CN106741753B - A kind of flexible loading device of autonomous underwater robot magnetic probe - Google Patents
A kind of flexible loading device of autonomous underwater robot magnetic probe Download PDFInfo
- Publication number
- CN106741753B CN106741753B CN201510830297.9A CN201510830297A CN106741753B CN 106741753 B CN106741753 B CN 106741753B CN 201510830297 A CN201510830297 A CN 201510830297A CN 106741753 B CN106741753 B CN 106741753B
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- CN
- China
- Prior art keywords
- connecting bar
- swing connecting
- underwater robot
- autonomous underwater
- master arm
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Classifications
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B45/00—Arrangements or adaptations of signalling or lighting devices
Abstract
The present invention relates to underwater robot fields, specifically a kind of autonomous underwater robot magnetic probe stretches loading device, including swing connecting bar, intermediate connecting rod, master arm and driving part, the swing connecting bar is hinged with autonomous underwater robot, magnetometer probe is mounted on the free end of the swing connecting bar, the driving part is set on autonomous underwater robot, one end of the master arm is connected with the driving part, the other end of the master arm and one end of the intermediate connecting rod are hinged, the other end of the intermediate connecting rod and the middle part of the swing connecting bar are hinged, the master arm is driven by the driving part to be rotated, when the swing connecting bar is fully deployed, the intermediate connecting rod and master arm are in dead-centre position, when the swing connecting bar is packed up completely, the swing connecting bar, intermediate connecting rod and master arm folding are packed up.The present invention facilitates autonomous underwater robot to lay reclaimer operation, saves space, and when measurement is easy to implement gradient magnetic measurement, reduces interference of the robot body to probe.
Description
Technical field
The present invention relates to underwater robot field, specifically a kind of autonomous underwater robot magnetic probe is flexible to be carried
Device.
Background technology
Ocean magnetic field information has important in fields such as seabed resources are explored, Watership Down detects, submerged pipeline detections
Application value.Traditional ocean magnetic field investigation method is detected using ship carrying magnetometer and positioning device, needs to disappear
A large amount of human and material resources and time are consumed, and carries out automatic magnetic-field measurement by using autonomous underwater robot and can greatly save
Cost-saving reduces the operation intensity of personnel.Autonomous underwater robot in the prior art carries out ocean magnetic field investigation, typically exists
The towfish of stern towing installation magnetometer, to eliminate interference of the autonomous underwater robot ontology to magnetometer.However, this mode
There is following deficiency：First, the towfish of towing causes harmful effect to the mobility of autonomous underwater robot；Second, towing
Towfish laid to autonomous underwater robot, reclaimer operation is made troubles；The towfish inconvenience of third, towing carries out gradient magnetic survey
Amount.
Invention content
The purpose of the present invention is to provide a kind of flexible loading device of autonomous underwater robot magnetic probe, loading device energy
Enough folding retractables, conveniently lay reclaimer operation, save space, and gradient magnetic is easy to implement when measuring and is measured, robot is reduced
Interference of the ontology to probe.
The purpose of the present invention is achieved through the following technical solutions：
A kind of flexible loading device of autonomous underwater robot magnetic probe, it is characterised in that：Connect including swing connecting bar, centre
Bar, master arm and driving part, described swing connecting bar one end is hinged with autonomous underwater robot, and magnetometer probe is mounted on described
The free end of swing connecting bar, the driving part are set on autonomous underwater robot, one end of the master arm and the drive
Dynamic component is connected, and one end of the other end of the master arm and the intermediate connecting rod is hinged, the other end of the intermediate connecting rod with
The middle part of the swing connecting bar is hinged, and the master arm is driven by the driving part to be rotated, when the swing connecting bar is complete
When expansion, the intermediate connecting rod and master arm are in dead-centre position, and when the swing connecting bar is packed up completely, the swing connects
Bar, intermediate connecting rod and master arm folding are packed up.
When the swing connecting bar is packed up completely, the swing connecting bar, intermediate connecting rod and master arm are each parallel to autonomous water
The axial direction of lower robot.
The autonomous underwater robot is equipped with hinged seat, and the swing connecting bar is hinged with the hinged seat.
The magnetometer probe is installed in rotation on the free end of the swing connecting bar, in the freedom of the swing connecting bar
End is equipped with sliding groove and torsional spring, and when the swing connecting bar is fully deployed, the magnetometer probe passes through the sliding groove and torsion
Spring limit keeps parallel with the axial direction of autonomous underwater robot.
Probe fixed seat is equipped on the downside of the magnetometer probe, the probe fixed seat is installed in rotation on the swing
The free end of connecting rod, when the swing connecting bar is fully deployed, the probe fixed seat is limited by the sliding groove without normal direction
The direction rotation opposite with swing connecting bar expansion direction, while the probe fixed seat bears one and institute that the torsional spring applies
State the opposite torque of swing connecting bar expansion direction.
Limited post there are one being set on the autonomous underwater robot, when the swing connecting bar is packed up completely, the magnetic force
Instrument probe keeps being in the state parallel with the axial direction of autonomous underwater robot by the limit elastic supports.
The driving part includes power source and worm gear mechanism, and the master arm is revolved by the power source drive
Turn, the power source transmits torque by the worm gear mechanism.
Advantages of the present invention is with good effect：
1, the present invention realizes extending and retracting for dynamometer probe using link mechanism, when the swing connecting bar in link mechanism
When in fully unfolded position, intermediate connecting rod and master arm in link mechanism are in dead-centre position, keep dynamometer probe separate
Autonomous underwater robot ontology, to reduce interference of the autonomous underwater robot ontology to magnetometer probe, when swing connecting bar contracts
Hui Shi, the swing connecting bar, intermediate connecting rod and master arm folding are packed up, and are in and autonomous underwater robot axial direction parallel shape
State facilitates autonomous underwater robot to carry out shipping, lay, recycle, store and transport.
2, the present invention is equipped with sliding groove and torsional spring in the free end of swing connecting bar, when ensureing swing connecting bar expansion, dynamometer
Probe is in works as swing connecting bar with autonomous underwater robot axial direction parastate equipped with limited post on autonomous underwater robot
When withdrawing completely, the magnetometer probe is still kept by the limit elastic supports in axially flat with autonomous underwater robot
Capable state.
3, the present invention is equipped with the worm gear mechanism with self-locking in driving part, after can guarantee swing connecting bar expansion,
When autonomous underwater robot navigates by water, swing connecting bar will not retract automatically, simple in structure, reliable.
4, the present invention can be multigroup while being fixed on autonomous underwater robot shell, and ladder may be implemented while configuring flexible
Spend magnetic-field measurement.
Description of the drawings
Fig. 1 is the structural diagram of the present invention,
Fig. 2 is the probe fixed seat schematic diagram in Fig. 1,
Fig. 3 is another schematic diagram of probe fixed seat in Fig. 1,
Fig. 4 is contraction state schematic diagram of the invention in Fig. 1,
Fig. 5 is working state schematic representation one of the invention in Fig. 1,
Fig. 6 is working state schematic representation two of the invention in Fig. 1.
Wherein, 1 it is hinged seat, 2 be swing connecting bar, 3 be intermediate connecting rod, 4 be master arm, 5 be driving part, 6 is probe
Fixed seat, 7 be torsional spring, 8 be magnetometer probe, 9 be limited post, 10 be autonomous underwater robot, 11 be sliding groove.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1, the present invention includes hinged seat 1, swing connecting bar 2, intermediate connecting rod 3, master arm 4 and driving part 5, institute
Hinged seat 1 is stated on autonomous underwater robot 10, the swing connecting bar 2 is hinged with the hinged seat 1, magnetometer probe 8
Mounted on the free end of the swing connecting bar 2, the driving part 5 is set on autonomous underwater robot 10, the master arm 4
One end be connected with the driving part 5, one end of the other end of the master arm 4 and the intermediate connecting rod 3 is hinged, in described
Between connecting rod 3 the other end and the swing connecting bar 2 middle part it is hinged, the master arm 4 passes through the driving rotation of the driving part 5
Turn, the hinged seat 1, swing connecting bar 2, intermediate connecting rod 3 and master arm 4 form a four-bar mechanism.When swing connecting bar 2 is complete
When full expansion, angle is in 180 degree between the intermediate connecting rod 3 and master arm 4, and the intermediate connecting rod 3 and master arm 4 are at this time
Mechanical dead-centre position, when swing connecting bar 2 is packed up completely, the swing connecting bar 2, intermediate connecting rod 3 and the folding of master arm 4 are packed up,
Angle is in 0 degree between the intermediate connecting rod 3 and master arm 4 at this time, and the swing connecting bar 2, intermediate connecting rod 3 and master arm 4 are equal
It is parallel to the axial direction of autonomous underwater robot 10.
As shown in figures 2-3,8 downside of the magnetometer probe is set there are one fixed seat 6 of popping one's head in, and the probe fixed seat 6 can
It is rotatably mounted at the free end of the swing connecting bar 2, there are one sliding as shown in Fig. 2, being set in the free end of the swing connecting bar 2
Dynamic slot 11, as shown in figure 3, being set in the free end of the swing connecting bar 2, there are one torsional springs 7, and the torsional spring 7 is mounted on the company of swing
On the hinged shaft that bar 2 is connected with the probe fixed seat 6, when swing connecting bar 2 is fully deployed, the sliding groove 11 is to the probe
Fixed seat 6 can play position-limiting action, make the probe fixed seat 6 without the normal direction direction opposite with 2 expansion direction of swing connecting bar
Rotation, the torsional spring 7 applies one and 2 expansion direction opposite direction of swing connecting bar to the probe fixed seat 6 at this time in addition
Torque, the two collective effect ensure that the magnetometer probe 8 is in the state parallel with the axial direction of autonomous underwater robot 10.Such as
Shown in Fig. 4, set on the autonomous underwater robot 10 there are one limited post 9, when the swing connecting bar 2 is packed up completely, institute
Magnetometer probe 8 is stated still to keep being in the shape parallel with the axial direction of autonomous underwater robot 10 by the bearing of the limited post 9
State.
The driving part 5 includes that a power source and a worm gear mechanism, the power source pass through the worm gear
Worm mechanism transmits torque and the master arm 4 is driven to swing, since worm gear mechanism has self-locking function, when the company of swing
Bar 2 will not retract under external force when being in unfolded state.In the present embodiment, the power source is motor.
The operation principle of the present invention is that：
When autonomous underwater robot 10 carries out ocean magnetic field detection, driving part 5 drives master arm 4 to move, and then band
Dynamic swing connecting bar 2 drives magnetometer probe 8 to be unfolded, far from 10 ontology of autonomous underwater robot, to reduce autonomous underwater machine
Interference of 10 ontology of people to magnetometer probe 8, when autonomous underwater robot 10 carry out shipping, lay, recycle, store, transport when,
Driving part 5 drive master arm 4 move, and then drive swing connecting bar 2 magnetometer probe 8 is retracted, at this time swing connecting bar 2, in
Between connecting rod 3 and master arm 4 be in folded state, retracted mode when no matter being unfolded, the magnetometer probe 8 is in and autonomous water
The parallel state of the axial direction of lower robot 10.As shown in Fig. 5~6, multigroup hair can be set on autonomous underwater robot 10
It is bright, gradient magnetic measurement may be implemented while configuring flexible.
Claims (5)
- The loading device 1. a kind of autonomous underwater robot magnetic probe stretches, it is characterised in that：Including swing connecting bar (2), centre Connecting rod (3), master arm (4) and driving part (5), described swing connecting bar (2) one end is hinged with autonomous underwater robot (10), magnetic Power instrument pops one's head in (8) mounted on the free end of the swing connecting bar (2), and the driving part (5) is set to autonomous underwater robot (10) on, one end of the master arm (4) is connected with the driving part (5), the other end of the master arm (4) with it is described in Between connecting rod (3) one end it is hinged, the other end of the intermediate connecting rod (3) is hinged with the middle part of the swing connecting bar (2), the master Swing arm (4) is driven by the driving part (5) to be rotated, when the swing connecting bar (2) is fully deployed, the intermediate connecting rod (3) and master arm (4) is in dead-centre position, and when the swing connecting bar (2) is packed up completely, the swing connecting bar (2), centre connect Bar (3) and master arm (4) folding are packed up；The magnetometer probe (8) is installed in rotation on the free end of the swing connecting bar (2), in the swing connecting bar (2) Free end be equipped with sliding groove (11) and torsional spring (7), when the swing connecting bar (2) is fully deployed, the magnetometer probe (8) Keep parallel with the axial direction of autonomous underwater robot (10) by the sliding groove (11) and torsional spring (7) limit；Probe fixed seat (6) is equipped on the downside of the magnetometer probe (8), the probe fixed seat (6) is installed in rotation on institute The free end for stating swing connecting bar (2), when the swing connecting bar (2) is fully deployed, the probe fixed seat (6) passes through the cunning Dynamic slot (11) limit is without the normal direction direction rotation opposite with swing connecting bar (2) expansion direction, while the probe fixed seat (6) is held The torque opposite with the swing connecting bar (2) expansion direction applied by the torsional spring (7).
- The loading device 2. autonomous underwater robot magnetic probe according to claim 1 stretches, it is characterised in that：When described When swing connecting bar (2) is packed up completely, the swing connecting bar (2), intermediate connecting rod (3) and master arm (4) are each parallel to autonomous underwater The axial direction of robot (10).
- The loading device 3. autonomous underwater robot magnetic probe according to claim 1 or 2 stretches, it is characterised in that：Institute It states autonomous underwater robot (10) and is equipped with hinged seat (1), the swing connecting bar (2) is hinged with the hinged seat (1).
- The loading device 4. autonomous underwater robot magnetic probe according to claim 1 stretches, it is characterised in that：It is described from Limited post (9) there are one being set on main underwater robot (10), when the swing connecting bar (2) is packed up completely, the magnetometer is visited Head (8) keeps being in the state parallel with the axial direction of autonomous underwater robot (10) by the limited post (9) bearing.
- The loading device 5. autonomous underwater robot magnetic probe according to claim 1 stretches, it is characterised in that：The drive Dynamic component (5) includes power source and worm gear mechanism, and the master arm (4) is rotated by the power source drive, described dynamic Power source torque is transmitted by the worm gear mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510830297.9A CN106741753B (en) | 2015-11-23 | 2015-11-23 | A kind of flexible loading device of autonomous underwater robot magnetic probe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510830297.9A CN106741753B (en) | 2015-11-23 | 2015-11-23 | A kind of flexible loading device of autonomous underwater robot magnetic probe |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106741753A CN106741753A (en) | 2017-05-31 |
| CN106741753B true CN106741753B (en) | 2018-07-31 |
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| CN201510830297.9A Active CN106741753B (en) | 2015-11-23 | 2015-11-23 | A kind of flexible loading device of autonomous underwater robot magnetic probe |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107511834B (en) * | 2017-08-24 | 2019-07-16 | 自然资源部第二海洋研究所 | A kind of marine bearing calibration of underwater robot and magnetometer magnetic disturbance with magnetometer extension rod |
| CN108622333A (en) * | 2018-05-28 | 2018-10-09 | 哈尔滨工程大学 | A kind of more UUV lay recycling docking facilities and its lay recovery method |
| CN109969343A (en) * | 2019-04-16 | 2019-07-05 | 中国船舶科学研究中心上海分部 | A kind of underwater synthetic measuring system |
| CN111452937B (en) * | 2020-03-20 | 2021-02-26 | 安庆师范大学 | Graphic image data information extraction device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0052053A1 (en) * | 1980-11-07 | 1982-05-19 | Northwest Energy Company | Process and apparatus for airborne surveys of cathodic protection of underground pipelines |
| CN102826208A (en) * | 2012-08-30 | 2012-12-19 | 刘雁春 | Measuring and towing device for high-precision marine magnetic force |
| CN103244830A (en) * | 2013-05-13 | 2013-08-14 | 天津大学 | Inner detection system for submarine pipelines and detection method thereof |
| CN203849426U (en) * | 2014-04-10 | 2014-09-24 | 中国海洋石油总公司 | Hydraulic folding-arm detection device used for ROV deep sea magnetic force investigation |
| CN104613275A (en) * | 2015-02-13 | 2015-05-13 | 山东省水利科学研究院 | Pipeline underwater robot detection device |
-
2015
- 2015-11-23 CN CN201510830297.9A patent/CN106741753B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0052053A1 (en) * | 1980-11-07 | 1982-05-19 | Northwest Energy Company | Process and apparatus for airborne surveys of cathodic protection of underground pipelines |
| CN102826208A (en) * | 2012-08-30 | 2012-12-19 | 刘雁春 | Measuring and towing device for high-precision marine magnetic force |
| CN103244830A (en) * | 2013-05-13 | 2013-08-14 | 天津大学 | Inner detection system for submarine pipelines and detection method thereof |
| CN203849426U (en) * | 2014-04-10 | 2014-09-24 | 中国海洋石油总公司 | Hydraulic folding-arm detection device used for ROV deep sea magnetic force investigation |
| CN104613275A (en) * | 2015-02-13 | 2015-05-13 | 山东省水利科学研究院 | Pipeline underwater robot detection device |
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| CN106741753A (en) | 2017-05-31 |
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