) connected to one end of the illuminating control plate (45), wherein a partition plate (47) is arranged between the illuminating control plate (45) and the lens (42) of the lamp tube (41), a mounting hole (48) which only accommodates the lamp bead (44) to pass through is formed in the partition plate (47), one end of the illuminating control plate (45) is tightly abutted to the partition plate (47) and the other end of the illuminating control plate (45) is tightly abutted to the lamp cover (43).
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| CN201922085762.7U CN211032974U (en) | 2019-11-27 | 2019-11-27 | Wide visual angle observation type underwater robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113104185A (en) * | 2021-03-01 | 2021-07-13 | 许仁 | Underwater intelligent robot based on marine environment monitoring |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113104185A (en) * | 2021-03-01 | 2021-07-13 | 许仁 | Underwater intelligent robot based on marine environment monitoring |
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