CN103895841A - Automatic lifting device for smart underwater robots - Google Patents

Automatic lifting device for smart underwater robots Download PDF

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Publication number
CN103895841A
CN103895841A CN201410083779.8A CN201410083779A CN103895841A CN 103895841 A CN103895841 A CN 103895841A CN 201410083779 A CN201410083779 A CN 201410083779A CN 103895841 A CN103895841 A CN 103895841A
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CN
China
Prior art keywords
equipment
crane
level
fixed mount
drive motor
Prior art date
Application number
CN201410083779.8A
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Chinese (zh)
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CN103895841B (en
Inventor
万磊
张英浩
何斌
李岳明
杨卓懿
庞永杰
孙玉山
马珊
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哈尔滨工程大学
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Abstract

The invention provides an automatic lifting device for smart underwater robots. The automatic lifting device for the smart underwater robots comprises an equipment installation frame, an inner layer reel, a middle layer lifting frame and an outer layer fixing frame, wherein equipment to be lifted is installed on the equipment installation frame; an equipment cable coils and passes through the inner layer reel; the equipment installation frame is fixed on the middle layer lifting frame; the middle layer lifting frame is embedded in the outer layer fixing frame by a slideway; the middle layer lifting frame is matched with a gear installed on a driving motor by a rack; the driving motor is installed on the outer layer fixing frame. The automatic lifting device for the smart underwater robots, which is provided by the invention, is concise and compact in structure, can effectively solves the problem of the impact to the equipment cables by water flow in a moving process of the underwater robots, and is suitable for small or medium-sized equipment. The device can realize the synchronous lifting operation of single equipment or multiple sets of equipment through one-time operation.

Description

Intelligent Underwater Robot apparatus for automatically lifting
Technical field
What the present invention relates to is a kind of apparatus for automatically lifting, particularly a kind of apparatus for automatically lifting of lift work of the small-sized or medium size installations that is applicable to Intelligent Underwater Robot.
Background technology
Along with the research of Intelligent Underwater Robot correlation technique is goed deep into, people are more and more higher to the requirement of the abilities such as its ability to communicate, navigator fix.The communication modes of current Intelligent Underwater Robot is mainly divided into two kinds of underwater communication and water surface communications: underwater communication mainly completes by sonar aid, and water surface communication mainly realizes by the mode such as radio, WIFI.Navigate mode is mainly divided into dead reckoning navigation, inertial navigation, underwater sound navigation, vision guided navigation, geophysical navigation and integrated navigation etc.In Intelligent Underwater Robot, the most frequently used navigate mode is that inertial navigation adds the position correction of GPS boat at present.
When closely water surface communication or under-water robot navigate position correction by GPS at the water surface, often need relevant device emersion waters surface such as the communication antenna on under-water robot and GPS positioning antennas.Consider the working environment of under-water robot reality, complete smoothly above-mentioned task if think, if only use fixed support by equipment lifting, there will be the situation of under-water robot at Near-surface motion that hinder, be also difficult to avoid the impact effect of the cable of current to connecting device simultaneously.
Summary of the invention
The object of the present invention is to provide a kind ofly can effectively prevent the interference of the current in under-water robot carrier working environment to equipment cable Intelligent Underwater Robot apparatus for automatically lifting that can the functional reliability of assurance equipment in lifting process.
Comprise equipment mounting frame, internal layer bobbin winder bracket, middle level crane, outer fixed mount, the equipment of pre-lifting is arranged on equipment mounting frame, equipment cable is wound up through in internal layer bobbin winder bracket, equipment mounting frame is fixed on the crane of middle level, middle level crane is embedded in outer fixed mount by slideway, middle level crane matches with the gear being arranged on drive motor by the tooth bar on it, and drive motor is arranged on outer fixed mount.
Described internal layer bobbin winder bracket comprises pedestal, bobbin and isolated tube, bobbin and isolated tube are fixed on pedestal, on bobbin, have the first row mouth of a river, between bobbin and isolated tube, have the spacing of the cable maximum gauge that is slightly larger than institute's erecting equipment, on isolated tube, have cable input port.
Tooth bar end on the crane of described middle level is curved, anodontia, and the first slideway is arranged on the outer wall of middle level crane, has the first cable openings on the crane of middle level, has the first targeting port on the crane of middle level.
On described outer fixed mount, have the second row mouth of a river, also have the second cable openings, outer fixed mount has two fixed interfaces for fixed drive motor, and the second slideway is arranged on outer fixed mount inner side.
Retaining sheet is installed in the axial outside that is installed in the gear on drive motor, and two retaining sheets block middle level crane wall.
For fear of the shock vibration effect of current to pre-jacking equipment cable in Intelligent Underwater Robot working environment, the invention provides a kind of suitable Intelligent Underwater Robot apparatus for automatically lifting.This device is applicable to the lift work of small-sized or medium size installations, as required, and lift work when this device can a lifting be realized separate unit or multiple devices.
The present invention controls the state of whole jacking system by the motion of drive motor.The equipment of pre-lifting is arranged on equipment mounting frame, equipment cable is wound up through in internal layer bobbin winder bracket, equipment mounting frame is fixed on the crane of middle level, middle level crane is embedded in outer fixed mount by slideway, and match with the gear being arranged on drive motor by the tooth bar on it, drive motor is arranged on outer fixed mount, by the motion of drive motor, drive the dipping and heaving of middle level crane, and then realize the vertical dipping and heaving of erecting equipment.
The invention has the beneficial effects as follows, lift work when can realizing single or multiple small-sized or medium size installations by the motion of Intelligent Underwater Robot apparatus for automatically lifting, and can effectively prevent current in the under-water robot carrier working environment interference effect to equipment cable in whole motion process, and then the functional reliability of assurance equipment in lifting process.
Accompanying drawing explanation
Fig. 1 Intelligent Underwater Robot apparatus for automatically lifting schematic diagram.
Fig. 2 a Intelligent Underwater Robot apparatus for automatically lifting state 1 schematic diagram.
Fig. 2 b Intelligent Underwater Robot apparatus for automatically lifting state 2 schematic diagrams.
Fig. 3 internal layer bobbin winder bracket schematic diagram.
Fig. 4 a middle level crane tooth bar face schematic diagram.
Fig. 4 b middle level crane tooth bar schematic rear view.
The outer fixed mount drive motor of Fig. 5 a stationary plane schematic diagram.
The fixing schematic rear view of the outer fixed mount drive motor of Fig. 5 b.
Fig. 6 gear scheme of installation.
The specific embodiment
For example the present invention is described in more detail below in conjunction with accompanying drawing.
In conjunction with Fig. 1, the state of whole jacking system is controlled in the motion of drive motor 4.The first equipment 7 and second equipment 8 of pre-lifting are arranged on equipment mounting frame 6, the cable 9 of the second equipment penetrates in middle level crane 2, the cable of the first equipment 7 and the second equipment 8 is wound up through in internal layer bobbin winder bracket 1 jointly, equipment mounting frame 6 is fixed on middle level crane 2, crane 2 inner sleeves in middle level are in outer fixed mount 3, and match with drive motor 4 by the tooth bar 5 on it, drive motor 4 is arranged on outer fixed mount 3.There is heavy keying fit with under-water robot and internal layer bobbin winder bracket 1 in outer fixed mount 3, to support the weight of whole jacking system.Jacking system is similar to hollow columnar, and equipment cable can be from bottom of device via the inner equipment that reaches device top of device like this.
Fig. 2 a and Fig. 2 b have shown respectively collapsed state and the rise state of Intelligent Underwater Robot apparatus for automatically lifting, the control system of under-water robot can be controlled the motion that is arranged on drive motor 4 on outer fixed mount, drive motor 4 drives the lifting of middle level crane 2 by tooth bar 5, thereby realizes the lifting of equipment.The second slideway 11 on the first slideway 10 and outer fixed mount 3 on middle level crane 2 can cooperatively interact, for limiting the position of middle level crane 2 at outer fixed mount 3.Relative motion between the first slideway 10 and the second slideway 11 can be lubricated by the water in working environment.
In conjunction with Fig. 3, internal layer bobbin winder bracket is mainly made up of pedestal 12, bobbin 14 and isolated tube 13, and bobbin 14 and isolated tube 13 are fixed on pedestal 12.On bobbin 14, have the first row mouth of a river 15, for the ponding of eduction gear.Spacing between bobbin 14 and isolated tube 13 is larger than the cable diameter of institute's erecting equipment, and as plurality of devices will be installed, the spacing between bobbin and isolated tube is larger than the cable diameter of diameter maximum in institute's erecting equipment.Isolated tube 13 is for separating equipment cable and middle level crane.On isolated tube 13, have cable input port 16, one end of equipment cable is sent into from cable input port 16, and at jacking system, during in collapsed state, around the spiral inner wall coiling of isolated tube 13, the other end is received on equipment.After coiling, when jacking system is in the time rising state, cable can coil around the axis direction of bobbin 14 in the shape of a spiral, and is circumferentially shrinking to bobbin 14, thereby reduces the impact of cable on jacking system lift work like this.
In Fig. 4 a and Fig. 4 b, on the crane of middle level, have tooth bar 5, tooth bar 5 is for matching with drive motor, and tooth bar 5 ends are curved, anodontia, for stop by force, prevent that middle level crane from exceeding range of movement in motion process.Middle level crane is equipped with the first slideway 10 on outer wall, for coordinating with outer fixed mount.On the crane of middle level, have the first cable openings 17, for the control cable of additional equipment is introduced to jacking system inside.On the crane of middle level, have the first targeting port 18, for the ponding in frame is drawn and discharged in one end of equipment cable.
In Fig. 5 a and Fig. 5 b, show the keystone configuration of outer fixed mount.On outer fixed mount, have the first row mouth of a river 19, for discharging the ponding in frame.Also have the second cable openings 20, for the cable through additional equipment.Outer fixed mount has the first fixed interface 211 and the second fixed interface 212 for fixed drive motor.
Outer fixed mount inner side is equipped with slideway b(11), for coordinating with middle level crane.
In conjunction with figure Fig. 6, gear 24 is installed on drive motor, retaining sheet 23 is installed in the axial outside of gear 24, connecting firmly and can be connected by screw rod between gear 24 and retaining sheet 23, two retaining sheets 23 block middle level crane 2 walls, be used for limiting gear 24 at axial motion, and then the vertical and circumferential position of auxiliary fixing middle level crane 2.

Claims (9)

1. an Intelligent Underwater Robot apparatus for automatically lifting, comprise equipment mounting frame, internal layer bobbin winder bracket, middle level crane, outer fixed mount, it is characterized in that: the equipment of pre-lifting is arranged on equipment mounting frame, equipment cable is wound up through in internal layer bobbin winder bracket, equipment mounting frame is fixed on the crane of middle level, middle level crane is embedded in outer fixed mount by slideway, middle level crane matches with the gear being arranged on drive motor by the tooth bar on it, and drive motor is arranged on outer fixed mount.
2. Intelligent Underwater Robot apparatus for automatically lifting according to claim 1, it is characterized in that: described internal layer bobbin winder bracket comprises pedestal, bobbin and isolated tube, bobbin and isolated tube are fixed on pedestal, on bobbin, have the first row mouth of a river, the spacing that has the cable maximum gauge that is slightly larger than institute's erecting equipment between bobbin and isolated tube, has cable input port on isolated tube.
3. Intelligent Underwater Robot apparatus for automatically lifting according to claim 1 and 2, it is characterized in that: the tooth bar end on the crane of described middle level is curved, anodontia, the first slideway is arranged on the outer wall of middle level crane, on the crane of middle level, have the first cable openings, on the crane of middle level, have the first targeting port.
4. Intelligent Underwater Robot apparatus for automatically lifting according to claim 1 and 2, it is characterized in that: on described outer fixed mount, have the second row mouth of a river, also have the second cable openings, outer fixed mount has two fixed interfaces for fixed drive motor, and the second slideway is arranged on outer fixed mount inner side.
5. Intelligent Underwater Robot apparatus for automatically lifting according to claim 3, it is characterized in that: on described outer fixed mount, have the second row mouth of a river, also have the second cable openings, outer fixed mount has two fixed interfaces for fixed drive motor, and the second slideway is arranged on outer fixed mount inner side.
6. Intelligent Underwater Robot apparatus for automatically lifting according to claim 1 and 2, is characterized in that: retaining sheet is installed in the axial outside that is installed in the gear on drive motor, and two retaining sheets block middle level crane wall.
7. Intelligent Underwater Robot apparatus for automatically lifting according to claim 3, is characterized in that: retaining sheet is installed in the axial outside that is installed in the gear on drive motor, and two retaining sheets block middle level crane wall.
8. Intelligent Underwater Robot apparatus for automatically lifting according to claim 4, is characterized in that: retaining sheet is installed in the axial outside that is installed in the gear on drive motor, and two retaining sheets block middle level crane wall.
9. Intelligent Underwater Robot apparatus for automatically lifting according to claim 5, is characterized in that: retaining sheet is installed in the axial outside that is installed in the gear on drive motor, and two retaining sheets block middle level crane wall.
CN201410083779.8A 2014-03-10 2014-03-10 Intelligent Underwater Robot apparatus for automatically lifting Active CN103895841B (en)

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CN201410083779.8A CN103895841B (en) 2014-03-10 2014-03-10 Intelligent Underwater Robot apparatus for automatically lifting

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Application Number Priority Date Filing Date Title
CN201410083779.8A CN103895841B (en) 2014-03-10 2014-03-10 Intelligent Underwater Robot apparatus for automatically lifting

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CN103895841A true CN103895841A (en) 2014-07-02
CN103895841B CN103895841B (en) 2016-06-29

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105823499A (en) * 2016-03-21 2016-08-03 山东大学 Water depth change-based tracer probe position adjusting device and method
CN107352004A (en) * 2017-07-30 2017-11-17 苏州元有讯电子科技有限公司 A kind of synchronous folding or the underwater robot for stretching two folding landing legs
CN108376824A (en) * 2018-02-23 2018-08-07 哈尔滨工业大学(威海) Floating Anneta module applied to diving outfit
CN110977947A (en) * 2019-12-25 2020-04-10 广东博智林机器人有限公司 Lifting mechanism and construction robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2282580A1 (en) * 1974-08-20 1976-03-19 Flopeirol Cable end connector - for automatically connecting a cable to an underwater installation e.g. a well head
CN2654621Y (en) * 2003-10-28 2004-11-10 包头瑞鑫稀土金属材料股份有限公司 Automatic cathode lifting device of fused salt electrolysis production of rare earth alloy
CN201916656U (en) * 2010-12-27 2011-08-03 北京科基中意软件开发有限公司 Computer controlled digital photographic three-dimensional (3D) four-wheel aligner camera lifting device
CN203095162U (en) * 2012-12-06 2013-07-31 速昌海 Lifting device for concrete block stacker crane
CN203780779U (en) * 2014-03-10 2014-08-20 哈尔滨工程大学 Automatic lifting device for intelligent underwater robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2282580A1 (en) * 1974-08-20 1976-03-19 Flopeirol Cable end connector - for automatically connecting a cable to an underwater installation e.g. a well head
CN2654621Y (en) * 2003-10-28 2004-11-10 包头瑞鑫稀土金属材料股份有限公司 Automatic cathode lifting device of fused salt electrolysis production of rare earth alloy
CN201916656U (en) * 2010-12-27 2011-08-03 北京科基中意软件开发有限公司 Computer controlled digital photographic three-dimensional (3D) four-wheel aligner camera lifting device
CN203095162U (en) * 2012-12-06 2013-07-31 速昌海 Lifting device for concrete block stacker crane
CN203780779U (en) * 2014-03-10 2014-08-20 哈尔滨工程大学 Automatic lifting device for intelligent underwater robot

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105823499A (en) * 2016-03-21 2016-08-03 山东大学 Water depth change-based tracer probe position adjusting device and method
CN107352004A (en) * 2017-07-30 2017-11-17 苏州元有讯电子科技有限公司 A kind of synchronous folding or the underwater robot for stretching two folding landing legs
CN107352004B (en) * 2017-07-30 2018-06-19 乐清市华尊电气有限公司 A kind of synchronous folding or the underwater robot for stretching two folding landing legs
CN108376824A (en) * 2018-02-23 2018-08-07 哈尔滨工业大学(威海) Floating Anneta module applied to diving outfit
CN108376824B (en) * 2018-02-23 2019-07-02 哈尔滨工业大学(威海) Floating Anneta module applied to diving outfit
CN110977947A (en) * 2019-12-25 2020-04-10 广东博智林机器人有限公司 Lifting mechanism and construction robot

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