CN105022408A - Assembling type top sucking device loaded on underwater robot platform - Google Patents
Assembling type top sucking device loaded on underwater robot platform Download PDFInfo
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- CN105022408A CN105022408A CN201510505201.1A CN201510505201A CN105022408A CN 105022408 A CN105022408 A CN 105022408A CN 201510505201 A CN201510505201 A CN 201510505201A CN 105022408 A CN105022408 A CN 105022408A
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- drive unit
- underwater robot
- support
- motor
- driving wheel
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Abstract
Disclosed in the invention is an assembling type top sucking device loaded on an underwater robot platform. The device comprises a support, a left drive unit, and a right drive unit, wherein the left drive unit and the right drive unit are arranged at the two sides above the support in a symmetric mode. The left drive unit contains a motor, a front driving wheel, and a rear driving wheel; the motor drives a driving shaft to make rotation by a motor driven wheel; the rear driving wheel is arranged at the outer end of the driving shaft; and a belt pulley is arranged at the other end of the driving shaft and drives a driven wheel to drive the front driving wheels. Besides, honeycomb ducts are arranged in the middle above the support; and connecting plates are arranged below the two sides of the support and are used for fixing the support on the underwater robot platform. The backing up and left-right movement of the device are respectively completed by forward and reverse rotation of the motors of the left drive unit and the right drive unit; and driving and controlling are respectively or simultaneously carried out by a remote control handle. According to the invention, a detection device can approach a marked object to carry out scanning and shooting comprehensively and carefully, so that a problem that large-area detailed observation on a pipeline or a tunnel is difficult to be done can be solved. The device can be applied to external observation of other water fields and thus a reliable, convenient, and scientific detection device can be provided for underground detection.
Description
Technical field
The present invention relates to a kind of top be located on underwater robot and inhale device, be applied to the hydraulic engineering industry such as super large caliber tunnel and other immersed bodies under water, belong to field of engineering technology.
Background technology
Detecting the means being used for using in pipeline under water is at present sonar and shooting.Sonar is that one utilizes the underwater propagation characteristic of sound wave, changed and information processing by electroacoustic, complete the electronic equipment of undersea detection and communication task, belong to the category of acoustics location, can be used for finding target, but detailed detection and observation can not be carried out to target (or subject matter), the requirement detected cannot be realized; Underwater camera requires very high to water quality, subject matter distance and illumination, and equipment can not accurately be located subject matter, and when setting shooting does not reach coverage, picture quality can not reach the requirement of detection.
Summary of the invention
Technical matters to be solved by this invention is the defect existed for prior art, provides a kind of top be carried on underwater robot to inhale device.
For solving this technical matters, the invention provides a kind of loaded and unloaded top be carried on underwater robot platform and inhale device, comprise support, left drive unit and right drive unit is provided with above described support, described left drive unit comprises motor and front driving wheel and rear drive sprocket, described motor is provided with motor driving wheel, motor driving wheel drives drive shaft turns by motor engaged wheel, the outer end of described driving shaft is provided with rear drive sprocket, the other end of driving shaft is provided with belt pulley, belt pulley is by belt drive engaged wheel, and then drive the front driving wheel being positioned at front portion to rotate, described right drive unit and left drive unit are bilateral symmetry, are separately positioned on the arranged on left and right sides above support, middle part above described support is provided with mozzle, and this flow-directing shroud is connected on the protective cover of ascent propulsion device of underwater robot, and described support down either side is provided with web joint for support being fixed on the upper mounting plate of underwater robot.
Falling back and moving left and right of described top suction device is completed by the motor positive and inverse of left drive unit and right drive unit respectively, and is driven respectively or simultaneously by remote-control handle and control.
The invention provides a kind of being provided with and can load and unload the underwater robot that device is inhaled on top, the upper mounting plate of robot is provided with and can loads and unloads top suction device under water, described top is inhaled device and is utilized the lifting power of the ascent propulsion device of underwater robot to hold top, and is moved by all around after the multiple driving wheels be arranged on ceiling device realize underwater robot ceiling; The advance of package unit or return back through advance thruster and realize.
The lighting device that described configurations of lenses is corresponding.
Beneficial effect: the present invention is arranged on underwater robot platform, utilize the driving force of underwater robot, pick-up unit can be made to press close to subject matter carry out careful, comprehensive scan camera shooting and take pictures, spacing is observed, solve the observation difficult problem at the T-Ring place in big-diameter pipeline and tunnel, also solve a difficult problem of pipeline and tunnel being carried out to the careful observation of large area.May be used on such as the outside such as drilling platform, submarine, other water fields to observe, the detection for special subject matter under water provides a kind of pick-up unit of reliable, convenient, efficient, science simultaneously.
Accompanying drawing explanation
Fig. 1 is structural representation vertical view of the present invention;
Fig. 2 is structural representation side view of the present invention;
Fig. 3 is the structural representation that the present invention can load and unload that device is inhaled on top.
In figure: 1 underwater robot, 2 supports, 3 left drive units, 4 right drive units, 5 motors, 6 motor driving wheels, 7 motor engaged wheels, 8 driving shafts, 9 rear drive sprockets, 10 belt pulleys, 11 belts, 12 engaged wheels, 13 front driving wheels, 14 mozzles, 15 ascent propulsion devices, 16 web joints, 17 advance thrusters, 18 camera lenses.
Embodiment
Below in conjunction with drawings and Examples, the present invention is specifically described.
Figure 1 shows that structural representation vertical view of the present invention.
Figure 2 shows that structural representation side view of the present invention.
The support 2 that the present invention includes underwater robot 1 and be arranged on underwater robot 1 upper mounting plate, is provided with left drive unit 3 and right drive unit 4 above described support 2.
Described left drive unit 3 comprises motor 5 and front driving wheel 13 and rear drive sprocket 9, described motor 5 is provided with motor driving wheel 6, motor driving wheel 6 drives driving shaft 8 to rotate by motor engaged wheel 7, the outer end of described driving shaft 8 is provided with rear drive sprocket 9, the other end of driving shaft 8 is provided with belt pulley 10, belt pulley 10 drives engaged wheel 12 by belt 11, and then drives the front driving wheel 13 being positioned at front portion to rotate.
Described right drive unit 4 is bilateral symmetry with left drive unit 3, is separately positioned on the arranged on left and right sides above support 2.
Middle part above described support 2 is provided with mozzle 14, and this mozzle 14 is socketed on the protective cover of ascent propulsion device 15 of underwater robot 1.
Figure 3 shows that the present invention can load and unload the structural representation that device is inhaled on top.
Described support 2 down either side is provided with web joint 16 for support 2 being fixed on the upper mounting plate of underwater robot 1.
Falling back and moving left and right of described top suction device is completed by motor 5 rotating of left drive unit 3 and right drive unit 4 respectively, and is driven respectively or simultaneously by remote-control handle and control.
The present invention utilizes the lifting power of the ascent propulsion device 15 of underwater robot 1 to hold top, and is moved by all around after the multiple driving wheels be arranged on ceiling device realize underwater robot 1 ceiling; The advance of package unit or return back through advance thruster 17 and realize.
Described camera lens 18 configures corresponding lighting device.
Principle of work of the present invention:
Ceiling device is assemblied on underwater robot 1 by the present invention, and be designed on the protective cover of the ascent propulsion device 15 mozzle 14 being socketed in robot 1 waterborne, the ascent propulsion device 15 of underwater robot 1 is utilized to hold the top of subject matter, again by the drive wheel being positioned at top, band mobile robot forward-reverse left/right rotation, thus underwater robot becomes the underwater robot with ceiling function;
During its work: ascent propulsion device 15 holds top, left drive unit 3 and right drive unit 4 are rotated by the motor driving wheel 6 drive motor engaged wheel 7 on respective motor 5, belt pulley 10 drives engaged wheel 12 to rotate by belt 11, thus drive machines people is adherent utilizes driving wheel to move ahead and left/right rotation.Fall back and left/right rotation completed by the rotating of motor 5 respectively; Moving ahead of equipment set has been controlled by advance thruster 17 with retreating; Carry out, in adherent operation, rotating to upward angle of visibility degree by camera lens 18 at equipment, carry out careful observation to subject matter, the lighting device that camera lens 18 configures throws light on; This device can be unloaded, to former underwater robot without any damage after finishing the work.
The present invention utilizes the lifting power of former underwater robot to hold top, pick-up unit can be made to press close to, and to the subject matter at top, subject matter carries out that careful, comprehensive scan camera shooting is taken pictures, spacing is observed, thus solves underwater robot in water, not easily keep same distance to carry out a difficult problem of observing; Multiple engaged wheel, solves the problem of all around movement after ceiling, makes equipment in the detection more flexibly, conveniently; Ceiling device is arranged on platform in use, also can unload, and does not produce structural destruction to underwater robot platform; Ceiling device is placed on top, does not substantially affect in the counterweight of underwater robot platform; The invention solves the observation difficult problem at the T-Ring place in big-diameter pipeline and tunnel, also a difficult problem of pipeline and tunnel being carried out to the careful observation of large area is solved, may be used on other to observe such as the outside such as drilling platform, submarine, field under water, the detection for special subject matter under water provides a kind of pick-up unit of reliable, convenient, efficient, science simultaneously.
The above-mentioned embodiment of the present invention, just illustrates, is not only, and the change within the scope of the present invention all or equivalent scope of the present invention is all surrounded by the present invention.
Claims (4)
1. device is inhaled on the loaded and unloaded top be carried on underwater robot platform, it is characterized in that: comprise support (2), described support (2) top is provided with left drive unit (3) and right drive unit (4), described left drive unit (3) comprises motor (5) and front driving wheel (13) and rear drive sprocket (9), described motor (5) is provided with motor driving wheel (6), motor driving wheel (6) drives driving shaft (8) to rotate by motor engaged wheel (7), the outer end of described driving shaft (8) is provided with rear drive sprocket (9), the other end of driving shaft (8) is provided with belt pulley (10), belt pulley (10) drives engaged wheel (12) by belt (11), and then drive the front driving wheel (13) being positioned at front portion to rotate, described right drive unit (4) and left drive unit (3) are bilateral symmetry, are separately positioned on the arranged on left and right sides of support (2) top, the middle part of described support (2) top is provided with mozzle (14), this mozzle (14) is socketed on the protective cover of ascent propulsion device (15) of underwater robot (1), and described support (2) down either side is provided with web joint (16) for support (2) being fixed on the upper mounting plate of underwater robot (1).
2. device is inhaled on the loaded and unloaded top be carried on underwater robot platform according to claim 1, it is characterized in that: falling back and moving left and right of described top suction device is completed by motor (5) rotating of left drive unit (3) and right drive unit (4) respectively, and is driven respectively or simultaneously by remote-control handle and control.
3. one kind is provided with as the underwater robot loading and unloading top suction device according to claim 1 and 2, it is characterized in that: the upper mounting plate of robot (1) is provided with and can loads and unloads top suction device under water, described top is inhaled device and is utilized the lifting power of the ascent propulsion device (15) of underwater robot (1) to hold top, and is moved by all around after the multiple driving wheels be arranged on ceiling device realize underwater robot (1) ceiling; The advance of package unit or return back through advance thruster (17) and realize.
4. underwater robot according to claim 3, is characterized in that: the lighting device that described camera lens (18) configuration is corresponding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510505201.1A CN105022408B (en) | 2015-08-17 | 2015-08-17 | Inhale device in a kind of top of loading and unloading being carried on underwater robot platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510505201.1A CN105022408B (en) | 2015-08-17 | 2015-08-17 | Inhale device in a kind of top of loading and unloading being carried on underwater robot platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105022408A true CN105022408A (en) | 2015-11-04 |
| CN105022408B CN105022408B (en) | 2018-03-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510505201.1A Active CN105022408B (en) | 2015-08-17 | 2015-08-17 | Inhale device in a kind of top of loading and unloading being carried on underwater robot platform |
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| Country | Link |
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| CN (1) | CN105022408B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097242A (en) * | 2017-07-04 | 2017-08-29 | 水利部交通运输部国家能源局南京水利科学研究院 | A kind of long range free flow water conveyer tunnel automatic surveying robot and method |
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| CN1789062A (en) * | 2005-12-21 | 2006-06-21 | 哈尔滨工程大学 | Permanent-magnet adsorption type double-track robot for ship hull surface cleaning and brushing |
| CN101954844A (en) * | 2009-07-15 | 2011-01-26 | 中国科学院沈阳自动化研究所 | Triphibian omnibearing moving mechanism |
| KR20110092665A (en) * | 2010-02-10 | 2011-08-18 | 정근섭 | Safety driving discriminating apparatus for rail guided vehicle |
| CN102424100A (en) * | 2011-11-22 | 2012-04-25 | 哈尔滨功成科技创业投资有限公司 | Robot for cleaning composite adsorption ship body |
| CN103253312A (en) * | 2013-05-31 | 2013-08-21 | 江苏科技大学 | Modality switching underwater robot and control method thereof |
| KR20130141158A (en) * | 2012-06-15 | 2013-12-26 | 삼성중공업 주식회사 | Underwater vehicle system |
| CN204904093U (en) * | 2015-08-17 | 2015-12-23 | 山东省水利科学研究院 | Device is inhaled to loading loaded and unloaded top on robot platform under water |
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2015
- 2015-08-17 CN CN201510505201.1A patent/CN105022408B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1789062A (en) * | 2005-12-21 | 2006-06-21 | 哈尔滨工程大学 | Permanent-magnet adsorption type double-track robot for ship hull surface cleaning and brushing |
| CN101954844A (en) * | 2009-07-15 | 2011-01-26 | 中国科学院沈阳自动化研究所 | Triphibian omnibearing moving mechanism |
| KR20110092665A (en) * | 2010-02-10 | 2011-08-18 | 정근섭 | Safety driving discriminating apparatus for rail guided vehicle |
| CN102424100A (en) * | 2011-11-22 | 2012-04-25 | 哈尔滨功成科技创业投资有限公司 | Robot for cleaning composite adsorption ship body |
| KR20130141158A (en) * | 2012-06-15 | 2013-12-26 | 삼성중공업 주식회사 | Underwater vehicle system |
| CN103253312A (en) * | 2013-05-31 | 2013-08-21 | 江苏科技大学 | Modality switching underwater robot and control method thereof |
| CN204904093U (en) * | 2015-08-17 | 2015-12-23 | 山东省水利科学研究院 | Device is inhaled to loading loaded and unloaded top on robot platform under water |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097242A (en) * | 2017-07-04 | 2017-08-29 | 水利部交通运输部国家能源局南京水利科学研究院 | A kind of long range free flow water conveyer tunnel automatic surveying robot and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105022408B (en) | 2018-03-13 |
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