CN106314697B - Box installed formula underwater robot folding and unfolding slideway - Google Patents
Box installed formula underwater robot folding and unfolding slideway Download PDFInfo
- Publication number
- CN106314697B CN106314697B CN201610720695.XA CN201610720695A CN106314697B CN 106314697 B CN106314697 B CN 106314697B CN 201610720695 A CN201610720695 A CN 201610720695A CN 106314697 B CN106314697 B CN 106314697B
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- Prior art keywords
- slideway
- plate
- track
- underwater robot
- fixed
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/28—Arrangement of ship-based loading or unloading equipment for cargo or passengers of chutes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to underwater robot draw off gears, open box installed formula underwater robot folding and unfolding slideway, slideway including transporting underwater robot, further include the babinet and the first slide plate for placing slideway, first slide plate is hinged with slideway, at least one first telescopic device is equipped in babinet, first telescopic device one end is fixedly connected with babinet end, the other end of first telescopic device is fixedly connected with the first slide plate, slideway bottom surface both side is designed with fixed frame, fixed frame is equipped with a fixing groove, several wheels are equipped in fixing groove.The present invention is additionally arranged babinet; so as to preferably protect folding and unfolding slideway and robot; the safety coefficient of folding and unfolding slideway is more high; first telescopic device and the first driving motor are more big with the use of tractive force when babinet folding and unfolding slideway is made; so that folding and unfolding slideway can carry more detecting devices with the underwater robot of folding and unfolding weight bigger, underwater robot.
Description
Technical field
The present invention relates to underwater robot draw off gear more particularly to box installed formula underwater robot folding and unfolding slideways.
Background technology
In recent years, China's exploration of ocean resources carried out in high gear with exploitation cause, and large quantities of ocean scientific investigation ships are gradual
From coastal waters, off-lying sea scientific investigation is moved towards in scientific investigation, and the underwater robot for Marine Sciences investigation is also widely equipped in these scientific investigation ships
On.Underwater robot is for exploring aquatic organism or water-bed resource, and costly, acquired data are also very precious for price
It is expensive, at present the folding and unfolding mode of underwater robot it is general there are two types of：One is manually directly being launched to marine by quarter deck, work as sea
When condition is poor, underwater robot easily collides hull in dispensing and recycling, causes the damage of underwater robot structure, even
The obtained survey data of damage, and the underwater robot weight of certain model is larger, and artificial dispensing is more painstaking when recycling,
Under conditions of sea situation is poor can also prodigious threat be caused to the life security of operating personnel；Another kind is exactly after scientific investigation ship
Fixed hoistable platform is installed on deck, but is the increase in price when scientific investigation ship construction early period, and occupies the ship of much room
Tail fix hoistable platform also can to scientific investigation ship quarter deck carry out other operations have an impact, for personnel safety, muscle power, after
The comprehensive consideration of the underwater robot collsion damage risk of deck working space and costliness, needs one kind easy to operate, general
Strong, the good economy performance of property, the scientific investigation ship underwater robot draw off gear of dependable performance.
Invention content
The present invention puts into the disadvantage that in water or recycling is inconvenient for underwater robot in the prior art, provides box installed formula
Underwater robot folding and unfolding slideway.
In order to solve the above-mentioned technical problem, the present invention is addressed by following technical proposals：
Box installed formula underwater robot folding and unfolding slideway includes the slideway of transport underwater robot, further includes for placing slideway
Babinet and the first slide plate, the first slide plate and slideway are hinged, and at least one first telescopic device, the first flexible dress are equipped in babinet
It sets one end to be fixedly connected with babinet end, the other end of the first telescopic device is fixedly connected with the first slide plate, slideway bottom surface both side
It is designed with fixed frame, fixed frame is equipped with a fixing groove, wheel is equipped in fixing groove.The folding and unfolding slideway of the present invention is used for water
Lower robot recycling is put into water, and slide bottom is equipped with wheel, and when robot is recovered to slideway, slideway is stretched first
Slideway and robot are recovered in babinet by the effect of compression apparatus together, and robot is recovered in babinet and can preferably be protected
Robot, the main power source that the first telescopic device is recycled as slideway.
Preferably, being equipped with the first track in babinet, the first track is equipped at least twice the first track arranged in parallel
Slot, the first slide plate bottom are equipped with the first idler wheel, and the first idler wheel is uniformly distributed on peripheries with the first convex block, the first convex block and the first track groove
Engaging, the first slide plate bottom are additionally provided with the first driving motor that the first idler wheel of driving is rolled along the first track.First driving electricity
Machine is fixed on the first slide plate, and the first driving motor drives the first idler wheel, and the first idler wheel is rolled along the first track to advance, and first
Convex block makes the first track groove on the first idler wheel and the first track cooperate, and it is stronger that the first convex block so that the first idler wheel has
Grip, the first idler wheel will not easily derail on upper first track, and the first idler wheel rolls band sliding way and its machine when advancing
Device people moves together, and the first driving motor drives auxiliary power source of first roller motion as slideway, for coordinating first to stretch
Compression apparatus moves together so that folding and unfolding slideway can recycle or launch heavier robot.
Preferably, the first slide plate includes the first bottom plate and the first side plate, the first side plate fixed company vertical with the first bottom plate
It connects, the first side plate is equipped with first through hole, and the first bottom plate is equipped with pulling winch, and pulling winch is equipped with for drawing underwater
The draught line of people, draught line pass through first through hole.First slide plate be additionally operable to installation pulling winch, pulling winch for recycle or
Draught line is discharged, draught line is fixedly connected with robot so that robot can be recovered in slideway.
Preferably, the upper end of the first side plate is equipped with the second telescopic device, slideway both sides are designed with the first connecting plate, the
Two telescopic devices are connect with the first connecting plate.Second telescopic device is mounted on the first slide plate, and the first slide plate is hinged with slideway, the
Two telescopic devices enable slideway to be rotated relative to the first slide plate, so that slideway can be at an angle, facilitate recycling
Or launch robot.
Preferably, the second telescopic device end is fixed with fixture block, fixture block includes the second bottom plate and is located at the second bottom plate two
Second side plate of side, the second bottom plate and the second telescopic device are fixedly connected, and the second bottom plate and the second side plate are integral type, the second bottom
Plate and two the second side plates form a card slot, and the first connecting plate end is caught in hinged with the second side plate in card slot.Fixture block is used for
The first connecting plate is connected, the first connecting plate snaps onto in the card slot of fixture block so that the first connecting plate connects more firm with fixture block
It leans on, when the second telescopic device works, the first connecting plate and fixture block can relatively rotate, so that slideway and the first slide plate are at one
Determine angle.
Be relatively fixed block preferably, the lower end of the first side plate is equipped at least two panels, opposite two fixed blocks it
Between be equipped with supporting rod, slideway both sides are additionally provided with the second connecting plate, and second connecting plate one end is stretched out slideway end and simultaneously cut with scissors with fixed block
It connects, the second connecting plate other end is fixedly connected with the first connecting plate.When slideway into the water when, slideway is rushed in marine wave
It is bigger to hit power, the present invention is additionally arranged supporting rod, and supporting rod enhances the bonding strength between the second connecting plate and fixed block, makes
Obtaining will not easily deform between the second connecting plate and fixed block.
Preferably, slideway is equipped with the second track, the second track both sides are designed with third track, and the second track is equipped with
At least twice the second track groove arranged in parallel, third track are equipped with the second slide plate, and the second slide plate two bottom sides are designed with cunning
Slot, on corresponding third track, the second slide plate bottom is additionally provided with the second idler wheel, the surrounding of the second idler wheel for corresponding sliding slot sliding
It is evenly equipped with the second convex block, the second convex block engages with the second track groove, and the second slide plate bottom is additionally provided with the second idler wheel of driving along the
The second driving motor that two tracks roll.Second track and third track contribute to the second slide plate of sliding, consolidate on the second slide plate
There are the second idler wheel, the second convex block of the second idler wheel and the second track groove of the second track to cooperate, so that the second rolling surely
Wheel moves on the second track, and the second convex block makes grip of second slide plate on the second track more strong, and third track makes
It is more good to obtain the second slide plate stability in sliding.
Preferably, the second slide plate upper end is equipped with fixed plate, fixed plate is fixed on the second slide plate, and fixed plate is equipped with the
Two through-holes, fixed plate are equipped with third connecting plate, and the top both sides of third connecting plate are designed with boss, are equipped among boss recessed
Slot, fixed plate top both sides are designed with convex block, and the convex block of fixed plate is caught in groove and is hinged with third connecting plate.Second through-hole is convenient
By being connect with robot, the groove that fixed plate is caught in third connecting plate by convex block is attached draught line, fixed plate and the
The connection of three connecting plates is more firm and stablizes, and fixed plate and third connecting plate are hinged so that underwater robot energy in recycling
It reaches safety and is slowly fitted on slideway, more stablize when robot recycles.
Preferably, third connecting plate is equipped with third through-hole, third through-hole is opposite with the second through-hole, third connecting plate end
Face is fixed with rubber suction cups, and rubber suction cups is equipped with fourth hole, and fourth hole inner wall is circular conical surface, and fourth hole is logical with third
Hole is opposite.Draught line by passing sequentially through third through-hole and fourth hole after the second through-hole again, inhale by the rubber on third connecting plate
Disk can preferably help the end of robot, prevent robot from rigidity collision occurs.
Preferably, slideway end both sides are designed with guard bar device, guard bar device includes pedestal and link block, pedestal and company
The third telescopic device that block is hinged, is moved equipped with drive connection block between pedestal and link block is connect, link block is equipped with slot rolling, rolling
Roller bearing is equipped in slot.Guard bar device is used for the fuselage of stationary machines people, prevents robot double swerve and is detached from slideway, passes through tune
Whole third telescopic device, which can be fixed, either to be discharged robot roller bearing slideway is facilitated to recycle or release robot, and robot exists
It is moved more smoothly on slideway.
Preferably, slideway both sides are designed with delivery track, delivery track is inclined on slideway, is set on delivery track
There is rolling part.On the one hand delivery track and rolling part thereon are used to support the fuselage of robot, prevent robot double swerve, another
Aspect makes robot more smoothly be moved on slideway.
Preferably, slideway both sides are designed with the first cushion pad, the first cushion pad is inclined at the both sides of slideway, first
Cushion pad is equipped at least two the first buffering fins being mutually parallel, and the first cushion pad overlays on delivery track upper end, slideway
Forward end is equipped with the second cushion pad, and the second cushion pad is equipped at least two the second buffering fins being mutually parallel.First is slow
Punching pad is located at the side of slideway, prevents on the side wall that robot encounters slideway in recycling, the first buffering fin so that first is slow
The cushion performance for rushing pad is more good, and the second cushion pad is located at the end of slideway, prevents robot from encountering slideway in recycling
End, the second buffering fin make the cushion performance of the second cushion pad more good.
The present invention has significant technique effect as a result of above technical scheme：The present invention is additionally arranged babinet, to
Folding and unfolding slideway and robot can be preferably protected, the safety coefficient of folding and unfolding slideway is more high, the first telescopic device and first
Driving motor is more big with the use of tractive force when babinet folding and unfolding slideway is made, so that folding and unfolding slideway can be with folding and unfolding weight
The underwater robot of bigger is measured, underwater robot can carry more detecting devices, while guard bar device and delivery track energy
Enough preferably protection and transfer robot, the first cushion pad and the second cushion pad prevent robot from preventing itself and slideway in recycling
Rigidity collision occurs, the reliability of folding and unfolding slideway is more high.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention.
Fig. 2 be the present invention without babinet when structural schematic diagram.
Fig. 3 be the present invention without babinet, the first telescopic device and the first track when structural schematic diagram.
Fig. 4 is the structural schematic diagram of fixture block in Fig. 2.
Fig. 5 is the second slide plate and the structural schematic diagram of component thereon in Fig. 2.
Fig. 6 is the partial enlarged view of A in Fig. 2.
The toponym that each number designation is referred in the figures above is as follows：Wherein, 10-slideways, 11-babinets, 12-
First slide plate, the 13-the first telescopic device, 14-wheels, the 15-the first track, the 16-the first idler wheel, the 17-the first driving electricity
Machine, 18-pulling winches, the 19-the second telescopic device, the 20-the first connecting plate, 21-fixture blocks, 22-fixed blocks, 23-supports
Bar, the 24-the second connecting plate, the 25-the second track, 26-third tracks, the 27-the second slide plate, the 28-the second idler wheel, 29-the
Two driving motors, 30-fixed plates, 31-third connecting plates, 32-rubber suction cups, 33-guard bar devices, 34-delivery tracks,
35-rolling parts, the 36-the first cushion pad, the 37-the second cushion pad, 101-fixed frames, the 121-the first bottom plate, the 122-the first side
Plate, the 151-the first track groove, the 161-the first convex block, 181-draught lines, the 211-the second bottom plate, the 212-the second side plate,
213-card slots, the 251-the second track groove, 271-sliding slots, the 281-the second convex block, the 301-the second through-hole, 311-boss,
The flexible dress of 312-grooves, 313-third through-holes, 321-fourth holes, 331-pedestals, 332-link blocks, 333-thirds
Set, 334-roller bearings, 341-pedestals, 361-the first buffering fin, 371-the second buffering fin, 1011-fixing grooves,
1221-first through hole.
Specific implementation mode
Present invention is further described in detail with embodiment below in conjunction with the accompanying drawings.
Embodiment 1
Box installed formula underwater robot folding and unfolding slideway includes the slideway 10 of transport underwater robot, also wraps as shown in figures 1 to 6
The babinet 11 and the first slide plate 12 for placing slideway 10 are included, the first slide plate 12 is hinged with slideway 10, is equipped at least in babinet 11
One the first telescopic device 13, the present embodiment are set there are two the first telescopic device 13, and the first telescopic device 13 includes the first cylinder
With the first telescopic rod in the first cylinder that stretches, 13 one end of the first telescopic device is fixedly connected with 11 end of babinet, and first stretches
The other end of compression apparatus 13 is fixedly connected with the first slide plate 12, and the first telescopic rod is fixedly connected with the first slide plate 12, and first is flexible
Device 13 is used to slideway 10 being recovered in babinet 11 or slideway 10 is removed babinet 11, and 10 bottom surface both side of slideway is designed with solid
Determine frame 101, fixed frame 101 is equipped with a fixing groove 1011, several wheels 14 is equipped in fixing groove 1011, wheel is on the one hand
It is used to support slideway 10, on the other hand slideway 10 is enable smoothly to pass in and out babinet 11.
The first track 15 is equipped in babinet 11, the first track 15 is equipped with several first track grooves 151 arranged in parallel,
First slide plate, 12 bottom is equipped with the first idler wheel 16, and the first idler wheel 16 is uniformly distributed on peripheries with the first convex block 161, the first convex block 161 with
First track groove 151 engages, and 12 bottom of the first slide plate is additionally provided with first that the first idler wheel 16 of driving is rolled along the first track 15
Driving motor 17, when the first driving motor 17 works, the first idler wheel 16 is moved along the first track 15, the movement of the first idler wheel 16
Speed is identical as the movement speed of the first telescopic device 13.
First slide plate 12 includes the first bottom plate 121 and the first side plate 122, and the first side plate 122 is vertical with the first bottom plate 121 solid
Fixed connection, the first bottom plate 121 and the first side plate 122 are integral type, the first side plate 122 for the first bottom plate 121 bending plate, first
Side plate 122 is equipped with first through hole 1221, and the first bottom plate 121 is equipped with pulling winch 18, pulling winch 18 and the first bottom plate 121
It is fixedly connected, pulling winch 18 is equipped with the draught line 181 for drawing underwater robot, and draught line 181 passes through first through hole
1221。
The upper end of first side plate 122 is equipped with the second telescopic device 19, and the second telescopic device 19 includes the second cylinder and stretches
Contract the second telescopic rod in the second cylinder, and 10 both sides of slideway are designed with the first connecting plate 20, the second telescopic device 19 and first
Connecting plate 20 connects, and the second telescopic rod is fixedly connected with the first connecting plate 20.
Second telescopic device, 19 end is fixed with fixture block 21, and fixture block 21 includes the second bottom plate 211 and is located at the second bottom plate 211
Second side plate 212 of both sides, the second bottom plate 211 are fixedly connected with the second telescopic device 19, the second bottom plate 211 and the second side plate
212 be integral type, and the second bottom plate 211 and two the second side plates 212 form a card slot 213, and 20 end of the first connecting plate is caught in
It is hinged with the second side plate 212 in card slot 213.
The lower end of first side plate 122 is equipped at least two panels and is relatively fixed block 22, under the first side plate of the present embodiment 122
End is equipped with supporting rod 23 equipped with two pieces of blocks 22 that are relatively fixed between opposite two fixed blocks 22, supporting rod 23 with it is fixed
Block 22 is fixedly connected, and the supporting rod 23 of the present embodiment is cylinder steel pipe, and 10 both sides of slideway are additionally provided with the second connecting plate 24, and second connects
10 end of slideway and, second connecting plate 24 other end and first connecting plate 20 fixation hinged with fixed block 22 are stretched out in 24 one end of fishplate bar
Connection.
Slideway 10 is equipped with the second track 25, and 25 both sides of the second track are designed with third track 26, are set on the second track 25
There are several second track grooves 251 arranged in parallel, third track 26 to be equipped with the second slide plate 27,27 two bottom sides of the second slide plate
It is designed with sliding slot 271, corresponding sliding slot 271 slides on corresponding third track 26, and 27 bottom of the second slide plate is additionally provided with second
Idler wheel 28, the second idler wheel 28 are uniformly distributed on peripheries with the second convex block 281, and the second convex block 281 engages with the second track groove 251, and second
27 bottom of slide plate is additionally provided with the second driving motor 29 that the second idler wheel 28 of driving is rolled along the second track 25.
Second slide plate, 27 upper end is equipped with fixed plate 30, and fixed plate 30 is fixed on the second slide plate 27, fixed plate 30 perpendicular to
On second slide plate 27, fixed plate 30 is equipped with the second through-hole 301, the first through hole on the second through-hole 301 and the first side plate 122
1221 is opposite, and draught line 181 also passes through the second through-hole 301, fixed plate 30 to be equipped with third connecting plate 31, third connecting plate 31
Top both sides are designed with boss 311, and groove 312 is equipped among boss 311, and 30 top both sides of fixed plate are designed with convex block, fixed
It is hinged with third connecting plate 31 that the convex block of plate 30 is caught in groove 312.
Third connecting plate 31 is equipped with third through-hole 313, and third through-hole 313 and the second through-hole 301 are opposite, third connecting plate
31 end faces are fixed with rubber suction cups 32, and rubber suction cups 32 is equipped with fourth hole 321, and 321 inner wall of fourth hole is circular conical surface, circle
The fourth hole 321 of the conical surface can preferably protect the head of robot, and fourth hole 321 is opposite with third through-hole 313, traction
Line 181 by passing sequentially through third through-hole 313 and fourth hole 321 is connect with robot again after the second through-hole 301.
10 end both sides of slideway are designed with guard bar device 33, and guard bar device 33 includes pedestal 331 and link block 332, pedestal
331 is hinged with link block 332, is equipped between pedestal 331 and link block 332 and is drivingly connected the third telescopic device that block 332 moves
333, third telescopic device 333 includes third cylinder and the third telescopic rod in third cylinder that stretches, and third telescopic rod is flexible
Movement can make link block 332 make circular motion on pedestal 331, and link block 332 is equipped with slot rolling, roller bearing is equipped in slot rolling
334, roller bearing 334 can rotate in slot rolling.
10 both sides of slideway are designed with delivery track 34, and 34 lower end of delivery track is equipped with multiple pedestals 341, and pedestal 341 is used for
Delivery track 34 is supported, is equipped with buffer spring in pedestal 341, buffer spring is fixedly connected with delivery track 34, works as underwater
In slideway 10, delivery track 34 is bonded even closer people under the action of buffer spring, and delivery track 34 is inclined at
On slideway 10, delivery track 34 is equipped with several rolling parts 35, and rolling part 35 is that circular cone rolls part, and the small end fitting of two rolling parts 35 connects
It connects, part is rolled for one group of transmission after two rolling fittings of parts 35, several transmission rolling parts are arranged on delivery track 34, roll part 35 in length
Time can cause different degrees of abrasion, circular cone rolling part to roll the underwater machine of conveying that part 35 can be stablized upon wear after
Device people.
10 both sides of slideway are designed with the first cushion pad 36, and the first cushion pad 36 is inclined at the both sides of slideway 10, and first
Cushion pad 36 is equipped at least two the first buffering fins 361 being mutually parallel, the present embodiment be equipped with three articles be mutually parallel the
One buffering fin 361, the first cushion pad 36 overlay on 34 upper end of delivery track, and the first cushion pad 36 is located at 10 top both sides of slideway,
First cushion pad, 36 top covers delivery track 34, several cylinders are equipped in the delivery track 34 of this first cushion pad 36 covering
Roll part, the forward end of slideway 10 is equipped with the second cushion pad 37, the second cushion pad 37 be equipped at least two articles be mutually parallel the
Two buffering fins 371, the second cushion pad of the present embodiment 37 are equipped with two second buffering fins 371, and the first cushion pad 36 is rubber
The first cushion pad of glue, the second cushion pad 37 are the second cushion pad of rubber.
In short, the foregoing is merely presently preferred embodiments of the present invention, it is all according to impartial made by scope of the present invention patent
Variation and modification, should all belong to the covering scope of patent of the present invention.
Claims (10)
1. box installed formula underwater robot folding and unfolding slideway includes the slideway (10) and the first telescopic device of transport underwater robot
(13), it is characterised in that：Further include for placing the babinet of slideway (10) (11) and the first slide plate (12), the first slide plate (12) with
Slideway (10) is hinged, and at least one first telescopic device (13), the first telescopic device (13) one end and case are equipped in babinet (11)
Body (11) end is fixedly connected, and the other end of the first telescopic device (13) is fixedly connected with the first slide plate (12), slideway (10) bottom
Face both sides are designed with fixed frame (101), and fixed frame (101) is equipped with a fixing groove (1011), is equipped in fixing groove (1011)
Wheel (14).
2. box installed formula underwater robot folding and unfolding slideway according to claim 1, it is characterised in that：The is equipped in babinet (11)
One track (15), the first track (15) are equipped at least twice the first track groove (151) arranged in parallel, the first slide plate (12) bottom
Portion is equipped with the first idler wheel (16), and the first idler wheel (16) is uniformly distributed on peripheries with the first convex block (161), the first convex block (161) and first
Track groove (151) engages, and the first slide plate (12) bottom is additionally provided with what the first idler wheel of driving (16) was rolled along the first track (15)
First driving motor (17).
3. box installed formula underwater robot folding and unfolding slideway according to claim 1, it is characterised in that：First slide plate (12) includes
First bottom plate (121) and the first side plate (122), the first side plate (122) is vertical with the first bottom plate (121) to be fixedly connected, the first side
Plate (122) is equipped with first through hole (1221), and the first bottom plate (121) is equipped with pulling winch (18), and pulling winch (18) is equipped with
Draught line (181) for drawing underwater robot, draught line (181) pass through first through hole (1221).
4. box installed formula underwater robot folding and unfolding slideway according to claim 3, it is characterised in that：First side plate (122)
Upper end is equipped with the second telescopic device (19), and slideway (10) both sides are designed with the first connecting plate (20), the second telescopic device (19)
It is connect with the first connecting plate (20).
5. box installed formula underwater robot folding and unfolding slideway according to claim 4, it is characterised in that：Second telescopic device (19)
End is fixed with fixture block (21), and fixture block (21) includes the second bottom plate (211) and the second side plate for being located at the second bottom plate (211) both sides
(212), the second bottom plate (211) is fixedly connected with the second telescopic device (19), and the second bottom plate (211) and the second side plate (212) are
Integral type, the second bottom plate (211) and two the second side plates (212) form a card slot (213), the first connecting plate (20) end card
Enter hinged with the second side plate (212) in card slot (213).
6. box installed formula underwater robot folding and unfolding slideway according to claim 4, it is characterised in that：First side plate (122)
Lower end is equipped at least two panels and is relatively fixed block (22), and supporting rod (23), branch are equipped between opposite two fixed blocks (22)
Strut (23) is fixedly connected with fixed block (22), and slideway (10) both sides are additionally provided with the second connecting plate (24), the second connecting plate (24)
One end is stretched out slideway (10) end and is hinged with fixed block (22), and the second connecting plate (24) other end and the first connecting plate (20) are solid
Fixed connection.
7. box installed formula underwater robot folding and unfolding slideway according to claim 1, it is characterised in that：Slideway (10) is equipped with the
Two tracks (25), the second track (25) both sides are designed with third track (26), and it is parallel that the second track (25) is equipped at least twice
The second track groove (251) of arrangement, third track (26) are equipped with the second slide plate (27), and the second slide plate (27) two bottom sides are all set
There is sliding slot (271), on corresponding third track (26), the second slide plate (27) bottom is additionally provided with for corresponding sliding slot (271) sliding
Second idler wheel (28), the second idler wheel (28) are uniformly distributed on peripheries with the second convex block (281), the second convex block (281) and the second track groove
(251) engage, the second slide plate (27) bottom is additionally provided with the second idler wheel of driving (28) and is driven along second that the second track (25) rolls
Dynamic motor (29).
8. box installed formula underwater robot folding and unfolding slideway according to claim 7, it is characterised in that：Second slide plate (27) upper end
Equipped with fixed plate (30), fixed plate (30) is fixed on the second slide plate (27), and fixed plate (30) is equipped with the second through-hole (301),
Fixed plate (30) is equipped with third connecting plate (31), and the top both sides of third connecting plate (31) are designed with boss (311), boss
(311) intermediate to be equipped with groove (312), both sides are designed with convex block at the top of fixed plate (30), and the convex block of fixed plate (30) is caught in groove
(312) hinged with third connecting plate (31).
9. box installed formula underwater robot folding and unfolding slideway according to claim 8, it is characterised in that：On third connecting plate (31)
Equipped with third through-hole (313), relatively with the second through-hole (301), third connecting plate (31) end face is fixed with rubber to third through-hole (313)
Glue sucker (32), rubber suction cups (32) are equipped with fourth hole (321), and fourth hole (321) inner wall is circular conical surface, fourth hole
(321) opposite with third through-hole (313).
10. box installed formula underwater robot folding and unfolding slideway according to claim 1, it is characterised in that：Slideway (10) end two
Side is designed with guard bar device (33), and guard bar device (33) includes pedestal (331) and link block (332), pedestal (331) and link block
(332) hinged, it is equipped between pedestal (331) and link block (332) and is drivingly connected the third telescopic device that block (332) moves
(333), link block (332) is equipped with slot rolling, is equipped with roller bearing (334) in slot rolling, slideway (10) both sides are designed with delivery track
(34), delivery track (34) is inclined on slideway (10), and delivery track (34) is equipped with rolling part (35), slideway (10) both sides
It is designed with the first cushion pad (36), the first cushion pad (36) is inclined at the both sides of slideway (10), on the first cushion pad (36)
The first buffering fin (361) being mutually parallel equipped at least two, the first cushion pad (36) overlays on delivery track (34) upper end, sliding
The forward end in road (10) be equipped with the second cushion pad (37), the second cushion pad (37) be equipped at least two be mutually parallel second
Buffer fin (371).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610720695.XA CN106314697B (en) | 2016-08-24 | 2016-08-24 | Box installed formula underwater robot folding and unfolding slideway |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610720695.XA CN106314697B (en) | 2016-08-24 | 2016-08-24 | Box installed formula underwater robot folding and unfolding slideway |
Publications (2)
| Publication Number | Publication Date |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107200099B (en) * | 2017-05-23 | 2018-12-21 | 大连理工大学 | Underwater robot automatic recycling device and its working method based on unmanned boat platform |
| CN107521641B (en) * | 2017-08-16 | 2019-04-23 | 中船华南船舶机械有限公司 | A kind of submarine launch recyclable device and lay recovery method |
| CN107839843A (en) * | 2017-10-27 | 2018-03-27 | 深圳市云洲创新科技有限公司 | A kind of more piece bracket, ships and light boats and ships and light boats lay recovery method |
| CN107878683B (en) * | 2017-11-08 | 2023-07-25 | 安徽科微智能科技有限公司 | Offshore modularized unmanned ship retraction device |
| CN108059112A (en) * | 2017-11-24 | 2018-05-22 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of land filling device of underwater robot |
| CN108146585A (en) * | 2017-12-26 | 2018-06-12 | 广州船舶及海洋工程设计研究院 | A kind of stern gliding style marine equipment draw off gear tracks structure |
| CN111498067B (en) * | 2020-05-17 | 2024-06-07 | 华能武汉发电有限责任公司 | Directional extending rail of underwater robot |
| CN113277015B (en) * | 2021-04-29 | 2022-08-09 | 中国科学院沈阳自动化研究所 | Modular slide capture rod type recovery device for autonomous recovery of underwater robots |
| CN113401323A (en) * | 2021-07-19 | 2021-09-17 | 中国科学院沈阳自动化研究所 | Modular slideway clamping type recovery device for autonomously recovering underwater robot |
| CN114750910B (en) * | 2022-06-14 | 2022-08-23 | 武汉理工大学三亚科教创新园 | Protection and moving mechanism of marine environment quality safety supervision device |
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| CN104015933A (en) * | 2014-06-11 | 2014-09-03 | 毕和军 | Folded launching and withdrawing device for unmanned aerial vehicle |
| CN204056223U (en) * | 2014-05-16 | 2014-12-31 | 广州船舶及海洋工程设计研究院 | A kind of stern chute formula water floating body draw off gear |
| CN204775861U (en) * | 2015-07-16 | 2015-11-18 | 珠海云洲智能科技有限公司 | Unmanned ship machinery people receive and releases system automatically |
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| JPS63227490A (en) * | 1987-03-16 | 1988-09-21 | Sumitomo Heavy Ind Ltd | Underwater acoustic intensity measuring jig for marine research ship |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204056223U (en) * | 2014-05-16 | 2014-12-31 | 广州船舶及海洋工程设计研究院 | A kind of stern chute formula water floating body draw off gear |
| CN104015933A (en) * | 2014-06-11 | 2014-09-03 | 毕和军 | Folded launching and withdrawing device for unmanned aerial vehicle |
| CN204775861U (en) * | 2015-07-16 | 2015-11-18 | 珠海云洲智能科技有限公司 | Unmanned ship machinery people receive and releases system automatically |
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