CN220315272U

CN220315272U - Photographing and collecting mechanism of underwater robot

Info

Publication number: CN220315272U
Application number: CN202322090960.9U
Authority: CN
Inventors: 林志谋; 陈梅芬; 黄心宇
Original assignee: Xiamen Ocean Vocational College
Current assignee: Xiamen Ocean Vocational College
Priority date: 2023-08-04
Filing date: 2023-08-04
Publication date: 2024-01-09
Anticipated expiration: 2033-08-04

Abstract

The utility model relates to the technical field of underwater robots, and discloses a photographing and collecting mechanism of an underwater robot, which comprises an equipment bin, wherein bottom bins are fixedly assembled at two sides of the bottom of the equipment bin, an LED illuminating lamp is arranged in an inner cavity of the bottom bin, lifting thrusters are fixedly assembled at two sides of the outer edge of the equipment bin, advancing thrusters are fixedly assembled at two sides of the equipment bin and the bottom bin, mounting plates are fixedly assembled at the outer edges of the front end of the equipment bin, and transverse holes are formed in the outer edges of the mounting plates. Through the cooperation use of rotating motor, bracing piece, horizontal support, angle modulation support and camera, through starting rotating motor, make rotating motor rotate and drive bracing piece, horizontal support, angle modulation support and camera and rotate, make the camera can rotate around equipment bin periphery, make the collection system of making a video recording can carry out the regulation of multi-angle, and then solved current robot and made a video recording collection system can not carry out the problem of multi-angle regulation.

Description

Photographing and collecting mechanism of underwater robot

Technical Field

The utility model relates to the technical field of underwater robots, in particular to a photographing and collecting mechanism of an underwater robot.

Background

The underwater robot is also called an unmanned remote-control submersible, and is an extreme operation robot working under water. The underwater environment is severe and dangerous, the diving depth of a person is limited, so that the underwater robot becomes an important tool for developing the ocean, and the unmanned remote-control submersible mainly comprises: the cabled remote-control submersible is divided into a submarine self-propelled type, a towing type and a crawling type on a submarine structure.

The existing robot camera acquisition device cannot be adjusted at multiple angles, when the clamping device clamps articles, the articles are easy to block the cameras to cause the condition that the front road is not clear, the clamping device on the existing robot cannot be hidden below the robot, the clamping device is made to be relatively protruding to cause the length side length of the robot to be difficult to move underwater, and the research result is also one of the project requirements and the final implementation results of the underwater robot application research based on the mechanical vision and the underwater acoustic communication of the Xiamen scientific and technological plan natural science foundation.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides a photographing and collecting mechanism of an underwater robot, which has the advantages of strong practicability, good stability and solves the problem that the existing photographing and collecting device of the robot cannot perform multi-angle adjustment.

The utility model provides the following technical scheme: the utility model provides a collection mechanism shoots of underwater robot, includes the equipment bin, the bottom bin that all fixedly mounted in both sides of equipment bin bottom, the inner chamber of bottom bin is equipped with the LED light, the both sides fixedly mounted on equipment bin outer edge has the lift propeller, the equipment bin is fixed with the both sides of bottom bin and is equipped with the advance propeller, the outer edge fixedly mounted of equipment bin front end has the mounting plate, the transverse hole has been seted up on the outer edge of mounting plate, camera equipment is installed to the inner wall in transverse hole, the bottom fixedly mounted of equipment bin has telescoping device, clamping device is fixed to the bottom of telescoping device.

As a preferable technical scheme of the utility model, the camera shooting equipment comprises a waterproof device, wherein the inner wall of the waterproof device is movably connected with a rotating motor, a supporting rod is fixedly sleeved on a power output shaft of the rotating motor, a horizontal support is arranged at one end of the supporting rod, which is far away from the rotating motor, an angle adjusting support is arranged at one end of the horizontal support, which is far away from the supporting rod, and a camera is arranged at the top of the angle adjusting support.

As a preferable technical scheme of the utility model, the telescopic device comprises a servo motor, a screw rod is fixedly sleeved on a power output shaft of the servo motor, a movable support is connected to the outer edge of the screw rod in a threaded manner, a sliding hole is formed in the outer edge of the movable support, a stabilizer bar is connected to the inner wall of the sliding hole in a sliding manner, a first support frame is arranged on the outer edge of the stabilizer bar, and a second support frame is arranged at one end, far away from the first support frame, of the stabilizer bar.

As a preferable technical scheme of the utility model, the outer surfaces of the support rod, the horizontal support, the angle adjusting support, the screw rod, the movable support, the first support frame and the second support frame are coated with antirust paint.

As a preferable technical scheme of the utility model, the outer edges of the equipment bin and the bottom bin are fixedly provided with the anti-collision frame.

As a preferable technical scheme of the utility model, the stabilizer bars are provided with two in total and are positioned at two sides of the screw rod.

As a preferable technical scheme of the utility model, the outer edge of the mounting piece is fixedly provided with a long plate, and both sides of the top of the long plate are fixedly provided with baffle frames.

Compared with the prior art, the utility model has the following beneficial effects:

1. this acquisition mechanism of shooing of robot under water uses through the cooperation of rotating electrical machines, bracing piece, horizontal stand, angle modulation support and camera, through starting rotating electrical machines, makes rotating electrical machines rotate and drives bracing piece, horizontal stand, angle modulation support and camera and rotate, makes the camera can rotate around equipment warehouse periphery, makes camera acquisition device can carry out the regulation of multi-angle, and then has solved current robot camera acquisition device and can not carry out the problem of multi-angle regulation.

2. This collection mechanism that shoots of robot under water uses through servo motor, lead screw, movable support and clamping device's cooperation, rotates through servo motor and drives the lead screw and rotate, makes movable support and clamping device remove, makes clamping device can hide in the below of equipment bin, and then has solved the clamping device on the current robot and can not hide the problem in the robot below.

Drawings

FIG. 1 is a schematic perspective view of the present utility model;

FIG. 2 is a schematic cross-sectional view of the present utility model;

FIG. 3 is an enlarged schematic view of the structure of FIG. 2 according to the present utility model;

FIG. 4 is a schematic view of the bottom structure of the present utility model;

fig. 5 is an enlarged schematic view of the structure of fig. 4 at B according to the present utility model.

In the figure: 1. an equipment bin; 2. a bottom bin; 3. an LED illuminating lamp; 4. lifting propeller; 5. advancing the propeller; 6. an image pickup apparatus; 601. a waterproof device; 602. a rotating motor; 603. a support rod; 604. a horizontal bracket; 605. an angle adjusting bracket; 606. a camera; 7. a long plate; 8. a baffle frame; 9. a telescoping device; 901. a servo motor; 902. a screw rod; 903. a movable support; 904. a slide hole; 905. a stabilizer bar; 906. a first supporting frame; 907. a second supporting frame; 10. a clamping device; 11. a mounting piece; 12. a transverse hole; 13. and an anti-collision frame.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-5, a photographing and collecting mechanism of an underwater robot comprises a device cabin 1, a bottom cabin 2 fixedly assembled on two sides of the bottom of the device cabin 1, an LED illuminating lamp 3 arranged in an inner cavity of the bottom cabin 2, lifting propellers 4 fixedly assembled on two sides of the outer edge of the device cabin 1, an advancing propeller 5 fixedly assembled on two sides of the device cabin 1 and the bottom cabin 2, a mounting plate 11 fixedly assembled on the outer edge of the front end of the device cabin 1, a transverse hole 12 formed on the outer edge of the mounting plate 11, a camera shooting device 6 mounted on the inner wall of the transverse hole 12, a telescopic device 9 fixedly assembled on the bottom of the device cabin 1, and a clamping device 10 fixedly assembled on the bottom of the telescopic device 9, wherein the telescopic device 9 can hide the clamping device 10 when the device is not used, so that the clamping device 10 cannot protrude out of the device cabin 1.

Referring to fig. 2 and 3, the image capturing apparatus 6 includes a waterproof device 601, a rotating motor 602 is movably connected to an inner wall of the waterproof device 601, a supporting rod 603 is fixedly sleeved on a power output shaft of the rotating motor 602, a horizontal bracket 604 is installed at one end of the supporting rod 603 away from the rotating motor 602, an angle adjusting bracket 605 is installed at one end of the horizontal bracket 604 away from the supporting rod 603, a camera 606 is arranged at the top of the angle adjusting bracket 605, the supporting rod 603, the horizontal bracket 604, the angle adjusting bracket 605 and the camera 606 are driven to rotate through the rotation of the rotating motor 602, and the apparatus can rotate around the periphery of the apparatus cabin 1, so that an object clamped on the clamping device 10 cannot block the camera 606.

Referring to fig. 4 and 5, the telescopic device 9 includes a servo motor 901, a screw rod 902 is fixedly sleeved on a power output shaft of the servo motor 901, a moving bracket 903 is connected to an outer edge of the screw rod 902 in a threaded manner, a sliding hole 904 is formed in an outer edge of the moving bracket 903, a stabilizer bar 905 is slidably connected to an inner wall of the sliding hole 904, a first support frame 906 is arranged on an outer edge of the stabilizer bar 905, a second support frame 907 is arranged at one end, far away from the first support frame 906, of the stabilizer bar 905, the screw rod 902 is driven to rotate through rotation of the servo motor 901, and the moving bracket 903 and the clamping device 10 are enabled to move, so that the clamping device 10 can be hidden below the equipment bin 1 when not in use.

Referring to fig. 2, 3, 4 and 5, the outer surfaces of the support rod 603, the horizontal support 604, the angle adjusting support 605, the screw rod 902, the moving support 903, the first support 906 and the second support 907 are coated with an anti-rust coating, and the anti-rust coating has waterproof property, so that the robot cannot be corroded by water for a long time, the robot is not easy to rust, and the service life of the robot is prolonged.

Referring to fig. 1, the outer edges of the equipment bin 1 and the bottom bin 2 are fixedly provided with an anti-collision frame 13, and the underwater topography is complex, so that the anti-collision frame 13 can protect the whole robot when the device works in water, and the safety of the device is improved.

Referring to fig. 4, two stabilizer bars 905 are provided on two sides of the screw rod 902, and the two stabilizer bars 905 are used to make the moving bracket 903 more stable when moving, so that the moving bracket 903 can always keep a horizontal state for moving, and stability of the device is improved.

Referring to fig. 1, the outer edge of the mounting plate 11 is fixedly provided with a long plate 7, both sides of the top of the long plate 7 are fixedly provided with a blocking frame 8, and the blocking frame 8 can block the image pickup apparatus 6 when the image pickup apparatus 6 rotates by using the design of the blocking frame 8, so that the image pickup apparatus 6 cannot collide with the clamping device 10, and the safety of the image pickup apparatus 6 is improved.

When the robot is used, the whole robot is placed in water, the robot is pushed to the water bottom through the lifting propeller 4, the robot is pushed to move in the water through the advancing propeller 5, when an object is required to be clamped, the servo motor 901 is started through the remote controller, the servo motor 901 rotates to drive the screw rod 902 to rotate, the movable support 903 and the clamping device 10 move, the clamping device 10 stretches out from the lower part of the equipment bin 1, the camera 606 is shielded when the object is clamped on the clamping device 10, at the moment, the rotating motor 602 is started through the remote controller, the supporting rod 603, the horizontal support 604, the angle adjusting support 605 and the camera 606 are driven to rotate through the rotation of the rotating motor 602, the camera 606 can rotate around the periphery of the equipment bin 1, the camera 606 can avoid the object clamped on the clamping device 10, and the camera 606 can shoot and acquire underwater when the object is taken.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an acquisition mechanism shoots of underwater robot, includes equipment bin (1), its characterized in that: the equipment comprises an equipment bin (1), wherein two sides of the bottom of the equipment bin (1) are fixedly provided with a bottom bin (2), an LED illuminating lamp (3) is arranged in an inner cavity of the bottom bin (2), lifting propellers (4) are fixedly arranged on two sides of the outer edge of the equipment bin (1), advancing propellers (5) are fixedly arranged on two sides of the equipment bin (1) and the two sides of the bottom bin (2), mounting plates (11) are fixedly arranged on the outer edge of the front end of the equipment bin (1), transverse holes (12) are formed in the outer edge of the mounting plates (11), camera equipment (6) are arranged on the inner wall of each transverse hole (12), a telescopic device (9) is fixedly arranged on the bottom of the equipment bin (1), and clamping devices (10) are fixedly arranged on the bottom of the telescopic device (9).

2. The underwater robot photo taking and collecting mechanism of claim 1, wherein: the camera shooting equipment (6) comprises a waterproof device (601), a rotating motor (602) is movably connected to the inner wall of the waterproof device (601), a supporting rod (603) is fixedly sleeved on a power output shaft of the rotating motor (602), a horizontal support (604) is installed at one end, far away from the rotating motor (602), of the supporting rod (603), an angle adjusting support (605) is installed at one end, far away from the supporting rod (603), of the horizontal support (604), and a camera (606) is arranged at the top of the angle adjusting support (605).

3. The underwater robot photo taking and collecting mechanism of claim 1, wherein: telescoping device (9) are including servo motor (901), fixed cover is equipped with lead screw (902) on the power take off shaft of servo motor (901), the outer edge threaded connection of lead screw (902) has movable support (903), slide hole (904) have been seted up along the outer edge of movable support (903), the inner wall sliding connection of slide hole (904) has stabilizer bar (905), the outer edge of stabilizer bar (905) is equipped with support frame one (906), the one end that support frame one (906) was kept away from to stabilizer bar (905) is equipped with support frame two (907).

4. The underwater robot photo taking and collecting mechanism of claim 2, wherein: the anti-rust paint is coated on the outer surfaces of the support rod (603), the horizontal support (604), the angle adjusting support (605), the screw rod (902), the movable support (903), the first support frame (906) and the second support frame (907).

5. The underwater robot photo taking and collecting mechanism of claim 1, wherein: and the outer edges of the equipment bin (1) and the bottom bin (2) are fixedly provided with an anti-collision frame (13).

6. A photographing and collecting mechanism of an underwater robot according to claim 3, wherein: the stabilizer bars (905) are arranged in total and are positioned on two sides of the screw rod (902).

7. The underwater robot photo taking and collecting mechanism of claim 1, wherein: the outer edge of the mounting piece (11) is fixedly provided with a long plate (7), and both sides of the top of the long plate (7) are fixedly provided with baffle frames (8).