CN211592892U - Center-of-gravity shifting type amphibious sampling robot - Google Patents
Center-of-gravity shifting type amphibious sampling robot Download PDFInfo
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- CN211592892U CN211592892U CN202020198758.1U CN202020198758U CN211592892U CN 211592892 U CN211592892 U CN 211592892U CN 202020198758 U CN202020198758 U CN 202020198758U CN 211592892 U CN211592892 U CN 211592892U
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Abstract
The utility model discloses a focus skew formula sampling robot that dwells, the propeller symmetry is installed on casing both sides end cover, focus skew mechanism installs inside the casing through interior seal chamber, interval installation goes up baffle and lower baffle about between interior seal chamber and the casing, a housing, interior seal chamber, constitute the external seal chamber under last baffle and the front side between the baffle, camera device installs in the external seal chamber through last baffle, host computer remote control focus skew mechanism, camera device, sampling device and running gear work, sampling device installs on the baffle down and outwards extends through the mouth of permeating water of casing one side, a target object is grabbed to the clamp, running gear installs in the casing bottom, drive the robot and dwell the walking. The utility model discloses realize by two propeller cooperation focus skew mechanisms that sampling robot stabilizes the multi freedom motion in aqueous, it is with low costs, cut formula manipulator simple structure, four-footed motion can drive sampling robot independent ashore and submarine walking operation, and the function is practical.
Description
Technical Field
The utility model relates to an underwater robot technical field, concretely relates to focus skew formula is perched sampling robot doubly.
Background
With the continuous progress of the robot technology, people do not limit the exploration of the earth to the land, but also open the exploration way of the seabed world, and because the water pressure and the water flow condition in the deep ocean are not suitable for human exploration, the underwater robot is mostly adopted to replace human to carry out underwater sampling, photographing and other work nowadays. At present, most underwater robots in the market adopt a mode of symmetrically distributing multiple propellers to complete multi-degree-of-freedom movement, although the mode has high thrust and high movement stability, each independent propeller is easy to generate thrust coupling, so that the underwater robots generate shake, a control system is more complicated, and the manufacturing cost is greatly increased; and traditional underwater robot can only float in the surface of water motion or dive underwater operation, can't accomplish alone and go to the bank or submarine walking task, has certain environmental constraint nature.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that not enough to above-mentioned prior art provides a focus skew formula sampling robot that dwells, this robot can accomplish the multi freedom motion in aqueous steadily through two propeller cooperation focus skew mechanisms, the cost of manufacture is low, focus skew mechanism adopts ball screw driven drive mode, it is fast to have the response, advantages such as the robustness is strong, four-footed motion drives the independent operation of going to the bank and submarine walking of double-dwelling sampling robot, the function is practical.
In order to realize the technical purpose, the utility model discloses the technical scheme who takes does: the utility model provides a focus skew formula amphibiotic sampling robot, includes casing, propeller, focus skew mechanism, camera device, sampling device, running gear and host computer, and the propeller symmetry is installed on the both sides end cover of casing, and focus skew mechanism passes through interior seal silo seal installation inside the casing, and upper baffle and lower baffle are installed to the interval from top to bottom between interior seal silo and the casing, constitute the external seal storehouse under casing, interior seal silo, between last baffle and the front side baffle, and camera device installs in the external seal storehouse through last baffle, host computer remote control focus skew mechanism, camera device, sampling device and running gear work, sampling device install on the baffle down and outwards extend through the mouth of permeating water of casing one side for press from both sides and grab the target, running gear installs in the casing bottom, drives the amphibiotic walking of robot.
Further, the casing is the cylinder casing, the cylinder casing adopts 10mm thick transparent plastic material, the bottom of cylinder casing is the flat bed, the propeller symmetry is installed in the middle part of the left and right sides end cover of cylinder casing, running gear installs in the flat bed bottom.
Further, interior sealed storehouse is the sealed storehouse section of thick bamboo of cylinder, the sealed storehouse section of thick bamboo of cylinder adopts the aluminum alloy material, terminal surface and the left and right sides end cover sealing connection of casing about the interior sealed storehouse, interior sealed storehouse and casing are connected through six locating pins positioning of equipartition along the peripheral part to pass through the button head screw fixation.
Further, the sealed silo of cylinder divide into upper plenum chamber and lower plenum chamber through the baffle, the indoor control circuit part that installs of upper plenum, the control circuit part includes main control panel raspberry group, direct current voltage conversion module, flight controller and driver, focus skew mechanism installs in the lower plenum chamber.
Further, the gravity center shifting mechanism comprises a ball screw rod transmission mechanism and a lithium battery pack, the ball screw rod transmission mechanism comprises a supporting base, a first servo motor, a shifting screw rod and a screw nut, the gravity center shifting mechanism is fixed at the bottom of the partition board through the supporting base, the first servo motor is installed at the right end of the supporting base, the right end of the shifting screw rod is connected with an output shaft of the first servo motor through a coupler, the left end of the shifting screw rod penetrates through a left end through hole of the supporting base and is further rotatably supported through a screw rod supporting seat at the bottom of the supporting base, the right side of the supporting base is provided with the screw nut on the shifting screw rod, a nut seat is sleeved on the screw nut, the lithium battery pack is installed in the lithium battery box, the lithium battery box is fixed at the bottom of the nut seat, and heat dissipation holes are uniformly distributed on the side, the screw rod nut drives the nut seat to synchronously translate and slide along the support base along with the forward and reverse rotation movement of the transfer screw rod, and the lithium battery box synchronously moves back and forth along with the nut seat, so that the gravity center of the overall structure of the robot is changed, and the pitching movement of the amphibious sampling robot is controlled.
Further, camera device adopts the cloud platform camera, the quantity of baffle is two down, sets up respectively in the front and back side of interior seal chamber, go up the baffle and set up in the top of baffle under the front side, the cloud platform camera is installed in last baffle bottom, and lies in baffle top under the front side, can provide the underwater picture of high definition for the ground basic station in real time to can carry out the all direction rotation visual angle.
Further, the sampling device adopts a scissor type manipulator, the scissor type manipulator comprises a L-shaped fixed plate, an electric push rod, a telescopic arm and a mechanical claw, the scissor type manipulator is fixed at the bottom of the lower partition plate through the L-shaped fixed plate, the electric push rod is installed on a vertical plate of the L-shaped fixed plate, a transverse sliding groove is formed in the vertical plate of the L-shaped fixed plate and is opposite to the telescopic part of the electric push rod, a sliding hinge is fixed at the tail end of the electric push rod and synchronously and linearly moves along with the telescopic part of the electric push rod, the telescopic arm is formed by hinging the tail ends of a plurality of cross arms, the tail end of a driving arm of the telescopic arm penetrates through the transverse sliding groove and is fixed on the sliding hinge through a hinge support, the tail end of a driven arm of the telescopic arm is fixed on the fixed part of the electric push rod, and a water permeable opening is formed in the arc, the mouth of permeating water is used for reducing the underwater robot and advances the resistance that brings in aqueous, flexible arm wears to establish the front side and permeates water the mouth and stretch out to the casing outside, the gripper is installed respectively to the front end of the initiative arm of flexible arm and driven arm, flexible arm is through moving hinge corresponding extension or shortening along with electric putter's concertina movement, and then drives two gripper closures or expandes, realizes grabbing of target and puts.
Furthermore, the walking mechanism is a four-foot movement mechanism, the four-foot movement mechanism comprises a walking mechanism shell, a second servo motor, a high-speed gear, a steering gear, a low-speed gear, a synchronous roller and mechanical legs, the top of the walking mechanism shell is fixed at the bottom of the shell, the second servo motor is installed in the middle of the inner wall of the right side plate of the walking mechanism shell, the high-speed gear is fixed on an output shaft of the second servo motor through a key connection, the high-speed gear is meshed and connected with the steering gears symmetrically distributed on the front side and the rear side, the steering gears on the front side and the rear side are respectively meshed and connected with the low-speed gears on the front side and the rear side, the two low-speed gears are symmetrically distributed on the front side and the rear side of the high-speed gear, the steering gear and the low-speed gear are installed on a central rotating shaft, the central pivot of low-speed gear runs through curb plate about the running gear casing, and central pivot both ends are fixed with synchronous gyro wheel, all be provided with the mechanical leg on four synchronous gyro wheels, during initial condition, it is placed to be "eight" font to be located two left mechanical legs of running gear casing, it is placed to be "eight" font to be located two mechanical legs on running gear casing right side, when making synchronous gyro wheel drive mechanical leg motion, left front mechanical leg and the synchronous syntropy motion of right back mechanical leg, the synchronous syntropy motion of extending of right front mechanical leg and left back mechanical leg, thereby the mechanical leg is four-footed walking upper and lower back-and-forth swing.
Further, "H" type bottom plate is installed to the bottom of running gear casing, "H" type bottom plate's middle part flange and the bottom plate fixed connection of running gear casing, "H" type bottom plate's four parallel branch supports in the bottom plate below of running gear casing, "the spout has all been seted up on the four parallel branch of mechanical leg and" H "type bottom plate, through" worker "type slider sliding connection between two spouts, the mechanical leg upper end still is provided with damping spring shock absorber, can prevent that the mechanical leg from contacting hard object and producing vibrations, guarantees the steady walking of amphibious sampling robot on the bank or the bottom.
Further, the lithium battery pack supplies power to the first servo motor, the electric push rod, the second servo motor and the control circuit part through wires, wherein the model of the direct-current voltage conversion module is XL7015 DC-DC 12V to 5V, the lithium battery pack supplies power to a main control panel Raspberry group main board through the direct-current voltage conversion module, the model of the main control panel Raspberry group is Raspberry Pi 3B +, the main control panel Raspberry group is in communication connection with an upper computer on the ground, the upper computer, the main control panel Raspberry group and the camera device are in mutual bidirectional communication connection in sequence, the main control panel Raspberry group controls the camera device to be started and stopped and rotate, the flight controller is Pixhawk4, the main control panel Raspberry group controls the left and right side thrusters through the flight controller and the electric regulator matched with the thruster, the driver is AQMD2410NS 12V, and the driver comprises a first driver, The main control panel raspberry group controls the push rod motor of the electric push rod to rotate positively and negatively through the first driver, the main control panel raspberry group controls the first servo motor to rotate positively and negatively through the second driver, and the main control panel raspberry group controls the second servo motor to rotate positively and negatively through the third driver.
The utility model discloses following beneficial effect has:
1) the utility model discloses install the propeller on the side end cover symmetry about the casing, the casing is inside to be provided with focus skew mechanism, two propellers are used for driving the rising of two dwelling sampling robot and dive, when needs advance or retreat, change the every single move gesture through focus skew mechanism, make the jet direction of the propeller of both sides change, change to spray to oblique rear or oblique the place ahead from downwards promptly, in order to accomplish and advance or retreat, thereby only need two propellers to cooperate focus skew mechanism can accomplish the multi freedom motion steadily in aqueous, manufacturing cost has greatly been reduced;
2) the gravity center shifting mechanism adopts a ball screw transmission driving mode, can avoid the defect that the centrifugal force generated by the swinging of the object block generates lag to the control response in the traditional steering engine driving eccentric wheel swinging mode, and has the characteristics of quick response, strong robustness and the like;
3) the sampling device adopts the shear type mechanical arm to replace the original heavy and expensive mechanical arm, so that the mechanical structure can be simplified, the self weight of the machine body can be reduced, the structure is more stable, the carrying is more portable, and the cost can be reduced;
4) the utility model discloses a running gear adopts four-footed motion, this four-footed motion can drive four-footed circulation through a motor and walk in turn, and install damping spring shock absorber on the robotic leg, whole sampling robot sends remote control focus skew mechanism, camera device, sampling device and running gear work through host computer cooperation master control board raspberry for the dual-purpose sampling robot can relax, accomplish autonomous landing task and submarine walking operation and sampling work steadily, high durability and convenient use, therefore, the clothes hanger is strong in practicability.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a perspective view of the inside of the housing of the present invention;
FIG. 3 is a schematic structural view of the gravity center shifting mechanism of the present invention;
FIG. 4 is a schematic structural view of the scissor manipulator of the present invention;
fig. 5 is a right front view of the four-foot exercise mechanism of the present invention;
fig. 6 is a perspective lower left front view of the right side plate of the travel mechanism housing of fig. 5.
Wherein the reference numerals are: the device comprises a shell 1, a propeller 2, a gravity center shifting mechanism 3, a ball screw transmission mechanism 3-1, a supporting base 3-11, a first servo motor 3-12, a shifting screw 3-13, a screw nut 3-14, a coupler 3-15, a screw support base 3-16, a nut base 3-17, a lithium battery box 3-2, a camera 4, a sampling device 5, a "" type fixed plate 5-1, an electric push rod 5-2, a telescopic arm 5-3, a mechanical gripper 5-4, a traveling mechanism 6, a traveling mechanism shell 6-1, a second servo motor 6-2, a high-speed gear 6-3, a steering gear 6-4, a low-speed gear 6-5, a synchronous roller 6-6, a mechanical leg 6-7, an "H" -type bottom plate 6-8, 6-9 parts of damping spring shock absorbers, 7 parts of inner sealed bins, 8 parts of upper partition plates, 9 parts of lower partition plates, 10 parts of water permeable ports and 11 parts of partition plates.
Detailed Description
The technical solution of the present invention will be further described in detail with reference to the accompanying drawings.
As shown in figures 1-5, a center of gravity offset type amphibious sampling robot comprises a shell 1, a propeller 2, a center of gravity offset mechanism 3, a camera device 4, a sampling device 5, a traveling mechanism 6 and an upper computer, wherein the shell 1 is a cylindrical shell, the cylindrical shell is made of a transparent plastic material with the thickness of 10mm, the bottom of the cylindrical shell is a flat bottom plate, the propeller 2 is symmetrically installed in the middle of left and right side end covers of the cylindrical shell, an inner sealing bin 7 is a cylindrical sealing bin and is made of an aluminum alloy material, the left and right end faces of the inner sealing bin 7 are in sealing connection with the left and right side end covers of the shell 1, the inner sealing bin 7 is in positioning connection with the shell 1 along the peripheral part through six uniformly distributed positioning pins and is fixed through round head screws, the cylindrical sealing bin is divided into an upper chamber and a lower chamber through a partition plate 11, a control circuit part is installed in the upper chamber, The model of the main control panel Raspberry group is Raspberry Pi 3B +, the main control panel Raspberry group is in communication connection with an upper computer on the ground and controls a camera device 4, the model of the direct current voltage conversion module is XL7015 DC-DC 12V to 5V and is used for supplying power to a Raspberry group mainboard under water, the model of the flight controller is Pixhawk4 and is used for controlling a left propeller and a right propeller 2, a gravity center shifting mechanism 3 is installed in a lower cavity and comprises a ball screw rod transmission mechanism 3-1 and a lithium battery pack, the ball screw rod transmission mechanism 3-1 comprises a support base 3-11, a first servo motor 3-12, a shifting screw rod 3-13 and a screw rod nut 3-14, the gravity center shifting mechanism 3 is fixed at the bottom of a partition plate 11 through the support base 3-11, the first servo motor 3-12 is installed at the right end of the support base 3-11, the right end of a shifting screw rod 3-13 is connected with an output shaft of a first servo motor 3-12 through a coupling 3-15, the left end of the shifting screw rod 3-13 penetrates through a left end through hole of a supporting base 3-11 and is further rotatably supported through a screw rod supporting base 3-16 at the bottom of the supporting base 3-11, a screw rod nut 3-14 is installed on the shifting screw rod 3-13 at the right side of the supporting base 3-11, a nut base 3-17 is sleeved on the screw rod nut 3-14, a lithium battery pack is installed in the lithium battery box 3-2, the lithium battery box 3-2 is fixed at the bottom of the nut base 3-17, heat dissipation holes are evenly distributed on the side surface of the lithium battery box 3-2, the screw rod nut 3-14 drives the nut base 3-17 to synchronously slide in a translational mode along the supporting base 3-11 along with the forward and reverse rotation movement, the lithium battery box 3-2 moves back and forth synchronously along with the nut seat 3-17, so as to change the gravity center of the whole structure of the robot and control the pitching motion of the amphibious sampling robot, an upper clapboard 8 and a lower clapboard 9 are arranged between the inner sealed cabin 7 and the shell 1 at intervals from top to bottom, wherein, the number of the lower clapboards 9 is two, the two clapboards are respectively arranged at the front side and the rear side of the inner sealed cabin 7, the upper clapboard 8 is arranged above the lower clapboard 9 at the front side, the shell 1, the inner sealed cabin 7, the upper clapboard 8 and the lower clapboard 9 at the front side form an outer sealed cabin, the camera 4 adopts a pan-tilt camera, the pan-tilt camera is arranged in the outer sealed cabin by being fixed at the bottom of the upper clapboard 8, can provide high-definition underwater pictures for the ground base station in real time and can carry out omnibearing rotation visual angle, the sampling device 5 adopts a shear type, An electric push rod 5-2, a telescopic arm 5-3 and a mechanical paw 5-4, wherein the scissor type mechanical hand is fixed at the bottom of a front lower partition plate 9 through a L-shaped fixed plate 5-1, the electric push rod 5-2 is installed on a vertical plate of the L-shaped fixed plate 5-1, a transverse chute is arranged on the vertical plate of the L-shaped fixed plate 5-1, the transverse chute is opposite to the telescopic part of the electric push rod 5-2, a sliding hinge is fixed at the tail end of the electric push rod 5-2, the sliding hinge synchronously and linearly moves along with the telescopic part of the electric push rod 5-2, the telescopic arm 5-3 is formed by hinging the tail ends of a plurality of cross arms, the tail end of a driving arm of the telescopic arm 5-3 is provided with the transverse chute in a penetrating way and fixed on the sliding hinge through a hinge support, and the tail end of a driven arm of the, the arc-shaped side wall of the shell 1 below the lower partition plate 9 is provided with a water permeable port 10, the water permeable port 10 is used for reducing resistance brought by the underwater robot when the underwater robot moves forwards in water, a telescopic arm 5-3 penetrates through the water permeable port 10 at the front side and extends out of the shell 1, the front ends of a driving arm and a driven arm of the telescopic arm 5-3 are respectively provided with a mechanical claw 5-4, the telescopic arm 5-3 correspondingly extends or shortens along with the telescopic motion of an electric push rod 5-2 through a movable hinge, so that the two mechanical claws 5-4 are driven to be closed or unfolded to realize the grabbing and releasing of a target, the walking mechanism 6 is a four-foot motion mechanism and comprises a walking mechanism shell 6-1, a second servo motor 6-2, a high-speed gear 6-3, a steering gear 6-4, a low-speed gear 6-5, a synchronous roller 6-6 and a mechanical leg 6-, the top of a traveling mechanism shell 6-1 is fixed at the bottom of the shell 1, the middle part of the inner wall of a right side plate of the traveling mechanism shell 6-1 is provided with a second servo motor 6-2, a high-speed gear 6-3 is fixed on an output shaft of the second servo motor 6-2 through key connection, the high-speed gear 6-3 is meshed with steering gears 6-4 which are symmetrically distributed on the front side and the rear side, the steering gears 6-4 on the front side and the rear side are respectively meshed with low-speed gears 6-5 on the front side and the rear side, the two low-speed gears 6-5 are symmetrically distributed on the front side and the rear side of the high-speed gear 6-3, the steering gears 6-4 and the low-speed gears 6-5 are both installed on a central rotating shaft through key connection, the central rotating shaft is, the central rotating shaft of the low-speed gear 6-5 penetrates through the left side plate and the right side plate of the traveling mechanism shell 6-1, the two ends of the central rotating shaft are fixedly provided with synchronous rollers 6-6, the four synchronous rollers 6-6 are respectively provided with a mechanical leg 6-7, in an initial state, the two mechanical legs 6-7 positioned at the left side of the traveling mechanism shell 6-1 are placed in a splayed shape, the two mechanical legs 6-7 positioned at the right side of the traveling mechanism shell 6-1 are placed in an inverted splayed shape, when the synchronous rollers 6-6 drive the mechanical legs 6-7 to move, the left front mechanical leg 6-7 and the right rear mechanical leg 6-7 synchronously move in the same direction, the right front mechanical leg 6-7 and the left rear mechanical leg 6-7 synchronously move in the same direction and backwards, so that the mechanical legs 6-7 swing up and down and back and forth in a four, the amphibious sampling robot is driven to walk, an H-shaped bottom plate 6-8 is installed at the bottom of a walking mechanism shell 6-1, a convex plate in the middle of the H-shaped bottom plate 6-8 is fixedly connected with a bottom plate of the walking mechanism shell 6-1, four parallel supporting rods of the H-shaped bottom plate 6-8 are supported below the bottom plate of the walking mechanism shell 6-1, sliding grooves are formed in four parallel supporting rods of a mechanical leg 6-7 and the H-shaped bottom plate 6-8, the two sliding grooves are connected in a sliding mode through an I-shaped sliding block, the mechanical leg 6-7 can walk in a cross reciprocating mode, a damping spring shock absorber 6-9 is further arranged at the upper end of the mechanical leg 6-7, the mechanical leg 6-7 can be prevented from being in contact with a hard object to generate shock, and stable walking of the amphibious sampling robot on shore or under water can be guaranteed.
In the embodiment, a lithium battery pack supplies power to a first servo motor 3-12, an electric push rod 5-2, a second servo motor 6-2 and a control circuit part through leads, wherein the model of a direct-current voltage conversion module is XL7015 DC-DC 12V to 5V, the lithium battery pack supplies power to a main control panel raspberry group main board through the direct-current voltage conversion module, the model of the main control panel raspberry group is RaspberryPi 3B +, the main control panel raspberry group is in communication connection with an upper computer on the ground, the upper computer, the main control panel raspberry group and a camera device 4 are in bidirectional communication connection in sequence, the main control panel raspberry group controls the camera device 4 to be opened and closed and rotate, a flight controller is Pixhawk4, the main control panel raspberry group controls the left and right side propellers 2 through a flight controller and an electric regulation matched with the propellers 2, a driver is AQMD2410NS 12V, and the driver comprises a first driver, a second servo motor, a second servo, The main control panel raspberry group controls the push rod motor of the electric push rod 5-2 to rotate positively and negatively through the first driver, the main control panel raspberry group controls the first servo motor 3-12 to rotate positively and negatively through the second driver, and the main control panel raspberry group controls the second servo motor 6-2 to rotate positively and negatively through the third driver, so that the upper computer can remotely control the gravity center offset mechanism, the camera device, the sampling device and the walking mechanism to work in cooperation with the main control panel raspberry group.
The utility model discloses a work flow: before the gravity center offset type amphibious sampling robot is placed to launch, firstly, an operator sets the mechanical legs 6-7 to be in a pre-walking posture shown in figures 5 and 6 (two mechanical legs 6-7 positioned on the left side of a walking mechanism shell 6-1 are placed in a splayed shape, two mechanical legs 6-7 positioned on the right side of the walking mechanism shell 6-1 are placed in an inverted splayed shape), then the mechanical legs are placed on the shore towards the water surface direction, an upper computer (namely a ground control station PC) controls a second servo motor 6-2 to rotate so as to drive the mechanical legs 6-7 to walk forwards and gradually enter water, after the water enters the water, the upper computer controls the second servo motor 6-2 to stop rotating through a main control board raspberry and a third driver, then the mechanical legs 6-7 stop walking, and then the control board raspberry controls the left and right side propellers to lift and move through a flight controller and an electric controller to realize underwater movement, when the control panel raspberry group controls the second driver to drive the first servo motor 3-12 to rotate until the lithium battery box 3-2 is positioned in the middle, the dual-purpose sampling robot ascends and descends through the left propeller 2 and the right propeller 2; when the control panel raspberry group controls the second driver to drive the first servo motor 3-12 to rotate so that the lithium battery box 3-2 moves to the front end along the transfer screw rod 3-13, the posture of the amphibious sampling robot changes and moves forwards, when the control panel raspberry group controls the lithium battery box 3-2 to be positioned at the rear end, the amphibious sampling robot moves backwards and controls the forward and reverse rotation of the propeller 2 to realize the left-turn and right-turn, so that the propeller 2 can stably complete the multi-degree-of-freedom motion in water by matching with the gravity center offset mechanism 3, the upper computer controls the camera device 4 to open, close and rotate by the control panel raspberry group, the camera device 4 feeds an observation picture back to the upper computer by the control panel raspberry group, when a target sample is observed, the control panel raspberry group controls the propeller 2, the gravity center offset mechanism 3 and the traveling mechanism 6 to cooperate with the sampling robot to move to the target sample through flight control, the second driver and the third driver respectively, then the control panel raspberry group is controlled by the first driver to rotate to the two mechanical claws 5-4 to clamp and grasp a target sample, after the sampling device 5 collects the sample, the upper computer controls the propeller 2 and the gravity center offset mechanism 3 to operate in a matched mode to the upper bank of the sampling robot through the control panel raspberry group, then the upper computer controls the mechanical legs 6-7 to move forwards to the target position through the third driver, and therefore the upper computer controls the gravity center offset mechanism, the camera device, the sampling device and the walking mechanism to work in a matched mode through the main control panel raspberry group, the double-dwelling sampling robot can easily and stably complete autonomous underwater walking operation, ashore tasks and sampling operation, the use is convenient, and the practicability is strong.
Above only the utility model discloses an it is preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and 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, a plurality of modifications and decorations without departing from the principle of the present invention should be considered as the protection scope of the present invention.
Claims (10)
1. The utility model provides a focus skew formula sampling robot that dwells, includes casing (1), propeller (2), focus skew mechanism (3), camera device (4), sampling device (5), running gear (6) and host computer, its characterized in that, propeller (2) symmetry is installed on the both sides end cover of casing (1), focus skew mechanism (3) are through interior seal storehouse (7) seal installation inside casing (1), baffle (8) and lower baffle (9) are installed to the interval from top to bottom between interior seal storehouse (7) and casing (1), constitute external seal storehouse under casing (1), interior seal storehouse (7), last baffle (8) and the front side between baffle (9), camera device (4) are installed in external seal storehouse through last baffle (8), host computer remote control focus skew mechanism (3), Camera device (4), sampling device (5) and running gear (6) work, sampling device (5) are installed under on baffle (9) and are outwards extended through mouthful (10) of permeating water of casing (1) one side for press from both sides and grab the target thing, running gear (6) are installed in casing (1) bottom, drive the walking of perching of robot pair.
2. The offset center of gravity amphibious sampling robot of claim 1, wherein: casing (1) is the cylinder casing, the cylinder casing adopts 10mm thick transparent plastic material, the bottom of cylinder casing is the flat bed, propeller (2) symmetry is installed in the left and right sides end cover middle part of cylinder casing, running gear (6) are installed in the flat bed bottom.
3. The offset center of gravity amphibious sampling robot of claim 2, wherein: interior sealed storehouse (7) are the sealed storehouse section of thick bamboo of cylinder, the sealed storehouse section of thick bamboo of cylinder adopts the aluminum alloy material, terminal surface and the left and right sides end cover sealing connection of casing (1) about interior sealed storehouse (7), interior sealed storehouse (7) are connected through six locating pins positioning of equipartition along the peripheral part with casing (1) to pass through the button head screw fixation.
4. The offset center of gravity amphibious sampling robot of claim 3, wherein: the sealed silo of cylinder divide into cavity and lower cavity through baffle (11), go up the indoor control circuit part of installing of cavity, the control circuit part includes main control panel raspberry group, direct current voltage conversion module, flight controller and driver, install in the lower cavity in focus skew mechanism (3).
5. The offset center of gravity amphibious sampling robot of claim 4, wherein: the gravity center shifting mechanism (3) comprises a ball screw rod transmission mechanism (3-1) and a lithium battery pack, the ball screw rod transmission mechanism (3-1) comprises a supporting base (3-11), a first servo motor (3-12), a shifting screw rod (3-13) and a screw nut (3-14), the gravity center shifting mechanism (3) is fixed at the bottom of the partition plate (11) through the supporting base (3-11), the first servo motor (3-12) is installed at the right end of the supporting base (3-11), the right end of the shifting screw rod (3-13) is connected with an output shaft of the first servo motor (3-12) through a shaft coupling (3-15), the left end of the shifting screw rod (3-13) penetrates through a left end through hole of the supporting base (3-11), and the shifting screw rod can be further rotated through a screw rod supporting base (3-16) at the bottom of the supporting base (3-11) The robot is movably supported, a screw rod nut (3-14) is installed on a shifting screw rod (3-13) on the right side of a supporting base (3-11), a nut seat (3-17) is sleeved on the screw rod nut (3-14), a lithium battery pack is installed in a lithium battery box (3-2), the lithium battery box (3-2) is fixed at the bottom of the nut seat (3-17), heat dissipation holes are evenly distributed in the side face of the lithium battery box (3-2), the screw rod nut (3-14) drives the nut seat (3-17) to synchronously translate and slide along the supporting base (3-11) along with the forward and reverse rotation movement of the shifting screw rod (3-13), the lithium battery box (3-2) synchronously moves back and forth along with the nut seat (3-17) to further change the gravity center of the whole structure of the robot, and controlling the pitching motion of the amphibious sampling robot.
6. The offset center of gravity amphibious sampling robot of claim 5, wherein: camera device (4) adopt the cloud platform camera, the quantity of baffle (9) is two down, sets up respectively in the front and back side of interior seal chamber (7), it sets up in the top of baffle (9) under the front side to go up baffle (8), the cloud platform camera is installed in last baffle (8) bottom, and is located baffle (9) top under the front side, can provide the underwater picture of high definition for the ground basic station in real time to can carry out the all direction rotation visual angle.
7. The offset center of gravity amphibious sampling robot of claim 6, wherein: the sampling device (5) adopts a scissor type mechanical arm, the scissor type mechanical arm comprises a reversed L-shaped fixed plate (5-1), an electric push rod (5-2), a telescopic arm (5-3) and a mechanical claw (5-4), the scissor type mechanical arm is fixed at the bottom of a lower partition plate (9) through the reversed L-shaped fixed plate (5-1), the electric push rod (5-2) is installed on a vertical plate of the reversed L-shaped fixed plate (5-1), a transverse sliding chute is formed in the vertical plate of the reversed L-shaped fixed plate (5-1), the transverse sliding chute is opposite to the telescopic part of the electric push rod (5-2), a sliding hinge is fixed at the tail end of the electric push rod (5-2), the sliding hinge moves linearly along with the telescopic part of the electric push rod (5-2) synchronously, and the telescopic arm (5-3) is formed by hinging the tail ends of a plurality of the reversed L-shaped fixed plates, the tail end of a driving arm of the telescopic arm (5-3) is penetrated through a transverse sliding groove and fixed on a sliding hinge through a hinge support, the tail end of a driven arm of the telescopic arm (5-3) is fixed on a fixing part of an electric push rod (5-2), a water permeable port (10) is formed in the arc-shaped side wall of the shell (1) below the lower partition plate (9), the water permeable port (10) is used for reducing resistance brought by advancing of an underwater robot in water, the telescopic arm (5-3) is penetrated through a front water permeable port (10) and extends out of the shell (1), mechanical claws (5-4) are respectively installed at the front ends of the driving arm and the driven arm of the telescopic arm (5-3), and the telescopic arm (5-3) correspondingly extends or shortens along with the telescopic motion of the electric push rod (5-2) through a movable hinge so as to drive the two mechanical claws (5-4) to be closed or unfolded, the grabbing and releasing of the target object are realized.
8. The offset center of gravity amphibious sampling robot of claim 7, wherein: the walking mechanism (6) is a four-foot movement mechanism, the four-foot movement mechanism comprises a walking mechanism shell (6-1), a second servo motor (6-2), a high-speed gear (6-3), a steering gear (6-4), a low-speed gear (6-5), a synchronous roller (6-6) and a mechanical leg (6-7), the top of the walking mechanism shell (6-1) is fixed at the bottom of the shell (1), the second servo motor (6-2) is installed in the middle of the inner wall of a right side plate of the walking mechanism shell (6-1), the high-speed gear (6-3) is fixedly connected to an output shaft of the second servo motor (6-2) through a key, and the high-speed gear (6-3) is meshed with the steering gears (6-4) which are symmetrically distributed on the front side and the back side, front and back side steering gears (6-4) are respectively meshed with front and back side low-speed gears (6-5), two low-speed gears (6-5) are symmetrically distributed on the front and back sides of a high-speed gear (6-3), the steering gears (6-4) and the low-speed gears (6-5) are installed on a central rotating shaft through key connections, the central rotating shaft is installed on a bearing seat through a bearing, the bearing seat is fixed on the inner wall of a right side plate of a traveling mechanism shell (6-1), the central rotating shaft of the low-speed gears (6-5) penetrates through left and right side plates of the traveling mechanism shell (6-1), synchronous rollers (6-6) are fixed at two ends of the central rotating shaft, mechanical legs (6-7) are arranged on four synchronous rollers (6-6), and in the initial state, two mechanical legs (6-7) on the left side of the traveling mechanism shell (6-1) are placed in an 'eight' shape Two mechanical legs (6-7) positioned on the right side of the traveling mechanism shell (6-1) are placed in an inverted eight shape, so that when the synchronous rollers (6-6) drive the mechanical legs (6-7) to move, the left front mechanical leg (6-7) and the right rear mechanical leg (6-7) synchronously move in the same direction, the right front mechanical leg (6-7) and the left rear mechanical leg (6-7) synchronously move in the same direction and extend backwards, and the mechanical legs (6-7) swing up and down and back and forth in a four-foot traveling mode.
9. The offset center of gravity amphibious sampling robot of claim 8, wherein: an H-shaped bottom plate (6-8) is installed at the bottom of the traveling mechanism shell (6-1), a middle convex plate of the H-shaped bottom plate (6-8) is fixedly connected with a bottom plate of the traveling mechanism shell (6-1), four parallel supporting rods of the H-shaped bottom plate (6-8) are supported below the bottom plate of the traveling mechanism shell (6-1), sliding grooves are formed in the mechanical leg (6-7) and the four parallel supporting rods of the H-shaped bottom plate (6-8), the two sliding grooves are connected in a sliding mode through an I-shaped sliding block, and a damping spring shock absorber (6-9) is further arranged at the upper end of the mechanical leg (6-7).
10. The offset center of gravity amphibious sampling robot of claim 9, wherein: the lithium battery pack supplies power to a first servo motor (3-12), an electric push rod (5-2), a second servo motor (6-2) and a control circuit part through leads, wherein the model of the direct-current voltage conversion module is XL7015 DC-DC 12V to 5V, the lithium battery pack supplies power to a main control panel Raspberry group main board through the direct-current voltage conversion module, the model of the main control panel Raspberry group is Raspberry Pi 3B +, the main control panel Raspberry group is in communication connection with an upper computer on the ground, the upper computer, the main control panel Raspberry group and the camera device (4) are in bidirectional communication connection in sequence, the main control panel Raspberry group controls the camera device (4) to open and close and rotate, the model of the flight controller is Pixhawk4, the main control panel Raspberry group controls the left and right side propellers (2) through a flight controller and electric regulators matched with the propellers (2), the driver is AQMD2410NS 12V, the driver comprises a first driver, a second driver and a third driver, the main control panel raspberry group controls the forward and reverse rotation of a push rod motor of an electric push rod (5-2) through the first driver, the main control panel raspberry group controls the forward and reverse rotation of a first servo motor (3-12) through the second driver, and the main control panel raspberry group controls the forward rotation of a second servo motor (6-2) through the third driver.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020198758.1U CN211592892U (en) | 2020-02-24 | 2020-02-24 | Center-of-gravity shifting type amphibious sampling robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020198758.1U CN211592892U (en) | 2020-02-24 | 2020-02-24 | Center-of-gravity shifting type amphibious sampling robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112590966A (en) * | 2021-01-11 | 2021-04-02 | 清华大学 | Wheel-foot type omnidirectional four-foot robot with less degrees of freedom |
| CN113077607A (en) * | 2021-04-02 | 2021-07-06 | 中慧能源(杭州)有限公司 | Forklift safety control equipment and system |
| CN113715008A (en) * | 2021-08-31 | 2021-11-30 | 杭州电子科技大学 | A exhibition arm structure for underwater detection equipment |
| CN117532636A (en) * | 2024-01-09 | 2024-02-09 | 河北雄安金杏智慧科技有限公司 | Child education robot and application method thereof |
-
2020
- 2020-02-24 CN CN202020198758.1U patent/CN211592892U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112590966A (en) * | 2021-01-11 | 2021-04-02 | 清华大学 | Wheel-foot type omnidirectional four-foot robot with less degrees of freedom |
| CN112590966B (en) * | 2021-01-11 | 2021-10-26 | 清华大学 | Wheel-foot type omnidirectional four-foot robot with less degrees of freedom |
| CN113077607A (en) * | 2021-04-02 | 2021-07-06 | 中慧能源(杭州)有限公司 | Forklift safety control equipment and system |
| CN113715008A (en) * | 2021-08-31 | 2021-11-30 | 杭州电子科技大学 | A exhibition arm structure for underwater detection equipment |
| CN113715008B (en) * | 2021-08-31 | 2023-01-24 | 杭州电子科技大学 | A exhibition arm structure for underwater detection equipment |
| CN117532636A (en) * | 2024-01-09 | 2024-02-09 | 河北雄安金杏智慧科技有限公司 | Child education robot and application method thereof |
| CN117532636B (en) * | 2024-01-09 | 2024-04-12 | 河北雄安金杏智慧科技有限公司 | Child education robot and application method thereof |
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