CN106346453A - Anti-overturning base for underwater manipulator - Google Patents
Anti-overturning base for underwater manipulator Download PDFInfo
- Publication number
- CN106346453A CN106346453A CN201610971567.2A CN201610971567A CN106346453A CN 106346453 A CN106346453 A CN 106346453A CN 201610971567 A CN201610971567 A CN 201610971567A CN 106346453 A CN106346453 A CN 106346453A
- Authority
- CN
- China
- Prior art keywords
- base
- motor
- outer rotor
- rotor
- seal closure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an anti-overturning base for an underwater manipulator. The anti-overturning base mainly consists of a bottom plate, a support leg connecting rod mechanism, a support leg driving part, a base rotation driving part, a stainless steel turntable bearing and the like, wherein base support legs can be automatically opened and folded; the size is small, but the anti-overturning base has great anti-overturning force moment; the hoisting and the transportation are convenient; the motor voltage is direct current 27V; ground power supply equipment is provided with an electric leakage protection device, so that the safety of the underwater operation can be effectively ensured; a motor is sealed in a cavity in a magnetic coupling mode; the movable sealing of a motor output shaft is converted into the motor static sealing, so that the underwater sealing performance is more reliable.
Description
Technical field
The present invention relates to a kind of antidumping base for underwater manipulator, belong to underwater manipulator technical field.
Background technology
With the development of various underwater performances and entertainment selection under water, the application of underwater manipulator gradually increases.Can
To be carried to article under water using underwater manipulator, the place that may be also used in the stop of the ships such as harbour is under water to hull
It is cleaned；Underwater manipulator also can be used in item of recreation field under water, and underwater manipulator is after buoyancy trim, mechanical
Handss end is connected through the personnel of buoyancy trim, can simulation space weightlessness under water, lose to the trip real space of player
Experience again.If mechanical hand has larger tilting moment in the course of the work, face when arm end active force reaches to topple
During boundary's point, series of problems will be toppled over and be brought to underwater manipulator, not only damages itself part and to the article of transport, work
Industry object, under water personnel of experience simulated weightlessness etc. work the mischief.So in order to overcome the larger tilting moment of mechanical hand, base
The appropriate design of structure becomes an important step.
Be generally used for carrying under water, under-water body cleaning, the mechanical hand of the aspect such as underwater weightlessness simulation environment, stretch away from comparing
Long, sometimes stretch away from needing to reach tens of rice, stretch away from growth bring larger tilting moment.And, some underwater manipulators
Change with working space needs to adjust the position of manipulator base, or does not allow to beat in special underwater performance environment
Foundation bolt carries out the fixation of base.So manipulator base preliminary design phase it is necessary to take into full account base larger
Stability under the conditions of tilting moment.Base direct current generator and control chamber also need to meet sealing reliability under water.Bottom under water
Seat motor control part also will meet underwater power safety standard, configures earth leakage protective device.
Content of the invention
The invention aims to providing a kind of antidumping base for underwater manipulator, it is can ground under water
Under the conditions of more smooth, stretching out with contraction state it is ensured that extending mechanical hand in work stress mistake by change base supporting leg
The device that will not topple in journey.
The object of the present invention is achieved like this: includes the lower supporting plate that is bolted and upper backup pad, by turning
Disk that axle is connected with lower supporting plate, six supporting legs being symmetrically hinged on disk, the supporting leg being arranged on upper backup pad
Drive part and base revolution driving structure and base drive mechanism, and supporting leg drive part, base revolution driving structure
And the outside of base drive mechanism is provided with base shell, each supporting leg includes the connecting rod hinged with disk and connecting-rod head
The hinged l type I-steel leg in portion and the level adjuster being arranged on the end of l type I-steel leg, each l type I-steel
The centre position of the quarter butt of leg is connected with lower supporting plate by column, and described disk is provided with tooth-shape structure, and supporting leg drives
The end of the output shaft of dynamic part is passed through upper backup pad and is connected with power transmission shaft, and power transmission shaft is provided with little gear, little gear with
The engagement of described tooth-shape structure, described base drive mechanism include the framework being arranged on upper backup pad, the axle being arranged on framework,
The connection that the worm gear being arranged on axle hypomere and the spur gear being mounted on an axle section are connected with the outer rotor of base revolution driving part
Disk, the center of terminal pad is fixed with worm screw, and worm and wheel engages, and spur gear is turned with the rustless steel of setting in base shell
The ring gear engagement that dish axle is held, described rustless steel turntable bearing upper end is fixed with base extension ring flange, and underwater manipulator is arranged
On base extension ring flange.
Present invention additionally comprises such some architectural features:
1. supporting leg drive part described in includes motor housing, the motor seal shell being arranged in motor housing and motor
The first magnetic conduction seal closure that the first seal connector connects, the moment electricity being arranged in motor seal shell are passed through in capsul end
The first internal rotor that the harmonic speed reducer that machine is connected with torque motor outfan is connected with harmonic speed reducer is close with the first magnetic conduction
Outer rotor gyroaxis and the outer rotor that cap end connects turns round the output shaft that shaft end is connected, is arranged on outer rotor gyroaxis
On the first outer rotor, the inner surface of the first outer rotor, the outer surface of the first internal rotor be provided with coupling magnetic piece, and described
One outer rotor be located at the first magnetic conduction seal closure outside, the end of described output shaft is fixed by adpting flange, and adpting flange and
Motor housing is arranged on upper backup pad after being connected.
2. base revolution driving part described in includes usher to seat shell and the cage connection of usheing to seat being arranged on upper backup pad
Second seal closure connector the second magnetic conduction seal closure being connected with the second seal closure end, the direct current being arranged on inside the shell of usheing to seat
The harmonic speed reducer that servomotor is connected with DC servo motor outfan be connected with harmonic speed reducer outfan second in
Outer rotor shaft that rotor is connected with magnetic conduction seal closure end, the second outer rotor being arranged on outer rotor shaft, the second outer rotor
Inner surface, the outer surface of the second internal rotor are provided with coupling magnetic piece, and described second outer rotor is located at the second magnetic conduction seal closure
Outside, the second internal rotor is located in the second magnetic conduction seal closure, and the end of described second outer rotor is provided with and is connected with terminal pad
Disk-like structure.
Compared with prior art, the invention has the beneficial effects as follows: in the design of resistance to tipping moment manipulator base, band can
The base support stretching out and shrinking supporting leg is a kind of reliable and effective method.Base can synchronously stretch out six supporting legs, leads to
Cross and increase the contact area of base and subsea floor and reach the purpose of resistance to tipping moment.Base supporting leg adopts a disk and six
Individual connection-rod linkage form, thus reach only just can synchronously drive the flexible of six supporting legs using a motor.Base extends
Mechanical hand coupling part externally provides a revolution degree of freedom.Relatively for additive method, this manipulator base support scheme energy
Effectively overcome larger tilting moment, base is easy to transport under supporting leg contraction state and lifts, and base supporting leg opens
Angle is controlled, is adapted to different tilting moments under various working environments.In patent of the present invention, antidumping manipulator base can
To be automatically performed the stretching out of supporting leg, contractive action under water, convenient operate, effectively reached stable support function.
In the moment of torsion transmittance process of driving motor output shaft, if using traditional shaft coupling contact transfer mode,
Motor needs to increase dynamic sealing link, to ensure motor and its drive circuit module and sea water isolation.Electric machine main shaft due to
Gap is certainly existed, with the growth of motor working time, the abrasion of sealing member necessarily affects dynamic between rotary motion, and casing
The unfailing performance of sealing part, and, the change pressure with the depth of water also will change therewith, and the depth of water more depths is more susceptible to
Drainage.
In order to avoid the problem of sea water leakage, driving motor output shaft occur in above-mentioned tradition coupling torque transfer mode
Moment of torsion select magnetic coupling mode transmit.This contactless connecting mode is it is only necessary to motor and active magnetic circuit are with quiet close
Envelope mode and sea water completely cut off, and motor drives the rotation of active magnetic circuit, will be turned round through seal casinghousing by magnetic coupling mode
Square passes to driven magnetic circuit, thus realizing long-time, the big depth of water waterproof of motor.The traditional coupling torque transfer mode of contrast,
Magnetic coupling transfer mode mainly has the advantage that
1) pass through magnetic coupling, dynamic sealing is converted into static seal, sealing property is easier to ensure that, it is possible to achieve zero leakage；
2) magnetic coupling mode structure is simple, couples compact, easy installation and removal, small volume；
3) because the rotatable parts in addition to electric machine main shaft are not required to seal, therefore can make full use of water lubrication, need not add
Other lubricant mediums, pollution-free；
4) because master and slave moving part is not in contact with each other, there is not rigid attachment, thus avoid vibration or mutation
Transmission；
5), during magnetic coupling drives, if load exceeds magnetic torque, it is possible to achieve overload protection, prevent from burning out driving
Motor.
Brief description
Fig. 1 is a kind of antidumping base explosive view for underwater manipulator of the present invention；
Fig. 2 is the base supporting leg contractible graph of the present invention；
Fig. 3 is that the base supporting leg of the present invention opens figure；
Fig. 4 is the supporting leg drive part magnetic coupling sealed structure chart of the present invention；
Fig. 5 is the base revolution driving part magnetic coupling sealed structure chart of the present invention；
Fig. 6 is the base transmission figure of the present invention.
Specific embodiment
With specific embodiment, the present invention is described in further detail below in conjunction with the accompanying drawings.
In conjunction with figure
Underwater manipulator antidumping base is by level adjuster 1, I-steel leg 2, ceramic thrust bearing 3, upper backup pad
4th, underwater control case 5, base revolution driving structure 6, base shell 7, rustless steel turntable bearing 8, base extension ring flange 9, bottom
Seat drive mechanism 10, transmission frame 11, supporting leg drive part 12, power transmission shaft 13, little gear 14, disk pottery thrust axis
Hold 15, lower support plate 16, disk 17, connecting rod 18 form.
Lower support plate 16 upper surface is uniformly arranged several contour support blocks, and support block top opens up screwed hole, upper
Fagging 4 is fixed by the screwed hole of bolt and support block, so will form a cavity between the two plates, for cloth
Put the linkage controlling supporting leg to launch and shrink.Upper backup pad 4 and lower support plate 16 supporting leg drive part 12 with upper
Fagging 4 flange connects, and power transmission shaft 13 transmits power to little gear 14, and power transmission shaft 13 passes through the hole in the shaft shoulder and lower support plate 16
Spacing, power transmission shaft two is respectively adopted bonded form and connects supporting leg drive part 12 and little gear 14.Little gear 14 is led to
Cross and engage with the straight-tooth on disk 17, make the disk can be with the certain angle of reciprocally swinging.On disk 17, six bearing pins connect respectively
Connecting rod 18, the connecting rod other end connects I-steel leg 2 with bearing pin form, has a column in the middle of the shorter arm of I-steel leg 2, stands
At each angle of hexagon of post and lower support plate 16, circular hole forms hinge, and 6 connecting rods drive corresponding I-steel lower limb respectively
Portion 2, realizes opening and contraction of I-steel leg.So only using a motor control disk reciprocating motion it is possible to
Step controls the opening and closing of six supporting legs.It should be noted that the diameter of disk 17, the length of connecting rod 18, I-steel leg 2
The design difference of shape, it is possible to introduce dead-centre position, may make base supporting leg cannot launch or withdraw anisotropy.For
Reduce supporting leg launch, the frictional force in contraction process, the revolution of disk 17 and each I-steel leg 2 and lower support plate 16
Adopt thrust bearing at axle, and general bearing can not prevent the corrosion of sea water, so being used herein as ceramic thrust bearing.Six
Individual level adjuster 1 is separately mounted to the end of six I-steel legs, reaches horizontality for adjusting base, and energy one
Determine irregular at the bottom of pond condition is adapted on degree.
Supporting leg drive part 12 is returned by motor housing 19, adpting flange 20, limit shaft sleeve 21, output shaft 22, outer rotor
Rotating shaft 23, clamp nut 24, sliding bearing 25, outer rotor 26, coding disk coupling magnetic piece 27, magnetic conduction seal closure 28, coding disk 29,
Inner and outer rotors coupling magnetic piece 30, internal rotor 31, seal closure connector 32, harmonic speed reducer 33, driving member 34, torque motor 35,
Motor seal shell 36 forms.
Torque motor 35 is connected on motor seal shell 36 left side by flange, and spiral shell is passed through in the right side of motor seal shell
Bolt is fixed on shell 19, and contact surface carries out static seal by o shape circle.Harmonic speed reducer 33 is bolted on motor seal
On shell 36, driving member 34 right-hand member is connected with torque motor ring flange, and driving member left end passes through axle, key and harmonic speed reducer input
Connect, power is conveyed to decelerator.Between seal closure connector 32, magnetic conduction seal closure 28 and outer rotor gyroaxis 23, flange connects
Connect formation annular seal space.In annular seal space, internal rotor 31 is connected with harmonic speed reducer 33 output shaft, arranges many magnetic piece outside internal rotor,
In outer rotor disposed inboard and internal rotor, the strength magnetic piece of equal number is coupled.The magnetic field of internal rotor 31 is sealed by magnetic conduction
Chamber passes to outer rotor 26, and internal rotor magnetic field rotates and drives the external magnetic field of coupling to follow rotation thus driving outer rotor, reaches close
Envelope waterproof purpose, dynamic sealing problem is converted into static seal problem.It is fixing that outer rotor passes through sliding bearing 25.Because carrying when outside
Lotus than larger when in fact it could happen that the inconsistent situation of inner and outer rotors rotating speed (similar with step out of stepping motor), so in order to accurate
Measure the rotating speed of transmission output shaft and corner it is necessary to by the speed of external rotor and positional information, the end of outer rotor 27
At face, magnetic piece is coupled with the end face magnetic piece on coding disk 29 by magnetic conduction seal closure 28, drives coding disk 29 to turn over certain angle
Degree, is then passed through grating reading head measurement and draws the parameters such as supporting leg position and speed.Outer rotor 26 passes through bearing pin and passes moving
Pass output shaft 22, output shaft carries out axial spacing by limit shaft sleeve 21, and in output shaft, centre bore has keyway.Output shaft
22 link transmission power to little gear 14 with power transmission shaft 13 by keyway, control disk 17 reciprocating rotation thus driving supporting leg exhibition
Open and shrink.
Base revolution driving structure 6 by outer rotor 37, magnetic conduction seal closure 38, coding disk coupling magnetic piece 39, sliding bearing 40,
Pressure ring 41, weather proof receptacle 42, clamp nut 43, coding disk 44, grating reading head 45, inner and outer rotors coupling magnetic piece 46, internal rotor
47th, seal closure connector 48, harmonic speed reducer 49, DC servo motor 50, shell 51 of usheing to seat, bonnet 52 form.
Base drive mechanism 10 is by bracing frame 53, terminal pad 54, worm screw 55, worm gear 56, sliding bearing 57, axle 58, straight-tooth
Wheel 59 composition.
DC servo motor 50 is connected to by flange and ushers to seat on shell 51, and shell of usheing to seat is bolted on support
Plate 4.Harmonic speed reducer 49 is bolted on ushers to seat on shell 51, the output shaft of DC servo motor 50 and harmonic speed reducer
Bonded power is conveyed to decelerator.Seal closure connector 48, magnetic conduction seal closure 38, sliding bearing 40 and weather proof receptacle 42 are even
Connect one annular seal space of formation.In annular seal space, internal rotor 47 is connected with harmonic speed reducer 49 outfan, arranges many outside internal rotor
Magnetic piece, in outer rotor 37 disposed inboard and internal rotor, the strength magnetic piece of equal number is coupled.Its motor seal kind of drive
Identical with supporting leg controlled motor.The position of outer rotor 37, speed are delivered to coding disk 44 by magnetic coupling mode, through grating
Read head 45 measures the parameters such as position and the speed of output shaft.Sliding bearing 40 plays support to outer rotor 37 and reduction revolution rubs
Wiping power acts on, and clamp nut 43 compression pressure ring 41 carries out axial limiting to sliding bearing.Outer rotor 37 left side and terminal pad 54 method
Blue disk connects, and output end motion is passed to worm screw 55 through terminal pad 54, and the worm screw other end is propped up with the sleeve cooperation of bracing frame 53
Support.Motion is slowed down through worm screw 55 and worm gear 56, and power transmission direction is changed into vertical direction.Spur gear 59 and rustless steel rotating disk
Bearing 8 band tooth inner ring engagement, turntable bearing inner ring and base extension ring flange 9 connect provides gyration to the mechanical handss of extension.
The antidumping base for underwater manipulator of the present invention is the actual need according to China's underwater manipulator overturn-preventing
Will, and make with reference to general underwater performance intensity and hydrodynamic condition, meet following design requirement:
1) device maximum operation depth of water 2000m, has certain automatic capability it is easy to installing and implementing；
2) device has the ability of opposing 10000nm tilting moment；
3) device can quickly, conveniently connect extension mechanical hand.
A kind of antidumping base for underwater manipulator is mainly used in submersible machine and drives or fro hydraulic driving machinery
The overturn-preventing of handss supports, and in base vent, weight is about 1396kg, and after Retractive leg opens up into extreme position, base diameter reaches
4.45m, overturn-preventing moment reaches 15000nm；Suitable water is powered using 27v DC source as deep as 2000m, manipulator base, motor
Sealed using magnetic coupling mode.As shown in Fig. 1～Fig. 6, the design parameter of overturn-preventing base is: specification (length × width × height):
2360 × 2054 × 445mm, after supporting leg expansion be: 4526 × 4046 × 445mm；
Mechanical hand is connected to base extension ring flange 9, has debugged base and mechanical hand on the coast, base supporting leg is received
Return in order to crane lifting.Mechanical hand is transported to place more smooth under water, supporting leg controlled motor together with base by crane
Magnetic coupling sealing structure 12 drives little gear 14 to rotate, little gear and disk 17 gear teeth meshing, disk and connecting rod 18, I-steel lower limb
Portion 2 forms linkage, so only pass through a supporting leg controlled motor just can opening with six supporting legs of Synchronization Control base
Open and contractive action.After base opens completely, adjust level adjuster 1, so that base is completely attached to subsea floor, prevent machinery
Handss rock in the course of the work.Base revolution driving motor 6 is sealed by magnetic coupling mode, and output shaft passes through worm and gear and erects
The moving axis that direct transfers passes motion to turntable bearing 8, turntable bearing inner wrap strip tooth, and turntable bearing inner ring extends ring flange 9 with base
Mode connects for screw.Base shell 7 does not do encapsulation process, and underwater control case 5 exports, input cable is sealed by watertight connector, controls
Base portion motor and to mechanical hand provide power supply.
For the antidumping of underwater manipulator base achieve resistance to tipping moment 15000nm, underwater sealing is good, can stretch
The performances such as contracting supporting leg save space.Telescopic support leg is stronger to adaptive capacity to environment, with resistance to tipping moment needs not
With the opening angle of supporting leg is controlled, is adapted to more underwater manipulator job demand.And manufacturing cost is not high, very
Meet the use requirement of Controller of Underwater Manipulator instantly, have obvious advantage in terms of resistance to tipping moment.
To sum up, the manipulator base in the air deadweight of the present invention is about 1.4 tons, permissible after supporting leg is fully deployed under water
Bear the tilting moment of general 15000nm, and direct current generator is sealed by magnetic coupling mode it is ensured that motor for preventing water depth
Reach 2000m.The base of antidumping mechanical hand, can be used as underwater hydraulic or motor drive machinery handss using environment under water
Base, base can require to be lifted into water-bed optional position according to the working space of mechanical hand.Underwater manipulator antidumping base
Using motor drive mode, the dynamic sealing problem of motor output shaft is changed into static seal using magnetic coupling mode and asks by motor seal
Topic, the stretching out and shrink of six supporting legs of a motor control, the revolution of another one motor control base extension ring flange.It
There is base may move, the advantages of larger tilting moment, long-time underwater sealing good reliability can be overcome.
Claims (3)
1. a kind of antidumping base for underwater manipulator it is characterised in that: include the lower supporting plate that is bolted and
Upper backup pad, the disk being connected with lower supporting plate by rotating shaft, six supporting legs being symmetrically hinged on disk, it is arranged on
Supporting leg drive part on fagging and base revolution driving structure and base drive mechanism, and supporting leg drive part, bottom
The outside of seat revolution driving structure and base drive mechanism is provided with base shell, and each supporting leg includes hinged with disk
The connecting rod l type I-steel leg hinged with interlinking lever end and the level adjuster being arranged on the end of l type I-steel leg,
The centre position of the quarter butt of each l type I-steel leg is connected with lower supporting plate by column, and described disk is provided with profile of tooth
Structure, the end of the output shaft of supporting leg drive part is passed through upper backup pad and is connected with power transmission shaft, power transmission shaft is provided with little
Gear, little gear is engaged with described tooth-shape structure, and described base drive mechanism includes framework, the installation being arranged on upper backup pad
In the axle on framework, the worm gear being arranged on axle hypomere and the spur gear being mounted on an axle section and base revolution driving part outer
The terminal pad that rotor connects, the center of terminal pad is fixed with worm screw, and worm and wheel engages, in spur gear and base shell
The ring gear engagement of the rustless steel turntable bearing of setting, described rustless steel turntable bearing upper end is fixed with base extension ring flange,
Underwater manipulator is arranged on base extension ring flange.
2. a kind of antidumping base for underwater manipulator according to claim 1 it is characterised in that: described supporting leg
It is close by first that drive part includes motor housing, the motor seal shell being arranged in motor housing and motor seal shell end
Envelope connector the first magnetic conduction seal closure connecting, the torque motor being arranged in motor seal shell and torque motor outfan are even
The outer rotor that the first internal rotor that the harmonic speed reducer connecing is connected with harmonic speed reducer is connected with the first magnetic conduction seal closure end
Gyroaxis and the outer rotor revolution shaft end output shaft being connected, the first outer rotor being arranged on outer rotor gyroaxis, outside first
The inner surface of rotor, the outer surface of the first internal rotor are provided with coupling magnetic piece, and described first outer rotor is located at the first magnetic conduction
Outside seal closure, the end of described output shaft is fixed by adpting flange, and adpting flange and motor housing be connected after be arranged on
On upper backup pad.
3. a kind of antidumping base for underwater manipulator according to claim 1 and 2 it is characterised in that: described bottom
Seat revolution driving part includes being arranged on usheing to seat shell and be connected with the second seal closure of cage connection of usheing to seat on upper backup pad
The second magnetic conduction seal closure, the DC servo motor being arranged on inside the shell of usheing to seat and direct current that part is connected with the second seal closure end
The second internal rotor and magnetic conduction sealing that the harmonic speed reducer that servomotor outfan connects is connected with harmonic speed reducer outfan
The cover end outer rotor shaft connecting, the second outer rotor being arranged on outer rotor shaft, the inner surface of the second outer rotor, turn in second
The outer surface of son is provided with coupling magnetic piece, and described second outer rotor is located at outside the second magnetic conduction seal closure, the second internal rotor
In the second magnetic conduction seal closure, the end of described second outer rotor is provided with the disk-like structure being connected with terminal pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610971567.2A CN106346453B (en) | 2016-11-07 | 2016-11-07 | A kind of antidumping pedestal for underwater manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610971567.2A CN106346453B (en) | 2016-11-07 | 2016-11-07 | A kind of antidumping pedestal for underwater manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106346453A true CN106346453A (en) | 2017-01-25 |
| CN106346453B CN106346453B (en) | 2019-02-01 |
Family
ID=57865122
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610971567.2A Active CN106346453B (en) | 2016-11-07 | 2016-11-07 | A kind of antidumping pedestal for underwater manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106346453B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106981203A (en) * | 2017-05-26 | 2017-07-25 | 山东交通学院 | A kind of intelligent managing and control system of road traffic |
| CN107953342A (en) * | 2017-11-30 | 2018-04-24 | 北京建筑大学 | One kind endowment disabled aiding robot Omni-mobile platform |
| CN109571424A (en) * | 2017-09-28 | 2019-04-05 | 发那科株式会社 | Robot |
| CN109823498A (en) * | 2019-02-18 | 2019-05-31 | 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 anti-absorption seat bottom device of underwater platform |
| CN110077965A (en) * | 2019-04-29 | 2019-08-02 | 广东博智林机器人有限公司 | A kind of bull mechanical arm and combination arm, row crane system, control method using it |
| CN110259266A (en) * | 2019-07-01 | 2019-09-20 | 广东电网有限责任公司 | A kind of adjustable safe fence structure of radius |
| WO2020156560A1 (en) * | 2019-02-02 | 2020-08-06 | 广东博智林机器人有限公司 | Climbing tower crane apparatus and control method therefor, traveling crane system and fault handling method and control method therefor |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08312886A (en) * | 1995-05-19 | 1996-11-26 | Moridaira Gakki:Kk | Supporting stand |
| CN201777806U (en) * | 2009-12-02 | 2011-03-30 | 三一汽车制造有限公司 | Crane support leg assembly and crane adopting the same |
| CN103287518A (en) * | 2013-07-04 | 2013-09-11 | 郑州新大方重工科技有限公司 | Crawler-type travelling chassis |
| CN104708114A (en) * | 2015-03-13 | 2015-06-17 | 大连海事大学 | Attracting type underwater cyclotomic machine |
| WO2016058266A1 (en) * | 2014-10-17 | 2016-04-21 | 南通润邦重机有限公司 | Port mobile crane capable of being proof against storm wind and capable of overturning to transfer by means of mechanism design |
| CN105953040A (en) * | 2016-07-18 | 2016-09-21 | 徐鑫鑫 | Bracket adapter base |
-
2016
- 2016-11-07 CN CN201610971567.2A patent/CN106346453B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08312886A (en) * | 1995-05-19 | 1996-11-26 | Moridaira Gakki:Kk | Supporting stand |
| CN201777806U (en) * | 2009-12-02 | 2011-03-30 | 三一汽车制造有限公司 | Crane support leg assembly and crane adopting the same |
| CN103287518A (en) * | 2013-07-04 | 2013-09-11 | 郑州新大方重工科技有限公司 | Crawler-type travelling chassis |
| WO2016058266A1 (en) * | 2014-10-17 | 2016-04-21 | 南通润邦重机有限公司 | Port mobile crane capable of being proof against storm wind and capable of overturning to transfer by means of mechanism design |
| CN104708114A (en) * | 2015-03-13 | 2015-06-17 | 大连海事大学 | Attracting type underwater cyclotomic machine |
| CN105953040A (en) * | 2016-07-18 | 2016-09-21 | 徐鑫鑫 | Bracket adapter base |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106981203A (en) * | 2017-05-26 | 2017-07-25 | 山东交通学院 | A kind of intelligent managing and control system of road traffic |
| CN109571424A (en) * | 2017-09-28 | 2019-04-05 | 发那科株式会社 | Robot |
| CN109571424B (en) * | 2017-09-28 | 2020-11-27 | 发那科株式会社 | Robot |
| CN107953342A (en) * | 2017-11-30 | 2018-04-24 | 北京建筑大学 | One kind endowment disabled aiding robot Omni-mobile platform |
| WO2020156560A1 (en) * | 2019-02-02 | 2020-08-06 | 广东博智林机器人有限公司 | Climbing tower crane apparatus and control method therefor, traveling crane system and fault handling method and control method therefor |
| CN109823498A (en) * | 2019-02-18 | 2019-05-31 | 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 anti-absorption seat bottom device of underwater platform |
| CN110077965A (en) * | 2019-04-29 | 2019-08-02 | 广东博智林机器人有限公司 | A kind of bull mechanical arm and combination arm, row crane system, control method using it |
| CN110259266A (en) * | 2019-07-01 | 2019-09-20 | 广东电网有限责任公司 | A kind of adjustable safe fence structure of radius |
| CN110259266B (en) * | 2019-07-01 | 2024-05-28 | 广东电网有限责任公司 | Radius adjustable security fence structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106346453B (en) | 2019-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106346453A (en) | Anti-overturning base for underwater manipulator | |
| CN204472948U (en) | A kind of screw mandrel moveable type climbing level robot | |
| CN102490871A (en) | Hydraulic boarding ladder | |
| CN204804450U (en) | Upender of cement pole | |
| CN104895393B (en) | A kind of upender of cement pole | |
| CN111927698B (en) | Offshore floating type liftable wind generating set | |
| CN104118804A (en) | Rotatable lifting loading and unloading equipment used for underground coal mine | |
| CN206666022U (en) | One kind building or logistics secondary lifting platform | |
| JP2015004355A (en) | Sink-and-float type power generation device | |
| CN207792540U (en) | A kind of offshore construction hanging apparatus | |
| KR20120103930A (en) | Movable marine power generation plant and management method of it | |
| CN210620169U (en) | Anti-falling hydraulic lifting platform | |
| CN102092463A (en) | Hydraulic control system for hydraulic boarding ladder | |
| EP2020505A2 (en) | Machine for using the energy of sea waves | |
| CN206735071U (en) | A kind of bearing device manhole structure | |
| GB2261262A (en) | Wave-powered device | |
| CN206317990U (en) | A kind of large-tonnage offshore wind farm mounting platform | |
| CN212612336U (en) | Hydraulic pressure flap gate for hydraulic engineering | |
| CN212924159U (en) | Winding device for lifting system on crane | |
| CN109237110B (en) | Electrohydraulic integrated large valve quick-opening integrated device | |
| CN203922524U (en) | A kind of for the rotatable elevating equipment under coal mine | |
| CN203345176U (en) | Overwater robot | |
| CN209115776U (en) | A kind of integrated quick-opening device of valve | |
| KR102065839B1 (en) | Wave generating device | |
| CN212358348U (en) | Deep basal pit liquid level control and monitoring devices |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |