A folding antenna device for an autonomous underwater robot

Abstract

The present invention belongs to the technical field of underwater robots, and particularly relates to a folding antenna device for an autonomous underwater robot. The device includes an antenna folding mechanism, a driving mechanism, and a pressure-resistant cabin, wherein an antenna accommodating groove is provided on the top of the pressure-resistant cabin, and the antenna folding mechanism is arranged in the antenna accommodating groove; the driving mechanism is arranged in the pressure-resistant cabin, and passes through the cabin of the pressure-resistant cabin to be transmission-connected with the antenna folding mechanism, thereby driving the antenna folding mechanism to unfold or fold. The present invention has a simple and compact structure. When the autonomous underwater robot needs to communicate or locate on the water surface, the antenna folding mechanism is in an unfolded state. Since the antenna length is not limited by the cabin diameter and cabin section length of the pressure-resistant cabin, it can be selected according to actual needs, so the signal strength of the antenna can be guaranteed; when the autonomous underwater robot is sailing underwater, the antenna folding mechanism is in a folded state, which reduces the frontal flow area of ​​the antenna component, thereby reducing the underwater navigation resistance of the autonomous underwater robot and increasing the endurance time.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater robots, and in particular relates to a folding antenna device for an autonomous underwater robot. Background Art

[0002] In modern times, with the rapid development of economy, marine technology and equipment, people have been conducting more and more in-depth research in the field of ocean exploration. Autonomous underwater vehicles (AUVs) have been widely used in the field of ocean exploration due to their strong scalability and fast movement speed. AUVs have limited range due to the limited internal space of the pressure cabin and the limited energy density of the power battery. Reducing the underwater navigation resistance of AUVs is currently the most direct way to improve their endurance.

[0003] Because electromagnetic waves attenuate too quickly underwater, the antenna components of the autonomous underwater robot cannot be used underwater. On the other hand, it adds additional navigation resistance to the autonomous underwater robot when it navigates underwater.

[0004] At present, although there are devices such as folding and lifting antennas suitable for autonomous underwater robots, which can effectively solve the problem of additional underwater navigation resistance of autonomous underwater robots caused by antenna components, there are still problems such as the transmission mechanism is too complicated, the space occupied in the pressure-resistant chamber is too large, and the height of the antenna is limited after it is raised, resulting in poor signal. Summary of the invention

[0005] In order to solve the problem of additional resistance caused by antenna components when an autonomous underwater robot navigates underwater, and to solve the problems of existing folding and lifting antenna technical solutions occupying too much space in the pressure cabin and limited height of the antenna after lifting, the present invention proposes a folding antenna device for an autonomous underwater robot. When the device is in a folded state, the outer end of the antenna is tightly attached to the outer wall of the pressure cabin, reducing the underwater navigation resistance of the autonomous underwater robot; when the device is in an unfolded state, the antenna stands upright. Since the length of the antenna is not limited by the cabin diameter and cabin section length of the pressure cabin, it can be selected according to actual needs, so the signal strength of the antenna can be guaranteed; on the other hand, the device has a simple and compact structure, occupies only a small part of the upper space of the pressure cabin, and is suitable for micro autonomous underwater robots with a smaller pressure cabin diameter.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] The present invention provides a folding antenna device for an autonomous underwater robot, comprising an antenna folding mechanism, a driving mechanism and a pressure-resistant cabin, wherein an antenna accommodating groove is provided on the top of the pressure-resistant cabin, and the antenna folding mechanism is arranged in the antenna accommodating groove; the driving mechanism is arranged in the pressure-resistant cabin, and passes through the cabin body of the pressure-resistant cabin to be transmission-connected with the antenna folding mechanism, and the driving mechanism is used to drive the antenna folding mechanism to unfold or fold.

[0008] The antenna folding mechanism includes a bottom bracket, a stepped shaft, a No. 1 rotating shaft, an antenna bracket, a crank-connecting rod mechanism, an antenna seat and an antenna assembly, wherein the bottom bracket is connected to the bottom of the antenna accommodating groove, and the bottom bracket is provided with a transmission shaft through hole and an antenna wiring through hole; the stepped shaft and the No. 1 rotating shaft are installed in parallel at both ends of the bottom bracket and are rotatable, and the driving mechanism is connected to the stepped shaft through the transmission shaft through the through hole; the lower end of the antenna bracket is connected to the No. 1 rotating shaft, the antenna seat is arranged on the antenna bracket, and the antenna assembly is arranged on the antenna seat and the antenna bracket; the stepped shaft is connected to the antenna seat through the crank-connecting rod mechanism; the driving mechanism drives the antenna bracket to swing around the No. 1 rotating shaft through the crank-connecting rod mechanism.

[0009] The two ends of the stepped shaft are supported by ceramic bearing I and ceramic bearing II respectively, and the end of the stepped shaft is axially limited by shaft end retaining spring I;

[0010] Both ends of the No. 1 rotating shaft are supported by ceramic bearing III and ceramic bearing IV respectively, and the end of the No. 1 rotating shaft is axially limited by a flat washer I and a hexagonal nut I.

[0011] The crank-connecting rod mechanism includes a crank, a connecting rod, a No. 2 rotating shaft and a No. 3 rotating shaft, wherein one end of the crank and the connecting rod are hinged through the No. 3 rotating shaft, the other end of the crank is fixedly connected to the stepped shaft, and the other end of the connecting rod is hinged to the antenna base through the No. 2 rotating shaft.

[0012] One end of the connecting rod is connected to the No. 3 rotating shaft through a ceramic bearing V; the other end of the connecting rod is connected to the No. 2 rotating shaft through a ceramic bearing VI, and the end of the No. 2 rotating shaft is axially limited by a shaft end retaining spring II.

[0013] The antenna assembly comprises a GPS antenna, a WI FI antenna and a radio antenna, wherein the GPS antenna is arranged on the antenna seat; the WI FI antenna and the radio antenna are arranged on the upper part of the antenna bracket.

[0014] A potting groove is provided at the bottom of the antenna accommodating groove, and the signal line of the antenna assembly passes through the potting groove through the antenna wiring hole and is connected to the antenna control board inside the pressure cabin; the inside of the potting groove 31 is potted with epoxy resin.

[0015] An end cover fixedly connected to the pressure cabin is provided at the top of the antenna accommodating groove, and a strip groove is provided on the end cover. The antenna bracket is accommodated in the strip groove after being folded.

[0016] The driving mechanism includes a bevel gear II, a bevel gear I, a large spur gear, a transmission shaft, a small spur gear, a steering gear and a steering gear mounting seat, wherein the steering gear mounting seat is connected to the pressure cabin, the steering gear is installed on the steering gear mounting seat, and the output end of the steering gear is connected to the small spur gear; the transmission shaft is rotatably mounted on the cabin body of the pressure cabin, the lower end of the transmission shaft is connected to the large spur gear, and the large spur gear is meshed with the small spur gear; the upper end of the transmission shaft passes through the transmission shaft through-hole on the bottom bracket and is connected to the bevel gear I, the bevel gear II is fixed on the stepped shaft, and the bevel gear II is meshed with the bevel gear I.

[0017] The transmission shaft is sleeved with an O-type sealing ring I and an O-type sealing ring II.

[0018] Advantages and beneficial effects of the present invention:

[0019] 1. The present invention drives the antenna folding mechanism to unfold and fold by means of a steering gear driving mechanism. When the autonomous underwater robot is sailing underwater, the antenna folding mechanism is in a folded state, thereby reducing the frontal flow area of ​​the antenna when the autonomous underwater robot is sailing underwater, thereby reducing the underwater sailing resistance;

[0020] 2. Compared with the existing solutions, the antenna folding mechanism of the present invention is not limited by the diameter or length of the pressure cabin, the usable antenna length is longer, and the communication signal of the antenna is better;

[0021] 3. The folding mechanism described in the present invention has a simple and compact structure and occupies only a small portion of the upper space of the pressure cabin, and can be applied to micro autonomous underwater robots with a smaller diameter of the pressure cabin. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of a folding antenna device for an autonomous underwater robot of the present invention;

[0023] Figure 2 is an axonometric diagram of the antenna folding mechanism of the present invention;

[0024] Figure 3 It is a front view of the antenna folding mechanism in the present invention;

[0025] Figure 4 It is a structural schematic diagram of the driving mechanism in the present invention;

[0026] Figure 5 A schematic diagram of the positions of the positioning pin holes and the threaded holes on the pressure cabin of the present invention;

[0027] Figure 6 It is a schematic diagram of the structure of the end cover in the present invention;

[0028] In the figure: 1 is the antenna folding mechanism, 11 is the bottom bracket, 1101 is the threaded hole I, 1102 is the transmission shaft through hole, 1103 is the threaded hole II, 1104 is the antenna wiring through hole, 1105 is the threaded hole III, 12 is the stepped shaft, 13 is the bevel gear II, 14 is the No. 1 rotating shaft, 15 is the hexagonal nut I, 16 is the flat washer I, 17 is the antenna bracket, 1701 is the antenna wiring through hole II, 18 is the No. 3 rotating shaft, 19 is the crank I, 110 is the crank Ⅱ, 111 is a flat washer Ⅱ, 112 is a hexagonal nut Ⅱ, 113 is a connecting rod, 114 is an antenna seat, 115 is a GPS antenna, 116 is a WIFI antenna, 117 is a radio antenna, 118 is a reamed hole top screw Ⅰ, 119 is a ceramic bearing Ⅰ, 120 is a reamed hole top screw Ⅱ, 121 is a reamed hole top screw Ⅲ, 122 is a ceramic bearing Ⅲ, 123 is a ceramic bearing Ⅱ, 124 is a shaft end retaining ring Ⅰ, 125 is a ceramic bearing Ⅳ, 126 is a ceramic Bearing V, 127 is No. 2 rotating shaft, 128 is shaft end retaining spring II, 129 is ceramic bearing VI, 2 is driving mechanism, 21 is bevel gear I, 22 is reaming top screw IV, 23 is ceramic bearing VII, 24 is O-type sealing ring I, 25 is O-type sealing ring II, 26 is ceramic bearing VIII, 27 is shaft end retaining spring III, 28 is large spur gear, 29 is hexagonal nut, 210 is transmission shaft, 211 is ceramic bearing IX, 212 is small spur gear, 213 is steering gear, 214 is a cylindrical locating pin Ⅰ, 215 is an inner hexagon screw Ⅰ, 216 is a reamed hole top screw Ⅴ, 217 is a cylindrical locating pin Ⅱ, 219 is an inner hexagon screw Ⅱ, 220 is a steering gear mounting seat, 3 is a pressure cabin, 31 is a potting groove, 32 is a locating hole Ⅰ, 33 is a threaded hole Ⅳ, 34 is a locating hole Ⅱ, 35 is a threaded hole Ⅴ, 4 is an end cover, 41 is a threaded hole Ⅵ, 130 is an inner hexagon screw Ⅲ, 131 is a cylindrical locating pin Ⅲ, and 132 is an inner hexagon screw Ⅳ. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] like Figure 1As shown, the present invention provides a folding antenna device for an autonomous underwater robot, comprising an antenna folding mechanism 1, a driving mechanism 2 and a pressure cabin 3, wherein an antenna accommodating groove is provided on the top of the pressure cabin 3, and the antenna folding mechanism 1 is arranged in the antenna accommodating groove; the driving mechanism 2 is arranged in the pressure cabin 3, and is connected to the antenna folding mechanism 1 through the cabin body of the pressure cabin 3, and the driving mechanism 2 is used to drive the antenna folding mechanism 1 to unfold or fold. When the device is in a folded state, the antenna is tightly attached to the outer wall of the pressure cabin, reducing the underwater navigation resistance of the autonomous underwater robot; when the device is in an unfolded state, the antenna stands upright, and since the antenna length is not limited by the cabin body diameter and cabin section length of the pressure cabin, it can be selected according to actual needs, so the signal strength of the antenna can be guaranteed.

[0031] like Figure 2-3 As shown, in an embodiment of the present invention, the antenna folding mechanism 1 includes a bottom bracket 11, a stepped shaft 12, a No. 1 rotating shaft 14, an antenna bracket 17, a crank-connecting rod mechanism, an antenna seat 114 and an antenna assembly, wherein the bottom bracket 11 is connected to the bottom of the antenna accommodating groove, and the bottom bracket 11 is provided with a transmission shaft through hole 1102 and an antenna wiring through hole 1104; the stepped shaft 12 and the No. 1 rotating shaft 14 are installed in parallel at both ends of the bottom bracket 11 and are rotatable, and the driving mechanism 2 is connected to the stepped shaft 12 through the transmission shaft through hole 1102; the lower end of the antenna bracket 17 is connected to the No. 1 rotating shaft 14, the antenna seat 114 is arranged on the antenna bracket 17, and the connection between the antenna seat 114 and the antenna bracket 17 is filled with potting glue, the purpose of which is to fix the antenna seat 114 on the antenna bracket 17. The antenna assembly is arranged on the antenna seat 114 and the antenna bracket 17; the stepped shaft 12 is connected to the antenna seat 114 through a crank-connecting rod mechanism; the driving mechanism 2 drives the antenna bracket 17 to swing around the No. 1 rotating shaft 14 through the crank-connecting rod mechanism.

[0032] Specifically, the two ends of the stepped shaft 12 are supported by ceramic bearings Ⅰ119 and Ⅱ123 respectively, in order to reduce the friction between the stepped shaft 12 and the bottom bracket 11 when the stepped shaft 12 rotates; the end of the stepped shaft 12 is installed with a shaft end retaining spring Ⅰ124, which is used to limit the axial movement of the stepped shaft 12. The two ends of the No. 1 rotating shaft 14 are supported by ceramic bearings Ⅲ122 and Ⅳ125 respectively, and the end of the No. 1 rotating shaft 14 is axially limited by a flat washer Ⅰ16 and a hexagonal nut Ⅰ15.

[0033] In an embodiment of the present invention, the crank-connecting rod mechanism includes a crank, a connecting rod 113, a rotating shaft No. 2 127 and a rotating shaft No. 3 18, wherein one end of the crank and the connecting rod 113 are hinged through the rotating shaft No. 3 18, the other end of the crank is fixedly connected to the stepped shaft 12, and the other end of the connecting rod 113 is hinged to the antenna base 114 through the rotating shaft No. 2 127.

[0034] Specifically, Figure 3As shown, one end of the connecting rod 113 is connected to the No. 3 rotating shaft 18 through a ceramic bearing V126; the other end of the connecting rod 113 is connected to the No. 2 rotating shaft 127 through a ceramic bearing VI129, and the end of the No. 2 rotating shaft 127 is axially limited by a shaft end retaining ring II128. In this embodiment, the crank includes a crank I19 and a crank II110, and the other ends of the crank I19 and the crank II110 are sleeved on the stepped shaft 12 and fixed by a reaming hole top screw I118 and a reaming hole top screw III121, respectively.

[0035] like Figure 2 As shown, in the embodiment of the present invention, the antenna assembly includes a GPS antenna 115, a WIFI antenna 116 and a radio antenna 117, wherein the GPS antenna 115 is potted and fixed on the antenna base 114; the WIFI antenna 116 and the radio antenna 117 are potted and fixed on the upper part of the antenna bracket 17. The length of the antenna bracket 17 depends on the length of the WIFI antenna 116 and the radio antenna 117 installed on the antenna bracket 17 and the maximum output torque of the steering gear 213. The signal lines of the three antennas are led out through the antenna routing through hole II 1701 inside the antenna bracket 17.

[0036] like Figure 1 As shown, in the embodiment of the present invention, a potting groove 31 is provided at the bottom of the antenna accommodating groove, and the signal lines of the GPS antenna 115, the WIFI antenna 116 and the radio antenna 117 pass through the potting groove 31 through the antenna wiring through-hole 1104 and are connected to the antenna control board inside the pressure cabin 3; the inside of the potting groove 31 is potted, specifically with epoxy resin, in order to make the inside of the pressure cabin 3 a watertight cabin.

[0037] Specifically, threaded holes Ⅰ1101, Ⅱ1103 and Ⅲ1105 are provided at the edge of the bottom bracket 11, and the bottom bracket 11 is connected to the pressure cabin 3 through the threaded holes.

[0038] Furthermore, if Figure 1 , Figure 6 As shown, the top of the antenna accommodating groove is provided with an end cover 4 fixedly connected to the pressure cabin 3, threaded holes VI 41 are provided on both sides of the end cover 4, and a strip groove is provided on the end cover 4. The antenna bracket 17 is folded and accommodated in the strip groove, and the width of the strip groove is adapted to the width of the antenna bracket 17.

[0039] like Figure 4As shown, in the embodiment of the present invention, the driving mechanism 2 includes a bevel gear II13, a bevel gear I21, a large spur gear 28, a transmission shaft 210, a small spur gear 212, a steering gear 213 and a steering gear mounting seat 220, wherein the steering gear mounting seat 220 is connected to the pressure cabin 3, the steering gear 213 is mounted on the steering gear mounting seat 220, and is fixed by a reamed hole top screw V216, and the output end of the steering gear 213 is connected to the small spur gear 212; the upper end of the rotating shaft of the small spur gear 212 is connected to the cabin body of the pressure cabin 3 through a ceramic bearing IX211, and the purpose of installing the ceramic bearing IX211 is to reduce the friction of rotation and to fix the rotating shaft of the small spur gear 212; the transmission shaft 210 is rotatably mounted on the cabin body of the pressure cabin 3. Specifically, the transmission shaft 210 is supported by a ceramic bearing VII 23 and a ceramic bearing VIII 26, and the friction force of the transmission shaft 210 relative to the pressure-resistant cabin 3 is reduced by installing the ceramic bearing VII 23 and the ceramic bearing VIII 26. The transmission shaft 210 is sleeved with an O-ring I 24 and an O-ring II 25 to form a dynamic seal. The lower end of the transmission shaft 210 is connected to a large spur gear 28, and the two sides of the large spur gear 28 are axially limited by a hexagonal nut 29 and a shaft end retaining spring III 27, respectively, to limit the axial movement of the transmission shaft 210 relative to the pressure-resistant cabin 3. The large spur gear 28 is meshed with the small spur gear 212, and the ratio of the number of teeth of the large spur gear 28 to the small spur gear 212 is 2:1; the upper end of the transmission shaft 210 passes through the transmission shaft through hole 1102 on the bottom bracket 11 and is connected to the bevel gear I21, and the bevel gear I21 is fixed by the hinged hole top screw IV22, and the bevel gear II13 is fixed on the stepped shaft 12 and fixed by the hinged hole top screw II120. The bevel gear II13 is meshed with the bevel gear I21 for transmission, thereby realizing the unfolding and folding of the antenna folding mechanism 1.

[0040] Specifically, Figure 5 As shown, a positioning hole I32, a threaded hole IV33, a positioning hole II34 and a threaded hole V35 are provided on the inner wall of the pressure cabin 3, wherein the positioning hole I32 and the threaded hole IV33 are located at the upper part, and the positioning hole II34 and the threaded hole V35 are located at the lower part, and the upper part of the servo mounting seat 220 is connected to the positioning hole I32 and the threaded hole IV33 respectively through a cylindrical positioning pin I214 and a hexagon socket screw I215, and the lower part of the servo mounting seat 220 is connected to the positioning hole II34 and the threaded hole V35 respectively through a cylindrical positioning pin II217 and a hexagon socket screw II219.

[0041] The working principle of the present invention is:

[0042] When the autonomous underwater robot is on the water surface, the steering gear 213 of the driving mechanism 2 works, and the rotation speed is reduced and the torque is increased through the differential transmission of the small spur gear 212 and the large spur gear 28 in turn, driving the bevel gear 21Ⅰ on the transmission shaft 210 to rotate, and the bevel gear Ⅰ21 is meshed with the bevel gear Ⅱ13 of the antenna folding mechanism 1 to drive the antenna bracket 17 of the antenna folding mechanism 1 to rotate, and the antenna bracket 17 drives the GPS antenna 115, the WI FI antenna 116 and the radio antenna 117 to rise, and when the antenna bracket 17 is in an upright state, the steering gear 213 stops rotating and is locked.

[0043] After the autonomous underwater robot completes preparation on the water surface and before sailing underwater, the steering gear 213 rotates to rotate the antenna bracket 17 of the antenna folding structure 1 downward, and the antenna bracket 17 drives the GPS antenna 115, the WI FI antenna 116 and the radio antenna 117 to descend, and finally the antenna bracket 17 and the antenna seat 114 are in contact with the outer surface of the pressure cabin 3, thereby reducing the navigation resistance of the autonomous underwater robot when sailing underwater.

[0044] The present invention provides a folding antenna device for an autonomous underwater robot. When the autonomous underwater robot is navigating underwater, the antenna folding mechanism 1 is in a folded state, and the antenna bracket 17 and the antenna seat 114 are attached to the outer surface of the pressure-resistant cabin 3, so as to reduce the navigation resistance of the autonomous underwater robot when navigating underwater. When the autonomous underwater robot needs to be positioned by the GPS antenna 115 on the water surface and exchanges information with the control end by the WI FI antenna 116 or the radio antenna 117, the antenna folding mechanism 1 is in an unfolded state, and the antenna bracket 17 is erected at a maximum erection angle of 90 degrees. Since the antenna length is not limited by the cabin diameter and cabin length of the pressure-resistant cabin, it can be selected according to actual needs, ensuring the signal strength of the WI FI antenna, GPS antenna and radio antenna.

[0045] The present invention provides a folding antenna device for an autonomous underwater robot, which has a simple and compact structure and occupies only a small portion of the space above the pressure cabin, and is applicable to a miniature autonomous underwater robot with a smaller pressure cabin diameter. When the autonomous underwater robot needs to communicate or locate on the water surface, the antenna folding mechanism is in an unfolded state. Since the antenna length is not limited by the cabin diameter and cabin length of the pressure cabin, it can be selected according to actual needs, so the signal strength of the antenna can be guaranteed; when the autonomous underwater robot is sailing underwater, the antenna folding mechanism is in a folded state, which reduces the frontal flow area of ​​the antenna component, thereby reducing the underwater navigation resistance of the autonomous underwater robot and increasing the endurance time.

[0046] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A folding antenna device for an autonomous underwater robot, characterized in that: The invention comprises an antenna folding mechanism (1), a driving mechanism (2) and a pressure-resistant cabin (3), wherein an antenna accommodating groove is provided on the top of the pressure-resistant cabin (3), and the antenna folding mechanism (1) is arranged in the antenna accommodating groove; the driving mechanism (2) is arranged in the pressure-resistant cabin (3), and passes through the cabin body of the pressure-resistant cabin (3) to be transmission-connected with the antenna folding mechanism (1), and the driving mechanism (2) is used to drive the antenna folding mechanism (1) to unfold or fold; The antenna folding mechanism (1) comprises a bottom bracket (11), a stepped shaft (12), a No. 1 rotating shaft (14), an antenna bracket (17), a crank connecting rod mechanism, an antenna seat (114) and an antenna assembly, wherein the bottom bracket (11) is connected to the bottom of the antenna accommodating groove, and a transmission shaft through hole (1102) and an antenna wiring through hole (1104) are provided on the bottom bracket (11); the stepped shaft (12) and the No. 1 rotating shaft (14) are parallelly mounted at both ends of the bottom bracket (11) and are rotatable. The driving mechanism (2) passes through the transmission shaft through-hole (1102) and is connected to the stepped shaft (12); the lower end of the antenna bracket (17) is connected to the No. 1 rotating shaft (14); the antenna seat (114) is arranged on the antenna bracket (17); and the antenna assembly is arranged on the antenna seat (114) and the antenna bracket (17); the stepped shaft (12) is connected to the antenna seat (114) through a crank connecting rod mechanism; and the driving mechanism (2) drives the antenna bracket (17) to swing around the No. 1 rotating shaft (14) through the crank connecting rod mechanism.

2. The folding antenna device for an autonomous underwater robot according to claim 1, characterized in that: The two ends of the stepped shaft (12) are supported by a ceramic bearing I (119) and a ceramic bearing II (123) respectively, and the end of the stepped shaft (12) is axially limited by a shaft end retaining spring I (124); The two ends of the No. 1 rotating shaft (14) are supported by a ceramic bearing III (122) and a ceramic bearing IV (125) respectively, and the end of the No. 1 rotating shaft (14) is axially limited by a flat washer I (16) and a hexagonal nut I (15).

3. The folding antenna device for an autonomous underwater robot according to claim 1, characterized in that: The crank-connecting rod mechanism comprises a crank, a connecting rod (113), a No. 2 rotating shaft (127) and a No. 3 rotating shaft (18), wherein one end of the crank and the connecting rod (113) are hinged via the No. 3 rotating shaft (18), the other end of the crank is fixedly connected to the stepped shaft (12), and the other end of the connecting rod (113) is hinged to the antenna seat (114) via the No. 2 rotating shaft (127).

4. The folding antenna device for an autonomous underwater robot according to claim 3, characterized in that: One end of the connecting rod (113) is connected to the No. 3 rotating shaft (18) through a ceramic bearing V (126); the other end of the connecting rod (113) is connected to the No. 2 rotating shaft (127) through a ceramic bearing VI (129), and the end of the No. 2 rotating shaft (127) is axially limited by an axis end retaining spring II (128).

5. The folding antenna device for an autonomous underwater robot according to claim 1, characterized in that: The antenna assembly comprises a GPS antenna (115), a WIFI antenna (116) and a radio antenna (117), wherein the GPS antenna (115) is arranged on the antenna base (114); and the WIFI antenna (116) and the radio antenna (117) are arranged on the upper part of the antenna bracket (17).

6. The folding antenna device for an autonomous underwater robot according to claim 1, characterized in that: A potting groove (31) is provided at the bottom of the antenna accommodating groove, and a signal line of the antenna assembly passes through the potting groove (31) through an antenna wiring through-hole (1104) and is connected to an antenna control board inside the pressure-resistant cabin (3); the inside of the potting groove (31) is potted with epoxy resin.

7. The folding antenna device for an autonomous underwater robot according to claim 1, characterized in that: An end cover (4) fixedly connected to the pressure-resistant cabin (3) is provided at the top of the antenna accommodation groove, and a strip groove is provided on the end cover (4), and the antenna bracket (17) is accommodated in the strip groove after being folded.

8. The folding antenna device for an autonomous underwater robot according to claim 1, characterized in that: The driving mechanism (2) comprises a bevel gear II (13), a bevel gear I (21), a large spur gear (28), a transmission shaft (210), a small spur gear (212), a steering gear (213) and a steering gear mounting seat (220), wherein the steering gear mounting seat (220) is connected to the pressure-resistant cabin (3), the steering gear (213) is mounted on the steering gear mounting seat (220), and the output end of the steering gear (213) is connected to the small spur gear (212); the transmission shaft (210 ) is rotatably mounted on the cabin body of the pressure cabin (3), the lower end of the transmission shaft (210) is connected to the large spur gear (28), and the large spur gear (28) is meshed with the small spur gear (212); the upper end of the transmission shaft (210) passes through the transmission shaft through hole (1102) on the bottom bracket (11) and is connected to the bevel gear I (21), the bevel gear II (13) is fixed on the stepped shaft (12), and the bevel gear II (13) is meshed with the bevel gear I (21).

9. The folding antenna device for an autonomous underwater robot according to claim 8, characterized in that: The transmission shaft (210) is sleeved with an O-type sealing ring I (24) and an O-type sealing ring II (25).

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