CN109018265A - A kind of high pressure resistant protective device of underwater robot - Google Patents
A kind of high pressure resistant protective device of underwater robot Download PDFInfo
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- CN109018265A CN109018265A CN201810950854.4A CN201810950854A CN109018265A CN 109018265 A CN109018265 A CN 109018265A CN 201810950854 A CN201810950854 A CN 201810950854A CN 109018265 A CN109018265 A CN 109018265A
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- plate
- supporting plate
- underwater robot
- high pressure
- pressure resistant
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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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- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses a kind of high pressure resistant protective devices of underwater robot, including the first supporting plate and adjustable plate, the second supporting plate is provided at left and right sides of first supporting plate, and second the outer wall of supporting plate be fixed with water draining plate, the inner wall of first supporting plate is welded with bracket, and the inner wall of bracket is fixed with connecting rod, support plate is equipped on the inside of the adjustable plate, and adjustable plate is located at the centre of connecting rod.The underwater robot passes through the sliding connection between the first supporting plate and the second supporting plate with high pressure resistant protective device, so that the second supporting plate has preferable mobility on the basis of the first supporting plate, horizontal pulling can be carried out to the second supporting plate, adjust the length of whole device, to adapt to different sizes, different size of robot uses, when overlapping between the first supporting plate and the second supporting plate, the integral protection layer of device accordingly increases, and is accordingly also improved to the resistivity of hydraulic pressure unit area.
Description
Technical field
The present invention relates to underwater robot protective device technical field, specially a kind of underwater robot is prevented with high pressure resistant
Protection unit.
Background technique
Underwater robot can replace manually under water in the waters of highly dangerous environment, contaminated environment and zero visibility
Long working is commonly equipped with the devices such as Sonar system, video camera, headlamp and mechanical arm on underwater robot, can provide real
When video, sonar image, mechanical arm can pick up weight, underwater robot oil development, maritime affair law enforcement evidence obtaining, scientific research and
The fields such as military affairs are used widely, and modern science and technology is horizontal to be constantly progressive, such as intelligent robot of underwater robot one kind
It is gradually brought to the arena of history, and plays increasingly important role in contemporary science and technology, the working environment of underwater robot
Very big by hydraulic pressure function influence, the hydraulic pressure active force that underwater robot is born in deep-sea is even more to imagine out of ordinary person, is
It avoids underwater robot by hydraulic pressure damage influence, needs that high voltage bearing protection structure is arranged in the external of robot.
Modern times for underwater robot high pressure resistant protective device or structure be mostly it is directly associated with underwater robot or
The device or structure to match, it is poor for the general applicability of robot, it is deep simultaneously for the dive environment of robot, dive
Degree there is poor mating reaction, if apparatus structure is excessive, will increase the underwater load of robot, if apparatus structure compared with
It is small, then it may be difficult to resist underwater superpower pressure again, underwater robot also will receive during action from waterpower
Inhibition, in conjunction with the synergy of hydraulic pressure, the work executive component of robot can be therefore and by coup injury.
Summary of the invention
The purpose of the present invention is to provide a kind of high pressure resistant protective devices of underwater robot, to solve above-mentioned background technique
The modern high pressure resistant protective device or structure for underwater robot of middle proposition be mostly it is directly associated with underwater robot or
The device or structure to match, it is poor for the general applicability of robot, it is deep simultaneously for the dive environment of robot, dive
Degree there is poor mating reaction, if apparatus structure is excessive, will increase the underwater load of robot, if apparatus structure compared with
It is small, then it may be difficult to resist underwater superpower pressure again, underwater robot also will receive during action from waterpower
Inhibition, in conjunction with the synergy of hydraulic pressure, the problem of work executive component of robot can be therefore and by coup injury.
To achieve the above object, the invention provides the following technical scheme: a kind of high pressure resistant protective device of underwater robot,
Including the first supporting plate and adjustable plate, the second supporting plate, and the outer wall of the second supporting plate are provided at left and right sides of first supporting plate
It is fixed with water draining plate, the inner wall of first supporting plate is welded with bracket, and the inner wall of bracket is fixed with connecting rod, the adjustable plate
Inside support plate is installed, and adjustable plate is located at the centre of connecting rod.
Preferably, size matches between first supporting plate and the second supporting plate, and is fixed on the inside of the second supporting plate anti-
Guard ring net, the inside of the protection hoop net, which is uniformly run through, support, and protecting hoop net is the oval reticular structure entwined, institute
The surface for stating water draining plate is fixed with fixed plate, and the lateral wall of water draining plate is welded with unit scoreboard.
Preferably, the unit scoreboard is uniformly arranged along the horizontal direction of water draining plate, and equal length between unit scoreboard,
The positive and negative surface of the individual unit scoreboard is separately installed with two hydrophobic impellers, and two hydrophobic impellers on the same face it
Between about unit scoreboard horizontal center line it is symmetrical, the surface of the water draining plate is equipped with reinforcing bar, and between reinforcing bar mutually
In parallel.
Preferably, side rack is installed, and the leading flank of side rack is provided with elastic network(s), the side between the water draining plate
The trailing flank of frame side is equipped with impeller, and the rear interior of side rack is equipped with motor.
Preferably, the left and right end portions of the side rack respectively between water draining plate size cooperate, and side rack it
Between about protection hoop net horizontal center line it is symmetrical, and impeller is uniformly arranged on the trailing flank of side rack.
Preferably, the two sides up and down of the adjustable plate are mounted on air bag, and about in the level of adjustable plate between air bag
Heart line is symmetrical, and the junction outer wall of the connecting rod and adjustable plate is uniformly inlaid with seed pearl, and the inside of the support plate is equipped with
The medial surface of Wiper blade, and the two sides up and down of Wiper blade are respectively and fixedly provided with connector, the lateral surface of the Wiper blade and support plate it
Between fit closely, and support plate is uniformly distributed along the horizontal direction of adjustable plate.
Preferably, the trailing flank of the protection hoop net is provided with liner plate, and the surface nesting of liner plate is equipped with embedding bar, described
Survey pressing plate is installed below embedding bar, and surveys pressing plate and has been placed equidistant with 3 along the horizontal direction of embedding bar, the surveys pressing plate and embedding bar
Between size match, and two groups of embedding bars are arranged in parallel on liner plate altogether.
Preferably, the back side for surveying pressing plate is equipped with hack lever, and the left and right ends of hack lever are provided with bolted joint, described
To be threadedly coupled between bolted joint and liner plate, and fixture nut is installed on the outside of bolted joint, the horizontal direction along hack lever
It has been placed equidistant with 3 set blocks altogether, and has covered and is mutually perpendicular between block and hack lever.
Preferably, the set block is fixedly arranged above telescopic rod, and telescopic rod constitutes rotational structure by set block and hack lever,
It is provided with movable round head above the telescopic rod, and the outer wall of movable round head is fixed with gear shaping, the movable round head and flexible
Size matches between bar, and gear shaping is symmetrical arranged about the vertical centerline of movable round head in " ten " word.
Compared with prior art, beneficial effects of the present invention are as follows:
1, the present invention is by the sliding connection between the first supporting plate and the second supporting plate, so that the second supporting plate is in the first supporting plate
On the basis of have preferable mobility, can to the second supporting plate carry out horizontal pulling, the length of whole device is adjusted, to adapt to
Different sizes, different size of robot use, and when overlapping between the first supporting plate and the second supporting plate, the entirety of device is anti-
Sheath accordingly increases, and is accordingly also improved to the resistivity of hydraulic pressure unit area, and protection hoop net is the ellipse entwined
Reticular structure is made of rigid layout, itself has preferable structural strength and structural elasticity, cooperates the support of support
Effect, protection hoop net itself have preferable structural strength, and support will protect hoop net uniformly to strut, and ensure that protection hoop net to water
There are the effects of certain isolation buffer for pressure.
2, the present invention being uniformly arranged by unit scoreboard, effectively alleviates water flow fluctuation active force to device under water
It is influenced caused by random device people operation, is provided with the hydrophobic impeller of equivalent amount in the tow sides of unit scoreboard, it is hydrophobic
It being cooperatively connected between impeller and unit scoreboard for axle sleeve, hydrophobic impeller has preferable rotary moveable ability in unit scoreboard,
It when robot motion, is influenced with waterpower, hydrophobic impeller can rotate freely, and the fan of arc-shaped is provided with around hydrophobic impeller
Hardened structure, in the contact of fan plate and water, hydrophobic impeller can obtain the function and effect of waterpower, and spontaneous rotation therewith, weaken
Influence of the waterpower to whole device, multiple settings of reinforcing bar help to mount a device onto the outer of different underwater robots
Around side, while also facilitating and integrally carrying out bondage, lifting to robot or pull to shift.
3, the present invention provides direct reaction thrust, motor band to the hydraulic pressure of device periphery by the setting of side rack
The work of movable vane wheel, each impeller are driven by a motor respectively, and after electric motor starting, impeller high speed rotation will be outside side rack
The water of side directly disturbs, and provides water certain anti-push power, in combination with, to the perturbation action power of water flow, making after wheel rotation
Whole device is by the thrust from water, to be cooperatively connected between side rack and water draining plate, on the basis of water draining plate
Can opposite side frame side carry out angle overturning, change placed angle of the side rack in whole device, in different spaces dimension
Water flow disturbed, to obtain the hydro-flow thrust effect of different directions, the angle of side rack can carry out manual adjustment,
It can voluntarily be adjusted under the effect of the revolving speed of hydraulic action, impeller and arrive best angle, to adapt to Underwater Pressure.
4, the present invention has the function that be balanced device entirety gravity, when air bag is filled with one by the setting of air bag
After quantitative air, the hydraulic pressure effect being correspondingly also resistant against under deepwater environment can preferably be bonded underwater robot, right
Underwater robot is protected, and occurring external force between avoiding device and robot leads to the branch for separating, being uniformly arranged on adjustable plate
Fagging utilizes seed pearl and connecting rod, achievees the purpose that flexibly turn to, to be cooperatively connected between support plate and Wiper blade, between the two
Cooperated by connector inlay card, Wiper blade can be extracted out a distance on the basis of support plate, Wiper blade is with circular arc
The plate of bathtub construction itself has when contacting with water and preferably copies outlet capacity, after Wiper blade is extracted different length, respectively
A Wiper blade is all different the interdiction capability of water, and balancing device ambient water can be achieved the purpose that with regard to this, avoids underwater
Vortex undercurrent causes severe damage influence to device and robot.
5, the present invention is by the setting of liner plate, allows device on the whole and also have to balance turbulent water or reduction water at one
The position for pressing size, to be nested between liner plate and embedding bar, on the basis of liner plate, embedding bar can complete rotational action, embedding
To be cooperatively connected between bar and survey pressing plate, it is provided with pressure detecting element on surveying pressing plate, load cell real-time monitoring is utilized to fill
The water pressure for setting local environment facilitates personnel to leave and take data, and each survey pressing plate is in embedding bar upper angle separate regulation, between each other
There is no influence, each self energy takes pressure information with different placed angles, while under the slab construction of itself, reaching to water
The reduction purpose of stream carries out the parallel differentiation of different directions to water, the hydraulic action of concentration is compared around dispersing device, alleviates water
Pressure, each surveys pressing plate are supported fixation using telescopic rod, and set block ensure that telescopic rod is inclined with preferable angle on hack lever
Turn ability, to be mating connection between movable round head and telescopic rod, on telescopic rod to the preferable supporting role of pressing plate offer is surveyed
With preferable mobility, gear shaping is used to contact the back side for surveying pressing plate, and guarantees that surveying pressing plate can obtain from telescopic rod
Stablize support.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is structure schematic diagram of the present invention；
Fig. 3 is adjustable plate structural schematic diagram of the present invention；
Fig. 4 is lining plate structure schematic diagram of the present invention；
Fig. 5 is hack lever structural schematic diagram of the present invention.
In figure: 1, the first supporting plate, the 2, second supporting plate, 3, protection hoop net, 4, support, 5, water draining plate, 6, fixed plate, 7, unit
Scoreboard, 8, hydrophobic impeller, 9, reinforcing bar, 10, side rack, 11, elastic network(s), 12, impeller, 13, motor, 14, bracket, 15, connection
Bar, 16, air bag, 17, adjustable plate, 18, seed pearl, 19, support plate, 20, Wiper blade, 21, connector, 22, liner plate, 23, embedding bar,
24, pressing plate, 25, hack lever, 26, bolted joint, 27, set block, 28, telescopic rod, 29, movable round head, 30, gear shaping, 31, fixed spiral shell are surveyed
It is female.
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.It 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. 1-5 is please referred to, the present invention provides a kind of technical solution: a kind of high pressure resistant protective device of underwater robot, packet
The first supporting plate 1 and adjustable plate 17 are included, the left and right sides of the first supporting plate 1 is provided with the second supporting plate 2, and the outer wall of the second supporting plate 2
It is fixed with water draining plate 5, size matches between the first supporting plate 1 and the second supporting plate 2, and the inside of the second supporting plate 2 is fixed with protection
Hoop net 3, the inside of protection hoop net 3, which is uniformly run through, support 4, and protecting hoop net 3 is the oval reticular structure entwined, hydrophobic
The surface of plate 5 is fixed with fixed plate 6, and the lateral wall of water draining plate 5 is welded with unit scoreboard 7, passes through the first supporting plate 1 and second
Sliding connection between plate 2, so that the second supporting plate 2 has preferable mobility on the basis of the first supporting plate 1, it can
Horizontal pulling is carried out to the second supporting plate 2, adjusts the length of whole device, to adapt to different sizes, different size of robot makes
With when overlapping between the first supporting plate 1 and the second supporting plate 2, the integral protection layer of device accordingly increases, to hydraulic pressure unit plane
Long-pending resistivity is accordingly also improved, and protection hoop net 3 is the oval reticular structure entwined, using rigid layout
Be made, itself have preferable structural strength and structural elasticity, cooperate support 4 supporting role, protection hoop net 3 have in itself compared with
Good structural strength, support 4 will protect hoop net 3 uniformly to strut, and ensure that there are certain isolation buffers to hydraulic pressure for protection hoop net 3
Effect, unit scoreboard 7 is uniformly arranged along the horizontal direction of water draining plate 5, and equal length between unit scoreboard 7, individual unit point
The positive and negative surface of plate 7 is separately installed with two hydrophobic impellers 8, and about unit between two hydrophobic impellers 8 on the same face
The horizontal center line of scoreboard 7 is symmetrical, and the surface of water draining plate 5 is equipped with reinforcing bar 9, and is parallel to each other between reinforcing bar 9, passes through list
First scoreboard 7 is uniformly arranged, and effectively alleviates water flow fluctuation active force to caused by device under water random device people operation
Influence, be provided with the hydrophobic impeller 8 of equivalent amount in the tow sides of unit scoreboard 7, hydrophobic impeller 8 and unit scoreboard 7 it
Between for axle sleeve be cooperatively connected, hydrophobic impeller 8 in unit scoreboard 7 have preferable rotary moveable ability, when robot motion,
It is influenced with waterpower, hydrophobic impeller 8 can rotate freely, and the hardened structure of fan of arc-shaped is provided with around hydrophobic impeller 8, in fan plate
In contact with water, hydrophobic impeller 8 can obtain the function and effect of waterpower, and spontaneous rotation therewith, weaken waterpower to entire dress
The influence set, multiple settings of reinforcing bar 9 facilitate the outer periphery for mounting a device onto different underwater robots, simultaneously
Also facilitate and integrally carry out bondage, lifting to robot or pull displacement, side rack 10, and side are installed between water draining plate 5
The leading flank of frame 10 is provided with elastic network(s) 11, and the trailing flank of side rack 10 is equipped with impeller 12, and the rear interior of side rack 10
Motor 13 is installed, by the setting of side rack 10, provides direct reaction thrust, 13 band of motor to the hydraulic pressure of device periphery
Movable vane wheel 12 works, and each impeller 12 is driven by a motor 13 respectively, after motor 13 starts, 12 high speed rotation of impeller,
The water in 10 outside of side rack is directly disturbed, certain anti-push power is provided water, to water flow after rotating in combination with impeller 12
Perturbation action power, make whole device by the thrust from water, the left and right end portions of side rack 10 respectively with it is hydrophobic
Size cooperates between plate 5, and the horizontal center line between side rack 10 about protection hoop net 3 is symmetrical, and impeller 12 is equal
The even trailing flank that side rack 10 is set, to be cooperatively connected between side rack 10 and water draining plate 5, energy on the basis of water draining plate 5
Enough opposite side frame side 10 carry out angle overturning, change placed angle of the side rack 10 in whole device, to different spaces dimension
On water flow disturbed, to obtain the hydro-flow thrust effect of different directions, the angle of side rack 10 can be adjusted manually
Section can also voluntarily adjust under the effect of the revolving speed of hydraulic action, impeller 12 and arrive best angle, to adapt to Underwater Pressure, first
The inner wall of supporting plate 1 is welded with bracket 14, and the inner wall of bracket 14 is fixed with connecting rod 15, and the inside of adjustable plate 17 is equipped with support
Plate 19, and adjustable plate 17 is located at the centre of connecting rod 15, the two sides up and down of adjustable plate 17 are mounted on air bag 16, and air bag 16 it
Between about adjustable plate 17 horizontal center line it is symmetrical, the junction outer wall of connecting rod 15 and adjustable plate 17 is uniformly inlaid with seed pearl
18, the inside of support plate 19 is equipped with Wiper blade 20, and the two sides up and down of Wiper blade 20 are respectively and fixedly provided with connector 21, Wiper blade 20
Lateral surface and support plate 19 medial surface between fit closely, and support plate 19 is uniformly divided along the horizontal direction of adjustable plate 17
Cloth has the function that be balanced device entirety gravity by the setting of air bag 16, when air bag 16 is filled with a certain amount of air
Afterwards, the hydraulic pressure effect being correspondingly also resistant against under deepwater environment, can preferably be bonded underwater robot, to underwater robot
It is protected, occurring external force between avoiding device and robot causes to separate, 19 benefit of support plate being uniformly arranged on adjustable plate 17
With seed pearl 18 and connecting rod 15, achieve the purpose that flexibly turn to, between support plate 19 and Wiper blade 20 for be cooperatively connected, the two it
Between by 21 inlay card of connector cooperate, can on the basis of support plate 19 by Wiper blade 20 extract out a distance, Wiper blade 20
For the plate with circular arc bathtub construction, itself has when being contacted with water and preferably copy outlet capacity, when Wiper blade 20 is extracted
After different length, each Wiper blade 20 is all different the interdiction capability of water, and balancing device ambient water can be reached with regard to this
Purpose, avoid underwater vortex undercurrent from causing severe damage influence to device and robot, the trailing flank setting of protection hoop net 3
There is liner plate 22, and the surface nesting of liner plate 22 is equipped with embedding bar 23, the lower section of embedding bar 23, which is equipped with, surveys pressing plate 24, and surveys pressing plate 24
3 have been placed equidistant with along the horizontal direction of embedding bar 23, size between pressing plate 24 and embedding bar 23 has been surveyed and matches, and put down altogether on liner plate 22
Row is provided with two groups of embedding bars 23, by the setting of liner plate 22, allow device on the whole and also have to balance at one turbulent water or
The position for weakening water pressure, to be nested between liner plate 22 and embedding bar 23, on the basis of liner plate 22, embedding bar 23 can be complete
At rotational action, to be cooperatively connected between embedding bar 23 and survey pressing plate 24, it is provided with pressure detecting element on surveying pressing plate 24, is utilized
The water pressure of load cell real-time monitoring device local environment facilitates personnel to leave and take data, and each survey pressing plate 24 is in embedding bar 23
Upper angle separate regulation, between each other there is no influence, each self energy takes pressure information with different placed angles, while certainly
Under the slab construction of body, reach the reduction purpose to water flow, the parallel differentiation of different directions, phase around dispersing device are carried out to water
Compared with the hydraulic action of concentration, alleviate hydraulic pressure, the back side for surveying pressing plate 24 is equipped with hack lever 25, and the left and right ends of hack lever 25 are respectively provided with
There is bolted joint 26, is threadedly coupled between bolted joint 26 and liner plate 22, and the outside of bolted joint 26 is equipped with fixture nut 31, edge
The horizontal direction of hack lever 25 has been placed equidistant with 3 set blocks 27 altogether, and covers and be mutually perpendicular between block 27 and hack lever 25, covers the upper of block 27
Side is fixed with telescopic rod 28, and telescopic rod 28 constitutes rotational structure, the top setting of telescopic rod 28 by set block 27 and hack lever 25
There is movable round head 29, and the outer wall of movable round head 29 is fixed with gear shaping 30, size kissing between movable round head 29 and telescopic rod 28
It closes, and gear shaping 30 is symmetrical arranged about the vertical centerline of movable round head 29 in " ten " word, each survey pressing plate 24 utilizes telescopic rod
28 are supported fixation, and set block 27 ensure that telescopic rod 28 has preferable angular deflection ability on hack lever 25, to press to surveying
Plate 24 provides preferable supporting role, between movable round head 29 and telescopic rod 28 for be cooperatively connected, on telescopic rod 28 have compared with
Good mobility, gear shaping 30 are used to contact the back side for surveying pressing plate 24, and guarantee that surveying pressing plate 24 can obtain from telescopic rod
28 stablize supports.
Working principle: this protective device is a protective device being directly installed on the outside of robot, this body structure can be with
It is adjusted, is sliding connection between the first supporting plate 1 and the second supporting plate 2, it can be to second on the basis of the first supporting plate 1
It is mobile that supporting plate 2 carries out pull, to adjust the length of whole device, device splices between each other to add up, and uniformly wraps up under water
Around robot, device has tow sides, and two sides can be used as the outer mask of robot, for convenience of distinguishing, will have
The one side of liner plate 22, as the face B, when the face A is outer mask, is inflated without the one side of liner plate 22 in air bag 16, is made as the face A
It mutually reclines between the face B and robot lateral surface, while reinforcing bar 9 correspondingly can carry out bondage to robot and fix, then
The outside of robot is mounted a device onto, after motor 13 starts, 12 high speed rotation of impeller is disturbed periphery water flow, and right
Water generates reaction thrust, plays the role of weakening hydraulic pressure, while impeller 12 at this time acts as precession paddle, Neng Gouwei
The operation of device in water provides certain thrust, so that device is advanced automatically with robot, in side rack 10 and water draining plate 5
It under mating reaction, can be adjusted with angle of the opposite side frame side 10 on device, while after impeller 12 rotates, water flow is disturbed
It is dynamic also can opposite side frame side 10 generate certain thrust, so that side rack 10 is voluntarily adjusted best angle, to adapt to water
Lower pressure, and under the rotary action of impeller 12, different routes is got, is matched using liner plate 22 with embedding the nested of bar 23
The mating connection between pressing plate 24 and embedding bar 23 is used and is surveyed in cooperation, can be to placed angle of each survey pressing plate 24 on liner plate 22
It is adjusted, each survey in pressing plate 24 is mounted on load cell, and to monitor hydraulic pressure, each pressing plate 24 of surveying is obtained by telescopic rod 28
Support, device periphery hydraulic pressure information can be acquired by the effect of load cell by the one hand surveying pressing plate 24, on the one hand then
Under the slab construction of itself, reach the reduction purpose to water flow, the parallel differentiation of different directions, dispersing device week are generated to water
The hydraulic action for comparing concentration is enclosed, alleviates hydraulic pressure, when the face B is as outer mask, reinforcing bar 9 provides for device can be with the attached hawser of bolt
Position, convenient integrally to pull to robot, the air bag 16 filled with air can resist certain hydraulic pressure effect, Wiper blade
20 under the mating reaction with adjustable plate 17, can extract a segment length out outward, in connecting rod 15 and the connection function of seed pearl 18
Under, angle of the support plate 19 on adjustable plate 17 can be adjusted, different length, differing tilt angles Wiper blade 20 exist
When being contacted with water flow, different degrees of interception function can be correspondingly generated to water flow, to weaken underwater undercurrent to entire
The damage influence of device and robot, after motor 13 starts, 12 high-speed rotation of impeller, impeller 12 at this time plays hydrophobic effect,
To the water flow between dissipation device and underwater robot, avoid hydraulic pressure by the joint gap between device and robot to machine
Device people directly contributes influence, and protection hoop net 3 directly contacts water body, the oval reticular structure and support 4 entwined using itself
Mate-assist effect, the function and effect of buffering are played to hydraulic pressure, no matter which face of the face the A face B the outer mask as device, equal energy
It is enough that waterpower is carried out to cater to reduction, hydrophobic impeller 8, hydrophobic impeller 8 and unit point are provided in the tow sides of unit scoreboard 7
It is cooperatively connected, when robot motion, is influenced with waterpower, hydrophobic impeller 8 can rotate freely, to alleviate for axle sleeve between plate 7
Waterpower action pressure caused by device and robot, completes the use process of entire protective device 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 high pressure resistant protective device of underwater robot, including the first supporting plate (1) and adjustable plate (17), it is characterised in that:
It is provided with the second supporting plate (2) at left and right sides of first supporting plate (1), and the outer wall of the second supporting plate (2) is fixed with water draining plate
(5), the inner wall of first supporting plate (1) is welded with bracket (14), and the inner wall of bracket (14) is fixed with connecting rod (15), described
It is equipped on the inside of adjustable plate (17) support plate (19), and adjustable plate (17) is located at the centre of connecting rod (15).
2. a kind of high pressure resistant protective device of underwater robot according to claim 1, it is characterised in that: described first
Size matches between plate (1) and the second supporting plate (2), and protection hoop net (3) is fixed on the inside of the second supporting plate (2), described anti-
The inside of guard ring net (3), which is uniformly run through, to be had support (4), and protecting hoop net (3) is the oval reticular structure entwined, described to dredge
The surface of water plate (5) is fixed with fixed plate (6), and the lateral wall of water draining plate (5) is welded with unit scoreboard (7).
3. a kind of high pressure resistant protective device of underwater robot according to claim 2, it is characterised in that: the unit point
Plate (7) is uniformly arranged along the horizontal direction of water draining plate (5), and equal length between unit scoreboard (7), the individual unit scoreboard
(7) positive and negative surface is separately installed with two hydrophobic impellers (8), and between two hydrophobic impellers (8) on the same face about
The horizontal center line of unit scoreboard (7) is symmetrical, and the surface of the water draining plate (5) is equipped with reinforcing bar (9), and reinforcing bar (9) it
Between be parallel to each other.
4. a kind of high pressure resistant protective device of underwater robot according to claim 2, it is characterised in that: the water draining plate
(5) it is equipped between side rack (10), and the leading flank of side rack (10) is provided with elastic network(s) (11), the side rack (10)
Trailing flank is equipped with impeller (12), and the rear interior of side rack (10) is equipped with motor (13).
5. a kind of high pressure resistant protective device of underwater robot according to claim 4, it is characterised in that: the side rack
(10) size cooperates left and right end portions between water draining plate (5) respectively, and about protection hoop net between side rack (10)
(3) horizontal center line is symmetrical, and impeller (12) is uniformly arranged on the trailing flank of side rack (10).
6. a kind of high pressure resistant protective device of underwater robot according to claim 1, it is characterised in that: the adjustable plate
(17) two sides up and down are mounted on air bag (16), and the horizontal center line between air bag (16) about adjustable plate (17) is symmetrical,
The junction outer wall of the connecting rod (15) and adjustable plate (17) is uniformly inlaid with seed pearl (18), the inside of the support plate (19)
It is equipped with Wiper blade (20), and the two sides up and down of Wiper blade (20) are respectively and fixedly provided with connector (21), outside the Wiper blade (20)
It is fitted closely between side and the medial surface of support plate (19), and support plate (19) is uniformly divided along the horizontal direction of adjustable plate (17)
Cloth.
7. a kind of high pressure resistant protective device of underwater robot according to claim 2, it is characterised in that: the guard ring
The trailing flank of net (3) is provided with liner plate (22), and the surface nesting of liner plate (22) is equipped with embedding bar (23), the embedding bar (23)
Lower section, which is equipped with, surveys pressing plate (24), and surveys pressing plate (24) and be placed equidistant with 3 along the horizontal direction of embedding bar (23), the survey pressing plate
(24) size matches between embedding bar (23), and is arranged in parallel with two groups of embedding bars (23) on liner plate (22) altogether.
8. a kind of high pressure resistant protective device of underwater robot according to claim 7, it is characterised in that: the survey pressing plate
(24) the back side is equipped with hack lever (25), and the left and right ends of hack lever (25) are provided with bolted joint (26), the bolted joint
(26) to be threadedly coupled between liner plate (22), and fixture nut (31) are installed on the outside of bolted joint (26), it is described along hack lever
(25) horizontal direction has been placed equidistant with 3 set blocks (27) altogether, and covers and be mutually perpendicular between block (27) and hack lever (25).
9. a kind of high pressure resistant protective device of underwater robot according to claim 8, it is characterised in that: the set block
(27) be fixedly arranged above telescopic rod (28), and telescopic rod (28) constitutes rotational structure, institute by set block (27) and hack lever (25)
It states and is provided with above telescopic rod (28) movable round head (29), and the outer wall of movable round head (29) is fixed with gear shaping (30), it is described
Size matches between movable round head (29) and telescopic rod (28), and vertical centerline of the gear shaping (30) about movable round head (29)
It is symmetrical arranged in " ten " word.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN113460277A (en) * | 2021-07-15 | 2021-10-01 | 哈尔滨工程大学 | Sonar carrying device for sonar monitoring robot |
| CN114872825A (en) * | 2022-03-29 | 2022-08-09 | 郑州轻工业大学 | Bilateral symmetry inner microstructure gap intercommunicating type high pressure resistant shell |
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