CN105022408B - Inhale device in a kind of top of loading and unloading being carried on underwater robot platform - Google Patents
Inhale device in a kind of top of loading and unloading being carried on underwater robot platform Download PDFInfo
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- CN105022408B CN105022408B CN201510505201.1A CN201510505201A CN105022408B CN 105022408 B CN105022408 B CN 105022408B CN 201510505201 A CN201510505201 A CN 201510505201A CN 105022408 B CN105022408 B CN 105022408B
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- underwater robot
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Abstract
The invention discloses a kind of top of loading and unloading being carried on underwater robot platform to inhale device, the symmetrical left and right driving device in both sides including support and above support, left drive device includes motor and forward and backward driving wheel, motor drives drive shaft turns by motor driven pulley, the outer end of drive shaft is provided with rear drive sprocket, the other end is provided with belt pulley, and belt pulley drives driven pulley and then drives front driving wheel；Support upper center is provided with mozzle, and its down either side is secured the stand on underwater robot upper mounting plate provided with connecting plate；The retroversion of the device and move left and right respectively by left and right driving device motor positive and inverse complete, separately or concurrently drive and control by remote-control handle.The present invention can make detection means press close to careful, the comprehensive scan camera shooting of subject matter progress, solves the problem that the careful observation of large area is carried out to pipeline and tunnel, it may be used on the external observation in other water fields, reliable, convenient, science detection means provided for underwater detection.
Description
Technical field
The present invention relates to a kind of top on underwater robot to inhale device, applied to the underwater super large caliber tunnel of hydraulic engineering
The industry such as road and other immersed bodies, belongs to field of engineering technology.
Background technology
The means detected under water for being used in pipeline at present are sonar and shooting.Sonar is that one kind utilizes sound wave under water
Propagation characteristic, by electroacoustic conversion and information processing, complete the electronic equipment of undersea detection and communication task, belong to acoustics and determine
The category of position, available for finding target, but detailed detection and observation can not be carried out to target (or subject matter), inspection can not be realized
The requirement of survey；Underwater camera requires very high to water quality, subject matter distance and illumination, and equipment can not be accurately positioned to subject matter, if
When fixed shooting does not reach coverage, picture quality can not reach the requirement of detection.
The content of the invention
The technical problems to be solved by the invention are the defects of presence for prior art, there is provided one kind loads machine under water
Inhale device in top on device people.
To solve this technical problem, the invention provides a kind of top of loading and unloading being carried on underwater robot platform to inhale
Device, including support, are provided with left drive device and right drive device above the support, the left drive device including motor and
Front driving wheel and rear drive sprocket, the motor are provided with motor driving wheel, and motor driving wheel is driven by motor driven pulley and driven
Axle rotates, and the outer end of the drive shaft is provided with rear drive sprocket, and the other end of drive shaft is provided with belt pulley, and belt pulley passes through belt band
Dynamic driven pulley, and then drive and rotated positioned at anterior front driving wheel；The right drive device is symmetrical with left drive device
Structure, the arranged on left and right sides being separately positioned on above support；Middle part above the support is provided with mozzle, mozzle socket
Under water on the protective cover of the ascent propulsion device of robot, the support down either side is provided with connecting plate and is used to secure the stand to
On the upper mounting plate of underwater robot.
Inhale the retroversion of device and move left and right respectively by the motor positive and inverse of left drive device and right drive device in the top
Complete, and separately or concurrently drive and control by remote-control handle.
The invention provides a kind of be provided with can load and unload the underwater robot for pushing up suction device, under water on the upper mounting plate of robot
Device is inhaled provided with top can be loaded and unloaded, the top inhales device and holds top using the lifting power of the ascent propulsion device of underwater robot,
And multiple driving wheels by being arranged on ceiling device realize the movement around after underwater robot ceiling；The whole series dress
The advance put returns back through the realization of advance propeller.
Lighting device corresponding to the camera lens configuration.
Beneficial effect：The present invention is arranged on underwater robot platform, using the driving force of underwater robot, can make inspection
Survey device is pressed close to careful, the comprehensive scan camera shooting of subject matter progress and taken pictures, and spacing observation, solves in big-diameter pipeline and tunnel
The observation problem connect at ring, also solve the problem that the careful observation of large area is carried out to pipeline and tunnel.It may be used on simultaneously
Other water fields such as external observation such as drilling platforms, submarine etc., one kind is provided reliably, just for the detection of underwater special subject matter
Prompt, the efficient, detection means of science.
Brief description of the drawings
Fig. 1 is the structural representation top view of the present invention；
Fig. 2 is the structural representation side view of the present invention；
Fig. 3 is that the present invention can load and unload the structural representation that device is inhaled on top.
In figure：1 underwater robot, 2 supports, 3 left drive devices, 4 right drive devices, 5 motors, 6 motor driving wheels, 7 electricity
Machine driven pulley, 8 drive shafts, 9 rear drive sprockets, 10 belt pulleys, 11 belts, 12 driven pulleys, 13 front driving wheels, 14 mozzles, on 15
Rise propeller, 16 connecting plates, 17 advance propellers, 18 camera lenses.
Embodiment
Below in conjunction with the accompanying drawings and embodiment specifically describes to the present invention.
Fig. 1 show the structural representation top view of the present invention.
Fig. 2 show the structural representation side view of the present invention.
The present invention includes underwater robot 1 and the support 2 being arranged on the upper mounting plate of underwater robot 1, the top of support 2
Provided with left drive device 3 and right drive device 4.
The left drive device 3 includes motor 5 and front driving wheel 13 and rear drive sprocket 9, and the motor 5 drives provided with motor
Driving wheel 6, motor driving wheel 6 drive drive shaft 8 to rotate by motor driven pulley 7, and the outer end of the drive shaft 8 is provided with rear drive sprocket
9, the other end of drive shaft 8 is provided with belt pulley 10, and belt pulley 10 drives driven pulley 12 by belt 11, and then drives positioned at front portion
Front driving wheel 13 rotate.
The right drive device 4 and left drive device 3 are bilateral symmetry, are separately positioned on the left and right of the top of support 2
Both sides.
The middle part of the top of support 2 is provided with mozzle 14, and the mozzle 14 is socketed in the ascent propulsion of underwater robot 1
On the protective cover of device 15.
Fig. 3, which show the present invention, can load and unload the structural representation that device is inhaled on top.
The down either side of support 2 is provided with the upper mounting plate that connecting plate 16 is used to for support 2 to be fixed on underwater robot 1.
The motor 5 that the top is inhaled the retroversion of device and moved left and right respectively by left drive device 3 and right drive device 4 is positive and negative
Turn to complete, and separately or concurrently drive and control by remote-control handle.
The present invention holds top using the lifting power of the ascent propulsion device 15 of underwater robot 1, and is inhaled by being arranged on
Multiple driving wheels on ejection device realize the movement around after the ceiling of underwater robot 1；The advance or retrogressing of package unit
Realized by advance propeller 17.
The camera lens 18 configures corresponding lighting device.
The operation principle of the present invention：
The present invention assembles ceiling device on underwater robot 1, and is designed as mozzle 14 being socketed machine on the water
On the protective cover of the ascent propulsion device 15 of people 1, the top of subject matter is held using the ascent propulsion device 15 of underwater robot 1, then
By the drive wheel positioned at top, band mobile robot forward-reverse left/right rotation, there is ceiling work(so as to which underwater robot turns into
The underwater robot of energy；
During its work：Ascent propulsion device 15 holds top, and left drive device 3 and right drive device 4 pass through on respective motor 5
The drive motor driven pulley 7 of motor driving wheel 6 rotate, belt pulley 10 by belt 11 drive driven pulley 12 rotate, so as to drive
The adherent utilization driving wheel of robot moves ahead and left/right rotation.Fall back and left/right rotation is completed by the rotating of motor 5 respectively；Complete equipment
Move ahead completion controlled by advance propeller 17 with retreating；In equipment carries out adherent operation, upward angle of visibility is rotated to by camera lens 18
Degree, careful observation is carried out to subject matter, and the lighting device that camera lens 18 configures is illuminated；The off-loadable present apparatus after completion work,
There is no any damage to former underwater robot.
The present invention holds top using the lifting power of former underwater robot, and detection means can be made to press close to subject matter to top
Subject matter carry out careful, comprehensive scan camera shooting take pictures, spacing observation, be not easy to protect so as to solve underwater robot in water
Hold the problem that same distance is observed；Multiple driven pulleys, solve the problems, such as the movement around after ceiling, make equipment
In the detection more flexibly, conveniently；Ceiling device is arranged on platform when in use, also off-loadable, to underwater robot platform
The destruction in structure is not produced；Ceiling device is placed on top, on not influenceed substantially in the counterweight of underwater robot platform；This hair
The bright observation problem connect at ring solved in big-diameter pipeline and tunnel, also solve thin to pipeline and tunnel progress large area
The problem of observation is caused, while may be used on other underwater fields such as external observation such as drilling platforms, submarine etc., for underwater special mark
The detection of thing provide a kind of reliable, convenient, efficient, science detection means.
The embodiment above of the present invention, is merely illustrative, be not it is only, it is all within the scope of the present invention or it is equivalent this
Change in the range of invention is surrounded by the present invention.
Claims (2)
1. device is inhaled on a kind of top of loading and unloading being carried on underwater robot platform, it is characterised in that：It is described including support (2)
Be provided with left drive device (3) and right drive device (4) above support (2), the left drive device (3) includes motor (5) and preceding
Driving wheel (13) and rear drive sprocket (9), the motor (5) are provided with motor driving wheel (6), and motor driving wheel (6) passes through motor
Driven pulley (7) drives drive shaft (8) to rotate, and the outer end of the drive shaft (8) is provided with rear drive sprocket (9), drive shaft (8) it is another
End is provided with belt pulley (10), and belt pulley (10) drives driven pulley (12) by belt (11), and then drives positioned at anterior forerunner
Driving wheel (13) rotates；
The right drive device (4) and left drive device (3) are bilateral symmetry, be separately positioned on a left side above support (2),
Right both sides；Middle part above the support (2) is provided with mozzle (14), and the mozzle (14) is socketed in underwater robot (1)
On the protective cover of ascent propulsion device (15), support (2) down either side is provided with connecting plate (16) and is used to support (2) being fixed on
On the upper mounting plate of underwater robot (1)；Inhale the retroversion of device and move left and right respectively by left drive device (3) and right drive in the top
Motor (5) rotating of dynamic device (4) is completed, and is separately or concurrently driven and controlled by remote-control handle.
2. a kind of be provided with can load and unload the underwater robot that device is inhaled on top as defined in claim 1, it is characterised in that：In water
The upper mounting plate of lower robot (1), which is provided with, can load and unload top suction device, and the top is inhaled device and pushed away using the rising of underwater robot (1)
The lifting power for entering device (15) holds top, and multiple driving wheels by being arranged on ceiling device realize underwater robot
(1) it is mobile around after ceiling；The advance of package unit returns back through advance propeller (17) realization.
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 CN105022408A (en) | 2015-11-04 |
| CN105022408B true CN105022408B (en) | 2018-03-13 |
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| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100383007C (en) * | 2005-12-21 | 2008-04-23 | 哈尔滨工程大学 | Permanent-magnet adsorption type double-track robot for ship hull surface cleaning and brushing |
| CN101954844B (en) * | 2009-07-15 | 2012-07-25 | 中国科学院沈阳自动化研究所 | Triphibian omnibearing moving mechanism |
| KR101120893B1 (en) * | 2010-02-10 | 2012-02-27 | 금오공과대학교 산학협력단 | 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 |
| KR101348352B1 (en) * | 2012-06-15 | 2014-01-08 | 삼성중공업 주식회사 | Underwater vehicle system |
| CN103253312B (en) * | 2013-05-31 | 2016-03-02 | 江苏科技大学 | Mode-switch under-water robot and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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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