Underwater robot and mounting module thereof

Abstract

The utility model provides an underwater robot and an installation module thereof. The installation module comprises a connecting piece and at least two locking assemblies. The connecting piece is provided with an assembling part used for being connected with a to-be-installed object. The locking assembly is movably connected with the connecting piece; the locking assembly is in a first state on the connecting piece without external force; the locking assembly is gradually transited to the second state from the first state under the action of external force, and compared with the prior art, both the installation operation of the to-be-installed object and the disassembly operation of the to-be-installed object are more convenient, and the convenience of the installation operation and the disassembly operation of the to-be-installed object is improved.

Description

Technical Field

[0001] This application relates to the technical field of underwater vehicles, and more particularly to an underwater robot and its installation module. Background Art

[0002] An underwater robot is a working robot underwater. The underwater environment is harsh and dangerous, and the diving depth of humans is limited. Therefore, underwater robots have become an important tool for ocean development. To facilitate the underwater operation of underwater robots, functional devices such as cameras, lighting lamps, and speed measuring instruments are usually equipped on underwater robots.

[0003] In the prior art, these functional devices are generally installed on the underwater robot by means of bolt connection. Therefore, when it is necessary to disassemble these functional devices from the underwater robot, the bolts need to be disassembled from the underwater robot first. This method of disassembly is inconvenient and the operation is relatively complex. Summary of the Utility Model

[0004] This application mainly provides an underwater robot and its installation module, which can improve the convenience of the installation operation and disassembly operation of the object to be installed.

[0005] To solve the above technical problems, a technical solution adopted by this application is: to provide an installation module for an underwater robot, the installation module includes: a connecting member and at least two locking components; an assembly portion for connecting an object to be installed is provided on the connecting member; the locking component is movably connected to the connecting member; the locking component is in a first state on the connecting member without external force; the locking component gradually transitions from the first state to the second state under the action of external force.

[0006] In a specific embodiment, the locking component includes a locking mechanism and an elastic mechanism. The locking mechanism is movably connected to the connecting member and is provided with a first locking portion, so that when the connecting member is loaded on the robot body of the underwater robot, the first locking portion is in a locked state or an unlocked state with the robot body, and the elastic mechanism is respectively in contact with the connecting member and the locking mechanism.

[0007] In a specific embodiment, the locking mechanism is further provided with two first engaging portions, and the elastic mechanism is provided with a second engaging portion, so that when the first locking portion is in a locked state and an unlocked state with the robot body respectively, the two first engaging portions are respectively in an engaging setting with the second engaging portion.

[0008] In a specific embodiment, the first engaging portion is an engaging groove, the second engaging portion is an engaging protrusion, and the locking mechanism includes a first inclined guiding surface, so that when the locking mechanism moves relative to the connecting member, the engaging protrusion moves into the engaging groove along the first inclined guiding surface.

[0009] In a specific embodiment, the engaging protrusion is provided with a second inclined guiding surface that cooperates with the first inclined guiding surface, so that when the locking mechanism moves relative to the connecting member, the engaging protrusion moves out of the engaging groove under the combined action of the first inclined guiding surface and the second inclined guiding surface.

[0010] In a specific embodiment, one of the connecting member and the locking assembly is provided with a limiting groove, and the other of the connecting member and the locking assembly is provided with a limiting protrusion, and the limiting protrusion is arranged in cooperation with the limiting groove, so that when the locking assembly moves relative to the connecting member, the limiting protrusion moves within the extending length of the limiting groove.

[0011] In a specific embodiment, the connecting member is formed with at least two mounting holes, the locking mechanism is formed with an engaging gap, the locking mechanism passes through the mounting holes and the connecting member is arranged in cooperation with the engaging gap, so that the locking mechanism is rotatably connected to the connecting member.

[0012] In a specific embodiment, the locking mechanism includes a locking main body and a force-bearing main body, the locking main body is provided with the first locking portion, one of the locking main body and the force-bearing main body passes through the mounting hole and is connected to the other of the locking main body and the force-bearing main body, and forms the engaging gap with the other of the locking main body and the force-bearing main body.

[0013] To solve the above technical problems, another technical solution adopted by this application is: to provide an underwater robot, the underwater robot includes a robot body and the installation module as described above, the connecting member is loaded on the robot body, the locking assembly is in one of a locked state and an unlocked state with the robot body in the first state, and the locking assembly is in the other of a locked state and an unlocked state with the robot body in the second state.

[0014] In a specific embodiment, the robot body is provided with a second locking portion, a locking gap is formed between the robot body and the second locking portion, and the robot body is further provided with a notch communicating with the locking gap, so that the first locking portion moves into the locking gap or moves from the locking gap into the notch through the notch.

[0015] The beneficial effects of the present application are as follows: Different from the prior art, the installation module provided by the present application includes: a connecting member and at least two locking components; an assembly portion for connecting an object to be installed is provided on the connecting member; the locking components are movably connected to the connecting member; the locking components are in a first state on the connecting member without external force; the locking components gradually transition from the first state to the second state under the action of an external force. By this setting method, when the first state is the locked state and the second state is the unlocked state, then under the action of an external force, the connecting member can be detached from the robot body, so that the object to be installed is detached from the robot body. When the first state is the unlocked state and the second state is the locked state, then under the action of an external force, the connecting member can be installed on the robot body of the underwater robot, so that the object to be installed is installed on the robot body of the underwater robot. Compared with the prior art, both the installation operation and the disassembly operation of the object to be installed are more convenient, improving the convenience of the installation operation and the disassembly operation of the object to be installed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0017] Figure 1 is a schematic three-dimensional assembly structure diagram of an embodiment of the installation module for an underwater robot provided by the present application;

[0018] Figure 2 is Figure 1 a schematic three-dimensional exploded structure diagram of the installation module in

[0019] Figure 3 is Figure 1 a schematic cross-sectional view of the installation module in

[0020] Figure 4 is Figure 3 a schematic cross-sectional view of the connecting member in

[0021] Figure 5 is Figure 3 a schematic cross-sectional view of the locking mechanism in

[0022] Figure 6 is Figure 3 a schematic three-dimensional structure diagram of the locking mechanism in

[0023] Figure 7 is Figure 3The elastic mechanism and Figure 6 The first state schematic diagram of the first engaging part in

[0024] Figure 8 Is Figure 3 The elastic mechanism and Figure 6 The second state schematic diagram of the first engaging part in

[0025] Figure 9 Is Figure 3 The elastic mechanism and Figure 6 The third state schematic diagram of the first engaging part in

[0026] Figure 10 Is the three-dimensional assembly structure schematic diagram of the underwater robot implementation manner provided by this application;

[0027] Figure 11 Is Figure 10 The three-dimensional structure schematic diagram of the robot body;

[0028] Figure 12 Is Figure 11 The enlarged schematic diagram of part M in Specific implementation manner

[0029] Next, in combination with the accompanying drawings and implementation manners, a further detailed description of this application will be given. It should be particularly noted that the following implementation manners are only used to illustrate this application, but do not limit the scope of this application. Similarly, the following implementation manners are only part of the implementation manners of this application rather than all implementation manners. All other implementation manners obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

[0030] The terms "first", "second", and "third" in this application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", and "third" may explicitly or implicitly include at least one of such features. In the description of this application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. All directional indications (such as up, down, left, right, front, back...) in the implementation manners of this application are only used to explain the relative positional relationship and movement conditions between components in a certain specific posture (as shown in the accompanying drawings). If this specific posture changes, then the directional indications will also change accordingly. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0031] Reference to "embodiment" in this document means that the specific features, structures, or characteristics described in connection with the embodiment may be included in at least one embodiment of the present application. The phrase appears at various positions in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments.

[0032] Please refer to Figure 1 and Figure 2 , Figure 1 which is a schematic three-dimensional assembly structure diagram of the installation module 10 according to an embodiment provided by the present application for an underwater robot. Figure 2 is Figure 1 a schematic three-dimensional exploded structure diagram of the installation module 10 in

[0033] Among them, an assembly part 111 for connecting an object to be installed (not shown in the figure) is provided on the connecting member 11. In practical applications, the object to be installed may be a functional device such as a camera, a lighting lamp, a speedometer, etc., and can be specifically selected according to actual needs, and is not limited thereto.

[0034] Furthermore, at least two mounting bodies 112 are provided on the connecting member 11, and the at least two mounting bodies 112 are respectively connected to the assembly part 111111.

[0035] Please refer to Figure 2 , Figure 3 , Figure 4 and Figure 5 , Figure 3 is Figure 1 a schematic cross-sectional view of the installation module 10 in Figure 4 is Figure 3 a schematic cross-sectional view of the connecting member 11 in Figure 5 is Figure 3 a schematic cross-sectional view of the locking mechanism 121 in

[0036] Among them, the locking component 12 includes a locking mechanism 121 and an elastic mechanism 122. The locking mechanism 121 is movably connected to the connecting member 11. In this embodiment, the locking mechanism 121 is movably connected to the mounting body 112.

[0037] Optionally, the connecting member 11 is formed with at least two mounting holes 101. In this embodiment, that is, the mounting main body 112 is formed with at least two mounting holes 101. The locking mechanism 121 is formed with an engaging gap 102. The locking mechanism 121 passes through the mounting hole 101 and the connecting member 11 is arranged in cooperation with the engaging gap 102, so that the locking mechanism 121 is rotatably connected to the connecting member 11, and thus the locking mechanism 121 can rotate relative to the connecting member 11 under the action of an external force.

[0038] Specifically, the locking mechanism 121 includes a locking main body 1211 and a force-receiving main body 1212. One of the locking main body 1211 and the force-receiving main body 1212 passes through the mounting hole 101 and is connected to the other of the locking main body 1211 and the force-receiving main body 1212, and an engaging gap 102 is formed between the locking main body 1211 and the force-receiving main body 1212. In this embodiment, taking the locking main body 1211 passing through the mounting hole 101 and being connected to the force-receiving main body 1212 as an example, through this setting method, the connecting member 11 is arranged in cooperation with the engaging gap 102, so that the locking mechanism 121 is kept connected to the connecting member 11, and when the force-receiving main body 1212 is subjected to an external force and rotates relative to the connecting member 11, the locking main body 1211 is driven to rotate relative to the connecting member 11. The locking main body 1211 and the force-receiving main body 1212 can be formed as a split body and connected to each other.

[0039] It can be understood that the above-described manner and structural form of the rotational connection between the locking mechanism 121 and the connecting member 11 are only for the convenience of description, and are an example of the movable connection between the locking mechanism 121 and the connecting member 11. In other embodiments, the locking mechanism 121 can also be rotatably connected to the connecting member 11 through other structural forms, or the locking mechanism 121 and the connecting member 11 can also be movably connected in other ways, such as a sliding connection, which is not limited herein.

[0040] Furthermore, when there is no external force, the locking assembly 12 is in a first state on the connecting member 11. The locking assembly 12 gradually transitions from the first state to the second state under the action of an external force. Through this setting method, when the first state is a locked state and the second state is an unlocked state, then under the action of an external force, the connecting member 11 can be detached from the robot body, so that the object to be installed can be detached from the robot body. When the first state is an unlocked state and the second state is a locked state, then under the action of an external force, the connecting member 11 can be installed on the robot body of the underwater robot, so that the object to be installed can be installed on the robot body of the underwater robot. Compared with the prior art, both the installation operation and the disassembly operation of the object to be installed are more convenient, improving the convenience of the installation operation and the disassembly operation of the object to be installed.

[0041] Specifically, the locking mechanism 121 is provided with a first locking portion 12a. In this embodiment, that is, the locking main body 1211 is provided with the first locking portion 12a, so that when the connecting member 11 is loaded on the robot body, the first locking portion 12a and the robot body are in a locked state or an unlocked state.

[0042] For the specific principle of the first locking portion 12a and the robot body of the underwater robot being in a locked state or an unlocked state, please refer to the relevant descriptions in the following text.

[0043] Furthermore, the elastic mechanism 122 is respectively in contact with the connecting member 11 and the locking mechanism 121, so that when the first locking portion 12a and the robot body of the underwater robot are in a locked state or an unlocked state, the structural firmness between the first locking portion 12a and the robot body is increased. For example, when the first locking portion 12a and the robot body are in a locked state, since the elastic mechanism 122 is respectively in contact with the connecting member 11 and the locking mechanism 121, therefore, the locking mechanism 121 will be subjected to the elastic contact force of the elastic mechanism 122. If the locking mechanism 121 is not subjected to an external force, then the locking mechanism 121 will maintain the locked state under the action of this elastic contact force, avoiding the situation where the elastic mechanism 122 moves relative to the connecting member 11 when not subjected to an external force, resulting in locking failure.

[0044] Optionally, in this embodiment, the elastic mechanism 122 includes an elastic member 1221 and a contact member 1222. Two ends of the elastic member 1221 are respectively in contact with the connecting member 11 and the contact member 1222, and the contact member 1222 is in contact with the locking mechanism 121.

[0045] Please refer to Figure 6 、 Figure 7 、 Figure 8 and Figure 9 , Figure 6 is Figure 3 the three-dimensional structural schematic diagram of the locking mechanism 121 in Figure 7 is Figure 3 the first state schematic diagram of the elastic mechanism 122 and the first engaging portion 121b in Figure 6 in Figure 8 is Figure 3 the second state schematic diagram of the elastic mechanism 122 and the first engaging portion 121b in Figure 6 in Figure 9 is Figure 3 the schematic diagram of the elastic mechanism 122 and Figure 6Schematic diagram of the third state of the first engaging portion 121b in [description of the context]. The locking mechanism 121 is further provided with two first engaging portions 12b, and the elastic mechanism 122 is provided with a second engaging portion 122a. In this embodiment, the abutting member 1222 of the elastic mechanism 122 is provided with this second engaging portion 122a, so that when the first locking portion 12a and the robot body are in the locked state and the unlocked state respectively, the two first engaging portions 12b are respectively engaged with the second engaging portion 122a, further increasing the structural firmness between the first locking portion 12a and the robot body, and at the same time playing a positioning role for the first locking portion 12a to be in the locked state and the unlocked state.

[0046] Optionally, one of the first engaging portion 12b and the second engaging portion 122a is an engaging groove, and the other of the first engaging portion 12b and the second engaging portion 122a is an engaging protrusion. In this embodiment, the first engaging portion 12b is taken as an engaging groove and the second engaging portion 122a is taken as an engaging protrusion as an example.

[0047] For the convenience of description, in the illustration of this embodiment, the two first engaging portions 12b are respectively the first engaging portion 121a and the first engaging portion 121b. The two first engaging portions 12b respectively correspond to the locked state and the unlocked state, that is, when the second engaging portion 122a is engaged with one of the first engaging portions 12b, the first locking portion 12a is in the locked state, and when the second engaging portion 122a is engaged with the other first engaging portion 12b, the first locking portion 12a is in the unlocked state.

[0048] For example, when the first locking portion 12a is in the Figure 7 state shown, it is in the unlocked state. When the locking mechanism 121 is rotated in the direction A under an external force, as shown in Figure 8 the second engaging portion 122a moves out of the first engaging portion 121a along the locking mechanism 121 and disengages from the engaged state, and the elastic mechanism 122 is compressed along the direction B under the abutting action of the locking mechanism 121 until, as shown in Figure 9 the second engaging portion 122a moves into the first engaging portion 122b and is engaged with the first engaging portion 122b. At this time, the first locking portion 12a is in the locked state.

[0049] Among them, the one of the locking mechanism 121 and the elastic mechanism 122 that is provided with the engaging groove includes a first inclined guiding surface 12c. In this embodiment, that is, the locking mechanism 121 includes the first inclined guiding surface 12c, so that when the locking mechanism 121 moves relative to the connecting member 11, the engaging protrusion moves into the engaging groove along the first inclined guiding surface 12c, playing a guiding role for the engaging protrusion to move into the engaging groove.

[0050] Optionally, the engaging protrusion is provided with a second inclined guiding surface 122b that cooperates with the first inclined guiding surface 12c, so that when the locking mechanism 121 moves relative to the connecting member 11, the engaging protrusion is moved out of the engaging groove under the cooperation of the first inclined guiding surface 12c and the second inclined guiding surface 122b, reducing the resistance during the process of the engaging protrusion moving out of the engaging groove.

[0051] Further refer to Figure 2 and Figure 7 One of the connecting member 11 and the locking assembly 12 is provided with a limiting groove 11a, and the other of the connecting member 11 and the locking assembly 12 is provided with a limiting protrusion 12d, so that when the locking assembly 12 moves relative to the connecting member 11, the limiting protrusion 12d moves within the extending length of the limiting groove 11a, thereby limiting the moving stroke of the locking assembly 12. In the present embodiment, an example is given in which the connecting member 11 is provided with the limiting groove 11a and the locking mechanism 121 of the locking assembly 12 is provided with the limiting protrusion 12d.

[0052] Please refer to Figure 10 、 Figure 11 and Figure 12 , Figure 10 FIG. is a schematic three-dimensional assembly structure diagram of an underwater robot 20 according to an embodiment provided by the present application. Figure 11 is Figure 10 a schematic three-dimensional structure diagram of the robot body 21. Figure 12 is Figure 11 an enlarged schematic diagram of part M in FIG.. The underwater robot 20 in the present embodiment includes a robot body 21 and the mounting module 10 in the above embodiment.

[0053] Wherein, the connecting member 11 is loaded on the robot body 21, the locking assembly 12 is in one of a locked state and an unlocked state with the robot body 21 in the first state, and the locking assembly 12 is in the other of the locked state and the unlocked state with the robot body 21 in the second state. That is, when the locking assembly 12 is in the locked state with the robot body 21 in the first state, the locking assembly 12 gradually transitions from the locked state to the unlocked state under an external force, and when the locking assembly 12 is in the unlocked state with the robot body 21 in the first state, the locking assembly 12 gradually transitions from the unlocked state to the locked state under an external force.

[0054] Specifically, the robot body 21 is provided with a second locking portion 21a, so that when the locking mechanism 121 moves relative to the connecting member 11, the first locking portion 12a and the second locking portion 21a are in a locked state or an unlocked state.

[0055] Further, a locking gap 201 is formed between the robot body 21 and the second locking portion 21a. The robot body 21 is further provided with a notch 202 communicating with the locking gap 201, so that the first locking portion 12a can be moved into the locking gap 201 through the notch 202 or moved from the locking gap 201 into the notch 202.

[0056] For ease of understanding, in this embodiment, taking the locking mechanism 121 being rotatably connected to the connecting member 11 as an example, in practical applications, the first locking portion 12a can be first placed into the notch 202, and then under the action of an external force, the locking mechanism 121 rotates relative to the connecting member 11 and drives the first locking portion 12a to rotate until the first locking portion 12a is transferred from the notch 202 into the locking gap 201. At this time, the first locking portion 12a is located between the robot body 21 and the second locking portion 21a. In this case, the first locking portion 12a is blocked by the second locking portion 21a, so that the first locking portion 12a and the second locking portion 21a are in a locked state, thereby installing the installation module 10 on the robot body 21, that is, installing the object to be installed on the robot body 21. Similarly, under the action of an external force, when the first locking portion 12a is transferred from the locking gap 201 into the notch 202, since the first locking portion 12a is no longer blocked by the second locking portion 21a, the first locking portion 12a can be taken out from the notch 202. In this case, the first locking portion 12a and the second locking portion 21a are in an unlocked state. At this time, the installation module 10 can be detached from the robot body 21, that is, the object to be installed can be detached from the robot body 21.

[0057] The beneficial effects of the present application are as follows: The installation module provided by the present application includes a connecting member and at least two locking components; an assembly portion for connecting an object to be installed is provided on the connecting member; the locking components are movably connected to the connecting member; the locking components are in a first state on the connecting member without an external force; the locking components gradually transition from the first state to the second state under the action of an external force. By this setting method, when the first state is a locked state and the second state is an unlocked state, then under the action of an external force, the connecting member can be detached from the robot body, so that the object to be installed is detached from the robot body. When the first state is an unlocked state and the second state is a locked state, then under the action of an external force, the connecting member can be installed on the robot body of the underwater robot, so that the object to be installed is installed on the robot body of the underwater robot. Compared with the prior art, both the installation operation and the disassembly operation of the object to be installed are more convenient, improving the convenience of the installation operation and the disassembly operation of the object to be installed.

[0058] The above are only some embodiments of the present application, and thus do not limit the protection scope of the present application. Any equivalent device or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall similarly be included in the patent protection scope of the present application.

Claims

1. An installation module for an underwater robot, characterized in that: The installation module comprises: comprising a connecting member and at least two locking assemblies; The connecting member is provided with an assembly portion for connecting to an object to be installed; the locking assembly is movably connected to the connecting member; the locking assembly is in a first state on the connecting member without the action of external force; the locking assembly gradually transitions from the first state to a second state under the action of external force.

2. The installation module according to claim 1, characterized in that: The locking assembly includes a locking mechanism and an elastic mechanism. The locking mechanism is movably connected to the connecting piece and is provided with a first locking portion, so that when the connecting piece is loaded on the robot body of the underwater robot, the first locking portion and the robot body are in a locked state or an unlocked state, and the elastic mechanism abuts against the connecting piece and the locking mechanism respectively.

3. The installation module according to claim 2, characterized in that: The locking mechanism is further provided with two first engaging parts, and the elastic mechanism is provided with a second engaging part, so that when the first locking part and the robot body are in a locked state and an unlocked state respectively, the two first engaging parts are respectively engaged with the second engaging part.

4. The installation module according to claim 3, characterized in that: The first engaging portion is an engaging groove, the second engaging portion is an engaging protrusion, and the locking mechanism includes a first inclined guide surface, so that when the locking mechanism moves relative to the connecting member, the engaging protrusion moves into the engaging groove along the first inclined guide surface.

5. The installation module according to claim 4, characterized in that: The engaging protrusion is provided with a second inclined guide surface cooperating with the first inclined guide surface, so that when the locking mechanism moves relative to the connecting member, the engaging protrusion moves out of the engaging groove under the cooperation of the first inclined guide surface and the second inclined guide surface.

6. The installation module according to claim 1, characterized in that: One of the connecting member and the locking assembly is provided with a limiting groove, and the other of the connecting member and the locking assembly is provided with a limiting protrusion, and the limiting protrusion is matched with the limiting groove so that when the locking assembly moves relative to the connecting member, the limiting protrusion moves within the extension length of the limiting groove.

7. The installation module according to claim 2, characterized in that: The connecting member is formed with at least two mounting holes, the locking mechanism is formed with a clamping gap, the locking mechanism is penetrated through the mounting holes and the connecting member and the clamping gap are matched so that the locking mechanism is rotatably connected with the connecting member.

8. The installation module according to claim 7, characterized in that: The locking mechanism includes a locking body and a force-bearing body, the locking body is provided with the first locking portion, one of the locking body and the force-bearing body is connected to the other of the locking body and the force-bearing body through the mounting hole, and the locking gap is formed between the locking body and the other of the force-bearing body.

9. An underwater robot, characterized in that: The underwater robot includes a robot body and an installation module according to any one of claims 1 to 8, the connecting part is loaded on the robot body, the locking component is in one of a locked state and an unlocked state with the robot body in the first state, and the locking component is in the other of a locked state and an unlocked state with the robot body in the second state.

10. The underwater robot according to claim 9, characterized in that: The robot body is provided with a second locking portion, a locking gap is formed between the robot body and the second locking portion, and the robot body is also provided with a notch connected to the locking gap, so that the locking component can move into the locking gap through the notch or move from the locking gap into the notch.

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