CN106697235A - A frame retractable system of underwater robot - Google Patents

A frame retractable system of underwater robot Download PDF

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Publication number
CN106697235A
CN106697235A CN201510461153.0A CN201510461153A CN106697235A CN 106697235 A CN106697235 A CN 106697235A CN 201510461153 A CN201510461153 A CN 201510461153A CN 106697235 A CN106697235 A CN 106697235A
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CN
China
Prior art keywords
frame
framves
cylinder
hydraulic cylinder
underwater robot
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Granted
Application number
CN201510461153.0A
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Chinese (zh)
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CN106697235B (en
Inventor
宣耀伟
俞恩科
汪洋
敬强
解玉文
高安洁
曹向勇
郭志广
李红云
林晓波
沈耀军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
State Grid Corp of China SGCC
Zhoushan Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
Beijing Guowang Fuda Technology Development Co Ltd
Original Assignee
State Grid Corp of China SGCC
Zhoushan Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
Beijing Guowang Fuda Technology Development Co Ltd
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Application filed by State Grid Corp of China SGCC, Zhoushan Power Supply Co of State Grid Zhejiang Electric Power Co Ltd, Beijing Guowang Fuda Technology Development Co Ltd filed Critical State Grid Corp of China SGCC
Priority to CN201510461153.0A priority Critical patent/CN106697235B/en
Publication of CN106697235A publication Critical patent/CN106697235A/en
Application granted granted Critical
Publication of CN106697235B publication Critical patent/CN106697235B/en
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Abstract

The invention provides an A frame retractable system of an underwater robot. The system includes: a pedestal, which has an underframe and a left side frame and a right side frame that are connected to two sides of the underframe, wherein the underframe is equipped with a winch; an A frame, which is rotatably connected to the left side frame; a hydraulic cylinder frame, which is connected between the A frame and the left side frame, and has a lifting lug plate, which is connected to one A frame end in connection with the left side frame and is connected to an upper hydraulic cylinder and a lower hydraulic cylinder, wherein the upper hydraulic cylinder is connected to the A frame and the lower hydraulic cylinder is connected to the left side frame. The A frame retractable system of the underwater robot provided by the invention can realize extension and retraction of the underwater robot, and the A frame retractable system realizes swing-in and swing-out of the A frame through a plurality of interconnected hydraulic cylinders, the swing range of the A frame is enlarged, thus facilitating extension and retraction of the underwater robot.

Description

The A frame extension and retraction systems of underwater robot
Technical field
The present invention is related to a kind of A framves extension and retraction system, more particularly to what is applied in a kind of technical field of sea exploration The A frame extension and retraction systems of underwater robot.
Background technology
At present, the underwater robot extension and retraction system that China uses mostly A rack-like structures, it is mainly used in investigation Underwater robot on ship is reclaimed and discharged.
Existing underwater robot extension and retraction system uses the integrated design of A framves and winch substantially, by hydraulic cylinder reality Show swinging in, showing two actions for A framves;The pedestal of A framves is higher than ship side, can enter exercise in deck optional position With.The underwater robot extension and retraction system possesses automatic row's cable function, ensures that cable arranging is closely orderly.
In the prior art, A framves by two Driven by Hydraulic Cylinder being connected on base to carry out swinging arm, in the knot There is hydraulic pump synchronously to drive two hydraulic cylinders to show realizing swinging in for A framves in structure, the angle of oscillation of A framves in the structure Degree is limited by hydraulic jack installation site, the A framves pulling force that single hydraulic jack is subject to when swinging in or showing and thrust It is huge, easily cause the damage of hydraulic jack.
Therefore, it is necessary to provide a kind of new underwater robot extension and retraction system to overcome above mentioned problem.
The content of the invention
It is an object of the invention to provide a kind of A frame extension and retraction systems of underwater robot, it can be realized to underwater robot Folding and unfolding, and the A framves extension and retraction system by be connected with each other multiple hydraulic cylinders realize that swinging in for A framves is shown, A Frame hunting range increases, the convenient folding and unfolding to underwater robot.
Above-mentioned purpose of the invention can be realized using following technical proposal:
The present invention provides a kind of A frame extension and retraction systems of underwater robot, and it includes:
Pedestal, it has underframe and is connected to the left frame and left side frame of the underframe both sides, is set on the underframe It is equipped with winch;
A framves, it is rotatably connected on the left frame;
Hydraulic cylinder frame, it is connected between the A framves and the left frame, and the hydraulic cylinder frame has shackle plate, The shackle plate is connected to one end that the A framves are connected with the left frame, and upper liquid is connected with the shackle plate Cylinder pressure and lower hydraulic cylinder, the upper hydraulic cylinder are connected with the A framves, and the lower hydraulic cylinder is connected with the left frame.
In a preferred embodiment, two hydraulic cylinder framves are connected between the A framves and the left frame, Two hydraulic cylinder framves are respectively positioned at the front and rear both sides of the pedestal.
In a preferred embodiment, the A framves have upper frame and are connected to the side frame of the upper frame both sides, described Left frame is made up of two vertical rods, and two vertical rods are connected to the front and rear both sides of the underframe, the A framves Two lower ends of side frame rotated with the upper end of two vertical rods of the left frame be connected respectively.
In a preferred embodiment, the upper hydraulic cylinder has upper cylinder body and the upper piston in the upper cylinder body Bar, the shackle plate is connected to the side frame lower end of the A framves, and the upper cylinder body is connected with the shackle plate, described Upper piston rod is connected on the side frame of the A framves.
In a preferred embodiment, the lower hydraulic cylinder has lower cylinder body and the lower piston in the lower cylinder body Bar, the lower cylinder body is connected with the vertical rod of the left frame, and the lower piston rod is connected on the shackle plate.
In a preferred embodiment, hydraulic fluid tank, the hydraulic fluid tank and the upper liquid are connected with the outside of the left side frame Cylinder pressure, the lower hydraulic cylinder are connected.
In a preferred embodiment, hand-operated valve, the hand-operated valve and the hydraulic fluid tank phase are connected with the left side frame Even.
In a preferred embodiment, it is connected with pulley on the upper frame of the A framves.
The characteristics of A frame extension and retraction systems of underwater robot of the invention and advantage are:The A framves of the underwater robot are received Place system simple structure, operation is easy, easily realizes the folding and unfolding to underwater robot;In addition, passing through A frame folding and unfoldings Four hydraulic cylinders in system so that A framves hunting range increases, the convenient folding and unfolding to underwater robot.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be to that will make needed for embodiment description Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, For those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these accompanying drawings Obtain other accompanying drawings.
Fig. 1 is the three-dimensional structure diagram of the A frame extension and retraction systems of underwater robot of the invention.
Fig. 2 is the side view of the A frame collapse states of the A frame extension and retraction systems of underwater robot of the invention.
Fig. 3 is the side view of the A frame deployed conditions of the A frame extension and retraction systems of underwater robot of the invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments. Based on the embodiment in the present invention, what those of ordinary skill in the art were obtained under the premise of creative work is not made Every other embodiment, belongs to the scope of protection of the invention.
Position relationship up and down of the invention is based on for Fig. 2 Suo Shi.
As shown in figure 1, the present invention provides a kind of A frame extension and retraction systems of underwater robot, it includes pedestal 1, A framves 2 and hydraulic cylinder frame 3, wherein:Pedestal 1 has underframe 11 and is connected to left frame 12 and the right side of the both sides of underframe 11 Frame 13, is provided with winch 4 on underframe 11;A framves 2 are rotatably connected on left frame 12;Hydraulic cylinder frame 3 connects It is connected between A framves 2 and left frame 12, hydraulic cylinder frame 3 has shackle plate 33, shackle plate 33 is connected to A framves 2 The one end being connected with left frame 12, is connected with hydraulic cylinder 31 and lower hydraulic cylinder 32, upper hydraulic pressure on shackle plate 33 Cylinder 31 is connected with A framves 2, and lower hydraulic cylinder 32 is connected with left frame 12.
Specifically, the underframe 11 of pedestal 1 is welded to each other connection and forms a rectangular flat plate, left frame by multiple shaped steel 12 and left side frame 13 be connected to the left and right sides of underframe 11 so that forming one is substantially rectangle frame-like Pedestal 1, winch 4 is fixedly connected on the upper surface of underframe 11, and it is located between left frame 12 and left side frame 13. Wherein, in the present invention, left frame 12 is made up of two vertical rods 121, and two vertical rods 121 are connected to underframe 11 front and rear both sides, namely at former and later two end angles of the left side of underframe 11;In the present embodiment, left side frame 13 outside is connected with hydraulic fluid tank 5, and the upper end of left side frame 13 is provided with hand-operated valve 6, the hand-operated valve 6 and hydraulic fluid tank 5 It is connected, it is used to be turned on and off hydraulic fluid tank 5.
Equivalent to the top cover of pedestal 1, it can be opened and closed to set on the pedestal 1 A framves 2.A framves 2 are substantially in A words Shape, it is by upper frame 21 and is connected to the side frame 22 of the both sides of upper frame 21 and constitutes, and connecting rod 212 is connected with upper frame 21, Pulley 211 is rotatably connected in the connecting rod 212;Two lower ends of side frame 22 of A framves 2 respectively with left side The upper end of two vertical rods 121 of frame 12 rotates connection, for example, side frame 22 and vertical rod can be connected by way of being hinged 121, it is not limited herein.
Hydraulic cylinder frame 3 is the device for driving A framves 2 to be swung back and forth on left frame 12, and it is connected to A framves 2 Between left frame 12, in the presence of the hydraulic cylinder frame 3, A framves 2 can the reciprocally swinging of opposing left frame 12, with In the state closed or open.In the present invention, two hydraulic cylinder framves 3 are connected between A framves 2 and left frame 12, Two hydraulic cylinder framves 3 are located at the front and rear both sides of pedestal 1 respectively, that is, positioned at the anterior vertical rod of the left side of pedestal 1 A hydraulic cylinder frame 3 is connected between 121 and the corresponding side frame 22 being hinged, positioned at the left side rear portion of pedestal 1 Another hydraulic cylinder frame 3 is connected between vertical rod 121 and the corresponding side frame 22 being hinged.
In the present invention, hydraulic cylinder frame 3 includes shackle plate 33 and the He of upper hydraulic cylinder 31 being connected on shackle plate 33 Lower hydraulic cylinder 32.Below with positioned at the anterior vertical rod 121 of the left side of pedestal 1 and the corresponding side frame 22 being hinged it Between connect hydraulic cylinder frame 3 as a example by illustrate, vertical rod 121 and corresponding hinge positioned at the left side rear portion of pedestal 1 The hydraulic cylinder frame 3 connected between the side frame 22 for connecing is same, will not be repeated here.Wherein, upper hydraulic cylinder 31 Upper piston rod 312 with upper cylinder body 311 and in upper cylinder body 311, shackle plate 33 is connected to the side of A framves 2 The lower end of frame 22, upper cylinder body 311 is connected with shackle plate 33, and upper piston rod 312 is connected on the side frame 22 of A framves 2. Lower hydraulic cylinder 32 has lower cylinder body 321 and the lower piston rod 322 in lower cylinder body 321, and lower cylinder body 321 is connected In the lower end of vertical rod 121 of left frame 12, lower piston rod 322 is connected on shackle plate 33.
Hydraulic cylinder 31 is connected with hydraulic fluid tank 5 respectively with lower hydraulic cylinder 32 on this, and liquid can be made by opening hand-operated valve 6 In the upper hydraulic cylinder 31 of hydraulic oil injection in pressure case 5 and lower hydraulic cylinder 32, to drive upper piston rod 312 and lower piston Bar 322 is moved.
The course of work of the A frame extension and retraction systems of underwater robot of the invention is as follows:Fig. 2 show the starting of A framves 2 Position, now A framves 2 be closed.The process that A framves 2 are outwards shown:By manipulating hand-operated valve 6, make liquid Hydraulic oil in pressure case 5 is injected in two lower hydraulic cylinders 32 simultaneously, now, two lower piston rods of lower hydraulic cylinder 32 322 are stretched out, and A framves 2 are rotated a certain angle, and extreme position is that A framves 2 are perpendicular to the ground, i.e. the phase of A framves 2 Original position is rotated by 90 °;Afterwards, then by manipulating hand-operated valve 6, the hydraulic oil in hydraulic fluid tank 5 is made to inject simultaneously In two upper hydraulic cylinders 31, now, the upper piston rod 312 of two upper hydraulic cylinders 31 stretches out, and continues the rotation of A framves Turn certain angle, final position is the surface that A framves reach support frame, as shown in Figure 3.Now, to winch 4 Hydraulic system be powered, the rotation (counterclockwise) of hydraulic motor, drive winch 4 roller rotate, rolling will be arranged in Cable on cylinder is released, the cable winding on roller on the pulley 211 of A framves 2, from the electricity that pulley 211 stretches out Cable releases underwater robot for connecting pulley 211 of the underwater robot cable by being connected on A framves 2, sliding Wheel 211 has guide effect.A framves swing back process:By to two fuel-displaced, two upper liquids of upper hydraulic cylinder 31 The upper piston rod 312 of cylinder pressure 31 is bounced back, and A framves 2 are rotated to an angle, and it is that A framves are perpendicular to the ground to continue position, Now, then by the way that to the fuel-displaced of two lower hydraulic cylinders 32, two lower piston rods of lower hydraulic cylinder 32 322 bounce back, will A framves 2 rotate to original position, then stop fuel-displaced.Meanwhile, winch 4 is powered, the rotation of hydraulic motor is (suitable Hour hands), the roller rotation of winch 4 is driven, cable on roller will be arranged in and withdrawn, cable passes through pulley 211 by water Lower robot withdraws.
The A frame extension and retraction systems of underwater robot of the invention, simple structure, operation is easy, easily realizes under water The folding and unfolding of robot;In addition, by two hydraulic cylinder framves 3 (the two upper Hes of hydraulic cylinder 31 in A frame extension and retraction systems Two lower hydraulic cylinders 32) so that the hunting range of A framves 2 increases, the convenient folding and unfolding to underwater robot.
Several embodiments of the present invention are the foregoing is only, those skilled in the art is according to application documents disclosure Various changes or modification can be carried out to the embodiment of the present invention without departing from the spirit and scope of the present invention.

Claims (8)

1. A frame extension and retraction systems of a kind of underwater robot, it is characterised in that it includes:
Pedestal, it has underframe and is connected to the left frame and left side frame of the underframe both sides, is set on the underframe It is equipped with winch;
A framves, it is rotatably connected on the left frame;
Hydraulic cylinder frame, it is connected between the A framves and the left frame, and the hydraulic cylinder frame has shackle plate, The shackle plate is connected to one end that the A framves are connected with the left frame, and upper liquid is connected with the shackle plate Cylinder pressure and lower hydraulic cylinder, the upper hydraulic cylinder are connected with the A framves, and the lower hydraulic cylinder is connected with the left frame.
2. A frame extension and retraction systems of underwater robot as claimed in claim 1, it is characterised in that the A framves with Two hydraulic cylinder framves are connected between the left frame, before two hydraulic cylinder framves are located at the pedestal respectively Both sides afterwards.
3. A frame extension and retraction systems of underwater robot as claimed in claim 1, it is characterised in that the A framves tool There is upper frame and be connected to the side frame of the upper frame both sides, the left frame is made up of two vertical rods, two vertical rods point It is not connected to the front and rear both sides of the underframe, two lower ends of side frame of the A framves are respectively with the two of the left frame The upper end of individual vertical rod rotates connection.
4. A frame extension and retraction systems of underwater robot as claimed in claim 3, it is characterised in that the upper hydraulic pressure Cylinder has upper cylinder body and the upper piston rod in the upper cylinder body, and the shackle plate is connected to the side frame of the A framves Lower end, the upper cylinder body is connected with the shackle plate, and the upper piston rod is connected on the side frame of the A framves.
5. A frame extension and retraction systems of underwater robot as claimed in claim 4, it is characterised in that the lower hydraulic pressure Cylinder has lower cylinder body and a lower piston rod in the lower cylinder body, the vertical rod phase of the lower cylinder body and the left frame Even, the lower piston rod is connected on the shackle plate.
6. A frame extension and retraction systems of underwater robot as claimed in claim 1, it is characterised in that the left side frame Outside be connected with hydraulic fluid tank, the hydraulic fluid tank is connected with the upper hydraulic cylinder, the lower hydraulic cylinder.
7. A frame extension and retraction systems of underwater robot as claimed in claim 6, it is characterised in that the left side frame On be connected with hand-operated valve, the hand-operated valve is connected with the hydraulic fluid tank.
8. A frame extension and retraction systems of underwater robot as claimed in claim 3, it is characterised in that the A framves Pulley is connected with upper frame.
CN201510461153.0A 2015-07-30 2015-07-30 The A frame extension and retraction systems of underwater robot Active CN106697235B (en)

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Application Number Priority Date Filing Date Title
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CN106697235B CN106697235B (en) 2018-10-16

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109760791A (en) * 2019-01-25 2019-05-17 自然资源部第一海洋研究所 Ship water surface A rack device and its operating system suitable for ice formation
CN112061351A (en) * 2020-09-21 2020-12-11 中国科学院深海科学与工程研究所 Distributing and recovering device of double-body seabed crawler

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Publication number Priority date Publication date Assignee Title
CN1132710A (en) * 1995-04-05 1996-10-09 中国科学院沈阳自动化研究所 Underwater recovery system for autonomous diving device
CN101332866A (en) * 2008-08-05 2008-12-31 中国舰船研究设计中心 General laying-out and recovering system for submersible
CN103183111A (en) * 2011-12-28 2013-07-03 中国科学院沈阳自动化研究所 Draft gear for recovering underwater robot
KR20130130521A (en) * 2012-05-22 2013-12-02 한국해양과학기술원 Apparatus for deployment and recovery of marinesurvey equipments for smallboat
CN104670440A (en) * 2013-11-30 2015-06-03 中国科学院沈阳自动化研究所 Recovery system and recovery method of autonomous underwater vehicle
CN204916127U (en) * 2015-07-30 2015-12-30 国家电网公司 A frame of underwater robot receive and releases system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1132710A (en) * 1995-04-05 1996-10-09 中国科学院沈阳自动化研究所 Underwater recovery system for autonomous diving device
CN101332866A (en) * 2008-08-05 2008-12-31 中国舰船研究设计中心 General laying-out and recovering system for submersible
CN103183111A (en) * 2011-12-28 2013-07-03 中国科学院沈阳自动化研究所 Draft gear for recovering underwater robot
KR20130130521A (en) * 2012-05-22 2013-12-02 한국해양과학기술원 Apparatus for deployment and recovery of marinesurvey equipments for smallboat
CN104670440A (en) * 2013-11-30 2015-06-03 中国科学院沈阳自动化研究所 Recovery system and recovery method of autonomous underwater vehicle
CN204916127U (en) * 2015-07-30 2015-12-30 国家电网公司 A frame of underwater robot receive and releases system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109760791A (en) * 2019-01-25 2019-05-17 自然资源部第一海洋研究所 Ship water surface A rack device and its operating system suitable for ice formation
CN109760791B (en) * 2019-01-25 2019-09-24 自然资源部第一海洋研究所 Ship water surface A rack device and its operating system suitable for ice formation
CN112061351A (en) * 2020-09-21 2020-12-11 中国科学院深海科学与工程研究所 Distributing and recovering device of double-body seabed crawler
CN112061351B (en) * 2020-09-21 2021-07-30 中国科学院深海科学与工程研究所 Distributing and recovering device of double-body seabed crawler

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