CN104648637A - Manipulator carrier for underwater operation - Google Patents
Manipulator carrier for underwater operation Download PDFInfo
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- CN104648637A CN104648637A CN201510119643.2A CN201510119643A CN104648637A CN 104648637 A CN104648637 A CN 104648637A CN 201510119643 A CN201510119643 A CN 201510119643A CN 104648637 A CN104648637 A CN 104648637A
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- loop
- road wheel
- traveling
- suction
- wheel
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Abstract
The invention discloses a manipulator carrier for underwater operation. The manipulator carrier comprises a base used for loading a manipulator, and an suction and traveling mechanism which is arranged on the base and is sucked on the working surface to travel along the working surface, wherein the suction and traveling mechanism comprises traveling wheels and suction assemblies for traveling; each suction assembly for traveling comprises suckers, a suction liquid generation device and a liquid suction loop; the multiple suckers are arranged on the traveling wheel along the traveling peripheral direction; and the liquid suction end of the liquid suction loop is formed in a mode of always acting on the suckers opposite to the working surface on the traveling wheel. The multiple suckers arranged along the traveling peripheral direction of the traveling wheel are subjected to sequential liquid suction by virtue of the suction liquid loop, and the aim of fixing the suckers on an underwater operation target is realized along with rotation of the traveling wheel, so that the carrier can flexibly move under the water. Moreover, the manipulator carrier can be stably fixed on the working surface, is slightly influenced by ocean current and is relatively low in construction cost and high in economic applicability through comprehensive comparison.
Description
Technical field
The present invention relates to a kind of automated machine parts, particularly a kind of under-water operation manipulator carrier.
Background technology
Manipulator is widely studied as critical equipment comparatively main in important manufacturing equipment, be mainly used in automobile, boats and ships, naval vessels, aircraft, satellite, rocket, spacecraft, heavy duty machine tools, large-scale production line and the industry such as equipment group and Ferrous Metallurgy, the multiple multiclass of shape of its carrier.
In prior art, underwater operation has often been come by the dive instruments such as the large-scale submarine being equipped with manipulator or diver.These dive instruments often can not reach very near the distance on work object surface.And be easily subject to the impacts such as ocean current impact in the course of the work.And due to these carrier bulks huge, sensitieness is poor.Simply work for some on the other hand, these dive instruments seem again costly.For artificial dive, although save spending, hazard level also promotes greatly.
Therefore need a kind of under-water operation manipulator carrier, carry out the dive instruments such as alternative submarine, and alternative artificial dive completes some under-water operations.Thus reach and reduce expenses, heighten stability, and greatly reduce the effect of personal security hidden danger.
Summary of the invention
In view of this, the invention provides a kind of under-water operation manipulator carrier, solve the underwater operation carrier existed in prior art expensive, and poor stability, the problem of sensitive manoevreability difference.And substitute manual work, reduce personal security hidden danger.
Under-water operation manipulator carrier of the present invention, comprise the pedestal for charging manipulator and the absorption traveling gear be arranged on for walking along running surface absorption on pedestal, absorption traveling gear comprises road wheel and walking absorbent module, walking absorbent module comprises sucker, imbibition generating means and imbibition loop, road wheel arranges multiple sucker along walking circumference, and the imbibition end in imbibition loop is just arranged the mode of the sucker of running surface to act on all the time on road wheel.
Further, imbibition loop comprises pipeline in the dish that is arranged in basal disc and is arranged on pipeline in the wheel in road wheel, in wheel, pipeline corresponding each sucker connection in each road wheel arranges one, in dish, pipeline each road wheel corresponding arranges one, and in wheel, pipeline is arranged with the mode of pipeline connection in the dish of corresponding row travelling wheel successively to rotate with road wheel.
Further, also comprising for generation of deboost is the absorption pressurizer of absorption supercharging, absorption pressurizer comprise supercharging hydrojet loop and be arranged at described pedestal upper surface and with the upper mouth spray of described supercharging hydrojet circuit communication.
Further, the pedestal of carrier is also provided with for turning to auxiliary mechanism, describedly turn to auxiliary mechanism to comprise to turn to hydrojet loop and respectively arrange respectively at described pedestal both sides the side mouth spray of, side mouth spray described in two is all communicated with the described hydrojet loop open-close type that turns to.
Further, base bottom is provided with the pulley for stabilized walking, and described pulley is provided with shock absorbing apparatus.
Further, road wheel comprises two main drive wheels and two from drive wheel.
Beneficial effect of the present invention: under-water operation manipulator carrier of the present invention, have employed the most common working medium-liquid under water and be used as driving medium, liquid compares gas very large incompressibility and stability, in use, imbibition is successively carried out to along road wheel walking multiple suckers circumferentially by imbibition loop, the object be fixed in underwater operation target is jointly reached with the rotation of road wheel, thus make this carrier under water can flexible motion, and can be stable be fixed on running surface, feeling the current is less, and Integrated comparative, cost is relatively low, economic serviceability is good.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is structural representation of the present invention.
Fig. 2 is the imbibition loop diagram of inside of the present invention
Detailed description of the invention
Fig. 1 is structural representation of the present invention, Fig. 2 is the imbibition loop diagram of inside of the present invention, as shown in the figure: the under-water operation manipulator carrier of the present embodiment, comprise the pedestal 1 for charging manipulator and the absorption traveling gear be arranged on for walking along running surface absorption on pedestal 1, absorption traveling gear comprises road wheel 2 and walking absorbent module, walking absorbent module comprises sucker 3, imbibition generating means 6 and imbibition loop, road wheel 2 arranges multiple described sucker 3 along walking circumference, the imbibition end in imbibition loop is just arranged the mode of the sucker 3 of running surface to act on all the time on road wheel 2, imbibition generating means is screw propeller pressing device, the flight 63 comprising drive motor 61, turning cylinder 62 and arrange on the rotating shaft, turning cylinder rotates under the driving of drive motor, flight turns in company with turning cylinder is same, produce the imbibition to liquid in the sucker on two sidecar wheels, screw propeller pressing device arranges two, controls the absorption of the sucker of the road wheel of pedestal both sides respectively, in addition, the walking of road wheel is realized by internal driving mechanism, and internal driving mechanism can be motor and gear pair live axle realizes, and is prior art, does not repeat them here.
In the present embodiment, imbibition loop comprises pipeline 7 in the dish that is arranged in basal disc and is arranged on pipeline 8 in the wheel in road wheel, described interior pipeline each sucker corresponding in each road wheel of taking turns is communicated with and arranges one, in dish, pipeline each road wheel corresponding arranges one, and in wheel, pipeline is arranged with the mode of pipeline connection in the dish of corresponding row travelling wheel successively to rotate with road wheel; For ensureing that imbibition end in imbibition loop acts on road wheel 2 all the time just to the sucker 3 of running surface, wherein, in wheel, pipeline each sucker corresponding arranges one, road wheel is pivotally arranged at basal disc, when road wheel rotates, pipeline connection in the dish that in wheel, pipeline is arranged with respective side successively.
In the present embodiment, also comprising for generation of deboost is the absorption pressurizer of absorption supercharging, absorption pressurizer comprise supercharging hydrojet loop 9 and be arranged at pedestal 1 upper surface and with the upper mouth spray 4 of supercharging hydrojet circuit communication; In the present embodiment, the pedestal 1 of carrier is also provided with for turning to auxiliary mechanism, turn to auxiliary mechanism to comprise hydrojet generating means II, turn to hydrojet loop and respectively arrange the side mouth spray 5 of respectively at pedestal 1 both sides, both sides mouth spray is all communicated with turning to hydrojet loop open-close type; Upper mouth spray is normally open, the side mouth spray of the left and right sides is normally off, selectively opened when turning to, supercharging hydrojet loop and turn to hydrojet loop all with coil interior pipeline connection, the rotating shaft of screw propeller pressing device and flight are arranged in the upper hydrojet pipeline of mouth spray, by screw propeller pressing device, liquid suction basal disc is inner and be expelled to mouth spray; As shown in the figure, supercharging hydrojet loop is communicated with all the time with pipeline in dish, the rotating shaft of screw propeller pressing device and blade (i.e. flight) are arranged on the interior pipeline of dish, blade rotation can be formed in the air-flow in dish, pipeline risen, thus liquid interior on pipeline in suction tray rises along the direction of arrow in figure, form imbibition and supercharging.
In the present embodiment, be provided with the pulley 6 for stabilized walking bottom pedestal 1, pulley is provided with shock absorbing apparatus; Play the effect conveniently walking and prevent to vibrate.
In the present embodiment, road wheel 2 comprises two main drive wheels and two from drive wheel.
What finally illustrate is, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (6)
1. a under-water operation manipulator carrier, it is characterized in that: comprise the pedestal for charging manipulator and the absorption traveling gear be arranged on for walking along running surface absorption on described pedestal, described absorption traveling gear comprises road wheel and walking absorbent module, described walking absorbent module comprises sucker, imbibition generating means and imbibition loop, described road wheel arranges multiple described sucker along walking circumference, and the imbibition end in described imbibition loop is just arranged the mode of the sucker of running surface to act on all the time on road wheel.
2. under-water operation manipulator carrier according to claim 1, it is characterized in that: imbibition loop comprises pipeline in the dish that is arranged in basal disc and is arranged on pipeline in the wheel in road wheel, described interior pipeline each sucker corresponding in each road wheel of taking turns is communicated with and arranges one, in dish, pipeline each road wheel corresponding arranges one, and in wheel, pipeline is arranged with the mode of pipeline connection in the dish of corresponding row travelling wheel successively to rotate with road wheel.
3. under-water operation manipulator carrier according to claim 1, it is characterized in that: also comprising for generation of deboost is the absorption pressurizer of absorption supercharging, described absorption pressurizer comprise supercharging hydrojet loop and be arranged at described pedestal upper surface and with the upper mouth spray of described supercharging hydrojet circuit communication.
4. under-water operation manipulator carrier according to claim 1, it is characterized in that: the pedestal of described carrier is also provided with for turning to auxiliary mechanism, describedly turn to auxiliary mechanism to comprise to turn to hydrojet loop and respectively arrange respectively at described pedestal both sides the side mouth spray of, side mouth spray described in two is all communicated with the described hydrojet loop open-close type that turns to.
5. under-water operation manipulator carrier according to claim 1, is characterized in that: described base bottom is provided with the pulley for stabilized walking, described pulley is provided with shock absorbing apparatus.
6. the under-water operation manipulator carrier according to the arbitrary claim of claim 1-5, is characterized in that: described road wheel comprises two main drive wheels and two from drive wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510119643.2A CN104648637B (en) | 2015-03-18 | 2015-03-18 | Manipulator carrier for underwater operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510119643.2A CN104648637B (en) | 2015-03-18 | 2015-03-18 | Manipulator carrier for underwater operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104648637A true CN104648637A (en) | 2015-05-27 |
| CN104648637B CN104648637B (en) | 2017-01-18 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510119643.2A Active CN104648637B (en) | 2015-03-18 | 2015-03-18 | Manipulator carrier for underwater operation |
Country Status (1)
| Country | Link |
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| CN (1) | CN104648637B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108001640A (en) * | 2018-01-18 | 2018-05-08 | 美钻能源科技(上海)有限公司 | Underwater dirt cleaning device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09177752A (en) * | 1995-12-27 | 1997-07-11 | Mitsubishi Heavy Ind Ltd | Simple attachment/detachment suction cup mechanism |
| CN2512558Y (en) * | 2001-12-28 | 2002-09-25 | 吴志明 | Crawler-type multiple sucking disc wall climbing robot |
| WO2006126884A1 (en) * | 2005-03-29 | 2006-11-30 | Norse Cutting & Abandonment As | A method and a device for attaching a subsea cutting apparatus |
| CN103600821A (en) * | 2013-11-07 | 2014-02-26 | 江苏科技大学 | Omni-directional floating and wall-climbing underwater robot |
| CN103802905A (en) * | 2012-11-07 | 2014-05-21 | 王也 | Multi-cavity crab-type negative-pressure wall-climbing robot |
| CN203831406U (en) * | 2014-04-12 | 2014-09-17 | 吉林大学 | Adsorbing and grabbing type underwater manipulator |
| CN104071247A (en) * | 2014-05-15 | 2014-10-01 | 苏州工业园区职业技术学院 | Crawler belt sucker type wall-climbing robot |
| CN204527592U (en) * | 2015-03-18 | 2015-08-05 | 重庆交通大学 | Absorption type manipulator carrier under water |
-
2015
- 2015-03-18 CN CN201510119643.2A patent/CN104648637B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09177752A (en) * | 1995-12-27 | 1997-07-11 | Mitsubishi Heavy Ind Ltd | Simple attachment/detachment suction cup mechanism |
| CN2512558Y (en) * | 2001-12-28 | 2002-09-25 | 吴志明 | Crawler-type multiple sucking disc wall climbing robot |
| WO2006126884A1 (en) * | 2005-03-29 | 2006-11-30 | Norse Cutting & Abandonment As | A method and a device for attaching a subsea cutting apparatus |
| CN103802905A (en) * | 2012-11-07 | 2014-05-21 | 王也 | Multi-cavity crab-type negative-pressure wall-climbing robot |
| CN103600821A (en) * | 2013-11-07 | 2014-02-26 | 江苏科技大学 | Omni-directional floating and wall-climbing underwater robot |
| CN203831406U (en) * | 2014-04-12 | 2014-09-17 | 吉林大学 | Adsorbing and grabbing type underwater manipulator |
| CN104071247A (en) * | 2014-05-15 | 2014-10-01 | 苏州工业园区职业技术学院 | Crawler belt sucker type wall-climbing robot |
| CN204527592U (en) * | 2015-03-18 | 2015-08-05 | 重庆交通大学 | Absorption type manipulator carrier under water |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108001640A (en) * | 2018-01-18 | 2018-05-08 | 美钻能源科技(上海)有限公司 | Underwater dirt cleaning device |
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| Publication number | Publication date |
|---|---|
| CN104648637B (en) | 2017-01-18 |
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Address after: No. 1, Fuxing Avenue, Shuang Fu new area, Jiangjin District, Chongqing Patentee after: chongqing jiaotong university Address before: 400074 Chongqing Nan'an District University Avenue, No. 66 Patentee before: chongqing jiaotong university |