CN108128430A - A kind of seabed crawl device - Google Patents
A kind of seabed crawl device Download PDFInfo
- Publication number
- CN108128430A CN108128430A CN201611087392.5A CN201611087392A CN108128430A CN 108128430 A CN108128430 A CN 108128430A CN 201611087392 A CN201611087392 A CN 201611087392A CN 108128430 A CN108128430 A CN 108128430A
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- Prior art keywords
- motor
- support plate
- cylinder
- electric pushrod
- controller
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of seabed crawl device,Belong to robotic technology field,Including the 4th motor,Controller,Lifting rope,Rack,Sliding block,Pillar,Sliding rail,Stent,Crawler body,Wheel carrier,Shelf,Idler wheel,First motor,Belt,Second motor,First Eddy propeller,Third motor,Second electric pushrod,Camera,First electric pushrod,Second eddy current propeller,First cylinder,Scissor arms,Second support plate,Spring,Riding boogie board,Put slide bar,Stainless steel stretched net,Second axis pin,Second hollow out,First axis pin,First hollow out,First support plate,Second cylinder,5th motor and strut,Mounting bracket on the crawler body,Wheel carrier is installed on stent,Wheel carrier each side installs idler wheel,The axis of idler wheel is connected by shaft coupling with the first motor,First motor is mounted on wheel carrier,Belt is arranged on two idler wheels,Two pillars are installed on belt；It is an advantage of the invention that：Rack can be kept to stablize.
Description
Technical field
The present invention relates to a kind of seabed crawl devices, belong to robotic technology field.
Background technology
Marine environment is an extremely complex system.The mankind are not lived on ocean, but ocean is human consumption
With production indispensable matter and energy source.With the development of Science and Technology, the rule of human development marine resources
Mould is increasing, higher and higher to the degree of dependence of ocean.In order to check on environments such as subsea, it is developed all kinds of band camera shootings
The seabed crawl device of head when the seabed crawl device of the prior art slams broken terrain, easily makes rack unstable.To understand
Certainly above-mentioned difficulties need to develop a seabed crawl device that rack can be kept to stablize.
Invention content
The object of the present invention is to provide a kind of seabed crawl devices.
The problem of the problem to be solved in the present invention is when the seabed crawl device of the prior art slams broken terrain.
Purpose to realize the present invention, the technical solution adopted by the present invention are：
A kind of seabed crawl device, including the 4th motor, controller, lifting rope, rack, sliding block, pillar, sliding rail, stent, track bottom
Disk, wheel carrier, shelf, idler wheel, the first motor, belt, the second motor, the first Eddy propeller, third motor, second electronic push away
Bar, the first electric pushrod, second eddy current propeller, the first cylinder, scissor arms, the second support plate, spring, riding boogie board, puts cunning at camera
Bar, stainless steel stretched net, the second axis pin, the second hollow out, the first axis pin, the first hollow out, the first support plate, the second cylinder, the 5th electricity
Machine and strut, mounting bracket on the crawler body install wheel carrier on stent, and wheel carrier each side installs idler wheel, idler wheel
Axis is connected by shaft coupling with the first motor, and the first motor is mounted on wheel carrier, and belt is arranged on two idler wheels, is installed on belt
Two pillars install sliding block on pillar, and sliding block is mounted on sliding rail, and sliding rail is installed on the top of the shelf, and shelf is mounted on side face,
The second motor of installation on the right side of sliding rail, installs the first Eddy propeller on the output shaft of the second motor, installation frame on sliding block, rack
Upper installation lifting rope, is equipped with fiber optic cables in lifting rope, installation third motor in rack, and second is installed on the output shaft of third motor
Electric pushrod installs the 4th motor on the second electric pushrod, and the first electric pushrod, the first electricity are installed on the output shaft of the 4th motor
Camera is installed in dynamic push rod front end, and the 5th motor is installed on shelf, the second cylinder, the second gas are installed on the output shaft of the 5th motor
Strut on the piston rod of cylinder is installed, the first support plate is installed under strut, the first support plate is equipped with the first hollow out, is installed in the first hollow out
Two the first axis pins, scissor arms upper end are mounted on the first axis pin, and scissor arms lower end is mounted on the second axis pin, the second axis pin peace
In the second hollow out, the second support plate is equipped with the second hollow out, and the first cylinder, the piston rod of the first cylinder are installed under the first support plate
On the second support plate, second eddy current propeller is installed in the first support plate side, and more than one spring, bullet are installed under the second support plate
Riding boogie board under spring is installed, antiskid bar is installed under riding boogie board, stainless steel stretched net is installed between riding boogie board and riding boogie board, controller is mounted on rack
It is interior, controller by conducting wire respectively with the 4th motor, the first motor, the second motor, the first Eddy propeller, third motor,
Two electric pushrods, camera, the first electric pushrod, second eddy current propeller and the 5th motor are connected.
First solenoid valve built in first cylinder, the first solenoid valve are connected by conducting wire with controller.
Second solenoid valve built in second cylinder, second solenoid valve are connected by conducting wire with controller.
It is an advantage of the invention that：Centrally-mounted driving in crawler body, driving motor drive crawler body movement；Controller control
The first electric motor starting is made, rotates idler wheel, moves left and right belt, moves left and right sliding block, moves left and right rack；Controller
The second electric motor starting is controlled, rotates the first Eddy propeller, to adjust the direction of rack advance；Controller controls third motor
Start, rotate the second electric pushrod, rotate camera；Controller controls the second electric pushrod to do stretching motion, makes camera shooting
Head moves up and down；Controller controls the 4th electric motor starting, rotates camera；Controller controls the first electric pushrod to do flexible fortune
It is dynamic, it is moved forward and backward camera；Controller controls the 5th electric motor starting, swings the second cylinder, makes scissor arm swing, to adjust
The gradient of second support plate makes the gradient of the second support plate be suitble to the height to be climbed；Controller controls the first cylinder to do stretching motion,
Scissor arms are extended, riding boogie board is made to touch ground；Second cylinder of controller control side does stretching routine, opposite side
Second cylinder does contractile motion, under the promotion of the first Eddy propeller and second eddy current propeller, makes crawler body to Forward
It is dynamic, move forward rack；Antiskid bar can be inserted into finger stone, and riding boogie board is made to keep stablizing；Stainless steel stretched net can make riding boogie board
With riding boogie board towards it is inconsistent when, deformed, make the second support plate keep stablize, and then make rack keep stablize.
Description of the drawings
Fig. 1 is a kind of seabed crawl device side structure schematic diagram of the present invention；
Fig. 2 is a portions structure enlarged structure schematic diagram；
In figure：1st, the 4th motor 2, controller 3, lifting rope 4, rack 5, sliding block 6, pillar 7, sliding rail 8, stent 9, crawler belt
Chassis 10, wheel carrier 11, shelf 12, idler wheel 13, the first motor 14, belt 15, the second motor 16, first vortex promote
Device 17, third motor 18, the second electric pushrod 19, camera 20, the first electric pushrod 21, second eddy current propeller
22nd, the first cylinder 23, scissor arms 24, the second support plate 25, spring 26, riding boogie board 27, put slide bar 28, stainless steel stretched net
29th, the second axis pin 30, the second hollow out 31, the first axis pin 32, the first hollow out 33, the first support plate 34, the second cylinder 35,
Five motors 36, strut.
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawings and embodiments.
A kind of seabed crawl device of the present invention including the 4th motor 1, controller 2, lifting rope 3, rack 4, sliding block 5, pillar 6, is slided
Rail 7, stent 8, crawler body 9, wheel carrier 10, shelf 11, idler wheel 12, the first motor 13, belt 14, the second motor 15, the first whirlpool
Flow propeller 16, third motor 17, the second electric pushrod 18, camera 19, the first electric pushrod 20, second eddy current propeller
21st, the first cylinder 22, scissor arms 23, the second support plate 24, spring 25, riding boogie board 26, put slide bar 27, stainless steel stretched net 28, second
Axis pin 29, the second hollow out 30, the first axis pin 31, the first hollow out 32, the first support plate 33, the second cylinder 34, the 5th motor 35 and branch
Bar 36, mounting bracket 8 on the crawler body 9, centrally-mounted driving in crawler body 9, driving motor drive crawler body 9 to move
It is dynamic；Wheel carrier 10 is installed, wheel carrier 10 each side installs idler wheel 12, and the axis of idler wheel 12 passes through shaft coupling and the first electricity on stent 8
Machine 13 is connected, and the first motor 13 is mounted on wheel carrier 10, and controller 2 controls the first motor 13 to start, and rotates idler wheel 12, makes skin
Band 14 moves left and right, and moves left and right sliding block 5, moves left and right rack 4；Belt 14 is arranged on two idler wheels 12, on belt 14
Two pillars 6 are installed, sliding block 5 is installed on pillar 6, sliding block 5 is mounted on sliding rail 7, and sliding rail 7 is mounted on shelf 11, shelf 11
Mounted on 8 side of stent, 7 the second motor 15 of right side installation of sliding rail, controller 2 controls the second motor 15 to start, makes the first vortex
Propeller 16 rotates, to adjust the direction of the advance of rack 4；First Eddy propeller 16 is installed on the output shaft of second motor 15,
Installation frame 4 on sliding block 5 installs lifting rope 3 in rack 4, is equipped with fiber optic cables in lifting rope 3, installation third motor in rack 4
17, controller 2 controls third motor 17 to start, and rotates the second electric pushrod 18, rotates camera 19；Third motor 17
Second electric pushrod 18 is installed, controller 2 controls the second electric pushrod 18 to do stretching motion, makes camera about 19 on output shaft
It is mobile；4th motor 1 is installed, controller 2 controls the 4th motor 1 to start, rotates camera 19 on second electric pushrod 18；The
First electric pushrod 20,20 front end of the first electric pushrod installation camera 19 are installed, controller 2 is controlled on the output shaft of four motors 1
It makes the first electric pushrod 20 and does stretching motion, be moved forward and backward camera 19；5th motor 35, controller 2 are installed on shelf 11
The 5th motor 35 is controlled to start, the second cylinder 34 is swung, swings scissor arms 23, to adjust the gradient of the second support plate 24, is made
The gradient of second support plate 24 is suitble to the height to be climbed；Second cylinder 34, the second cylinder are installed on the output shaft of the 5th motor 35
Second solenoid valve built in 34, second solenoid valve are connected by conducting wire with controller 2, and strut is installed on the piston rod of the second cylinder 34
36, controller 2 controls the second cylinder 34 of side to do stretching routine, and the second cylinder 34 of opposite side does contractile motion, first
Under the promotion of Eddy propeller 16 and second eddy current propeller 21, crawler body 9 is moved forward, move forward rack 4, propped up
36 times the first support plates 33 of installation of bar, the first support plate 33 are equipped with the first hollow out 32, two the first axis pins are installed in the first hollow out 32
31,23 upper end of scissor arms is mounted on the first axis pin 31, and 23 lower end of scissor arms is mounted on the second axis pin 29, and the second axis pin 29 is pacified
In the second hollow out 30, the second support plate 24 is equipped with the second hollow out 30, and the first support plate 33 times installs the first cylinder 22, the first gas
The piston rod of cylinder 22 be mounted on the second support plate 24 on, the first solenoid valve built in the first cylinder 22, the first solenoid valve by conducting wire with
Controller 2 is connected, and controller 2 controls the first cylinder 22 to do stretching motion, extends scissor arms 23, touches riding boogie board 26
Ground；First support plate, 33 side installation second eddy current propeller 21, the second support plate 24 times installation more than one spring 25, spring 25
Lower installation riding boogie board 26,26 times installation antiskid bars of riding boogie board, installs stainless steel stretched net 28, controller 2 between riding boogie board 26 and riding boogie board 26
In rack 4, controller 2 is pushed away by conducting wire with the 4th motor 1, the first motor 13, the second motor 15, first vortex respectively
Into device 16, third motor 17, the second electric pushrod 18, camera 19, the first electric pushrod 20, second eddy current propeller 21 and
Five motors 35 are connected, and antiskid bar 27 can be inserted into finger stone, and riding boogie board 26 is made to keep stablizing；Stainless steel stretched net 28 can make riding boogie board
26 and riding boogie board 26 towards it is inconsistent when, deformed, make the second support plate 24 keep stablize, and then make rack 4 keep stablize.
Application method of the present invention：Centrally-mounted driving in crawler body 9, driving motor drive crawler body 9 to move；Controller
2 the first motors 13 of control start, and rotate idler wheel 12, move left and right belt 14, move left and right sliding block 5, make rack 4 or so
It is mobile；Controller 2 controls the second motor 15 to start, and rotates the first Eddy propeller 16, to adjust the direction of the advance of rack 4；
Controller 2 controls third motor 17 to start, and rotates the second electric pushrod 18, rotates camera 19；The control of controller 2 second
Electric pushrod 18 does stretching motion, moves up and down camera 19；Controller 2 controls the 4th motor 1 to start, and revolves camera 19
Turn；Controller 2 controls the first electric pushrod 20 to do stretching motion, is moved forward and backward camera 19；Controller 2 controls the 5th motor
35 start, and swing the second cylinder 34, swing scissor arms 23, to adjust the gradient of the second support plate 24, make the second support plate 24
Gradient is suitble to the height to be climbed；Controller 2 controls the first cylinder 22 to do stretching motion, extends scissor arms 23, makes to step on
Plate 26 touches ground；Controller 2 controls the second cylinder 34 of side to do stretching routine, and the second cylinder 34 of opposite side, which is done, to be shunk
Movement, under the promotion of the first Eddy propeller 16 and second eddy current propeller 21, moves forward crawler body 9, makes rack 4
It moves forward, antiskid bar 27 can be inserted into finger stone, and riding boogie board 26 is made to keep stablizing；Stainless steel stretched net 28 can make 26 He of riding boogie board
Riding boogie board 26 towards it is inconsistent when, deformed, make the second support plate 24 keep stablize, and then make rack 4 keep stablize.
Claims (3)
1. a kind of seabed crawl device, including the 4th motor（1）, controller（2）, lifting rope（3）, rack（4）, sliding block（5）, pillar
（6）, sliding rail（7）, stent（8）, crawler body（9）, wheel carrier（10）, shelf（11）, idler wheel（12）, the first motor（13）, belt
（14）, the second motor（15）, the first Eddy propeller（16）, third motor（17）, the second electric pushrod（18）, camera
（19）, the first electric pushrod（20）, second eddy current propeller（21）, the first cylinder（22）, scissor arms（23）, the second support plate
（24）, spring（25）, riding boogie board（26）, put slide bar（27）, stainless steel stretched net（28）, the second axis pin（29）, the second hollow out（30）、
First axis pin（31）, the first hollow out（32）, the first support plate（33）, the second cylinder（34）, the 5th motor（35）And strut（36）,
It is characterized in：The crawler body（9）Upper mounting bracket（8）, stent（8）Upper installation wheel carrier（10）, wheel carrier（10）Each side
Idler wheel is installed（12）, idler wheel（12）Axis pass through shaft coupling and the first motor（13）It is connected, the first motor（13）Mounted on wheel carrier
（10）On, two idler wheels（12）On be arranged belt（14）, belt（14）Two pillars of upper installation（6）, pillar（6）Upper installation sliding block
（5）, sliding block（5）Mounted on sliding rail（7）On, sliding rail（7）Mounted on shelf（11）On, shelf（11）Mounted on stent（8）Side,
Sliding rail（7）Right side is installed by the second motor（15）, the second motor（15）Output shaft on the first Eddy propeller is installed（16）, sliding block
（5）Upper installation frame（4）, rack（4）Upper installation lifting rope（3）, lifting rope（3）Fiber optic cables, rack are inside installed（4）Interior installation the
Three motors（17）, third motor（17）Output shaft on the second electric pushrod is installed（18）, the second electric pushrod（18）Upper installation
4th motor（1）, the 4th motor（1）Output shaft on the first electric pushrod is installed（20）, the first electric pushrod（20）Pacify front end
Fill camera（19）, shelf（11）The 5th motor of upper installation（35）, the 5th motor（35）Output shaft on the second cylinder is installed
（34）, the second cylinder（34）Piston rod on strut is installed（36）, strut（36）The first support plate of lower installation（33）, the first support plate
（33）It is equipped with the first hollow out（32）, the first hollow out（32）Two the first axis pins of upper installation（31）, scissor arms（23）It installs upper end
In the first axis pin（31）On, scissor arms（23）Lower end is mounted on the second axis pin（29）On, the second axis pin（29）It is engraved mounted on second
It is empty（30）On, the second support plate（24）It is equipped with the second hollow out（30）, the first support plate（33）The first cylinder of lower installation（22）, the first gas
Cylinder（22）Piston rod be mounted on the second support plate（24）On, the first support plate（33）Side is installed by second eddy current propeller（21）, the
Two support plates（24）Lower installation more than one spring（25）, spring（25）Lower installation riding boogie board（26）, riding boogie board（26）Lower installation antiskid bar,
Riding boogie board（26）And riding boogie board（26）Between stainless steel stretched net is installed（28）, controller（2）Mounted on rack（4）It is interior, controller（2）
By conducting wire respectively with the 4th motor（1）, the first motor（13）, the second motor（15）, the first Eddy propeller（16）, third electricity
Machine（17）, the second electric pushrod（18）, camera（19）, the first electric pushrod（20）, second eddy current propeller（21）With the 5th
Motor（35）It is connected.
2. a kind of seabed crawl device according to claim 1, it is characterized in that：First cylinder（22）Built-in first electromagnetism
Valve, the first solenoid valve pass through conducting wire and controller（2）It is connected.
3. a kind of seabed crawl device according to claim 1, it is characterized in that：Second cylinder（34）Built-in second electromagnetism
Valve, second solenoid valve pass through conducting wire and controller（2）It is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611087392.5A CN108128430A (en) | 2016-12-01 | 2016-12-01 | A kind of seabed crawl device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611087392.5A CN108128430A (en) | 2016-12-01 | 2016-12-01 | A kind of seabed crawl device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108128430A true CN108128430A (en) | 2018-06-08 |
Family
ID=62387854
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611087392.5A Pending CN108128430A (en) | 2016-12-01 | 2016-12-01 | A kind of seabed crawl device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108128430A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109398650B (en) * | 2018-11-27 | 2019-12-13 | 上海三航奔腾海洋工程有限公司 | ocean engineering is with dark submarine detection auxiliary assembly under water |
| CN110606178A (en) * | 2019-10-28 | 2019-12-24 | 南京工程学院 | Submarine observation underwater robot based on trinocular vision and control method thereof |
| CN112478111A (en) * | 2020-12-07 | 2021-03-12 | 浙江海洋大学 | Underwater crawler |
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| CN204772540U (en) * | 2015-07-09 | 2015-11-18 | 浙江金鹰塑料机械有限公司 | Joint industrial robot more than six based on smart mobile phone |
| GB2528871A (en) * | 2014-07-31 | 2016-02-10 | Reece Innovation Ct Ltd | Improvements in or relating to ROVs |
| CN105344516A (en) * | 2015-10-23 | 2016-02-24 | 舟山欣臻船舶设计有限公司 | Painting device of 8200T chemical product oil tanker |
| CN205310278U (en) * | 2016-01-04 | 2016-06-15 | 深圳市华品智能系统有限公司 | Box underwater robot |
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2016
- 2016-12-01 CN CN201611087392.5A patent/CN108128430A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202379073U (en) * | 2011-12-22 | 2012-08-15 | 姜东超 | Multifunctional underwater operation robot device |
| GB2528871A (en) * | 2014-07-31 | 2016-02-10 | Reece Innovation Ct Ltd | Improvements in or relating to ROVs |
| CN204772540U (en) * | 2015-07-09 | 2015-11-18 | 浙江金鹰塑料机械有限公司 | Joint industrial robot more than six based on smart mobile phone |
| CN105344516A (en) * | 2015-10-23 | 2016-02-24 | 舟山欣臻船舶设计有限公司 | Painting device of 8200T chemical product oil tanker |
| CN205310278U (en) * | 2016-01-04 | 2016-06-15 | 深圳市华品智能系统有限公司 | Box underwater robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109398650B (en) * | 2018-11-27 | 2019-12-13 | 上海三航奔腾海洋工程有限公司 | ocean engineering is with dark submarine detection auxiliary assembly under water |
| CN110606178A (en) * | 2019-10-28 | 2019-12-24 | 南京工程学院 | Submarine observation underwater robot based on trinocular vision and control method thereof |
| CN110606178B (en) * | 2019-10-28 | 2024-04-23 | 南京工程学院 | Submarine observation underwater robot based on three-eye vision and control method thereof |
| CN112478111A (en) * | 2020-12-07 | 2021-03-12 | 浙江海洋大学 | Underwater crawler |
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| PB01 | Publication | ||
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Application publication date: 20180608 |