WO2019129079A1 - 快拆结构及涉水机器人 - Google Patents

快拆结构及涉水机器人 Download PDF

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Publication number
WO2019129079A1
WO2019129079A1 PCT/CN2018/123944 CN2018123944W WO2019129079A1 WO 2019129079 A1 WO2019129079 A1 WO 2019129079A1 CN 2018123944 W CN2018123944 W CN 2018123944W WO 2019129079 A1 WO2019129079 A1 WO 2019129079A1
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WO
WIPO (PCT)
Prior art keywords
button
release structure
quick release
wading robot
wading
Prior art date
Application number
PCT/CN2018/123944
Other languages
English (en)
French (fr)
Inventor
郑卫锋
刘洋
段瑞刚
马彪
董国帅
Original Assignee
北京臻迪科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201711446860.8A external-priority patent/CN108100172A/zh
Priority claimed from CN201810377927.5A external-priority patent/CN108496910A/zh
Application filed by 北京臻迪科技股份有限公司 filed Critical 北京臻迪科技股份有限公司
Publication of WO2019129079A1 publication Critical patent/WO2019129079A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K97/00—Accessories for angling
    • A01K97/02—Devices for laying ground-bait, e.g. chum dispensers, e.g. also for throwing ground-bait
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B34/00—Vessels specially adapted for water sports or leisure; Body-supporting devices specially adapted for water sports or leisure
    • B63B34/05—Vessels specially adapted for hunting or fishing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L37/00—Couplings of the quick-acting type
    • F16L37/08—Couplings of the quick-acting type in which the connection between abutting or axially overlapping ends is maintained by locking members
    • F16L37/084—Couplings of the quick-acting type in which the connection between abutting or axially overlapping ends is maintained by locking members combined with automatic locking
    • F16L37/086—Couplings of the quick-acting type in which the connection between abutting or axially overlapping ends is maintained by locking members combined with automatic locking by means of latching members pushed radially by spring-like elements

Definitions

  • the invention relates to a quick release structure and a water absorbing robot, in particular to a quick release structure and a multifunctional water absorbing robot and a system thereof which can be used for a nester.
  • the existing wading robots on the market are commonly used with remote control boats, sling boats, and fish finder.
  • the remote control boat can only achieve simple underwater navigation.
  • the sling boat can only carry out simple material placement.
  • Simple fish identification can only be done through the sonar system.
  • These wading robots have a single function and are not intelligent enough to realize automatic control, material distribution, and fish-seeking operations in complex water environments, and cannot perform real-time image and video transmission according to underwater environment, or cannot achieve more. Angle, multi-degree of freedom observation, shooting, transmission, and to achieve sufficient intelligence, need to overcome the difficulties of the prior art, centralized research and development in order to obtain an ideal wading robot system.
  • the present invention provides a quick release structure and a multifunctional water absorbing robot to solve the technical problem that the existing wading robot application is not intelligent enough.
  • a quick release structure provided by the present invention includes: a connecting rod having a first end portion that is detachably attachable; and a button, comprising: a button surface located at a top end of the button, by pressing the button surface The button is moved up and down; the button compartment is located at the bottom end of the button, and the locking of the first end portion can be realized; the button wall is connected to the button surface and the button compartment, and the button surface and the button compartment are A through hole is formed therebetween for the first end to pass freely.
  • the first end portion includes: a flat position on the upper surface of the first end portion; a lock groove recessed inwardly along the lower surface of the first end portion, and is engaged with the button housing Locking of the connecting rod.
  • the lock grooves are plural and the depths are sequentially increased.
  • the first end portion further includes: at least one retaining groove extending along the first end to the first end end.
  • the key compartment includes: a key lock tongue to realize locking with the lock groove; and an elastic member elastically connected with the key lock tongue, and expands and contracts as the key moves up and down.
  • the key lock tongue includes a flat surface and a slope, the slope is locked with the lock groove; and the elastic member is elastically coupled to the slope.
  • the elastic member is a coil spring whose upper end is elastically coupled to the flat surface and the lower end is fixed to the outside of the key cylinder.
  • the button wall further includes at least one anti-retracting ear; the anti-retracting ear has an inwardly convex portion, the convex portion being slidable along the anti-recess groove.
  • the present invention also provides a wading robot comprising: a body; and a quick release structure as described above, the quick release structure being mounted at a tail of the wading robot.
  • the body further includes: a housing including a mounting portion on which the button is mounted, the button surface being flush with the outer surface of the housing after the button is mounted on the mounting portion.
  • the body further includes: a first wall hole at the tail of the housing for the first end to pass; and a second wall hole located inside the housing for the first One end passes; the first wall hole and the second wall hole are respectively located at two sides of the mounting portion.
  • the wading robot further includes a nester, the link having a second end, the second end being coupled to the slinger.
  • the elastic member is fixedly coupled to the inner surface of the housing.
  • the slinger includes: a slinger body fixedly coupled to the second end; the door is automatically opened/closed.
  • the slinger is turned over with the link, and the door of the slinger is opened after being turned over to release the bait.
  • the body comprises a camera system, the camera system comprising at least one camera, the camera being capable of adjusting a shooting angle with multiple degrees of freedom.
  • the disassembling and disassembling structure of the present invention is simple, and the disassembly of the dimple can be conveniently realized by only one button.
  • the flat position of the end of the connecting rod prevents the socket from being misplaced, and the lock groove is arranged at the bottom of the socket to engage with the key lock on the button.
  • the entire quick-release structure is simple and convenient, and has a high economy. value.
  • the multifunctional wading robot and the system thereof of the invention comprise a high degree of integration of a plurality of devices such as a camera, a nester, a fish finder and a tow hook, and are equipped with corresponding control operating systems and intelligent hardware connections, and
  • the versatile application of the wading robot intelligently, through the use of long-distance communication modules, multi-degree-of-freedom cameras, wireless remote controls, and intelligent fish finder settings, can meet the various needs of existing underwater, and can be real-time Underwater conditions for image or video transmission, intuitive control and display through the onshore visualization system, more convenient access to underwater rich terrain, the entire system is intuitive, easy to use, full-featured, with a large intelligent application prospects.
  • FIG. 1 is a schematic structural diagram of a multi-functional wading robot system according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of a multi-function wading robot system propeller system according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a camera system of a multi-functional wading robot system according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural view of a nesting device of a multi-functional wading robot system according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural view showing the connection state of the quick release structure of the socket device according to the embodiment of the present invention.
  • Fig. 6 is a perspective view showing the structure of the disconnected state of the quick release structure of the socket according to the embodiment of the present invention.
  • Fig. 7 is a side view showing the structure of the disconnected state of the quick release structure of the socket according to the embodiment of the present invention.
  • FIG. 8 is a schematic view showing the installation process of the quick release structure of the socket device according to the embodiment of the present invention.
  • FIG. 9 is a schematic view showing the disassembly process of the quick release structure of the socket device according to the embodiment of the present invention.
  • FIG. 10 is a schematic structural view of the quick release structure of the socket device according to the embodiment of the present invention.
  • Figure 11 is a schematic view showing the structure of the second end of the socket connector according to the embodiment of the present invention.
  • Figure 12 is a schematic view showing the structure of the slinger according to the embodiment of the present invention.
  • Figure 13 is a schematic view showing the structure of the body of the socket of the embodiment of the present invention.
  • first, second, third, etc. may be used to describe XXX in the embodiments of the present application, these XXX should not be limited to these terms. These terms are only used to distinguish XXX.
  • the first XXX may also be referred to as a second XXX without departing from the scope of the embodiments of the present application.
  • the second XXX may also be referred to as a first XXX.
  • the words “if” and “if” as used herein may be interpreted to mean “when” or “when” or “in response to determining” or “in response to detecting.”
  • the phrase “if determined” or “if detected (conditions or events stated)” may be interpreted as “when determined” or “in response to determination” or “when detected (stated condition or event) “Time” or “in response to a test (condition or event stated)”.
  • FIG. 1 it is a schematic structural diagram of a multi-functional wading robot system according to an embodiment of the present invention. Excluding the terminal part (ie, removing the APP and the remote controller away from the body) can be considered as belonging to the multifunctional wading robot part, and the multifunctional wading robot Including: a body 1 further comprising a propulsion system 11, a camera system 12, a communication system 13 and a control system 14, all of which belong to the body portion of the body 1; wherein the propulsion system 11 comprises at least one propeller 111, The camera system 12 includes at least one camera 121, and the camera 121 can adjust the shooting angle with multiple degrees of freedom; the communication system 13 includes a signal receiving module and a signal transmitting module, and the signal receiving module uses Receiving an external signal detected by the wading robot, the signal transmitting module is configured to transmit a signal to an external control system; the control system 14 is configured to control an operating state of the propulsion system 11 and adjust the shooting of the camera system 12 The angle
  • the body (hull) 1 shown in this section forms a main body 1 having a basic function by installing an avionics control system such as the propulsion system 11, the camera system 12, the communication system 13, and the control system 14.
  • the propulsion system 11 preferably includes at least one propeller 111. In this case, when the embodiment is a single propeller, the tail propulsion mode may be adopted, or the body 1 is directly pushed down to ensure that the wading robot can sail freely.
  • the propeller includes an engine and a propeller that is controlled by a control system 14 that can be mounted in a positive or negative propeller manner.
  • the camera system 12 includes a camera structure that employs a waterproof design that achieves angle adjustment and shooting by control of the control system 14.
  • the communication system 13 generally includes a signal receiving module for receiving an external signal detected by the wading robot, and a signal transmitting module for transmitting a signal to an external control system; the signal receiving The module is used on the one hand to receive signals returned by the wading robot's own detectors (eg depth detectors, temperature detectors, etc.) as well as video and image signals such as captured by the camera system, and on the other hand to receive control from the external remote control. signal.
  • the signal transmitting module is mainly used for transmitting an image and video signal to the onshore console, and a signal of the wading robot's own state information.
  • the transmitting or receiving signal module preferably employs a sonar module.
  • the sonar module has a certain transmission advantage in water.
  • the control system 14 is used to integrally control all of the work orders of the propulsion system 11, the camera system 12, and the communication system 13.
  • control system 14 may include a central processing element including a microprocessor, a single core processor, a multi-core processor, a microcontroller, a logic device (eg, a programmable logic device configured to perform processing functions) ), a data signal processing device or some other type of well known processor.
  • a central processing component is adapted to interact with the propulsion system 11, the camera system 12, and the communication system 13.
  • the propulsion system 11 of the present invention may include more than two propellers 111, preferably 2-7, by providing a plurality of propellers 111 in different directions at different positions of the body 1.
  • a plurality of posture adjustments of the body can be implemented.
  • the motion posture includes: forward, backward, left turn, right turn, rotation, shaking head, nodding, and the like.
  • a steering rudder may also be included, and the attitude adjustment of the body 1 is realized by a steering rudder provided in the body 1.
  • the steering rudder can be controlled in cooperation with the propeller 111 to realize the adjustment of the posture.
  • the two propellers are symmetrically disposed on both sides of the body 1, as shown in FIG. It is shown that the power of the two propellers is controlled at this time, so that one power is large and the power is small, and the steering rudder is turned to the side with low power, so that the function of turning left can be realized. Similarly, according to driving knowledge, it can be combined. The position and number of the propeller and the direction of the steering rudder can realize the adjustment of the forward, backward, left turn, right turn, rotation, shaking head, and nodding of the body.
  • the propeller 111 may be a motor combined with a propeller propeller or a water jet propeller.
  • the motor is combined with a propeller type propeller, and usually one motor drives a propeller.
  • the forward and reverse rotation of the motor can be matched with the propeller of the positive propeller.
  • the camera system 12 further includes: a first connecting rod 122; and a second connecting rod 123 connected to the first connecting rod 122 through the first rotating shaft 124. a second rotating shaft 125 connecting the camera 121 and the second connecting rod 123.
  • the first rotating shaft 124 and the second rotating shaft 125 can be driven by electric or manual means.
  • the rotation of the double rotating shaft described above can satisfy the underwater and underwater viewing angles, wherein the first rotating shaft 124 (elbow joint) is preferably electrically driven, and the second rotating shaft 125 (wrist joint) is preferably manual.
  • the camera supports two configurations of a 4K camera and an FHD camera.
  • the camera has a headlight that can provide a certain illumination to the camera.
  • the headlight can be at least one LED lamp and arranged in parallel with the camera to rotate together.
  • the brightness of the light is adjustable to suit different lighting needs, and the brightness can be adjusted to the darkest or off when no shooting is required.
  • the camera can be rotated 360 degrees around the second rotation axis to meet the needs of any angle shooting.
  • the user can flip the camera preview and recording interface by pressing a button on the APP to ensure that the camera mechanism can rotate forward after exceeding 90°. Preview and record images.
  • the headlight comprises a light control module, and a fish light and a light connected to the light control module respectively, wherein the light control module is used for controlling and adjusting the light source, and the light control module is electrically connected to the central control unit, and receiving Light control instructions issued by the central control unit.
  • the fishing light includes a waterproof circuit board and a plurality of LED light-emitting lamps disposed on the circuit board, wherein the LED light-emitting lamp emits visible light and invisible light, and the visible light includes at least red light, green light, and blue light, wherein The LED illuminating lamp can flash and emit light, thereby facilitating the attention of the fish group, and the invisible light includes at least infrared light, and the invisible light is set because the fish can sense the infrared in consideration of the fish's perception of light and the human eye.
  • the light control module can control the brightness and the color of the LED light according to the detection result of the sonar device. For example, when the target fish group is found to be far away, the light control module controls the fish light to emit light with strong penetrating power. The fish can also enhance the brightness of the light.
  • the wading robot may further include: a towing hook 2 disposed at the tail of the body 1 for dragging the load, and may be used for towing a fishing line hook, relief materials, and the like. After the user delivers the goods to the designated location, the tow hook is released, and the delivered materials will fall off the body by themselves.
  • the number of the tow hooks 2 is not particularly limited, and may be set to 1-3 according to the specific structure of the wading robot, so as to be sufficient to drag the load.
  • the tow hook is usually disposed on the body 1 by welding or an integral molding process, preferably disposed inside the tail of the body 1, in a more concealed manner.
  • the wading robot may further include: a socket 3 mounted on the body 1 for placing materials; and a cavity 31 in the socket for transporting the container
  • the materials bait, etc.
  • the slinger 3 and the tow hook 2 can be driven by a common driving mechanism, and the ejector cavity 31 can be flipped under the rotation of the driving shaft 32 to realize a releasing function.
  • the wading robot may further include: a fish finder 4 mounted on the body 1 and wired or wirelessly communicated with the body 1 through the communication system 13.
  • a fish finder 4 mounted on the body 1 and wired or wirelessly communicated with the body 1 through the communication system 13.
  • the video or image signal can be transmitted to the body 1.
  • the clear fish condition is sent to the onshore console.
  • the fish finder 4 may be disposed away from the body 1 , and the two may communicate by wireless communication, or the fish finder 4 may be disposed at the front end of the wading robot for detecting the fish around the front end. Group goal.
  • the fish finder 4 includes an underwater imaging system for capturing a dynamic image of the fish, and an infrared imaging device (such as an infrared camera) may be employed.
  • the imaging system can represent any type of infrared camera, for example, which detects infrared radiation and is provided with representative data (eg, one or more snapshots or video infrared images).
  • an imaging system can represent an infrared camera that points to a near, medium, and/or far infrared spectrum.
  • the imaging system can include a radar imaging device and/or a sonar imaging device for capturing images, and the control elements and display elements disposed on the remote control for communicating with the fish finder.
  • the imaging system can represent an imaging device that utilizes other or different components of the electromagnetic and/or acoustic spectrum.
  • the fish finder of the present invention comprises a casing, wherein the casing is provided with a sonar detecting module, an image collecting module, a fish trapping device and a central processing module; the sonar detecting module is used for detecting the underwater environment and the fish
  • the image capturing module is configured to record or capture an underwater image;
  • the fish attracting device is configured to attract the fish to the fish finder, the fish attracting device includes a fish finder lamp;
  • the acquisition module and the fish trapping device are electrically connected to the central processing module, respectively. The need to find fish, fish and observe the fishing process has been realized. At the same time, the combination of the fish trapping device and the fishing device has enhanced the practicality and interest of the entire wading robot system.
  • the present invention also provides a multi-functional wading robot system, comprising the wading robot of any of the above, and a remote controller, by which the wired robot or the wading robot is wired or Wireless control; visualizing a manipulation interface, through which the monitoring, control, trajectory setting, and video or picture browsing of the wading robot state are realized.
  • the wading robot performs at least one of autonomous cruise, automatic return, and automatic obstacle avoidance.
  • the remote controller may be an underwater or water remote controller, and the remote controller may communicate with the control of the wading robot by wired or wireless communication.
  • it can be remotely controlled by wireless.
  • This type of remote control is not limited by the underwater environment. It uses sonar to transmit wireless signals and can accurately communicate with the paired wading robots. Under normal circumstances, the underwater remote control needs to be tested for waterproofing, especially for the detection of environments such as seawater to ensure the normal use of underwater communication.
  • the remote controller can bring its own display screen, and can timely and accurately control the target situation detected in the underwater environment through timely visual operation, which facilitates the quick response of the wading robot.
  • wired control within a certain range can also be used, so that a large amount of video signals can be transmitted to the remote control device in time.
  • the visual manipulation interface is an APP or a console computer system, preferably implemented by means of a mobile phone APP, on which the monitoring, display, and running state parameters of the wading robot can be set and sent to the remote controller, and then The remote controller transmits a control command to the wading robot system.
  • the wading robot transmits the underwater video or image signal to the wireless remote controller by wire or wirelessly, and the wireless remote controller Transfer to the mobile phone APP, the APP performs display, and the control personnel re-transmits the control command to the wading robot according to the visual state, such as real-time fish or shooting or tracking.
  • the wading robot may also include a nester 3.
  • the invention also discloses a quick release structure of the socket. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
  • preferred embodiments of the quick release structure of the socket of the present invention will be described in detail with reference to the accompanying drawings.
  • Tapping device quick release structure embodiment 1
  • the embodiment of the present invention provides an innovation to the connection structure of the socket device, and provides a kind of innovation.
  • the quick release structure 6 is disposed on the body 1 as shown in FIG. 5-9, and specifically includes: a socket connector 61 for connecting the wading robot and the nesting body, and having freedom a first end portion 611 connected to the body of the wading robot, and a second end portion 612 connected to the body of the hopper; the button 62 is an elongated hollow structure, and the button 62 includes a button surface 621.
  • the button 62 is located at the top end of the button 62, and the button 62 is moved up and down by pressing the button surface 621.
  • the button surface 621 is a beveled surface or a slightly curved surface.
  • the external surface is consistent with the outer surface of the wading robot.
  • the button can maintain integrity with the wading robot body.
  • the color can form red, yellow, green and other beautiful colors, and the shape can be higher than the wading robot body or some concave body.
  • the material can also be made of plastic or metal after rough surface treatment.
  • the button housing 622 is located at the bottom end of the button 62 to enable locking of the first end portion 611; the button housing 622 is a separate hollow structure, and the lower portion is hollowed out, and the side wall of the button housing 622 is preferably slightly narrower than the The width of the body 62 side wall 623 of the button 62.
  • the key cylinder 622 further includes: a key lock tongue 6221 located at the top of the key cylinder 622 to achieve locking with the lock groove 6112 on the bottom surface of the link; a preferred embodiment based on the present invention
  • the button bolt 6221 includes a flat surface 62211 and a slope 62212.
  • the slope 62212 is a continuous surface of the flat surface 62211, and the two can be integrally formed.
  • the beveled surface 62212 achieves locking with the locking groove 6112; according to a preferred embodiment of the present invention, the inclined surface 62212 is a linear bevel or a curved bevel.
  • the elastic member 6222 can elastically connect the button 62 and the bottom of the wading robot housing up and down, so that the button 62 can be elastically reset after being pressed.
  • the elastic member 6222 is elastically coupled to the key lock tongue 6221, and the elastic member 6222 is elastically coupled to the flat surface 62211.
  • the telescopic movement is performed as the button 62 moves up and down.
  • the elastic member 6222 is a coil spring whose upper end is elastically coupled to the flat surface 62211 and the lower end is fixed to the outside of the key cylinder 622.
  • the connecting rod 61 pushes the inclined surface 62212 of the key lock tongue 6212, and under the guiding action of the inclined surface, the button 62 is forced to compress the spring 6222 downward.
  • the button 62 is pushed up by the compression spring 6222, and the button is pushed up.
  • the locking tongue 6221 is embedded in the locking groove of the connecting rod, and the connecting rod is locked.
  • the button wall 623 connects the button face 621 and the button compartment 622 and extends downward along the button face 621.
  • a through hole is formed between the button surface 621 and the button housing 622 for free passage of the first end portion 611.
  • the button wall 623 is generally integrally formed with the button surface 621 and has a certain rigidity to support the pressing force.
  • the link 61 there are two end portions, a freely detachable first end portion 611 connected to the wading robot body, and a second end portion 612 connected to the nester cabin.
  • the first end portion 611 includes a flat position 6111 on the upper surface of the first end portion 611 for ensuring the insertion direction of the connecting rod 61. When inserting, the front and back surfaces of the connecting rod can be easily identified. .
  • the actual size of the flat position 6111 can be set as needed so as not to exceed half the thickness of the link 61.
  • the locking groove 6112 is recessed inwardly along the lower surface of the first end portion 611, and cooperates with the button housing 622 to lock the connecting rod 61.
  • the lock groove 6112 is plural, more preferably, the depth is sequentially increased, and the lock groove 6112 may be provided as a continuous corrugated shape, the groove depth is sequentially increased, or any other shape to enable The locking tongue is suitable.
  • the first end portion 611 further includes: at least one retaining groove 6113 extending along the first end portion 611 to the end of the first end portion 611 and sliding out from the end face opening .
  • the anti-back grooves 6113 are two, and are arranged in parallel on both sides of the first end portion 611, one on each side.
  • the anti-back groove should be straight, which is convenient for the ear to slip.
  • the button wall 623 further includes at least one backrest ear 6231; the backrest ear 6231 has at least one convex portion 62311 inward, and the protrusion portion 62311 can be along The stop groove 6113 slides.
  • the number of raised portions 62311 should be comparable to the number of said retaining grooves.
  • the convex portion 62311 may have a tapered or tapered structure. On the one hand, it is easy to lock in the retaining groove, so that the entire button cannot be bounced upward, and on the other hand, it must be easy to slide in the retaining groove.
  • the disassembling and disassembling structure of the invention is simple, and the disassembly of the dimple can be conveniently realized only by one button.
  • the socket is prevented from being misaligned by the flat position at the end of the connecting rod, and the locking groove is arranged at the bottom of the socket to engage with the key lock tongue on the button, and the connecting rod pushes the button tongue obliquely during the insertion process.
  • the button Under the action of the inclined surface, the button is forced to compress the compression spring downward. After the connecting rod is inserted into the position, the button is pushed by the compression spring, and the key lock tongue is pushed up into the locking groove of the connecting rod, and the connecting rod is locked.
  • the button lock tongue is separated from the lock groove of the connecting rod; at the same time, the backrest ear on the button is inserted into the retaining groove of the connecting rod, and the button cannot be bounced upward. At this point, the connecting rod is pulled out and the button is reset.
  • the entire quick-release structure has no screws and screws, and no additional electronic control equipment. It is simple and convenient, and has high economic value.
  • the embodiment further provides a water-related robot, which specifically includes a wading robot body, a propeller system, a battery system, a GPS positioning module, a control system, a socket, and the above embodiment.
  • a water-related robot which specifically includes a wading robot body, a propeller system, a battery system, a GPS positioning module, a control system, a socket, and the above embodiment.
  • the socket dismounting structure is disposed at the tail of the body for connecting with the socket.
  • the propeller system includes a propeller motor, a drive shaft, and a propeller.
  • the motor of the propeller can independently control the forward rotation or the reverse rotation, thereby driving the propeller to rotate by the drive shaft, thereby realizing the forward, backward, and cornering actions of the wading robot.
  • the propeller portion may include a grid structure to prevent entry of debris such as water and grass from damaging the propulsion system.
  • the battery system supplies power to the entire wading robot, which is the core component of the entire wading robot. Since the wading robot itself is an underwater device, it is necessary to seal and waterproof the various parts of the wading robot to prevent leakage short circuit.
  • the battery system may employ a series or parallel configuration of multiple cells.
  • the charging circuit is preferably designed to be fast charged, and is designed with an overcharge protection circuit.
  • the battery system is designed as a quick-release structure for snapping to realize convenient charging of the battery. Of course, the battery can also be designed as a whole structure with the wading robot, which will further improve the waterproof performance.
  • the battery system transmits the voltage to a rotating electric machine, a propeller motor, a lighting unit, and the like after being transformed by a transformer.
  • the wading robot further includes a central control system that receives a control signal sent by the external remote control device, and the external control may send the control signal through the mobile phone APP or send a control command through the mobile phone, and then receive the control signal through the wireless receiving system of the wading robot. The control information is then fed back to the component that needs to be actuated.
  • the wading robot body further includes a housing 63 including a mounting portion 631 on which the button 62 is mounted. After the button 62 is mounted on the mounting portion 631, the button surface 621 It is flush with the outer surface of the housing 63.
  • the mounting portion 631 is a groove that matches the shape of the button 62 for the insertion of the button 62 to maintain integrity after insertion.
  • the wading robot body further includes: a first wall hole 64 located at the tail of the casing 63 for the first end portion 611 to pass through, the wall hole The circumference can be polished by a sanding process to facilitate the insertion/extraction of the connecting rod.
  • the wall hole is circular and the shape should match the connecting rod;
  • the second wall hole 65 is located inside the casing 63 for the first The one end portion 611 passes through, and the second wall hole 65 can adopt a blind hole or a through hole; the first wall hole 64 and the second wall hole 65 are respectively located at two sides of the mounting portion 631.
  • the connecting rod 61 When the connecting rod 61 is inserted, it firstly protrudes from the first wall hole 64, and is inserted into the second wall hole along the through hole of the button 62. At this time, during the insertion process, the connecting rod pushes the inclined surface of the key lock tongue under the guiding of the inclined surface.
  • the button is forced to compress the compression spring downward, and after the link is inserted into the second wall hole 65, the button 62 is pushed up by the compression spring, and the key lock tongue is inserted into the lock groove of the link, and the link is locked.
  • the apertures of the first wall hole 64 and the second wall hole 65 are equivalent to the diameter of the first end portion 611; the through hole aperture is larger than the first wall hole 64 and the second wall The aperture of the aperture 65. Easy to insert and pull out while maintaining the appearance of the housing.
  • the link 61 has a second end 612 that is coupled to the socket. Further, the elastic member is fixedly coupled to the inner surface of the casing 63. The spring can independently provide the elastic force when the button is pressed.
  • the second end portion 612 includes an upper profile 6121 and a lower profile 6122.
  • the upper profile 6121 and the lower profile 6122 may be symmetrically or asymmetrically disposed, and may be planar or otherwise.
  • the shape, the upper profile 6121 and the lower profile 6122 are different in size, and cooperate with the profile in the hub connection shaft hole 31 to achieve torque transmission.
  • the disassembling and disassembling structure of the invention is simple, and the disassembly of the dimple can be conveniently realized only by one button.
  • the socket is prevented from being misaligned by the flat position at the end of the connecting rod, and the locking groove is arranged at the bottom of the socket to engage with the key lock tongue on the button, and the connecting rod pushes the button tongue obliquely during the insertion process.
  • the button Under the action of the inclined surface, the button is forced to compress the compression spring downward. After the connecting rod is inserted into the position, the button is pushed by the compression spring, and the key lock tongue is pushed up into the locking groove of the connecting rod, and the connecting rod is locked.
  • the button lock tongue is separated from the lock groove of the connecting rod; at the same time, the backrest ear on the button is inserted into the retaining groove of the connecting rod, and the button cannot be bounced upward. At this point, the connecting rod is pulled out and the button is reset.
  • the entire quick-release structure has no screws and screws, and no additional electronic control equipment. It is simple and convenient, and has high economic value.
  • the multifunctional wading robot and system thereof of the present invention comprise a high degree of integration of a plurality of devices such as a camera, a nester, a fish finder, and a tow hook, and are equipped with corresponding control operating systems and intelligence.
  • the hardware connection increases the intelligent multi-functional application of the wading robot.
  • the multi-degree-of-freedom camera, the wireless remote control, and the intelligent fish finder it can meet the various needs of the existing underwater. It can transmit images or videos underwater in real time, and intuitively control and display through the onshore visualization system, which makes it easier to obtain underwater rich terrain.
  • the whole system is intuitive, easy to use, fully functional, and has a large Smart application prospects.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

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Abstract

一种快拆结构（6）及包括该快拆结构（6）的涉水机器人。快拆结构（6）包括：连杆（61），其具有可自由拆装的第一端部（611）；按键（62），包括按键面（621），位于所述按键（62）顶端，通过按压所述按键面（621）使所述按键（62）上下移动；按键仓（622），位于所述按键（6）底端，能够实现所述第一端部（611）的锁止；和按键壁（623），连接所述按键面（621）、按键仓（622），于所述按键面（621）和按键仓（622）之间形成一通孔，供所述第一端部（611）自由通过。该快拆结构简单，只需要通过一个按键（62）即可方便的实现打窝器（3）与机器人本体（1）的拆卸。

Description

快拆结构及涉水机器人 技术领域
本发明涉及一种快拆结构和涉水机器人，特别涉及一种可用于打窝器的快拆结构和多功能涉水机器人及其系统。
背景技术
现有的市面上的涉水机器人常见的有遥控船、打窝船、探鱼器，其中遥控船只能实现简单的水中航行，所述打窝船只能进行简易的物料投放，所述探鱼器只能通过声呐系统进行简单的鱼群识别。这些涉水机器人功能单一，智能化程度不高，不能实现复杂水域环境下的自动控制、物料配送、寻鱼等操作，更不能根据水下环境进行实时的图像、视频的传输，或者无法实现多角度、多自由度的观察、拍摄、传输，而要实现足够的智能化，需要克服现有技术中的诸多困难，进行集中研发才能获得较理想的涉水机器人系统。
发明内容
因此，本发明提供一种快拆结构和多功能涉水机器人，以解决现有涉水机器人应用不够智能化的技术问题。
为了达成上述目的，本发明提供的一种快拆结构，包括：连杆，具有可自由拆装的第一端部；按键，包括：按键面，位于所述按键顶端，通过按压所述按键面使所述按键上下移动；按键仓，位于所述按键底端，能够实现所述第一端部的锁止；按键壁，连接所述按键面、按键仓，于所述按键面和按键仓之间形成一通孔，供所述第一端部自由通过。
根据本发明的一个方面，所述第一端部包括：扁位，位于所述第一端部上表面；锁槽，沿所述第一端部下表面向内凹陷，与所述按键仓配合实现对所述连杆的锁止。
根据本发明的一个方面，所述锁槽为多个，且深度依次递增。
根据本发明的一个方面，所述第一端部还包括：至少一个止退槽，沿所述第一端部延伸至所述第一端部末端。
根据本发明的一个方面，所述按键仓包括：按键锁舌，实现与所述锁槽的锁止；弹性部件，与所述按键锁舌弹性连接，随着所述按键的上下移动而伸缩。
根据本发明的一个方面，所述按键锁舌包括一平坦面和一斜面，所述斜面实现与所述锁槽的锁止；所述弹性部件与所述所述斜面弹性连接。
根据本发明的一个方面，所述弹性部件为螺旋弹簧，其上端与所述平坦面弹性连接，下端固定于所述按键仓外部。
根据本发明的一个方面，所述按键壁还包括至少一个止退耳；所述止退 耳具有向内的凸起部，所述凸起部可沿所述止退槽滑动。
本发明还提供一种涉水机器人，包括：本体；和如上所述的快拆结构，所述快拆结构安装在所述涉水机器人尾部。
根据本发明的一个方面，所述本体还包括：壳体，包括安装所述按键的安装部，所述按键安装于安装部后，所述按键面与所述壳体外表面齐平。
根据本发明的一个方面，所述本体还包括：第一壁孔，位于所述壳体尾部，供所述第一端部通过；第二壁孔，位于所述壳体内部，供所述第一端部通过；所述第一壁孔和第二壁孔分别位于所述安装部两侧。
根据本发明的一个方面，所述涉水机器人还包括打窝器，所述连杆具有第二端部，所述第二端部与所述打窝器连接。
根据本发明的一个方面，弹性部件与所述壳体内表面固定连接。
根据本发明的一个方面，所述打窝器包括：打窝器舱体，与所述第二端部固定连接；舱门，能自动打开/关闭。
根据本发明的一个方面，所述打窝器随着连杆进行翻转，翻转后所述打窝器的舱门打开，释放饵料。
根据本发明的一个方面，所述本体包括摄像系统，所述摄像系统包括至少一个摄像头，所述摄像头能够多自由度的调整拍摄角度。
综上所述，本发明的打窝器拆装结构简单，只需要通过一个按键即可方便的实现打窝器的拆卸。通过连杆端部的扁位防止打窝器安装错位，通过在打窝器底部设置锁槽，使其与按键上的按键锁舌配合卡止，整个快拆结构简单方便，具有较高的经济价值。本发明的多功能涉水机器人及其系统，包含了相机、打窝器、寻鱼器、拖钩器等多个设备的高度集成，并配以相应的控制操作系统和智能硬件连接，加大了涉水机器人智能化的多功能应用，通过使用远距离通讯模块，多自由度相机，无线遥控器，智能寻鱼器的设置，能够满足现有水下的多种需求，并能够实时的将水下情况进行图像或视频传输，通过岸上可视化系统直观的进行控制、显示，更加便捷的获得水下丰富的地形地貌，整个系统直观、应用方便、功能齐全，具有较大的智能应用前景。有关本发明的前述及其他技术内容、特点与功效，在以下配合参考附图的实施例的详细说明中，将可清楚的呈现。
附图说明
图1为本发明实施例多功能涉水机器人系统结构示意图。
图2为本发明实施例多功能涉水机器人系统推进器系统结构示意图。
图3为本发明实施例多功能涉水机器人系统摄像系统结构示意图。
图4为本发明实施例多功能涉水机器人系统打窝器结构示意图。
图5是本发明实施例所述打窝器快拆结构的连接状态结构示意图。
图6是本发明实施例所述打窝器快拆结构的分离状态结构立体示意图。
图7是本发明实施例所述打窝器快拆结构的分离状态结构侧视图。
图8是本发明实施例所述打窝器快拆结构的安装过程示意图。
图9是本发明实施例所述打窝器快拆结构的拆卸过程示意图。
图10是本发明实施例所述打窝器快拆结构的拆卸时结构示意图。
图11是本发明实施例所述打窝器连杆第二端的结构示意图。
图12是本发明实施例所述打窝器结构示意图。
图13是本发明实施例所述打窝器舱体结构示意图。
具体实施方式
为了使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明作进一步地详细描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。
在本申请实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义，“多种”一般包含至少两种。
应当理解，本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
应当理解，尽管在本申请实施例中可能采用术语第一、第二、第三等来描述XXX，但这些XXX不应限于这些术语。这些术语仅用来将XXX区分开。例如，在不脱离本申请实施例范围的情况下，第一XXX也可以被称为第二XXX，类似地，第二XXX也可以被称为第一XXX。
取决于语境，如在此所使用的词语“如果”、“若”可以被解释成为“在……时”或“当……时”或“响应于确定”或“响应于检测”。类似地，取决于语境，短语“如果确定”或“如果检测(陈述的条件或事件)”可以被解释成为“当确定时”或“响应于确定”或“当检测(陈述的条件或事件)时”或“响应于检测(陈述的条件或事件)”。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的商品或者系统不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种商品或者系统所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定 的要素，并不排除在包括所述要素的商品或者系统中还存在另外的相同要素。
下面结合附图1-4详细说明本发明的优选实施例。
如图1所示，为本发明实施例多功能涉水机器人系统结构示意图，除去终端部分(即除去远离本体的APP和遥控器)可以认为属于多功能涉水机器人部分，该多功能涉水机器人包含：本体1，所述本体1进一步包括推进系统11、摄像系统12、通讯系统13以及控制系统14，这些都属于本体1本体部分；其中，所述推进系统11包括至少一个推进器111，用于改变所述本体1的运动姿态；摄像系统12包括至少一个摄像头121，所述摄像头121能够多自由度的调整拍摄角度；通讯系统13包括信号接收模块和信号发射模块，所述信号接收模块用于接收所述涉水机器人探测到的外部信号，所述信号发射模块用于向外部控制系统发射信号；控制系统14用于控制所述推进系统11的工作状态、调整所述摄像系统12的拍摄角度以及所述通讯系统13内外部的通讯。根据本发明的一个实施例，涉水机器人可以是一种多功能无人船。
本部分所示的本体(船体)1内部通过安装推进系统11、摄像系统12、通讯系统13以及控制系统14等航电控制系统后形成具有基本功能的本体1。推进系统11，优选的至少包括一个推进器111，此时，当实施方式为单一推进器时，可以采用尾部推动方式，或者本体1正下方推动方式设置，保证所述涉水机器人可以自由航行。通常的，所述推进器包括发动机和螺旋桨，所述发动机通过控制系统14进行控制，螺旋桨可以采用正桨或反桨的安装方式。摄像系统12，包括采用防水设计的相机结构，其通过控制系统14的控制实现角度的调节和拍摄。通讯系统13通常包括信号接收模块和信号发射模块，所述信号接收模块用于接收所述涉水机器人探测到的外部信号，所述信号发射模块用于向外部控制系统发射信号；所述信号接收模块一方面用于接收涉水机器人自身的探测器(例如深度探测器、温度探测器等)返回的信号以及诸如摄像系统拍摄的视频、图像信号，另一方面用于接收外部遥控器发出的控制信号。而所述信号发射模块主要用于向岸上控制台发射图像视频信号，以及涉水机器人自身状态信息的信号。所述发射或接收的信号模块优选采用声呐模块。声呐模块在水中具有一定的传输优势。控制系统14用于整体控制所述推进系统11、所述摄像系统12以及所述通讯系统13所有的工作指令。
在一种实施方式中，控制系统14可包括中央处理元件，包括微处理器、单核处理器、多核处理器、微控制器、逻辑设备(例如：配置用于执行处理功能的可编程逻辑设备)、数据信号处理设备或者一些其他类型的公知处理器。中央处理元件适于与所述推进系统11、所述摄像系统12以及所述通讯系统13进行交互通信。
具体的，如图2所示，本发明所述的推进系统11可以包括两个以上推进器111，优选为2-7个，通过在本体1的不同位置，不同方向设置多个推进 器111，再结合控制系统14的灵活控制，可以实现本体的多个姿态调整，例如的运动姿态包括：前进、后退、左转、右转、旋转、摇头、点头等。当然，优选的实施方式中，还可以包括一个转向舵，通过设置于所述本体1内的转向舵实现本体1的姿态调整。当然，所述转向舵可以和所述推进器111配合控制，实现姿态的调整，例如，当采用双推进器111工作时，两个推进器对称设置于所述本体1两侧，如图2所示，此时控制两个推进器的功率，使其一个功率大一个功率小，并使转向舵掰向功率小的一侧，这样就可以实现左转的功能，同样，根据驾驶知识，可以结合推进器的设置位置、数量以及转向舵的方向，可以实现本体的前进、后退、左转、右转、旋转、摇头、点头等调整。
本发明的实施方式中，所述推进器111可以为电机结合螺旋桨式推进器或喷水推进器。其中优选采用电机结合螺旋桨式推进器，通常一个电机带动一个螺旋桨，当然，所述电机正转反转可以匹配正桨反桨进行推进。
如图3所示，本发明的其中之一实施方式，所述摄像系统12还包括：第一连接杆122；第二连接杆123，与所述第一连接杆122通过第一转动轴124连接；第二转动轴125，连接所述摄像头121与所述第二连接杆123。所述第一转动轴124、第二转动轴125均可通过电动或手动方式驱动。上述的双转动轴旋转，可满足水上及水下视角拍摄，其中第一转动轴124(肘关节)优选为电驱动，第二转动轴125(腕关节)优选为手动。所述相机支持4K相机和FHD相机两种配置，相机具有前照灯，能够给相机拍摄提供一定的照度，该前照灯可以为至少一个LED灯，并与摄像头并列布置，一起旋转，该LED灯亮度可调，以适应不同的光照需要，同时，当不需要拍摄时，可以将亮度调到最暗或者关闭。所述相机可以围绕第二转动轴360度旋转，以适应任何角度的拍摄需要，用户可通过在APP上的按键一键翻转相机预览及录制界面，以保证相机机构旋转超过90°后可以正向预览及录制图像。
优选的，前照灯包括灯光控制模块，以及和灯光控制模块分别连接的诱鱼灯和照明灯，灯光控制模块用于控制和调节光源，同时灯光控制模块与中央控制单元电性连接，接收由中央控制单元下达的灯光控制指令。诱鱼灯包括防水电路板板和设置在电路板上的多个LED发光灯，其中，所述LED发光灯可发出可见光和不可见光，所述可见光至少包括红光、绿光以及蓝色光，其中，所述的LED发光灯可闪烁发光，从而利于引起鱼群注意，而所述的不可见光至少包括红外光，设置不可见光是因为考虑到鱼对光的感知与人眼不同，鱼可感知红外光。进一步的，灯光控制模块可根据声呐装置的探测结果控制LED发光灯的亮度和发光颜色，比如当发现目标鱼群距离较远时，灯光控制模块控制诱鱼灯发射穿透力强的光来进行诱鱼，同时也可以增强发光的亮度。
如图1、图4所示，所述涉水机器人还可以包括：拖钩器2，设置于所述 本体1尾部，用于拖拽负载，可用于拖挂鱼线鱼钩、救援物资等，用户运送物资至指定地点后释放拖钩器，所运送物资会自行从本体上脱落。所述拖钩器2的数量不做具体限制，可以根据所述涉水机器人的具体结构设置1-3个，以足以拖拽负载为宜。所述拖钩器通常通过焊接或一体成型工艺设置于本体1上，优选的，设置于本体1尾部内侧，以较隐蔽的方式实现。
优选的，如图4所示，所述涉水机器人还可以包括：打窝器3，挂载于所述本体1上，用于投放物资；打窝器内设空腔31，可将需要运送的物资(饵料等)装载在空腔31内，由本体运送至指定位置后，通过旋转驱动机构将空腔内物资释放至水面。所述打窝器3与拖钩器2可采用共同驱动机构，也可以单独驱动，所述打窝器空腔31在驱动轴32的转动下，空腔跟随翻转，从而实现释放功能。
所述涉水机器人还可以包括：寻鱼器4，挂载于所述本体1上，通过所述通讯系统13与所述本体1进行有线或无线通讯。当所述寻鱼器4发现鱼群目标时，可以将视频或图像信号传输到本体1，本体1经过分析去燥后，将清晰的鱼群情况发送到岸上控制台。该寻鱼器4可以是脱离所述本体1的方式进行设置，二者通过无线通讯方式实现通信，也可以是寻鱼器4设置于所诉涉水机器人的前端，用于探测前端周围的鱼群目标。
优选的，寻鱼器4包括水下成像系统，用于捕捉鱼群动态图像，可以采用红外成像设备(例如红外摄像机)。成像系统可以代表任意类型的红外摄像机，举例来说，该红外摄像机检测红外辐射并且提供有代表数据(例如，一个或多个快照或视频红外图像)。例如，成像系统可以代表指向近、中和/或远红外光谱的红外摄像机。在其他实施中，成像系统可以包括用于捕捉图像的雷达成像设备和/或声纳成像设备，并且设置于遥控器的控制元件和显示元件用于与寻鱼器彼此通信。在另一种实施方式中，成像系统可以代表利用电磁和/或声谱的其他或不同部件的成像设备。
优选的，本发明的寻鱼器包括壳体，所述壳体内设置有声呐探测模块，图像采集模块，诱鱼装置和中央处理模块；所述声呐探测模块，用于探测水下环境、及鱼群所在位置；所述图像采集模块，用于录制或拍摄水下图像；所述诱鱼装置用于引诱鱼靠近探鱼器，所述诱鱼装置包括诱鱼灯；所述声呐探测模块、图像采集模块和诱鱼装置分别与中央处理模块电性连接。实现了寻鱼、探鱼和观察钓鱼进程等多方面的需求，同时结合诱鱼装置和捕鱼的装置，增强了整个涉水机器人系统的实用性和趣味性。
另外的实施例中，本发明还提供了一种多功能涉水机器人系统，包含上述任一所述的涉水机器人，以及遥控器，通过所述遥控器实现与所述涉水机器人的有线或无线控制；可视化操控界面，通过所述可视化操控界面实现所述涉水机器人状态的监测、控制、轨迹设置、以及视频或图片浏览。所述涉水机器人进行自主巡航、自动返航和自动避障运动的至少其中之一。
根据本发明的其中之一实施方式，所述遥控器可以为水下或水上遥控器，该遥控器可以采用有线或无线的通讯方式与所述涉水机器人的控制通讯。一般情况下可以采用无线方式进行遥控，这种遥控方式不受水下环境的限制，采用声呐传输无线信号，能够准确的与配对的涉水机器人进行通信。通常情况下，水下遥控器需要做好防水测试，尤其是适应诸如海水等环境的检测，才能保证水下通信的正常使用。优选的，遥控器可以自带显示屏，通过及时的可视化操作，能够准确的对水下环境中探测到的目标情况及时的做出控制，方便了涉水机器人的快速响应。当然，也可以采用在一定范围内的有线控制，这样能够及时的将大量的视频信号传输到遥控设备。
所述可视化操控界面为APP或操控台电脑系统，优选通过手机APP的方式实现，在所述手机APP上，可以设置涉水机器人的监控、显示、运行状态参数，并发送到遥控器，然后所述遥控器将控制命令发送到所述涉水机器人系统，另一方面，所述涉水机器人将水下的视频或图像信号通过有线或无线的方式传输到无线遥控器，所述无线遥控器再传输到手机APP，所述APP进行显示，控制人员根据可视化状态，再发射控制命令到涉水机器人，例如实时扑鱼或者拍摄或者跟踪等。
如上所述，所述涉水机器人还可以包括打窝器3。本发明还公开一种打窝器快拆结构。下面结合附图详细说明本发明的打窝器快拆结构的优选实施例。
打窝器快拆结构实施例1
随着水下设备应用的越来越广泛，对于水下设备的结构进行有针对性的改进也是必然的，本发明实施例提供的就是对打窝器连接结构的一种创新，提供了一种打窝器快拆结构6，设置在所述本体1上，如图5-9所示，具体包括：打窝器连杆61，用于连接涉水机器人和打窝器舱体，具有可自由拆装的与涉水机器人本体连接的第一端部611，以及与打窝器舱体连接的第二端部612；按键62，为细长体空心结构，该按键62包括：按键面621，位于所述按键62顶端，通过按压所述按键面621使所述按键62上下移动；按键面621为一斜面或略带圆弧面，优选，外部表面与涉水机器人本体外表面材质一致，这样当按键复位时，按键能够与涉水机器人本体保持完整性。当然，为了便于识别按键的位置，也可以通过颜色、材质、结构的变形有所区别，例如颜色可以形成红、黄、绿等艳色，形状可以高出涉水机器人本体一些或凹进本体一些，材质也可以采用表面粗糙处理后的塑料或金属等。
按键仓622，位于所述按键62底端，能够实现所述第一端部611的锁止；按键仓622为一独立的空心结构，下部镂空，按键仓622侧壁优选为略窄于所述按键62本体侧壁623的宽度。基于本发明的实施方式，所述按键仓622还包括：按键锁舌6221，位于所述按键仓622的顶部，实现与连杆底面所述锁槽6112的锁止；基于本发明的优选实施方式，所述按键锁舌6221包括一 平坦面62211和一斜面62212，所述斜面62212为所述平坦面62211的延续面，二者可以一体成型。所述斜面62212实现与所述锁槽6112的锁止；基于本发明的优选实施方式，所述斜面62212为直线形斜面或弧形斜面。
弹性部件6222，能够上下弹性连接所述按键62和涉水机器人壳体底部，使所述按键62在按压后能够弹性复位。具体的，根据本发明优选的实施方式，弹性部件6222与所述按键锁舌6221弹性连接，所述弹性部件6222与所述平坦面62211弹性连接。随着所述按键62的上下移动而伸缩。基于本发明的优选实施方式，所述弹性部件6222为螺旋弹簧，其上端与所述平坦面62211弹性连接，下端固定于所述按键仓622外部。连杆61在插入过程中，推动按键锁舌6221斜面62212，在斜面导向作用下迫使按键62向下压缩弹簧6222，连杆插到位后，按键62在压缩弹簧6222作用下，向上弹起，按键锁舌6221嵌入连杆的锁槽，连杆被锁定。
按键壁623，连接所述按键面621和按键仓622，并沿所述按键面621向下延伸。于所述按键面621和按键仓622之间形成一通孔，供所述第一端部611自由通过，按键壁623通常与按键面621一体成型，且具有一定的刚性，以支撑按压力。
基于本发明的实施方式，对于连杆61，包括两个端部，可自由拆装的与涉水机器人本体连接的第一端部611，以及与打窝器舱体连接的第二端部612，所述第一端部611包括：扁位6111，位于所述第一端部611上表面，用于保证连杆61的插入方向，在插入时，很容易的就可以辨别连杆的正反面。扁位6111的实际大小可以根据需要设定，以不超过连杆61的一半厚度为宜。锁槽6112，沿所述第一端部611下表面向内凹陷，与所述按键仓622配合实现对所述连杆61的锁止。
基于本发明的优选实施方式，所述锁槽6112为多个，更优选的，深度依次递增，也可以设置锁槽6112为连续的波纹状，纹路深度依次递增，或者其他任何形状，以能够与锁舌卡止为宜。
基于本发明的实施方式，所述第一端部611还包括：至少一个止退槽6113，沿所述第一端部611延伸至所述第一端部611末端，并从末端面开口滑出。
基于本发明的优选实施方式，所述止退槽6113为两个，平行的分布于所述第一端部611两侧，每侧一个。当然，也可以在每一侧设置平行的多个止退槽，配合多个止退耳进行滑行。当然，所述止退槽应当为直线型，便于止退耳滑行。
相应的，基于本发明的实施方式，所述按键壁623还包括至少一个止退耳6231；所述止退耳6231具有向内的至少一个凸起部62311，所述凸起部62311可沿所述止退槽6113滑动。凸起部62311的数量应当与所述止退槽的数量相当。优选的，所述凸起部62311可以为锥形或契形结构。一方面，便 于卡止于止退槽，使按键整体不能向上弹起，另一方面，也必须便于在止退槽内滑动。
本发明的打窝器拆装结构简单，只需要通过一个按键即可方便的实现打窝器的拆卸。通过连杆端部的扁位防止打窝器安装错位，通过在打窝器底部设置锁槽，使其与按键上的按键锁舌配合卡止，连杆在插入过程中，推动按键锁舌斜面，在斜面导向作用下迫使按键向下压缩压缩弹簧，连杆插到位后，按键在压缩弹簧作用下，向上弹起按键锁舌嵌入连杆的锁槽，连杆被锁定。拆卸连杆时，向下按动按键到底，按键锁舌脱离连杆的锁槽；同时按键上的止退耳嵌入进连杆的止退槽，按键不能向上弹起。此时拔出连杆，按键复位。整个快拆结构没有螺丝、螺钉的固定，也没有额外的电控设备，简单方便，具有较高的经济价值。
如图7-8所示，本实施方式还提供一种涉水机器人，具体包括，涉水机器人本体、推进器系统、电池系统、GPS定位模块、控制系统、打窝器以及如上实施例所述的打窝器拆装结构。其中所述的打窝器拆装结构的细节不再赘述。本实施方式中，所述打窝器拆装结构，设置于所述本体尾部，用于与打窝器连接。
所述推进器系统包括推进器马达、驱动轴以及螺旋桨。推进器的马达可以单独控制正转或反转，从而通过驱动轴带动螺旋桨转动，实现涉水机器人的前进、后退、拐弯等动作。所述螺旋桨部分可以包括栅格结构，以防止水草等杂物的进入破坏推进系统。
而电池系统给整个涉水机器人提供电力供应，属于整个涉水机器人的核心部件，而且由于涉水机器人本身为水下装置，需要对涉水机器人的各个部位进行密封防水设计，以防止漏电短路。所述电池系统可以采用多电芯的串联或并联结构。其中充电电路优选设计为快充，同时设计有防过充保护电路。所述电池系统设计为卡接的快拆结构，以实现电池的方便充电，当然，所述电池也可以设计为与涉水机器人一体结构，这样会更加提升防水性能。所述电池系统通过变压器变压后将所述电压输送给旋转电机、推进器电机、照明单元等位置。
所述涉水机器人还包括中央控制系统，其接收外部遥控装置发送的控制信号，所述外部控制可以通过手机APP发送或者手势发送控制命令后，通过涉水机器人的无线接收系统接收该控制信号，进而将控制信息反馈到需要动作的部件。
上述推进器系统、电池系统、GPS定位模块、控制系统置于涉水机器人本体内部。具体的，基于本发明的实施方式，所述涉水机器人本体还包括：壳体63，包括安装所述按键62的安装部631，所述按键62安装于安装部631后，所述按键面621与所述壳体63外表面齐平。其中安装部631为一与按键62形状匹配的凹槽，供按键62插入，插入后保持完整性。
如图7-8所示，基于本发明的实施方式，所述涉水机器人本体还包括：第一壁孔64，位于所述壳体63尾部，供所述第一端部611通过，壁孔四周可以采用打磨工艺打磨，便于连杆的插入/拔出，优选所述壁孔为圆形，形状应当跟连杆匹配；第二壁孔65，位于所述壳体63内部，供所述第一端部611通过，所述第二壁孔65可以采用盲孔或通孔；所述第一壁孔64和第二壁孔65分别位于所述安装部631两侧。当连杆61插入时，首先从第一壁孔64伸入，沿着按键62的通孔插入第二壁孔，这时连杆在插入过程中，推动按键锁舌斜面，在斜面导向作用下迫使按键向下压缩压缩弹簧，连杆插到第二壁孔65后，按键62在压缩弹簧作用下，向上弹起按键锁舌嵌入连杆的锁槽，连杆被锁定。后续，当拔出连杆时，向下按动按键到底，按键锁舌脱离连杆的锁槽；同时按键上的止退耳嵌入进连杆的止退槽，按键不能向上弹起。此时拔出连杆，按键复位。
基于本发明的实施方式，所述第一壁孔64和第二壁孔65的孔径与所述第一端部611直径相当；所述通孔孔径大于所述第一壁孔64和第二壁孔65的孔径。便于插入拔出，同时保持壳体外观的整洁性。
基于本发明的实施方式，所述连杆61具有第二端部612，所述第二端部612与打窝器连接。另外，弹性部件与所述壳体63内表面固定连接。使得按键在按压时，弹簧能够独立的提供弹力。
如图11-13所示，所述第二端部612包括上型面6121和下型面6122，所述上型面6121和下型面6122可以对称或非对称设置，可以为平面型或其他形状，所述上型面6121和下型面6122尺寸不同，与打窝器连接轴孔31内的型面相配合，实现扭矩的传递。所述连接杆61插入打窝器连接轴孔31后，与打窝器壳体实现稳定连接，当驱动机构进行扭转，所述转轴带动所述连接杆61发生转动，进而带动所述壳体发生倾斜，此时，打窝器舱门33在重力作用下与底壳32分离，其中的饵料从开口释放到水中。当驱动机构发生回复扭转后，打窝器舱门在重力作用下与底壳扣合，回复到闭合状态，完成饵料的投放，如图13所示。
本发明实施例的上述方案与现有技术相比，至少具有以下有益效果：
本发明的打窝器拆装结构简单，只需要通过一个按键即可方便的实现打窝器的拆卸。通过连杆端部的扁位防止打窝器安装错位，通过在打窝器底部设置锁槽，使其与按键上的按键锁舌配合卡止，连杆在插入过程中，推动按键锁舌斜面，在斜面导向作用下迫使按键向下压缩压缩弹簧，连杆插到位后，按键在压缩弹簧作用下，向上弹起按键锁舌嵌入连杆的锁槽，连杆被锁定。拆卸连杆时，向下按动按键到底，按键锁舌脱离连杆的锁槽；同时按键上的止退耳嵌入进连杆的止退槽，按键不能向上弹起。此时拔出连杆，按键复位。整个快拆结构没有螺丝、螺钉的固定，也没有额外的电控设备，简单方便，具有较高的经济价值。
综上所述，本发明的多功能涉水机器人及其系统，包含了相机、打窝器、寻鱼器、拖钩器等多个设备的高度集成，并配以相应的控制操作系统和智能硬件连接，加大了涉水机器人智能化的多功能应用，通过使用远距离通讯模块，多自由度相机，无线遥控器，智能寻鱼器的设置，能够满足现有水下的多种需求，并能够实时的将水下情况进行图像或视频传输，通过岸上可视化系统直观的进行控制、显示，更加便捷的获得水下丰富的地形地貌，整个系统直观、应用方便、功能齐全，具有较大的智能应用前景。有关本发明的前述及其他技术内容、特点与功效，在以下配合参考附图的实施例的详细说明中，将可清楚的呈现。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (16)

  1. 一种快拆结构，其特征在于，包括：
    连杆，具有可自由拆装的第一端部；
    按键，包括：
    按键面，位于所述按键顶端，通过按压所述按键面使所述按键上下移动；
    按键仓，位于所述按键底端，能够实现所述第一端部的锁止；
    按键壁，连接所述按键面、按键仓，于所述按键面和按键仓之间形成一通孔，供所述第一端部自由通过。
  2. 如权利要求1所述的快拆结构，其特征在于，所述第一端部包括：
    扁位，位于所述第一端部上表面；
    锁槽，沿所述第一端部下表面向内凹陷，与所述按键仓配合实现对所述连杆的锁止。
  3. 如权利要求2所述的快拆结构，其特征在于，所述锁槽为多个，且深度依次递增。
  4. 如权利要求2所述的快拆结构，其特征在于，所述第一端部还包括：至少一个止退槽，沿所述第一端部延伸至所述第一端部末端。
  5. 如权利要求4所述的快拆结构，其特征在于，所述按键仓包括：
    按键锁舌，实现与所述锁槽的锁止；
    弹性部件，与所述按键锁舌弹性连接，随着所述按键的上下移动而伸缩。
  6. 如权利要求5所述的快拆结构，其特征在于，所述按键锁舌包括一平坦面和一斜面，所述斜面实现与所述锁槽的锁止；所述弹性部件与所述所述斜面弹性连接。
  7. 如权利要求6所述的快拆结构，其特征在于，所述弹性部件为螺旋弹簧，其上端与所述平坦面弹性连接，下端固定于所述按键仓外部。
  8. 如权利要求7所述的快拆结构，其特征在于，所述按键壁还包括至少一个止退耳；所述止退耳具有向内的凸起部，所述凸起部可沿所述止退槽滑动。
  9. 一种涉水机器人，包括：
    本体；和
    如权利要求1-9任一所述的快拆结构，所述快拆结构安装在所述涉水机器人尾部。
  10. 如权利要求10所述涉水机器人，其特征在于，所述本体还包括：
    壳体，包括安装所述按键的安装部，所述按键安装于安装部后，所述按键面与所述壳体外表面齐平。
  11. 如权利要求11所述涉水机器人，其特征在于，所述本体还包括：
    第一壁孔，位于所述壳体尾部，供所述第一端部通过；
    第二壁孔，位于所述壳体内部，供所述第一端部通过；
    所述第一壁孔和第二壁孔分别位于所述安装部两侧。
  12. 如权利要求10至12任一所述涉水机器人，其特征在于，所述涉水机器人还包括打窝器，所述连杆具有第二端部，所述第二端部与所述打窝器连接。
  13. 如权利要求13所述涉水机器人，其特征在于，弹性部件与所述壳体内表面固定连接。
  14. 根据权利要求13所述涉水机器人，其特征在于，所述打窝器包括：
    打窝器舱体，与所述第二端部固定连接；
    舱门，能自动打开/关闭。
  15. 根据权利要求15所述的涉水机器人，其特征在于，所述打窝器随着连杆进行翻转，翻转后所述打窝器的舱门打开，释放饵料。
  16. 根据权利要求10-16中任一项所述的涉水机器人，其特征在于，所述本体包括摄像系统，所述摄像系统包括至少一个摄像头，所述摄像头能够多自由度的调整拍摄角度。
PCT/CN2018/123944 2017-12-27 2018-12-26 快拆结构及涉水机器人 WO2019129079A1 (zh)

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