A modular folding antenna device for autonomous remote control of underwater robots

Abstract

The present invention relates to the technical field of underwater robots, and in particular to a modular folding antenna device for an autonomous remote-controlled underwater robot. The device comprises an integrated board, an antenna base and an integrated antenna. A folding drive mechanism is arranged in the antenna base. The folding drive mechanism comprises a power output end and a rotation drive end. The power output end drives the rotation drive end to rotate between a first position and a second position. The rotation drive end is connected to the integrated antenna. When the rotation drive end rotates to the first position, the integrated antenna is located outside the antenna base in an upright state. When the rotation drive end rotates to the second position, the integrated antenna is located inside the antenna base in a folded state. The integrated antenna of the present invention is modularly designed and is easy to repair and replace. The integrated antenna has an autonomous folding function and can effectively reduce the resistance of the autonomous remote-controlled underwater robot when it is navigating underwater.

Description

Technical Field

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

[0002] Autonomous and Remotely-operated Vehicle (ARV) is a new generation of underwater robots after Autonomous Underwater Vehicle (AUV) and Remote Operated Vehicle (ROV). It is widely used in scientific research, hydrological detection, wind power system maintenance and other fields. ARV has the dual operational capabilities of AUV's large-scale detection and ROV's local-range precision operation, while also retaining some traditional components on AUV or ROV, such as the antenna component on AUV used to communicate with the shore-based control system. The antenna component generally includes WIFI, radio, GPS and 4G antennas.

[0003] On the one hand, in order to have a good communication height, the antennas on ARVs are generally upright rod-shaped antennas. When underwater, due to the reflection and strong absorption of electromagnetic waves by the water body, the communication or positioning antennas based on electromagnetic waves cannot work, and the rod-shaped antenna destroys the hydrodynamic shape of the ARV and increases the navigation resistance. On the other hand, the internal structure of the rod-shaped antenna on the ARV is generally to fix the WIFI, radio, GPS and other antennas together through support parts, the outer layer is vulcanized with vulcanized rubber, and the feeder of each antenna enters the sealed cabin through threading bolts and is connected to the antenna board. This structural form makes the maintenance and disassembly of the ARV antenna large and not easy to replace. Summary of the invention

[0004] In response to the shortcomings of the above-mentioned existing production technology, the present application provides a modular foldable antenna device for an autonomous remote-controlled underwater robot, which can fold the antenna assembly as needed, reducing the navigation resistance of the antenna assembly and the risk of collision of the antenna assembly; at the same time, the antenna and the antenna board are integrated into one to form an integral antenna device, which communicates with the autonomous remote-controlled underwater robot body through a multi-pin plug at the bottom of the device, making disassembly and maintenance convenient and quick.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A modular folding antenna device for an autonomous remote-controlled underwater robot comprises an integrated board, an antenna base and an integrated antenna, wherein a folding drive mechanism is arranged inside the antenna base, the folding drive mechanism comprises a power output end and a rotation drive end, the power output end drives the rotation drive end to rotate between a first position and a second position, the rotation drive end is connected to the integrated antenna; when the rotation drive end rotates to the first position, the integrated antenna is located outside the antenna base in an upright state; when the rotation drive end rotates to the second position, the integrated antenna is located inside the antenna base in a folded state; an integrated board is arranged inside the antenna base, and each board of the integrated board is correspondingly connected to each antenna feeder of the integrated antenna.

[0007] Furthermore, the integrated antenna includes an antenna bracket, a GPS antenna and a strobe light are fixed on the top of the antenna bracket, a WIFI antenna, a radio antenna and a 4G antenna are respectively fixed in the middle of the antenna bracket, and the bottom of the antenna bracket is detachably connected to a foldable driving mechanism through multiple bolts.

[0008] Furthermore, the surface of the antenna bracket is covered with a fairing, which encloses various components on the antenna bracket.

[0009] Furthermore, the folding drive mechanism includes a mounting base, the upper end surface of the mounting base is detachably connected to the antenna bracket by bolts, the lower inner part of the mounting base is connected to the rotating shaft by a fixing pin, the rotating shaft is the rotating drive end, both ends of the rotating shaft respectively extend out of the mounting base and are connected to the driven bevel gear, mounting brackets are respectively arranged at both ends of the mounting base, the mounting brackets are fixed in the antenna base, the rotating shaft is connected to the mounting brackets by bearings, a servo is vertically fixed on the mounting bracket, the servo is the power output end, the driving end of the servo passes through the mounting bracket and is connected to the driving bevel gear, the driving bevel gear and the driven bevel gear are meshed and connected, and a servo bearing is arranged between the driving end of the servo and the mounting bracket.

[0010] Furthermore, the integrated board includes a board bracket, on which a radio board, a GPS board, a WIFI board and a 4G board are respectively fixed, and a board cover is provided on the surface of the board bracket, which covers various components on the board bracket for protection.

[0011] Furthermore, the radio antenna is connected to the radio board through a feeder, the WIFI antenna is connected to the WIFI board through a feeder, the GPS antenna is connected to the GPS board through a feeder, and the 4G antenna is connected to the 4G board through a feeder.

[0012] Furthermore, a buoyancy block is arranged in the antenna base.

[0013] Furthermore, an antenna accommodating cavity is provided in the middle of the antenna base, and the antenna accommodating cavity can completely accommodate the folded integrated antenna therein; driving mechanism accommodating cavities are provided on the left and right sides of the upper portion of the antenna accommodating cavity, and the driving mechanism accommodating cavity can accommodate the folded driving mechanism and install it therein; a buoyancy block accommodating cavity and a board accommodating cavity are provided on the left and right sides of the lower portion of the antenna accommodating cavity, respectively, and the buoyancy block accommodating cavity can accommodate the buoyancy block and install it therein; the board accommodating cavity can accommodate the integrated board and install it therein; the upper end surface of the antenna base is detachably connected to an upper cover plate by a plurality of bolts, and the upper cover plate covers and closes the driving mechanism accommodating cavity, the buoyancy block accommodating cavity and the board accommodating cavity; an antenna window is provided on the upper cover plate, and the antenna window can accommodate the passage of the integrated antenna.

[0014] Furthermore, a plug installation cavity is provided on the lower end surface of the antenna base, and a sealing plug is provided in the plug installation cavity. The sealing plug includes a plug installation seat, and the plug installation seat is connected to the plug installation hole by threads. A multi-pin plug is connected in the plug installation seat by threads. A third threading hole is provided in the antenna base, and the third threading hole connects the board card accommodating cavity and the drive mechanism accommodating cavity. A feeder disk wire cavity is provided in the lower end surface of the antenna base, and a lower cover plate is provided on the opening on the feeder disk wire cavity. The lower cover plate is detachably connected to the lower end surface of the antenna base by multiple bolts. A first threading hole is provided between the feeder disk wire cavity and the plug installation cavity, and the first threading hole connects the feeder disk wire cavity and the plug installation cavity. A second threading hole is provided in the antenna base, and the second threading hole connects the drive mechanism accommodating cavity and the feeder disk wire cavity front to back. A wiring cavity is provided in the antenna base, and the wiring cavity connects the feeder disk wire cavity and the board card accommodating cavity.

[0015] Furthermore, the wiring harness of the strobe light passes through the threading hole in the rotating shaft and then enters the wire cavity of the feeder tray through the second threading hole, and then enters the plug installation cavity through the first threading hole and is connected to the multi-pin plug. The feeders of the GPS antenna, WIFI antenna, radio antenna and 4G antenna pass through the threading hole in the rotating shaft and then enter the wire cavity of the feeder tray through the second threading hole, and then enter the board accommodating cavity through the wiring cavity and are connected one-to-one with the radio board, GPS board, WIFI board and 4G board. The wiring harness of the radio board, GPS board, WIFI board and 4G board enters the wire cavity of the feeder tray through the wiring cavity, and then enters the plug installation cavity through the first threading hole and is connected to the multi-pin plug. The wiring harness of the servo enters the board accommodating cavity through the third threading hole, and then enters the wire cavity of the feeder tray through the wiring cavity, and then enters the plug installation cavity through the first threading hole and is connected to the multi-pin plug.

[0016] The beneficial effects of the present invention are as follows:

[0017] The integrated antenna of the present invention is modularly designed and is easy to repair and replace. The integrated antenna has an autonomous folding function, which can effectively reduce the resistance of the autonomous remote-controlled underwater robot when it navigates underwater, and can reduce the risk of antenna collision when the autonomous remote-controlled underwater robot navigates in complex waters; the present invention integrates various antenna modules into one, integrates various boards into one, and arranges the antenna and the board in the same structure, thereby improving the modular effect of the product and making disassembly and maintenance more convenient; the present invention only uses a sealing plug at the bottom of the antenna base to connect with the autonomous remote-controlled underwater robot body, which is convenient for disassembly and assembly and easy for repair and replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a front perspective stereogram of the present invention.

[0019] Figure 2 It is a three-dimensional view from the back side of the present invention.

[0020] Figure 3 This is a diagram of the internal structure of the present invention after removing the upper cover plate.

[0021] Figure 4 It is a schematic diagram of assembling the integrated antenna and the folding drive mechanism of the present invention.

[0022] Figure 5 This is a diagram showing the internal structure of the integrated antenna of the present invention.

[0023] Figure 6 This is a diagram showing the internal structure of the integrated board of the present invention.

[0024] Figure 7 This is a diagram showing the internal structure of the antenna base of the present invention.

[0025] Figure 8 for Figure 7 Middle AA section view.

[0026] Fig. 9 for Figure 7 Middle BB section view.

[0027] Wherein: 100, upper cover; 110, antenna window; 200, integrated board; 210, plate bracket; 220, radio board; 230, GPS board; 240, WIFI board; 250, 4G board; 300, buoyancy block; 400, folding drive mechanism; 401, mounting base; 402, rotating shaft; 403, fixing pin; 404, driven bevel gear; 405, driving bevel gear; 406, upper sealing shell; 407, lower sealing shell; 408, bearing; 409, mounting bracket; 500, antenna base; 510, antenna accommodating cavity; 52 0. Drive mechanism accommodating chamber; 530. Buoyancy block accommodating chamber; 540. Board accommodating chamber; 550. Feeder reel wire chamber; 551. First threading hole; 552. Second threading hole; 553. Third threading hole; 554. Glue injection hole; 560. Wiring chamber; 600. Lower cover; 700. Sealing plug; 710. Plug mounting seat; 720. Multi-pin plug; 800. Integrated antenna; 810. Antenna bracket; 820. Fairing; 830. GPS antenna; 840. Strobe light; 850. WIFI antenna; 860. Radio antenna; 870. 4G antenna. DETAILED DESCRIPTION

[0028] The specific implementation of the present invention is described below in conjunction with the accompanying drawings.

[0029] like Figure 1 and Figure 3 As shown, a modular folding antenna device for an autonomous remote-controlled underwater robot includes an integrated board 200, an antenna base 500 and an integrated antenna 800. A folding drive mechanism 400 is arranged inside the antenna base 500. The folding drive mechanism 400 includes a power output end and a rotation drive end. The power output end drives the rotation drive end to rotate between a first position and a second position. The rotation drive end is connected to the integrated antenna 800. When the rotation drive end rotates to the first position, the integrated antenna 800 is located outside the antenna base 500 in an upright state; when the rotation drive end rotates to the second position, the integrated antenna 800 is located inside the antenna base 500 in a folded state.

[0030] like Figure 5 As shown, the integrated antenna 800 includes an antenna bracket 810 for fixing each antenna, a GPS antenna 830 and a strobe light 840 are fixed on the top of the antenna bracket 810, and a WIFI antenna 850, a radio antenna 860 and a 4G antenna 870 are respectively fixed in the middle of the antenna bracket 810. The bottom of the antenna bracket 810 is detachably connected to the folding drive mechanism 400 by a plurality of bolts.

[0031] like Figure 4As shown, the surface of the antenna bracket 810 is covered with a fairing 820, which covers the various components on the antenna bracket 810 to form protection, and also forms a fairing effect on the integrated antenna 800, so that the underwater robot can navigate more smoothly.

[0032] like Figure 4 As shown, the fairing 820 is a vulcanized rubber body, and the vulcanized rubber body is formed on the antenna bracket 810 by using a vulcanization process.

[0033] like Figure 4 As shown, the folding drive mechanism 400 includes a mounting base 401, the upper end surface of the mounting base 401 is detachably connected to the antenna bracket 810 through bolts, the lower part of the mounting base 401 is connected to the rotating shaft 402 through a fixing pin 403, the rotating shaft 402 is a rotating driving end, and the two ends of the rotating shaft 402 extend out of the mounting base 401 and are connected to the driven bevel gear 404. Mounting brackets 409 are respectively arranged at both ends of the mounting base 401, the mounting bracket 409 is fixed in the antenna base 500, and the rotating shaft 402 is connected to the mounting bracket 409 through a bearing 408. A servo is vertically fixed on the mounting bracket 409, and the servo is a power output end. The driving end of the servo passes through the mounting bracket 409 and is connected to the driving bevel gear 405, and the driving bevel gear 405 is meshed and connected with the driven bevel gear 404. A servo bearing is arranged between the driving end of the servo and the mounting bracket 409. The driven bevel gear 404 is fixed on the rotating shaft 402 through a key and a retaining spring, and the driving bevel gear 405 is fixed on the driving end of the steering gear through a key and a retaining spring.

[0034] like Figure 4 As shown, the servo is sealed in a sealed housing, and the sealed housing includes an upper sealed housing 406 and a lower sealed housing 407 which are arranged correspondingly from top to bottom. The upper sealed housing 406 and the lower sealed housing 407 are detachably connected as a whole through a plurality of bolts. Sealing rings are arranged on the contact end surfaces of the upper sealed housing 406 and the lower sealed housing 407, and the sealing rings are pressed by the upper sealed housing 406 and the lower sealed housing 407. When the servo is working, it drives the driving bevel gear 405 to rotate, and the driving bevel gear 405 in turn drives the driven bevel gear 404 which is meshed therewith to rotate, and the driven bevel gear 404 in turn drives the rotating shaft 402 and the mounting base 401 to rotate, and the mounting base 401 finally drives the integrated antenna 800 fixed thereon to rotate.

[0035] like Figure 3 As shown, a buoyancy block 300 is disposed in the antenna base 500, and the buoyancy block 300 provides a certain positive buoyancy for the antenna base 500. An integrated board 200 is disposed in the antenna base 500, and each board of the integrated board 200 is connected to each antenna feeder of the integrated antenna 800 correspondingly.

[0036] like Figure 6As shown, the integrated board 200 includes a board bracket 210 , on which a radio board 220 , a GPS board 230 , a WIFI board 240 and a 4G board 250 are respectively fixed.

[0037] like Figure 3 As shown, the surface of the plate bracket 210 is covered with a plate card cover, which covers various components on the plate bracket 210 to form protection. The plate card cover is a vulcanized rubber body, which is formed on the plate bracket 210 by a vulcanization process.

[0038] The radio antenna 860 is connected to the radio board 220 via a feeder, the WIFI antenna 850 is connected to the WIFI board 240 via a feeder, the GPS antenna 830 is connected to the GPS board 230 via a feeder, and the 4G antenna 870 is connected to the 4G board 250 via a feeder.

[0039] like Figure 7 As shown, an antenna accommodating cavity 510 is provided in the middle of the antenna base 500, and the antenna accommodating cavity 510 can completely accommodate the folded integrated antenna 800. A driving mechanism accommodating cavity 520 is provided on the left and right sides of the upper part of the antenna accommodating cavity 510, and the driving mechanism accommodating cavity 520 can accommodate the folded driving mechanism 400 to be installed therein. A buoyancy block accommodating cavity 530 and a board accommodating cavity 540 are provided on the left and right sides of the lower part of the antenna accommodating cavity 510, respectively. The buoyancy block accommodating cavity 530 can accommodate the buoyancy block 300 to be installed therein, and the board accommodating cavity 540 can accommodate the integrated board 200 to be installed therein.

[0040] like Figure 1 As shown, the upper end surface of the antenna base 500 is detachably connected to the upper cover plate 100 by a plurality of bolts, and the upper cover plate 100 covers and seals the drive mechanism accommodating chamber 520, the buoyancy block accommodating chamber 530, and the board accommodating chamber 540, and protects the various components in the drive mechanism accommodating chamber 520, the buoyancy block accommodating chamber 530, and the board accommodating chamber 540. An antenna window 110 is provided on the upper cover plate 100, and the antenna window 110 can accommodate the integrated antenna 800 to pass through, so as to facilitate the integrated antenna 800 to switch the working state.

[0041] like Figure 2 and Fig. 9As shown, the lower end surface of the antenna base 500 is provided with a plug installation cavity, and a sealing plug 700 is provided in the plug installation cavity. The sealing plug 700 includes a plug installation seat 710, and the plug installation seat 710 is connected to the plug installation hole by threads, and a multi-pin plug 720 is connected to the plug installation seat 710 by threads. A sealing ring installation groove is provided at the bottom of the plug installation seat 710, and a sealing ring is provided in the sealing ring installation groove to achieve sealing. The upper cavity formed by the plug installation seat 710 and the multi-pin plug 720 is filled with vulcanized rubber, and the vulcanized rubber is used to achieve insulation sealing. A third threading hole 553 is provided in the antenna base 500, and the third threading hole 553 connects the board card accommodating cavity 540 and the drive mechanism accommodating cavity 520.

[0042] like Figure 2 and Figure 8 As shown, a feeder tray cavity 550 is provided in the lower end surface of the antenna base 500, and the feeder tray cavity 550 can accommodate the feeder. A lower cover plate 600 is provided on the opening of the feeder tray cavity 550, and the lower cover plate 600 is detachably connected to the lower end surface of the antenna base 500 by a plurality of bolts. A first threading hole 551 is provided between the feeder tray cavity 550 and the plug installation cavity, and the first threading hole 551 connects the feeder tray cavity 550 and the plug installation cavity. A second threading hole 552 is provided in the antenna base 500, and the second threading hole 552 connects the drive mechanism accommodating cavity 520 and the feeder tray cavity 550 front to back. A wiring cavity 560 is provided in the antenna base 500, and the wiring cavity 560 connects the feeder tray cavity 550 and the board accommodating cavity 540.

[0043] The wire harness of the strobe light 840 passes through the threading hole in the rotating shaft 402 and then enters the feeder disk wire cavity 550 through the second threading hole 552 , and then enters the plug installation cavity through the first threading hole 551 and connects to the multi-pin plug 720 .

[0044] The feeder wires of the GPS antenna 830, the WIFI antenna 850, the radio antenna 860 and the 4G antenna 870 pass through the threading hole in the rotating shaft 402 and then enter the feeder tray wire cavity 550 through the second threading hole 552, and then enter the board accommodating cavity 540 through the wiring cavity 560 and are connected to the radio board 220, the GPS board 230, the WIFI board 240 and the 4G board 250 in a one-to-one correspondence. The wire harnesses of the radio board 220, the GPS board 230, the WIFI board 240 and the 4G board 250 enter the feeder tray wire cavity 550 through the wiring cavity 560, and then enter the plug installation cavity through the first threading hole 551 and are connected to the multi-pin plug 720.

[0045] The wiring harness of the servo enters the board accommodating cavity 540 through the third threading hole 553, then enters the feeder cable cavity 550 through the wiring cavity 560, and then enters the plug installation cavity through the first threading hole 551 and connects to the multi-pin plug 720.

[0046] like Figure 7 and Fig. 9 As shown, a glue injection hole 554 is provided at the bottom of the antenna accommodating cavity 510, and the glue injection hole 554 connects the plug installation cavity and the antenna accommodating cavity 510. After the wiring harness is installed, vulcanized glue is injected through the glue injection hole 554 to achieve the purpose of sealing and insulation.

[0047] The integrated antenna 800 of the present invention has a folding function. When the autonomous remote-controlled underwater robot is on the water surface, the integrated antenna 800 is erected for communication or positioning; when the autonomous remote-controlled underwater robot is underwater, the integrated antenna 800 falls down, reducing the navigation resistance of the integrated antenna 800 and the risk of collision of the integrated antenna 800. The integrated antenna 800 and the integrated board 200 of the present invention are modularly designed, integrating various antenna modules into one, integrating various boards into one, and arranging the antenna and the board in the same structure, thereby improving the modular effect of the product and making disassembly and maintenance more convenient. The present invention uses only a sealing plug 700 at the bottom of the antenna base 500 to connect with the autonomous remote-controlled underwater robot body, which is convenient for disassembly and assembly, and easy for maintenance and replacement.

[0048] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. A modular foldable antenna device for an autonomous remote-controlled underwater robot, comprising an integrated board (200), an antenna base (500) and an integrated antenna (800), characterized in that: A folding drive mechanism (400) is arranged inside the antenna base (500), the folding drive mechanism (400) comprising a power output end and a rotation drive end, the power output end driving the rotation drive end to rotate between a first position and a second position, the rotation drive end being connected to an integrated antenna (800), the integrated antenna (800) comprising a plurality of antennas with different working frequency bands fixed to an antenna bracket; when the rotation drive end rotates to the first position, the integrated antenna (800) is located outside the antenna base (500) in an upright state; when the rotation drive end rotates to the second position, the integrated antenna (800) is located outside the antenna base (500) in an upright state. When in the second position, the integrated antenna (800) is located inside the antenna base (500) in a folded state; an integrated board (200) is arranged inside the antenna base (500), the integrated board (200) comprises a plurality of boards corresponding to respective antennas, and each board of the integrated board (200) is connected to a corresponding antenna feeder of the integrated antenna (800); a plug installation cavity is arranged on the lower end surface of the antenna base (500), a sealing plug (700) is arranged in the plug installation cavity, and the antenna device is connected to the autonomous remote-controlled underwater robot body via the sealing plug (700).

2. A modular folding antenna device for an autonomous remote-controlled underwater robot as claimed in claim 1, characterized in that: The integrated antenna (800) comprises an antenna bracket (810), wherein a GPS antenna (830) and a strobe light (840) are fixed on the top of the antenna bracket (810), a WIFI antenna (850), a radio antenna (860) and a 4G antenna (870) are respectively fixed in the middle of the antenna bracket (810), and the bottom of the antenna bracket (810) is detachably connected to a folding drive mechanism (400) via a plurality of bolts.

3. A modular folding antenna device for an autonomous remote-controlled underwater robot as claimed in claim 2, characterized in that: The surface of the antenna bracket (810) is covered with a fairing (820), and the fairing (820) covers various components on the antenna bracket (810).

4. A modular folding antenna device for an autonomous remote-controlled underwater robot as claimed in claim 3, characterized in that: The folding drive mechanism (400) comprises a mounting base (401), the upper end surface of the mounting base (401) is detachably connected to the antenna bracket (810) via bolts, the lower inner portion of the mounting base (401) is connected to the rotating shaft (402) via a fixing pin (403), the rotating shaft (402) is a rotating drive end, both ends of the rotating shaft (402) respectively extend out of the mounting base (401) and are connected to a driven bevel gear (404), and mounting brackets (404) are respectively provided at both ends of the mounting base (401). 09), the mounting bracket (409) is fixed in the antenna base (500), the rotating shaft (402) is connected to the mounting bracket (409) through the bearing (408), the servo is vertically fixed on the mounting bracket (409), the servo is the power output end, the driving end of the servo passes through the mounting bracket (409) and is connected to the driving bevel gear (405), the driving bevel gear (405) and the driven bevel gear (404) are meshed and connected, and a servo bearing is arranged between the driving end of the servo and the mounting bracket (409).

5. A modular folding antenna device for an autonomous remote-controlled underwater robot as claimed in claim 4, characterized in that: The integrated board (200) comprises a board bracket (210), on which a radio board (220), a GPS board (230), a WIFI board (240) and a 4G board (250) are respectively fixed, and a board cover is provided on the surface of the board bracket (210), which covers various components on the board bracket (210) for protection.

6. A modular folding antenna device for an autonomous remote-controlled underwater robot as claimed in claim 5, characterized in that: The radio antenna (860) is connected to the radio board (220) via a feeder, the WIFI antenna (850) is connected to the WIFI board (240) via a feeder, the GPS antenna (830) is connected to the GPS board (230) via a feeder, and the 4G antenna (870) is connected to the 4G board (250) via a feeder.

7. A modular folding antenna device for an autonomous remote-controlled underwater robot as claimed in claim 6, characterized in that: A buoyancy block (300) is arranged inside the antenna base (500).

8. A modular folding antenna device for an autonomous remote-controlled underwater robot as claimed in claim 7, characterized in that: The antenna base (500) has an antenna accommodating chamber (510) in the middle, and the antenna accommodating chamber (510) can accommodate the folded integrated antenna (800) and completely store it therein; drive mechanism accommodating chambers (520) are arranged on the left and right sides of the upper part of the antenna accommodating chamber (510), and the drive mechanism accommodating chamber (520) can accommodate the folded drive mechanism (400) and install it therein; and a buoyancy block accommodating chamber (530) and a board card accommodating chamber (540) are arranged on the left and right sides of the lower part of the antenna accommodating chamber (510), respectively. 0) can accommodate a buoyancy block (300) installed therein, the board card accommodating cavity (540) can accommodate an integrated board card (200) installed therein, the upper end surface of the antenna base (500) is detachably connected to an upper cover plate (100) via a plurality of bolts, the upper cover plate (100) covers and seals the drive mechanism accommodating cavity (520), the buoyancy block accommodating cavity (530) and the board card accommodating cavity (540), and an antenna window (110) is provided on the upper cover plate (100), and the antenna window (110) can accommodate the integrated antenna (800) to pass therethrough.

9. A modular folding antenna device for an autonomous remote-controlled underwater robot as claimed in claim 8, characterized in that: The sealing plug (700) comprises a plug mounting seat (710), the plug mounting seat (710) is connected to the plug mounting hole by means of threads, a multi-pin plug (720) is connected to the plug mounting seat (710) by means of threads, a third threading hole (553) is provided in the antenna base (500), the third threading hole (553) connects the board accommodating cavity (540) and the drive mechanism accommodating cavity (520), a feeder disk line cavity (550) is provided in the lower end surface of the antenna base (500), a lower cover plate (600) is provided on the opening of the feeder disk line cavity (550), and the lower cover plate (600) is provided through a plurality of The bolts are detachably connected to the lower end surface of the antenna base (500); a first threading hole (551) is provided between the feeder disc wire cavity (550) and the plug installation cavity; the first threading hole (551) connects the feeder disc wire cavity (550) and the plug installation cavity; a second threading hole (552) is provided in the antenna base (500); the second threading hole (552) connects the drive mechanism accommodating cavity (520) and the feeder disc wire cavity (550) front to back; a wiring cavity (560) is provided in the antenna base (500); the wiring cavity (560) connects the feeder disc wire cavity (550) and the board card accommodating cavity (540).

10. A modular foldable antenna device for an autonomous remote-controlled underwater robot as claimed in claim 9, characterized in that: The wire harness of the strobe light (840) passes through the threading hole in the rotating shaft (402) and then enters the feeder tray wire cavity (550) through the second threading hole (552), and then enters the plug installation cavity through the first threading hole (551) and is connected to the multi-pin plug (720). The feeder wires of the GPS antenna (830), the WIFI antenna (850), the radio antenna (860) and the 4G antenna (870) pass through the threading hole in the rotating shaft (402) and then enter the feeder tray wire cavity (550) through the second threading hole (552), and then enter the board accommodating cavity (540) through the wiring cavity (560) and are connected one-to-one with the radio board (220), the GPS board (230), the WIFI board (240) and the 4G board (250). The radio board (220), the GPS board (230), the WIFI board (240) and the 4G board (250) are connected one-to-one. The wiring harnesses of the IFI board (240) and the 4G board (250) enter the feeder tray wiring cavity (550) through the wiring cavity (560), and then enter the plug installation cavity through the first threading hole (551) and are connected to the multi-pin plug (720); the wiring harnesses of the servo enter the board accommodating cavity (540) through the third threading hole (553), and then enter the feeder tray wiring cavity (550) through the wiring cavity (560), and then enter the plug installation cavity through the first threading hole (551) and are connected to the multi-pin plug (720).

Images