CN109015752A - A kind of underwater fixed point bondage fixing joint monitoring stake of underwater robot - Google Patents
A kind of underwater fixed point bondage fixing joint monitoring stake of underwater robot Download PDFInfo
- Publication number
- CN109015752A CN109015752A CN201810918171.0A CN201810918171A CN109015752A CN 109015752 A CN109015752 A CN 109015752A CN 201810918171 A CN201810918171 A CN 201810918171A CN 109015752 A CN109015752 A CN 109015752A
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- underwater
- bondage
- docking station
- frame
- underwater robot
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- 238000012544 monitoring process Methods 0.000 title description 7
- 238000003032 molecular docking Methods 0.000 claims abstract description 41
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 15
- 239000000758 substrate Substances 0.000 claims abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 104
- 210000000481 breast Anatomy 0.000 claims description 11
- 229920000742 Cotton Polymers 0.000 claims description 10
- 239000002184 metal Substances 0.000 claims description 10
- 230000001681 protective effect Effects 0.000 claims description 9
- 238000001914 filtration Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 abstract description 23
- 230000000694 effects Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 5
- 230000005764 inhibitory process Effects 0.000 description 5
- 238000005070 sampling Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000013011 mating Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000009987 spinning Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 239000003292 glue Substances 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000012946 outsourcing Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000000338 in vitro Methods 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000009527 percussion Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000002301 combined effect Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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)
- Ocean & Marine Engineering (AREA)
- Robotics (AREA)
- Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
Abstract
The invention discloses a kind of underwater fixed point bondage fixing joints of underwater robot to monitor stake, including pedestal and side stand, substrate is installed above the pedestal, and docking station is provided with above substrate, inclusion frame is installed on the inside of the side stand, and side stand is located at left and right sides of the top of pedestal, the underwater fixed point bondage fixing joint of the underwater robot monitors setting of the stake by docking station, it realizes pile body and bondage is able to carry out to underwater robot, structure purpose that is fixed and stopping, support plate is used to provide support for perpendicular strut, structural support also is provided for the expanding-contracting action of hydraulic telescopic rod simultaneously, perforative strut is conducive to the stability for keeping perpendicular strut to be horizontally moved movement and action straightness in disk, hydraulic cylinder control hydraulic telescopic rod does hydraulically extensible movement, transverse shifting is carried out to perpendicular strut, using perpendicular The steady movement of strut provides outside push power, auxiliary robot work for underwater robot.
Description
Technical field
The present invention relates to underwater robot bondages to monitor stake technical field, the underwater fixed point of specially a kind of underwater robot
Bondage fixing joint monitors stake.
Background technique
Underwater robot belongs to one kind of robot, is a robot dedicated for underwater operation, can replace people
It detected, sampled, except exceedingly difficult movements such as water plant, oil exploitations, solving the work that the mankind are inconvenient or cannot complete, under water
Robot is controlled by program setting, and action order receives remote handle control, and robot is the wisdom of humanity and modern science and technology text
Product under bright combined effect, has the important meaning across the epoch, and the appearance of robot indicates that mankind's science and technology civilization rises to
One new high, the application of underwater robot and the influence meaning played are even more very far-reaching.
The modern water currents for the underwater exploration work of underwater robot, being subject under water due to robot
Act on larger, there is a certain error for the coordinate of robot, and sometimes the waters Dan Chu flow direction or flow velocity acutely will also result in
Underwater human action is bad to be controlled, at this time with regard to needing to use special fixed device, to increase underwater robot
Own wt, while preferable bondage, fixation and stopping platform are provided for underwater robot, but this pile body is needed again
In view of pile body is from the effect for waterpower influence of experiencing, need to guarantee under water to have preferable convenient installation capability, self structure phase
It can alleviate or fight part hydraulic pressure with answering, and modern spud pile is simple due to self structure, it is difficult to realize above-mentioned mesh
, for this purpose, it is proposed that a kind of underwater fixed point bondage fixing joint of underwater robot monitors stake.
Summary of the invention
The purpose of the present invention is to provide a kind of underwater fixed point bondage fixing joints of underwater robot to monitor stake, to solve
Pile body mentioned above in the background art need in view of pile body from experience waterpower influence effect, need under water guarantee have compared with
Part hydraulic pressure can correspondingly be alleviated or be fought to good convenience installation capability, self structure, and modern spud pile due to
Self structure is simple, it is difficult to the problem of realizing above-mentioned purpose.
To achieve the above object, the invention provides the following technical scheme: a kind of underwater fixed point bondage of underwater robot is solid
Determine combined monitoring stake, including pedestal and side stand, substrate is installed above the pedestal, and be provided with stop above substrate
Platform is equipped with inclusion frame on the inside of the side stand, and side stand is located at left and right sides of the top of pedestal.
Preferably, the surface of the docking station is equipped with support plate, and hydraulic telescopic rod is provided on the inside of support plate, institute
The medial surface for stating hydraulic telescopic rod is fixed with perpendicular strut, and the vertical centerline between perpendicular strut about hydraulic telescopic rod is symmetrical,
The centre of the perpendicular strut is fixed with disk, and the inside of disk is annularly uniformly through there is a strut, between the strut mutually
In parallel, and between strut and disk it is mutually vertical angle.
Preferably, around rod is mounted at left and right sides of the hydraulic telescopic rod, and the medial surface of around rod is fixed with platen,
The platen is uniformly distributed along the vertical direction of around rod, and diameter size is equal between platen, the around rod and docking station it
Between size cooperate, and the vertical centerline between around rod about docking station is symmetrical.
Preferably, side fixed plate, and the two sides up and down of side fixed plate are respectively and fixedly provided at left and right sides of the docking station
It is mounted on slow water frame, the centre of the slow water frame is provided with connector sleeve, and the surface inserting of connector sleeve has ball, the connection
Ball end link is mounted at left and right sides of set, and ball end link is provided with supporting plate far from the side of connector sleeve.
Preferably, the ball end link is being ball head structure with the connecting pin of supporting plate, and is between ball end link and supporting plate
Be nested connection, and the centre of the supporting plate is equipped with embedding disk, and tight between the wall outer surface of embedding disk and the inner sidewall of supporting plate
Closely connected conjunction, the outer surface of the embedding disk are equipped with bent plate disk, and size cooperates between bent plate disk and embedding disk.
Preferably, there are two the docking station is arranged altogether, and support rack is installed between docking station, the support rack
Inside be provided with hydraulic cylinder in two sides up and down, and perpendicular strut constitutes stretching structure by hydraulic telescopic rod and hydraulic cylinder.
Preferably, drawing brute spring is installed, and the left and right sides for pulling brute spring is equal above the docking station
It is provided with connection frame, center-pole is installed, and the left and right ends of center-pole are ball head structure on the inside of the connection frame, it is described
It is mutually perpendicular between center-pole and connection frame, and size cooperates between connection frame and center-pole.
Preferably, the centre of the center-pole, which is equipped with, adopts water plate, and that adopts water plate is internally provided with cotton pad layer, the cotton
Metal block is fixed on the inside of bed course, and the inside of metal block is provided with around pipe, it is described around the " U "-shaped pipeline configuration of pipe,
And acquisition Jiao Kou is evenly arranged with around the surface of pipe.
Preferably, filtering breast board is installed, and that filters breast board is internally provided with inclusion frame, institute on the inside of the side stand
The outer surface for stating inclusion frame is provided with outer protective net, and the centre for including frame is equipped with water wheels, and the inclusion frame is along the perpendicular of side stand
Histogram is to being uniformly distributed.
Compared with prior art, beneficial effects of the present invention are as follows:
1, the present invention realizes pile body and is able to carry out bondage, fixation and stop to underwater robot by the setting of docking station
Structure purpose, support plate is used to provide support for perpendicular strut, while also providing structural support for the expanding-contracting action of hydraulic telescopic rod,
Perforative strut is conducive to the stability for keeping perpendicular strut to be horizontally moved movement and action straightness, hydraulic cylinder control in disk
Hydraulic telescopic rod processed does hydraulically extensible movement, carries out transverse shifting to perpendicular strut, is underwater machine using the steady movement of perpendicular strut
Device people provides outside push power, auxiliary robot work, and can provide preferable lateral support to robot and act on.
2, the present invention provides side protection and side fixed function to underwater robot by the setting of around rod, using around
The platen being uniformly arranged on bar is realized to the bondage purpose of robot to being pressed against at left and right sides of underwater robot, makes machine
Device people obtains preferable fixed function on pile body, and robot is avoided under flow action to shift, can preferably to robot into
Row positioning, around rod own body are telescopic bar type structure, can be realized and stretch pulling work, are again cooperation between around rod and docking station
Connection, can complete spinning movement on the basis of docking station, then change lateral angles of the platen with respect to around rod, to machine
People, which provides, preferably grips effect.
3, the present invention realizes the purpose for alleviating water flow pressure suffered by pile body or percussion by the setting of slow water frame,
Slow water frame is evenly distributed, under the connection function of ball end link, there are preferable angular mobility ability between supporting plate and slow water frame,
Using the mating reaction between connector sleeve and slow water frame, connector sleeve can do spinning movement around the central axes of slow water frame, make supporting plate
Entirety can rotate with flow action, while cooperate between supporting plate and embedding disk, pass through hydraulic action bent plate
Disk rotates bent plate disk, and embedding disk is then driven to rotate, and achievees the purpose that alleviate hydraulic pressure or hydraulic action therewith.
4, the present invention makes pile body can be realized the sampling purpose to underwater water body, drawing strength by the setting of connection frame
Spring is used to reinforce the structure of connection frame, and can guarantee that connection frame has preferable and relatively firm support knot on pile body
Structure, can accordingly alleviate water flow to the flow-disturbing vibration influence of pile body, and under the connection function of center-pole bulb, realizing can be to adopting
Water plate carries out the purpose of angle overturning, adopts water plate using rotation, changes the contact angle adopted between water plate and water flow, correspondingly also
It can play the role of alleviating impact influence of the water flow on water plate is adopted, cotton pad layer water lock, metal block water inlet is catchmented around pipe, around
The acquisition Jiao Kou being uniformly arranged on pipe is the structure setting of through-hole outsourcing glue-line, has certain circulation effect to water, but simultaneously
Water flow is entered again there are biggish inhibition in pipe, water flow can be detained in pipe, then reach acquisition water sample
This purpose offers convenience for scientific investigation work.
5, the present invention has the function that carry out alleviating purpose, Neng Gouxiang to pile body side hydraulic pressure by the setting of side stand
Protection is provided for docking station with answering, and filtering breast board plays inhibition to water flow, includes the water wheels being arranged in frame and flows with water flow
And rotate, water impact can be buffered, water flow enters in inclusion frame by outer protective net, and flows out from outer protective net, and water flows through this
Weakened after process, the effect of water impact that side stand balancing pile encloses in vitro so that pile body from experience water currents degree compared with
It is low.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention.
Fig. 2 is docking station side structure schematic diagram of the present invention.
Fig. 3 is hydraulic telescopic rod of the present invention and perpendicular pole structure schematic diagram.
Fig. 4 is the slow water frame structural schematic diagram of the present invention.
Fig. 5 is that the present invention adopts water plate structural schematic diagram.
Fig. 6 is side stand structural schematic diagram of the present invention.
In figure: 1, pedestal, 2, substrate, 3, docking station, 4, support plate, 5, hydraulic telescopic rod, 6, perpendicular strut, 7, disk, 8,
Strut, 9, around rod, 10, platen, 11, side fixed plate, 12, slow water frame, 13, connector sleeve, 14, ball, 15, ball end link, 16,
Supporting plate, 17, embedding disk, 18, bent plate disk, 19, support rack, 20, hydraulic cylinder, 21, drawing brute spring, 22, connection frame, 23, in
Core bar, 24, adopt water plate, 25, cotton pad layer, 26, metal block, 27, around pipe, 28, acquisition Jiao Kou, 29, side stand, 30, filter column
Plate, 31, inclusion frame, 32, outer protective net, 33, water wheels.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments, is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-6 is please referred to, the present invention provides a kind of technical solution: a kind of fixed connection of the underwater fixed point bondage of underwater robot
Monitoring stake, including pedestal 1 and side stand 29 are closed, the top of pedestal 1 is equipped with substrate 2, and the top of substrate 2 is provided with docking station
3, the surface of docking station 3 is equipped with support plate 4, and the inside of support plate 4 is provided with hydraulic telescopic rod 5, hydraulic telescopic rod 5 it is interior
Side is fixed with perpendicular strut 6, and the vertical centerline between perpendicular strut 6 about hydraulic telescopic rod 5 is symmetrical, erects the centre of strut 6
It is fixed with disk 7, and the inside of disk 7 is parallel to each other between strut 8 annularly uniformly through there is strut 8, and strut 8 and circle
It is mutually vertical angle between disk 7, by the setting of docking station 3, pile body is realized and bondage, fixation is able to carry out to underwater robot
And the structure purpose stopped, support plate 4 is used to provide support for perpendicular strut 6, while also mentioning for the expanding-contracting action of hydraulic telescopic rod 5
For structural support, perforative strut 8 is conducive to the stability and action that keep perpendicular strut 6 to be horizontally moved movement in disk 7
Straightness, the left and right sides of hydraulic telescopic rod 5 is mounted on around rod 9, and the medial surface of around rod 9 is fixed with platen 10, platen 10
Vertical direction along around rod 9 is uniformly distributed, and diameter size is equal between platen 10, size phase between around rod 9 and docking station 3
Mutually cooperation, and the vertical centerline between around rod 9 about docking station 3 is symmetrical, by the setting of around rod 9, mentions to underwater robot
For side protection and side fixed function, using the platen 10 being uniformly arranged in around rod 9 to the left and right sides of underwater robot into
Row is pressed against, and is realized to the bondage purpose of robot, so that robot is obtained preferable fixed function on pile body, avoid flow action
Lower robot displacement, can preferably position robot, and 9 own body of around rod is telescopic bar type structure, Neng Goushi
It now stretches pulling to make, is again mating connection between around rod 9 and docking station 3, spinning movement can be completed on the basis of docking station 3,
Then change lateral angles of the platen 10 with respect to around rod 9, preferably to grip effect to robot offer, docking station 3
The left and right sides is respectively and fixedly provided with side fixed plate 11, and the two sides up and down of side fixed plate 11 are mounted on slow water frame 12, delays water frame
12 centre is provided with connector sleeve 13, and the surface inserting of connector sleeve 13 has ball 14, and the left and right sides of connector sleeve 13 is respectively mounted
There is ball end link 15, and ball end link 15 is provided with supporting plate 16 far from the side of connector sleeve 13, it is real by delaying the setting of water frame 12
Showed the purpose for alleviating water flow pressure or percussion suffered by pile body, slow water frame 12 is evenly distributed, ball end link 15 with supporting plate
16 connecting pin is ball head structure, and is the connection that is nested between ball end link 15 and supporting plate 16, the intermediate installation of supporting plate 16
There is embedding disk 17, and is fitted closely between the wall outer surface of embedding disk 17 and the inner sidewall of supporting plate 16, the outer surface peace of embedding disk 17
Equipped with bent plate disk 18, and between bent plate disk 18 and embedding disk 17, size cooperates, under the connection function of ball end link 15, supporting plate
There are preferable angular mobility ability between 16 and slow water frame 12, using the mating reaction between connector sleeve 13 and slow water frame 12,
Connector sleeve 13 can do spinning movement around the central axes of slow water frame 12, occur that supporting plate 16 can integrally with flow action
Rotation, cooperates between supporting plate 16 and embedding disk 17, rotates bent plate disk 18 by hydraulic action bent plate disk 18, then drives embedding
Disk 17 rotates, and achievees the purpose that alleviate hydraulic pressure or hydraulic action therewith, there are two the total settings of docking station 3, and pacifies between docking station 3
Equipped with rack 19 is supported, the inside of rack 19 or more two sides are supported to be provided with hydraulic cylinder 20, and perpendicular strut 6 passes through hydraulically extensible
Bar 5 and hydraulic cylinder 20 constitute stretching structure, and hydraulic cylinder 20 controls hydraulic telescopic rod 5 and does hydraulically extensible movement, carry out to perpendicular strut 6
Transverse shifting provides outside push power for underwater robot using the steady movement of perpendicular strut 6, and auxiliary robot works, and
Preferable lateral support can be provided to robot to act on, the top of docking station 3 is equipped with drawing brute spring 21, and pulls strong
The left and right sides of power spring 21 is provided with connection frame 22, and the inside of connection frame 22 is equipped with center-pole 23, and center-pole 23
Left and right ends are ball head structure, are mutually perpendicular between center-pole 23 and connection frame 22, and between connection frame 22 and center-pole 23
Size cooperates, and by the setting of connection frame 22, pile body is made to can be realized the sampling purpose to underwater water body, pulls strength bullet
Spring 21 is used to reinforce the structure of connection frame 22, and can guarantee that connection frame 22 has preferable and relatively firm support on pile body
Structure can accordingly alleviate water flow to the flow-disturbing vibration influence of pile body, and the centre of center-pole 23, which is equipped with, adopts water plate 24, and adopts water
Plate 24 is internally provided with cotton pad layer 25, and the inside of cotton pad layer 25 is fixed with metal block 26, and the inside of metal block 26 is set
It is equipped with around pipe 27, acquisition glue mouth 28 is evenly arranged with around the " U "-shaped pipeline configuration of pipe 27, and around the surface of pipe 27, in center-pole
Under the connection function of 23 bulbs, water plate 24 can be adopted using rotation, change to the purpose for adopting the progress angle overturning of water plate 24 by realizing
The contact angle between water plate 24 and water flow is adopted, can also correspondingly play and alleviate the work that water flow influences the impact for adopting water plate 24
With 25 water lock of cotton pad layer, 26 water inlet of metal block is catchmented around pipe 27, and the acquisition glue mouth 28 being uniformly arranged on pipe 27 is through-hole
The structure setting of outsourcing glue-line has certain circulation effect to water, but simultaneously to water flow enter in pipe 27 presence again compared with
Big inhibition, water flow can be detained in pipe 27, then achieve the purpose that acquire water sample, come just for scientific investigation work belt
Benefit, the inside of side stand 29 is equipped with inclusion frame 31, and side stand 29 is located at left and right sides of the top of pedestal 1, side stand
29 inside is equipped with filtering breast board 30, and filters being internally provided with for breast board 30 and include frame 31, and the outer surface of inclusion frame 31 is set
It is equipped with outer protective net 32, and the centre for including frame 31 is equipped with water wheels 33, inclusion frame 31 uniformly divides along the vertical direction of side stand 29
Cloth has the function that carry out alleviating purpose to pile body side hydraulic pressure by the setting of side stand 29, can correspondingly be docking station
3 provide protection, and filtering breast board 30 plays inhibition to water flow, include the water wheels 33 being arranged in frame 31 and flow and turn with water flow
It is dynamic, water impact can be buffered, water flow is entered in inclusion frame 31 by outer protective net 32, and flowed out from outer protective net 32, and water flows through
It is weakened after this process, the water impact effect that 29 balancing pile of side stand encloses in vitro, the water currents journey so that pile body is experienced certainly
It spends lower.
Working principle: stake is monitored for this kind of monitoring stake first and realizes itself to water by the fixed underwater robot of bondage
The monitoring purpose of body, pile body itself can complete the sampling operation to underwater water body, can provide underwater robot bondage, consolidate
Fixed and stop position, it is convenient that Underwater Navigation is carried out to underwater robot, while release thrust, machine can be provided underwater robot
Device people completes to stop by docking station 3, and the perpendicular strut 6 on docking station 3 provides the supporting role of dorsal surface, hydraulic cylinder for robot
After 20 work, hydraulic telescopic rod 5 completes expanding-contracting action on the basis of support plate 4, can transversely and horizontally move perpendicular strut 6, will
Perpendicular strut 6 is released or retracts perpendicular strut 6, and perpendicular strut 6, which is pushed outwardly, can provide thrust to robot, is leaving robot
By the thrust from pile body when pile body, robot itself is facilitated to accelerate motion, robot is resting in docking station 3
When upper, perpendicular strut 6 is in the state that retracts, and around rod 9 is telescopic sleeving rod structure, itself has preferable structure telescopic action, simultaneously
It, can be in the connection end position of 3 inside around rod 9 of docking station for the ease of control to be cooperatively connected between around rod 9 and docking station 3
One individual micro-machine is set, drives around rod 9 to rotate using motor, changes level angle of the platen 10 with respect to around rod 9, it is right
It is bound at left and right sides of robot, fixes robot on pile body, it is convenient that robot is accurately positioned, two
A docking station 3 can work at the same time, and robot is fixed on pile body, meet the taking over work under water and take over of underwater robot
It rests and reorganizes and requires, underwater environment water flow can generate damage influence to pile body, or even influence whether the structural stability of pile body, in pile body
On in order to alleviate water impact effect, be provided with water flow hydraulic pressure at two and alleviate structure, be slow water frame 12 at one, mainly using slow
Matching relationship between water frame 12 and connector sleeve 13 enables supporting plate 16 to revolve under flow action around the central axes of slow water frame 12
Turn, be flexibly connected using the bulb between ball end link 15 and supporting plate 16, supporting plate 16 is sent out in flow action lower angle
Raw deflection enables embedding disk 17 holding in the palm with the rotation of bent plate disk 18 using the mating reaction between embedding disk 17 and supporting plate 16
It is rotated on the basis of plate 16, bent plate disk 18 is rotated by hydraulic action, using bent plate disk 18 to the induced effect of embedding disk 17 to waterpower
Effect carries out reduction decomposition；It is side stand 29 at one, side stand 29 has the function that intercept water flow, filtering using filtering breast board 30
Breast board 30 is high-intensitive stainless steel metal material, while the inclusion frame 31 being arranged inside filtering breast board 30 utilizes outer protective net 32
The water inlet of network interface structure, under flow action, water wheels 33 are rotated, and alleviate hydraulic pressure and water flow impact pressure, can also be weak while blocking water
Change water flow pressure, realize the self-protection purpose of side stand 29, also there are sampling structure on pile body, can to underwater water body into
Row sampling, 25 water lock of cotton pad layer, 26 water inlet of metal block are catchmented, the acquisition glue mouth 28 being uniformly arranged on pipe 27 is around pipe 27
The structure setting of through-hole outsourcing glue-line, to water have certain circulation, but simultaneously to water flow enter in pipe 27 exist compared with
Big inhibition, water flow can be detained in pipe 27, and under the connection function of 23 bulb of center-pole, realizing can be to adopting water
Plate 24 carries out the purpose of angle overturning, then weakens to flow action, completes the use process of entire monitoring stake like this.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of underwater fixed point bondage fixing joint of underwater robot monitors stake, including pedestal (1) and side stand (29), special
Sign is: it is equipped with substrate (2) above the pedestal (1), and is provided with docking station (3) above substrate (2), it is described collateral
Inclusion frame (31) is installed, and side stand (29) is located at left and right sides of the top of pedestal (1) on the inside of frame (29).
2. a kind of underwater fixed point bondage fixing joint of underwater robot according to claim 1 monitors stake, feature exists
In: the surface of the docking station (3) is equipped with support plate (4), and hydraulic telescopic rod (5), institute are provided on the inside of support plate (4)
The medial surface for stating hydraulic telescopic rod (5) is fixed with perpendicular strut (6), and about the vertical of hydraulic telescopic rod (5) between perpendicular strut (6)
Center line is symmetrical, and the centre of the perpendicular strut (6) is fixed with disk (7), and the inside of disk (7) is annularly uniformly through there is branch
Bar (8) is parallel to each other between the strut (8), and is mutually vertical angle between strut (8) and disk (7).
3. a kind of underwater fixed point bondage fixing joint of underwater robot according to claim 2 monitors stake, feature exists
In: it is mounted on around rod (9) at left and right sides of the hydraulic telescopic rod (5), and the medial surface of around rod (9) is fixed with platen
(10), the platen (10) is uniformly distributed along the vertical direction of around rod (9), and diameter size is equal between platen (10), institute
It states size between around rod (9) and docking station (3) to cooperate, and the vertical centerline pair between around rod (9) about docking station (3)
Claim.
4. a kind of underwater fixed point bondage fixing joint of underwater robot according to claim 2 monitors stake, feature exists
In: it is respectively and fixedly provided with side fixed plate (11) at left and right sides of the docking station (3), and the two sides up and down of side fixed plate (11) are equal
Slow water frame (12) is installed, the centre of the slow water frame (12) is provided with connector sleeve (13), and the surface inserting of connector sleeve (13)
Have ball (14), be mounted on ball end link (15) at left and right sides of the connector sleeve (13), and ball end link (15) is far from even
The side of female connector (13) is provided with supporting plate (16).
5. a kind of underwater fixed point bondage fixing joint of underwater robot according to claim 4 monitors stake, feature exists
In: the ball end link (15) be ball head structure with the connecting pin of supporting plate (16), and ball end link (15) and supporting plate (16) it
Between for be nested connection, the centre of the supporting plate (16) is equipped with embedding disk (17), and the wall outer surface and support of embedding disk (17)
It is fitted closely between the inner sidewall of plate (16), the outer surface of the embedding disk (17) is equipped with bent plate disk (18), and bent plate disk
(18) size cooperates between embedding disk (17).
6. a kind of underwater fixed point bondage fixing joint of underwater robot according to claim 2 monitors stake, feature exists
In: the docking station (3) is equipped with there are two settings, and between docking station (3) supports rack (19) altogether, the support rack
(19) inside is provided with hydraulic cylinder (20) two sides up and down, and perpendicular strut (6) pass through hydraulic telescopic rod (5) and hydraulic cylinder (20)
Constitute stretching structure.
7. a kind of underwater fixed point bondage fixing joint of underwater robot according to claim 2 monitors stake, feature exists
In: drawing brute spring (21) is installed above the docking station (3), and pulls and is all provided at left and right sides of brute spring (21)
It is equipped with connection frame (22), is equipped with center-pole (23) on the inside of the connection frame (22), and the left and right ends of center-pole (23) are equal
For ball head structure, be mutually perpendicular between the center-pole (23) and connection frame (22), and connection frame (22) and center-pole (23) it
Between size cooperate.
8. a kind of underwater fixed point bondage fixing joint of underwater robot according to claim 7 monitors stake, feature exists
In: the centre of the center-pole (23), which is equipped with, adopts water plate (24), and that adopts water plate (24) is internally provided with cotton pad layer (25), institute
It states and is fixed with metal block (26) on the inside of cotton pad layer (25), and be provided on the inside of metal block (26) around pipe (27), it is described
Acquisition Jiao Kou (28) is evenly arranged with around pipe (27) " U "-shaped pipeline configuration, and around the surface of pipe (27).
9. a kind of underwater fixed point bondage fixing joint of underwater robot according to claim 1 monitors stake, feature exists
In: filtering breast board (30) is installed on the inside of the side stand (29), and filters breast board (30) and is internally provided with inclusion frame
(31), the outer surface of inclusion frame (31) is provided with outer protective net (32), and the centre for including frame (31) is equipped with water wheels (33),
Inclusion frame (31) is uniformly distributed along the vertical direction of side stand (29).
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| CN201810918171.0A CN109015752B (en) | 2018-08-13 | 2018-08-13 | Underwater fixed point binding and fixing combined monitoring pile of underwater robot |
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| CN201810918171.0A CN109015752B (en) | 2018-08-13 | 2018-08-13 | Underwater fixed point binding and fixing combined monitoring pile of underwater robot |
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| CN109015752A true CN109015752A (en) | 2018-12-18 |
| CN109015752B CN109015752B (en) | 2021-10-08 |
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| JPS60165299U (en) * | 1984-04-13 | 1985-11-01 | 三井造船株式会社 | Underwater work equipment |
| CN106373618A (en) * | 2016-10-14 | 2017-02-01 | 于治霞 | Underwater positioning stabilizing device |
| CN106809358A (en) * | 2015-12-01 | 2017-06-09 | 上海航士海洋装备有限公司 | Nuclear power station cooling water diversion culvert detects robot system and implementation |
| CN206520734U (en) * | 2016-12-30 | 2017-09-26 | 核动力运行研究所 | A kind of nuclear power plant's sucked type float assembly |
| CN206540900U (en) * | 2017-06-06 | 2017-10-03 | 青岛卓建海洋装备科技有限公司 | A kind of seabed water quality detecting device |
| CN107877524A (en) * | 2017-11-20 | 2018-04-06 | 孟凡星 | A kind of flowers modeling machines people |
| CN207509128U (en) * | 2017-11-23 | 2018-06-19 | 银川华联达科技有限公司 | A kind of positioning device of computer hardware |
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2018
- 2018-08-13 CN CN201810918171.0A patent/CN109015752B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60165299U (en) * | 1984-04-13 | 1985-11-01 | 三井造船株式会社 | Underwater work equipment |
| CN106809358A (en) * | 2015-12-01 | 2017-06-09 | 上海航士海洋装备有限公司 | Nuclear power station cooling water diversion culvert detects robot system and implementation |
| CN106373618A (en) * | 2016-10-14 | 2017-02-01 | 于治霞 | Underwater positioning stabilizing device |
| CN206520734U (en) * | 2016-12-30 | 2017-09-26 | 核动力运行研究所 | A kind of nuclear power plant's sucked type float assembly |
| CN206540900U (en) * | 2017-06-06 | 2017-10-03 | 青岛卓建海洋装备科技有限公司 | A kind of seabed water quality detecting device |
| CN107877524A (en) * | 2017-11-20 | 2018-04-06 | 孟凡星 | A kind of flowers modeling machines people |
| CN207509128U (en) * | 2017-11-23 | 2018-06-19 | 银川华联达科技有限公司 | A kind of positioning device of computer hardware |
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|---|---|
| CN109015752B (en) | 2021-10-08 |
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Effective date of registration: 20231216 Address after: Room 201, West Side, 2nd Floor, Office Building, No. 10, South Section of Hanguang Road, Yanta District, Xi'an City, Shaanxi Province, 710000 Patentee after: Xi'an Jinzhun Testing Technology Service Co.,Ltd. Address before: Room 203, 2 / F, building 8, Ruiying international science and Technology Innovation Park, No. 9, Daxue Road, Songshan Lake high tech Industrial Development Zone, Dongguan City, Guangdong Province Patentee before: DONGGUAN KAILEDI NUMERICAL CONTROL SCIENCE AND TECHNOLOGY Co.,Ltd. |