CN109969359A - A kind of underwater robot draw off gear - Google Patents
A kind of underwater robot draw off gear Download PDFInfo
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- CN109969359A CN109969359A CN201910302656.1A CN201910302656A CN109969359A CN 109969359 A CN109969359 A CN 109969359A CN 201910302656 A CN201910302656 A CN 201910302656A CN 109969359 A CN109969359 A CN 109969359A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 44
- 238000000926 separation method Methods 0.000 claims abstract description 31
- 238000009434 installation Methods 0.000 claims description 74
- 230000008878 coupling Effects 0.000 claims description 28
- 238000010168 coupling process Methods 0.000 claims description 28
- 238000005859 coupling reaction Methods 0.000 claims description 28
- 239000003446 ligand Substances 0.000 claims description 15
- 244000144985 peep Species 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 12
- 239000013013 elastic material Substances 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 abstract description 18
- 230000000694 effects Effects 0.000 abstract description 2
- 230000003068 static effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 26
- 230000005611 electricity Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- 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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
A kind of underwater robot draw off gear, belong to underwater robot ancillary equipment field, by hull, the first support plate, transmission component, the second support plate, separation assembly, clamp assembly, ratchet assembly, backing plate, is made of cable underwater robot, collection device and control panel.The device has structure simple, and high-efficient, transmission system is simple, and motor uses the features such as few, serious forgiveness is low；Device is using transmission component cooperation matching track A and matching track B collective effect, to realize will there is cable underwater robot to rotate and upgrade from the bottom onto hull, matching hole A and matching track A realizes sliding motion, matching hole B and matching track B realizes sliding motion, is conducive to held stationary state during promotion has cable underwater robot；The use of ratchet assembly cooperation ratchet can effectively lock the movement of transmission component, and anti-locking apparatus excessive movement increases the stability of device under static state to there is cable underwater robot to damage.
Description
Technical field
The present invention relates to a kind of underwater robot draw off gears, specifically use the water of special mechanical structure design
Lower robot collection device will have cable underwater robot smoothly to move on hull using rotation mode, clamp assembly and point
The crawl work to there is cable underwater robot is realized from component, belongs to underwater robot ancillary equipment field.
Background technique
With the continuous maturation of technology, there is cable underwater robot to have been widely used for the every field of underwater operation, be
One of most important tool of current ocean exploratory development, plays an important role in the fields such as ocean engineering and military affairs.Then
At present on the market for thering is the extension and retraction system of cable underwater robot or device to be in fixed folding and unfolding, pulled using hawser or
Underwater robot is directly fixed on profile not promoted, such draw off gear is easy to cause brokenly underwater robot
It is bad, and have the characteristics that structure is complicated, transmission system is cumbersome, serious forgiveness is low.
Summary of the invention
For the above-mentioned deficiencies such as structure is complicated, transmission system is cumbersome, serious forgiveness is low, the present invention provides a kind of underwater machines
Device people's draw off gear.
The present invention is achieved by the following technical solutions: a kind of underwater robot folding and unfolding method, and this method is using rotation
Mode will have cable underwater robot smoothly to move on hull, be realized using clamp assembly and separation assembly to there is the underwater machine of cable
The crawl work of device people, the device using this method design are by hull, the first support plate, transmission component, the second support plate, divide
From component, clamp assembly, ratchet assembly, backing plate, it is made of cable underwater robot, collection device and control panel, described
One support plate, the second support plate, which with transmission component pass through screw threads for fastening respectively and connect, to be mounted on hull；The transmission component
It is mounted in the first support plate and the second support plate by being slidably connected；The separation assembly is connected by screw threads for fastening and is installed
On transmission component；The clamp assembly is mounted on separation assembly by screw threads for fastening connection, there is cable underwater robot position
In clamp assembly；The ratchet assembly is mounted in the first support plate by rotation connection；The backing plate and collection dress
Placement location has on the cable connection collection device of cable underwater robot on hull；The control panel is fixedly mounted on first
On the side end face of support plate.
A kind of underwater robot draw off gear is by hull, the first support plate, transmission component, the second support plate, separation group
Part, ratchet assembly, backing plate, is made of, described first clamp assembly cable underwater robot, collection device and control panel
Fagging, the second support plate, which with transmission component pass through screw threads for fastening respectively and connect, to be mounted on hull；The transmission component passes through
It is slidably connected and is mounted in the first support plate and the second support plate；The separation assembly is mounted on biography by screw threads for fastening connection
On dynamic component；The clamp assembly is mounted on separation assembly by screw threads for fastening connection, has cable underwater robot to be located at folder
Have in component；The ratchet assembly is mounted in the first support plate by rotation connection；The backing plate and collection device is put
It sets on hull, has on the cable connection collection device of cable underwater robot；The control panel is fixedly mounted on the first support
On the side end face of plate.
First support plate be by plate body A, upper installation axle, adjustment hole, peep hole A, matching track A, track end A,
What installation axle A, lower installation axle and erection support A were formed, the plate body A shape is at sector, and peep hole A is for through-hole and at uniform
It being distributed on plate body A, the installation axle A, upper installation axle and lower installation axle are in alignment and be fixedly mounted on plate body A,
Adjustment hole is the through-hole on plate body A and is located on the line of upper installation axle and lower installation axle that the erection support A level is fixed
It is connected to the bottom of plate body A, the matching track A is that the cross section of arc-shaped rail and track is semicircle, matching track A
It is fixedly mounted on plate body A, the track end A is that elastic material is made and is securedly mounted to the both ends of matching track A；
Second support plate is made of plate body B, matching track B, track end B, peep hole B and erection support B, the plate
Body B shape is at sector, and for through-hole and at being evenly distributed on plate body B, the erection support B level is fixedly connected peep hole B
In the bottom of plate body B, the matching track B be the cross section of arc-shaped rail and track be it is semicircle, matching track B is fixed
It is mounted on plate body B, the track end B is that elastic material is made and is securedly mounted to the both ends of matching track B.
The transmission component is by matching piece B, first bearing, the first support, first shaft coupling, direct current generator, second
Shaft coupling, third shaft coupling, the second support, second bearing, matching piece A, 3rd bearing, first axle, the second axis, fourth bearing,
First bevel gear, second bevel gear, lead screw assembly are held, 6th bearing, third axis, the 4th axis and gear-box form, described
Matching piece B is fastened together by key and the 4th axis；4th axis is connected by first bearing and the rotation of the first support
It is connected together, the first support is connected on hull by screw threads for fastening；4th axis passes through first shaft coupling and the second axis
It is fastened together, the second axis is mounted on gear-box by 6th bearing and fourth bearing rotation connection；Described first
Bevel gear is fastenedly connected by key to be mounted on the second axis；The second bevel gear is fastenedly connected by key is mounted on third axis
On, third axis holds rotation connection by lead screw assembly and is mounted on gear-box, and the shaft end of third axis is fastened by second shaft coupling
It is connected on the motor shaft of direct current generator；Together with the first bevel gear passes through and is connected by meshing transmission with second bevel gear；
The shaft end of second axis is fastened together by third shaft coupling and first axle, and first axle is rotated by 3rd bearing
It is connected on the second support, the shaft end of first axle is fastenedly connected on matching piece A by key, and second bearing is pacified by clearance fit
On matching piece A, second bearing is mounted on the installation axle A in the first support plate by clearance fit；It is the gear-box, straight
Galvanic electricity machine, the first support and the second support are mounted on hull by screw threads for fastening connection respectively.
The matching board B is made of ligand B, matching hole B and mounting base B, and the mounting base B is fixedly mounted
On ligand B；The matching hole B is that the cross section of arc chute and matching hole B are semicircle, matching hole B and cooperation rail
Road B is installed together by being slidably connected.The matching piece A is made of ligand A, matching hole A, mounting base A and ratchet
, the mounting base A is fixedly mounted on ligand A；The matching hole A is arc chute and the cross section of matching hole A
For semicircle, matching hole A and matching track A are installed together by being slidably connected；The ratchet is fixedly connected on ligand A
Lower end surface on, second bearing is mounted on ratchet by clearance fit.
The separation assembly is by the first connecting shaft, the second connecting shaft, third support, 7th bearing, axle sleeve, lead screw group
Part, bottom plate, nut support component, erecting bed, gear shaft, the 4th shaft coupling, 8th bearing, the 4th support, sliding rail, stepping electricity
What machine, gear, contact platform, lower position switch, mounting base C, upper limit switch and through-hole track formed, first connecting shaft
It is connected and is installed together by screw threads for fastening with the second connecting shaft, the first connecting shaft is mounted on the by 7th bearing rotation connection
On three abutments, the second connecting shaft is mounted on the 4th support by 8th bearing rotation connection, and the first connecting shaft is tight by screw thread
It is solidly connected on the mounting base B for being mounted on matching board B, the second connecting shaft is mounted on the installation of matching piece A by screw threads for fastening connection
On seat A, third support and the 4th support are fixedly mounted on bottom plate；The sliding rail totally two, two sliding rails are in parallel position
It sets and is mounted on bottom plate by screw threads for fastening connection；The erecting bed is mounted on two sliding rails by being slidably connected, and is walked
It is mounted on erecting bed into motor by screw threads for fastening connection, gear shaft is fastenedly connected by the 4th shaft coupling in stepper motor
On motor shaft, the shaft end of gear shaft is mounted on erecting bed by rotation connection；The both ends of the lead screw assembly are in lead screw
Between for axis and both ends screw rod it is oppositely oriented, lead screw assembly is mounted on erecting bed by rotation connection, and gear passes through key and silk
Thick stick component is fastened together, and axle sleeve two and is made totally by elastic material, and two axle sleeves pass through clearance fit and distinguish
It is mounted on the both ends of lead screw assembly；Totally two, the through-hole track, two through-hole tracks are that two circular arcs on bottom plate are logical
Hole；The nut support component totally two, two nut support components pass through respectively to be connected by meshing transmission on lead screw assembly,
Two nut support components, which pass through to be slidably connected respectively, to be mounted on two through-hole tracks；The mounting base C totally two, two
Mounting base C and contact platform are fixedly mounted on the bottom surface of bottom plate；The upper limit switch is fixedly mounted on nut support group
On part, lower position switch is fixedly mounted on contact platform；The cable for having cable underwater robot passes through the upper end of contact platform
Through-hole and collection device link together.
The nut support component is made of nut, the second threaded hole, roller support, mounting base D and installation axle C
, second threaded hole is through-hole and is located on nut, and nut and lead screw assembly are installed together by being slidably connected；Institute
The nut stated is fixedly mounted on installation axle C, and mounting base D is mounted on the shaft end of installation axle C by screw threads for fastening connection, is installed
Axis C and through-hole track are slidably connected；The rolling support totally two, two rolling supports are respectively and fixedly installed to
The both ends of nut, rolling support is by being slidably connected on bottom plate.
The erecting bed is by installation stage body, the 5th support, the 6th support, through-hole A, axis hole, sliding rail matching hole and to lead to
Hole B composition, the 5th support and the 6th support are fixedly mounted on installation stage body, and stepper motor is connected by screw threads for fastening
It connects and is mounted on the 5th support, the shaft end of gear shaft is mounted on the 6th support by rotation connection；The sliding rail matching hole
For through-hole and it is located on the lower end surface of installation stage body, sliding rail is mounted on sliding rail matching hole by being slidably connected；The through-hole A
It is through-hole with through-hole B and is located on erecting bed；The axis hole is through-hole and is located on erecting bed that lead screw assembly is connected by rotation
It connects and is mounted on axis hole upper cover.
The clamp assembly is made of screw rod A, fixture A, screw rod B, stepped hole and fixture B, and the screw rod A is total
Two, screw rod B totally two, two screw rod A and two screw rod B are respectively and fixedly installed on fixture A and fixture B, and stepped hole is located at
Fixture A and fixture B medial surface, the stepped hole can be fitted in cable underwater robot surrounding, and the screw rod A passes through spiral shell
Line, which is fastenedly connected, to be mounted on mounting base C, and screw rod B is mounted on mounting base D by screw threads for fastening connection.
The ratchet assembly is made of connecting rod and coordinating block, and connecting rod is by gonnecting rod body, installation axle D and rubber sleeve group
At, installation axle D is fixedly mounted on gonnecting rod body, and rubber sleeve is mounted on the shaft end of installation axle D by clearance fit, described
Coordinating block totally two, two coordinating blocks pass through the both ends of rotation connection installing connecting rods respectively, and two coordinating blocks pass through rotation respectively
Connection is mounted in the upper installation axle and lower installation axle of the first support plate, and the installation axle D is mounted on the by being slidably connected
In the adjustment hole of one support plate.
The usefulness of the invention is that the device has structure simple, and high-efficient, transmission system is simple, and motor uses less,
The features such as serious forgiveness is low；Device is using transmission component cooperation matching track A and matching track B collective effect, so that realizing will have
Cable underwater robot is rotated and upgraded from the bottom onto hull, and matching hole A and matching track A realize sliding motion, matching hole B and is matched
It closes track B and realizes sliding motion, be conducive to held stationary state during promotion has cable underwater robot；Ratchet assembly is matched
The use for closing ratchet can effectively lock the movement of transmission component, and anti-locking apparatus excessive movement is to there is cable underwater
People damages, while increasing the stability of device under static state；Transmission component using direct current generator, first bevel gear and
Second bevel gear completes single DC MOTOR CONTROL matching piece A circular motion up and down synchronous with matching piece B, improves device entirety
Coordinate synchronization and stability；Separation assembly can be realized the folding work to clamp assembly, can be improved point using sliding rail
Stability from assembly operating is driven using stepper motor band moving gear and lead screw assembly, since the lead screw at lead screw assembly both ends revolves
To on the contrary, therefore lead screw assembly one-way movement by drive nut support component synchronization inwardly or outwardly move, nut support component
It is outwardly and inwardly moved along through-hole track and reaction is driven into moving forward and backward for erecting bed, since screw rod B passes through screw threads for fastening
Connection is mounted on mounting base D, so the inside movement of nut support component, which will be further driven to clamp assembly, realizes that clamping is dynamic
Make, whole process is ingenious in design, and movement is steady reasonable；The stepped hole design of clamp assembly is in strict accordance with having outside cable underwater robot
Shape design, so that crawl work is more reasonable, and can preferably protect cable underwater robot；Device uses upper limit switch
Device motor message is acquired with lower position switch, so as to the movement of effective control device；Device many places using bearing,
Sliding rail etc. is capable of the stability of stiffening device movement.
Detailed description of the invention
Fig. 1 is whole assembly display diagram one of the invention；Fig. 2 is whole assembly display diagram two of the invention；Fig. 3 is this hair
Bright partial sectional view display diagram one；Fig. 4 is partial sectional view display diagram two of the invention；Fig. 5 is broken section of the invention
Figure display diagram three；Fig. 6 is the first support plate display diagram；Fig. 7 is the second support plate display diagram；Fig. 8 is that transmission component assembly is shown
Figure；Fig. 9 is transmission component explosive view；Figure 10 is matching piece B display diagram one；Figure 11 is matching piece B display diagram two；Figure 12 is cooperation
Part A display diagram one；Figure 13 is matching piece A display diagram two；Figure 14 is bevel gear connection figure；Figure 15 is bevel gear motor combination figure；
Figure 16 is gear-box display diagram；Figure 17 is gear-box cross-sectional view；Figure 18 is separation assembly installation diagram one；Figure 19 is separation assembly dress
Figure two；Figure 20 is transmission component explosive view；Figure 21 is the first connecting shaft display diagram；Figure 22 is the second connecting shaft display diagram；Figure
23 be nut support component display diagram；Figure 24 is erecting bed display diagram one；Figure 25 is erecting bed display diagram two；Figure 26 is bottom plate exhibition
Diagram one；Figure 27 is bottom plate display diagram two；Figure 28 is clamp assembly display diagram；Figure 29 is clamp assembly top view；Figure 30 is to connect
Bar display diagram；Figure 31 is coordinating block display diagram；Figure 32 is gear assembly schematic diagram；Figure 33 is that first support bar and ratchet group are assembled
Figure；Figure 34 is circuit diagram.
In figure, 1, hull, the 2, first support plate, 201, plate body A, 202, upper installation axle, 203, adjustment hole, 204, peep hole
A, 205, matching track A, 206, track end A, 207, installation axle A, 208, lower installation axle, 209, erection support A, 3, transmission group
Part, 301, matching piece B, 30101, ligand B, 30102, matching hole B, 30103, mounting base B, 302, first bearing, 303,
One support, 304, first shaft coupling, 305, direct current generator, 306, second shaft coupling, 307, third shaft coupling, 308, second
Seat, 309, second bearing, 3010, matching piece A, 301001, ligand A, 301002, matching hole A, 301003 mounting base A,
301004, ratchet, 3011,3rd bearing, 3012, first axle, the 3013, second axis, 3014, fourth bearing, the 3015, first cone tooth
Wheel, 3016, second bevel gear, 3017, lead screw assembly hold, 3018,6th bearing, 3019, third axis, the 3020, the 4th axis,
3021, gear-box, 302101, cabinet, 302102, upper box lid, 302103, bearing mounting hole, 302104, side case lid, 4, second
Support plate, 401, plate body B, 402, matching track B, 403, track end B, 404, peep hole B, 405, erection support B, 5, separation group
Part, the 501, first connecting shaft, 50101, multi-diameter shaft A, the 50102, first threaded hole, the 502, second connecting shaft, 50201, multi-diameter shaft
B, 50202, installation axle B, 503, third support, 504,7th bearing, 505, axle sleeve, 506, lead screw assembly, 507, bottom plate, 508,
Nut support component, 50801, nut, the 50802, second threaded hole, 50803, roller support, 50804, mounting base D,
50805, installation axle C, 509, erecting bed, 50901, installation stage body, the 50902, the 5th support, the 50903, the 6th support, 50904,
Through-hole A, 50905, axis hole, 50906, sliding rail matching hole, 50907, through-hole B, 5010, gear shaft, the 5011, the 4th shaft coupling,
5012,8th bearing, the 5013, the 4th support, 5014, sliding rail, 5015, stepper motor, 5016, gear, 5017, contact platform,
5018, lower position switch, 5019, mounting base C, 5020, upper limit switch, 5021, through-hole track, 6, clamp assembly, 601, spiral shell
Bar A, 602, fixture A, 603, screw rod B, 604, stepped hole, 605, fixture B, 7, ratchet assembly, 701, connecting rod, 70101, connecting rod
Body, 70102, installation axle D, 70103, rubber sleeve, 702, coordinating block, 8, backing plate, 9, have a cable underwater robot, 10, collection device,
11, control panel.
Specific embodiment
A kind of underwater robot folding and unfolding method, this method will have cable underwater robot 9 smoothly to move using rotation mode
Onto hull 1, the crawl work to there is cable underwater robot 9 is realized using clamp assembly 6 and separation assembly 5, using this method
The device of design is by hull 1, the first support plate 2, transmission component 3, the second support plate 4, separation assembly 5, clamp assembly 6, spine
Wheel assembly 7, is made of backing plate 8 cable underwater robot 9, collection device 10 and control panel 11, first support plate 2,
Two support plates 4 are connected by screw threads for fastening respectively with transmission component 3 to be mounted on hull 1；The transmission component 3 passes through sliding
Connection is mounted in the first support plate 2 and the second support plate 4；The separation assembly 5 is mounted on biography by screw threads for fastening connection
On dynamic component 3；The clamp assembly 6 is mounted on separation assembly 5 by screw threads for fastening connection, there is cable underwater robot 9
In clamp assembly 6；The ratchet assembly 7 is mounted in the first support plate 2 by rotation connection；The backing plate 8 and receipts
Acquisition means 10 are placed on hull 1, are had on the cable connection collection device 10 of cable underwater robot 9；The control panel 11 is solid
Dingan County is on the side end face of the first support plate 2.
A kind of underwater robot draw off gear is by hull 1, the first support plate 2, transmission component 3, the second support plate 4, divides
From component 5, clamp assembly 6, ratchet assembly 7, backing plate 8, it is made of cable underwater robot 9, collection device 10 and control panel 11,
First support plate 2, the second support plate 4 are connected respectively by screw threads for fastening with transmission component 3 and are mounted on hull 1；Institute
The transmission component 3 stated is mounted in the first support plate 2 and the second support plate 4 by being slidably connected；The separation assembly 5 passes through
Screw threads for fastening connection is mounted on transmission component 3；The clamp assembly 6 is mounted on separation assembly 5 by screw threads for fastening connection
On, there is cable underwater robot 9 to be located in clamp assembly 6；The ratchet assembly 7 is mounted on the first support plate by rotation connection
On 2；The backing plate 8 and collection device 10 is placed on hull 1, there is the cable connection collection device 10 of cable underwater robot 9
On；The control panel 11 is fixedly mounted on the side end face of the first support plate 2.
First support plate 2 be from plate body A201, upper installation axle 202, adjustment hole 203, peep hole A204, with rail
What road A205, track end A206, installation axle A207, lower installation axle 208 and erection support A209 were formed, the plate body A201 shape
For shape at sector, peep hole A204 is through-hole and at being evenly distributed on plate body A201, the installation axle A207, upper installation axle
202 and lower installation axle 208 it is in alignment and be fixedly mounted on plate body A201, adjustment hole 203 is the through-hole on plate body A201
And be located on the line of upper installation axle 202 and lower installation axle 208, the erection support A209 level is fixedly connected on plate body
The bottom of A201, the matching track A205 are that the cross section of arc-shaped rail and track is semicircle, matching track A205
It is fixedly mounted on plate body A201, the track end A206 is that elastic material is made and is securedly mounted to matching track
The both ends of A205；Second support plate 4 be by plate body B401, matching track B402, track end B403, peep hole B404 and
Erection support B405 composition, at sector, peep hole B404 is through-hole and at being evenly distributed on plate for the plate body B401 shape
On body B401, the erection support B405 level is fixedly connected on the bottom of plate body B401, and the matching track B402 is
The cross section of arc-shaped rail and track is semicircle, and matching track B402 is fixedly mounted on plate body B401, the track
End B403 is that elastic material is made and is securedly mounted to the both ends of matching track B402.
The transmission component 3 be by matching piece B301, first bearing 302, the first support 303, first shaft coupling 304,
Direct current generator 305, second shaft coupling 306, third shaft coupling 307, the second support 308, second bearing 309, matching piece A3010,
3rd bearing 3011, first axle 3012, the second axis 3013, fourth bearing 3014, first bevel gear 3015, second bevel gear
3016,5th bearing 3017,6th bearing 3018, third axis 3019, the 4th axis 3020 and gear-box 3021 form, described
Matching piece B301 is fastened together by key and the 4th axis 3020；4th axis 3020 passes through 302 He of first bearing
First support 303 is rotatably connected, and the first support 303 is connected on hull 1 by screw threads for fastening；4th axis
3020 are fastened together by first shaft coupling 304 and the second axis 3013, and the second axis 3013 passes through 3018 He of 6th bearing
The rotation connection of fourth bearing 3014 is mounted on gear-box 3021；The first bevel gear 3015 is fastenedly connected installation by key
On the second axis 3013；The second bevel gear 3016 is fastenedly connected by key to be mounted on third axis 3019, third axis
3019 are mounted on gear-box 3021 by the rotation connection of 5th bearing 3017, and the shaft end of third axis 3019 passes through second shaft coupling
306 are fastenedly connected on the motor shaft of direct current generator 305；The first bevel gear 3015 and second bevel gear 3016 is by nibbling
Close transmission connection together；The shaft end of second axis 3013 is fastenedly connected by third shaft coupling 307 and first axle 3012
Together, first axle 3012 is rotatably connected on the second support 308 by 3rd bearing 3011, and the shaft end of first axle 3012 passes through
Key is fastenedly connected on matching piece A3010, and second bearing 309 is mounted on matching piece A3010 by clearance fit, second bearing
309 are mounted on the installation axle A207 in the first support plate 2 by clearance fit；The gear-box 3021, direct current generator 305,
First support 303 is connected respectively by screw threads for fastening with the second support 308 and is mounted on hull 1.
The matching board B301 is made of ligand B30101, matching hole B30102 and mounting base B30103, institute
The mounting base B30103 stated is fixedly mounted on ligand B30101；The matching hole B30102 is arc chute and matching hole
The cross section of B30102 is that semicircle, matching hole B30102 and matching track B402 are installed together by being slidably connected.It is described
Matching piece A3010 be made of ligand A301001, matching hole A301002, mounting base A301003 and ratchet 301004,
The mounting base A301003 is fixedly mounted on ligand A301001；The matching hole A301002 be arc chute and
The cross section of matching hole A301002 is semicircle, and matching hole A301002 and matching track A205, which pass through to be slidably connected, is mounted on one
It rises；The ratchet 301004 is fixedly connected on the lower end surface of ligand A301001, and second bearing 309 passes through clearance fit
It is mounted on ratchet 301004.
The separation assembly 5 is by the first connecting shaft 501, the second connecting shaft 502, third support 503,7th bearing
504, axle sleeve 505, lead screw assembly 506, bottom plate 507, nut support component 508, erecting bed 509, gear shaft 5010, the 4th shaft coupling
Device 5011,8th bearing 5012, the 4th support 5013, sliding rail 5014, stepper motor 5015, gear 5016, contact platform 5017, under
What limit switch 5018, mounting base C5019, upper limit switch 5020 and through-hole track 5021 formed, first connecting shaft
501 are connected by screw threads for fastening with the second connecting shaft 502 and are installed together, and the first connecting shaft 501 is rotated by 7th bearing 504
Connection is mounted on third support 503, and the second connecting shaft 502 is mounted on the 4th support by the rotation connection of 8th bearing 5012
On 5013, the first connecting shaft 501 is mounted on the mounting base B30103 of matching board B301 by screw threads for fastening connection, the second connection
Axis is mounted on the mounting base A301003 of matching piece A3010 by screw threads for fastening connection, third support 503 and the 4th support
5013 are fixedly mounted on bottom plate 507；The sliding rail 5014 totally two, two sliding rails 5014 are in parallel position and pass through spiral shell
Line, which is fastenedly connected, to be mounted on bottom plate 507；The erecting bed 509 is mounted on two sliding rails 5014 by being slidably connected, and is walked
It is mounted on erecting bed 509 into motor 5015 by screw threads for fastening connection, gear shaft 5010 is fastened by the 4th shaft coupling 5011
It is connected on the motor shaft of stepper motor 5015, the shaft end of gear shaft 5010 is mounted on erecting bed 509 by rotation connection；Institute
It is the oppositely oriented of axis and both ends screw rod that the both ends for the lead screw assembly 506 stated, which are among lead screw, and lead screw assembly 506 is connected by rotation
Connect and be mounted on erecting bed 509, gear 5016 is fastened together by key and lead screw assembly 506, axle sleeve 505 totally two and
It is made by elastic material, two axle sleeves 505 are separately mounted to the both ends of lead screw assembly 506 by clearance fit；Described
Totally two, through-hole track 5021, two through-hole tracks 5021 are the two circular arc through-holes on bottom plate 507；The nut support
Component 508 totally two, two nut support components 508 are respectively by being connected by meshing transmission on lead screw assembly 506, two nuts
Support component 508 is mounted on two through-hole tracks 5021 by being slidably connected respectively；The mounting base C5019 totally two,
Two mounting base C5019 and contact platform 5017 are fixedly mounted on the bottom surface of bottom plate 507；The upper limit switch 5020 is solid
On nut support component 508, lower position switch 5018 is fixedly mounted on contact platform 5017 for Dingan County；Described has cable underwater
The cable of robot 9 passes through the upper end through-hole of contact platform 5017 and collection device 10 links together.
The nut support component 508 is by nut 50801, the second threaded hole 50802, roller support 50803, peace
Seat D50804 and installation axle C50805 composition is filled, second threaded hole 50802 is through-hole and is located on nut 50801,
Nut 50801 and lead screw assembly 506 are installed together by being slidably connected；The nut 50801 is fixedly mounted on installation axle
On C50805, mounting base D50804 is mounted on the shaft end of installation axle C50805 by screw threads for fastening connection, installation axle C50805
It is slidably connected with through-hole track 5021；The roller support 50803 totally two, two roller supports 50803 divide
It is not fixedly mounted on the both ends of nut 50801, roller support 50803 is by being slidably connected on bottom plate 507.
The erecting bed 509 is by installation stage body 50901, the 5th support 50902, the 6th support 50903, through-hole
What A50904, axis hole 50905, sliding rail matching hole 50906 and through-hole B50907 were formed, the 5th support 50902 and the 6th
Support 50903 is fixedly mounted on installation stage body 50901, and stepper motor 5015 is mounted on the 5th support by screw threads for fastening connection
On 50902, the shaft end of gear shaft 5010 is mounted on the 6th support 50903 by rotation connection；The sliding rail matching hole
50906 for through-hole and on the lower end surface of installation stage body 50901, and sliding rail 5014 is mounted on sliding rail matching hole by being slidably connected
On 50906；The through-hole A50904 and through-hole B50907 is through-hole and is located on erecting bed 509；The axis hole 50905 is
Through-hole and be located at erecting bed 509 on, lead screw assembly 506 by rotation connection is mounted on 50905 upper cover of axis hole.
The clamp assembly 6 is made of screw rod A601, fixture A602, screw rod B603, stepped hole 604 and fixture B605
, the screw rod A601 totally two, screw rod B603 totally two, two screw rod A601 and two screw rod B603 are fixedly mounted respectively
On fixture A602 and fixture B605, stepped hole 604 is located at fixture A602 and fixture B605 medial surface, the stepped hole 604
It can be fitted in 9 surrounding of cable underwater robot, the screw rod A601 is mounted on mounting base C5019 by screw threads for fastening connection
On, screw rod B603 is mounted on mounting base D50804 by screw threads for fastening connection.
The ratchet assembly 7 is made of connecting rod 701 and coordinating block 702, and connecting rod 701 is by gonnecting rod body 70101, peace
What dress axis D70102 and rubber sleeve 70103 formed, installation axle D70102 is fixedly mounted on gonnecting rod body 70101, rubber sleeve 70103
It is mounted on by clearance fit on the shaft end of installation axle D70102, the coordinating block 702 totally two, two coordinating blocks 702 divide
The both ends of installing connecting rods 701 Tong Guo be rotatablely connected, two coordinating blocks 702 are mounted on the first support plate by rotation connection respectively
In 2 upper installation axle 202 and lower installation axle 208, the installation axle D70102 is mounted on the first support plate 2 by being slidably connected
Adjustment hole 203 in.
After the completion of the device installation and debugging, the cable for having cable underwater robot 9 is passed through to the contact platform 5017 of separation assembly 5
On through-hole be connected with collection device 10, direct current generator 305, stepper motor 5015, upper limit switch 5020 and lower limit are opened
The control line of pass 5018 connects on control panel 11, direct current generator 305, stepper motor 5015, upper limit switch 5020 and lower limit
Switch 5018 is powered by power supply unit on ship, all are ready to complete, and when there is cable underwater robot 9 to need to be stowed away, controls water
Lower robot rises on the band water surface, while direct current generator 305 rotates, and direct current generator 305 drives matching piece A3010 and matching piece
B301 moves in a circle along matching track A205 and matching track B402, and separation assembly 5 and clamp assembly 6 are moved to ship
Outside body 1, direct current generator 305 stops operating when reaching clamp assembly 6 under the water surface, and adjusts coordinating block 702 by connecting rod
Position so that coordinating block 702 is just blocked ratchet 301004, be conducive to fixed conveyor component 3, separation assembly 5 and fixture group in this way
Part 6, when thering is cable underwater robot 9 to move in clamp assembly 6 and touching the lower position switch 5018 on separation assembly 5,
Stepper motor 5015 is started to work, and stepper motor 5015 is driven with moving gear 5016 and lead screw assembly 506, due to lead screw assembly
The lead screw at 506 both ends is oppositely oriented, therefore 506 one-way movement of lead screw assembly will drive nut support component 508 to synchronize inside fortune
Dynamic, nut support component 508 is inwardly moved along through-hole track 5021 to be moved before reaction drive erecting bed 509, due to
Screw rod B603 is mounted on mounting base D50804 by screw threads for fastening connection, so the inside movement of nut support component 508 will
It is further driven to clamp assembly 6 and realizes clamping movement, will there is cable underwater robot 9 to be wrapped in clamp assembly 6 and protect,
When upper limit switch 5020 touches erecting bed 509, stepper motor 5015 stops operating, and adjusts the position of coordinating block 702 at this time
Setting separates coordinating block 702 and ratchet 301004, and direct current generator 305 works later, and drive has cable underwater robot 9 to transport upwards
Dynamic, when there is cable underwater robot 9 to move on hull 1 and touch backing plate 8, direct current generator 305 stops operating, further
Stepper motor 5015 inverts, and drives the movement of clamp assembly 6 that will have cable underwater robot 9 to unclamp, whole process will have the underwater machine of cable
The cable of device people 9 is collected in collection device 10, and being directed to this has the collection work of cable underwater robot 9 to complete.Reversely
Operation above-mentioned steps, which can be realized, will have cable underwater robot 9 to be put into water.For the folding and unfolding work for having cable underwater robot 9
It is completed.
It is as shown in figure 34 the device of the invention circuit diagram, single-chip microcontroller is mono- using MCS-51 in control panel 11 of the present invention
Piece machine is as control core, using ULN2003A as 5015 driver of stepper motor, using L298N as direct current generator 305
Driver, stepper motor 5015 use the stepper motor of east motor brand, and direct current generator 305 is straight using east motor brand
Galvanic electricity machine, upper limit switch 5020 and lower position switch 5018 are all made of the micro contact switch of KW11-3Z-2 model.
For the ordinary skill in the art, introduction according to the present invention, do not depart from the principle of the present invention with
In the case where spirit, changes, modifications that embodiment is carried out, replacement and variant still fall within protection scope of the present invention it
It is interior.
Claims (10)
1. a kind of underwater robot folding and unfolding method, it is characterised in that: this method will have cable underwater robot to put down using rotation mode
Steady moves on hull, the crawl work to there is cable underwater robot is realized using clamp assembly and separation assembly, using this
The device of method design is by hull, the first support plate, transmission component, the second support plate, separation assembly, clamp assembly, ratchet
Component, is made of backing plate cable underwater robot, collection device and control panel, first support plate, second support plate and
Transmission component is mounted on hull by screw threads for fastening connection respectively；The transmission component is mounted on first by being slidably connected
In support plate and the second support plate；The separation assembly is mounted on transmission component by screw threads for fastening connection；The folder
Tool component is mounted on separation assembly by screw threads for fastening connection, has cable underwater robot to be located in clamp assembly；The spine
Wheel assembly is mounted in the first support plate by rotation connection；The backing plate and collection device is placed on hull, there is cable water
On the cable connection collection device of lower robot；The control panel is fixedly mounted on the side end face of the first support plate.
2. a kind of underwater robot draw off gear is by hull, the first support plate, transmission component, the second support plate, separation group
Part, ratchet assembly, backing plate, is made of clamp assembly cable underwater robot, collection device and control panel, it is characterised in that: institute
The first support plate for stating, the second support plate, which with transmission component pass through screw threads for fastening respectively and connect, to be mounted on hull；The biography
Dynamic component is mounted in the first support plate and the second support plate by being slidably connected；The separation assembly is connected by screw threads for fastening
It connects and is mounted on transmission component；The clamp assembly is mounted on separation assembly by screw threads for fastening connection, there is the underwater machine of cable
Device people is located in clamp assembly；The ratchet assembly is mounted in the first support plate by rotation connection；The backing plate and
Collection device is placed on hull, is had on the cable connection collection device of cable underwater robot；The control panel is fixedly mounted
On the side end face of the first support plate.
3. a kind of underwater robot draw off gear as claimed in claim 2, it is characterised in that: first support plate be by
Plate body A, upper installation axle, adjustment hole, peep hole A, matching track A, track end A, installation axle A, lower installation axle and erection support A group
At, at sector, peep hole A is through-hole and at being evenly distributed on plate body A for the plate body A shape, the installation axle A,
Upper installation axle and lower installation axle are in alignment and be fixedly mounted on plate body A, and adjustment hole is the through-hole on plate body A and is located at upper
On the line of installation axle and lower installation axle, the erection support A level is fixedly connected on the bottom of plate body A, the cooperation
Track A be the cross section of arc-shaped rail and track be it is semicircle, matching track A is fixedly mounted on plate body A, the track
End A is that elastic material is made and is securedly mounted to the both ends of matching track A；Second support plate is by plate body B, matches
Track B, track end B, peep hole B and erection support B composition are closed, for the plate body B shape at sector, peep hole B is through-hole
And at being evenly distributed on plate body B, the erection support B level is fixedly connected on the bottom of plate body B, the matching track
B be the cross section of arc-shaped rail and track be it is semicircle, matching track B is fixedly mounted on plate body B, the track end B
The both ends of matching track B are made and are securedly mounted to for elastic material.
4. a kind of underwater robot draw off gear as claimed in claim 3, it is characterised in that: the transmission component is by matching
Component B, first bearing, the first support, first shaft coupling, direct current generator, second shaft coupling, third shaft coupling, the second support,
Two bearings, matching piece A, 3rd bearing, first axle, the second axis, fourth bearing, first bevel gear, second bevel gear, lead screw assembly
Hold, 6th bearing, third axis, the 4th axis and gear-box composition, the matching piece B is fastenedly connected by key and the 4th axis
Together；4th axis is rotatably connected by first bearing and the first support, and the first support is connected by screw threads for fastening
It connects on hull；4th axis is fastened together by first shaft coupling and the second axis, and the second axis passes through the 6th axis
It holds and is mounted on gear-box with fourth bearing rotation connection；The first bevel gear is fastenedly connected by key is mounted on the second axis
On；The second bevel gear is fastenedly connected by key to be mounted on third axis, and third axis holds rotation connection by lead screw assembly
It is mounted on gear-box, the shaft end of third axis is fastenedly connected on the motor shaft of direct current generator by second shaft coupling；Described
Together with first bevel gear passes through and is connected by meshing transmission with second bevel gear；The shaft end of second axis passes through third shaft coupling
It is fastened together with first axle, first axle is rotatably connected on the second support by 3rd bearing, and the shaft end of first axle is logical
It crosses key to be fastenedly connected on matching piece A, second bearing is mounted on matching piece A by clearance fit, and second bearing passes through gap
The installation axle A being fitted in the first support plate；Gear-box, direct current generator, the first support and the second support difference
It is mounted on hull by screw threads for fastening connection.
5. a kind of underwater robot draw off gear as claimed in claim 4, it is characterised in that: the matching board B is by matching
What fit B, matching hole B and mounting base B were formed, the mounting base B is fixedly mounted on ligand B；The matching hole B is
The cross section of arc chute and matching hole B are that semicircle, matching hole B and matching track B are installed together by being slidably connected.Institute
The matching piece A stated is made of ligand A, matching hole A, mounting base A and ratchet, and the mounting base A, which is fixedly mounted on, to be matched
On fit A；The matching hole A be the cross section of arc chute and matching hole A be it is semicircle, matching hole A and matching track A are logical
It crosses to be slidably connected and be installed together；The ratchet is fixedly connected on the lower end surface of ligand A, and second bearing is matched by gap
Conjunction is mounted on ratchet.
6. a kind of underwater robot draw off gear as claimed in claim 5, it is characterised in that: the separation assembly is by the
One connecting shaft, the second connecting shaft, third support, 7th bearing, axle sleeve, lead screw assembly, bottom plate, nut support component, erecting bed,
Gear shaft, the 4th shaft coupling, 8th bearing, the 4th support, sliding rail, stepper motor, gear, contact platform, lower position switch, installation
What seat C, upper limit switch and through-hole track formed, first connecting shaft connects peace by screw threads for fastening with the second connecting shaft
It is fitted together, the first connecting shaft is mounted on third support by 7th bearing rotation connection, and the second connecting shaft passes through the 8th axis
It holds rotation connection to be mounted on the 4th support, the first connecting shaft is mounted on the mounting base B of matching board B by screw threads for fastening connection
On, the second connecting shaft is mounted on the mounting base A of matching piece A by screw threads for fastening connection, and third support and the 4th support are fixed
It is mounted on bottom plate；The sliding rail totally two, two sliding rails are in parallel position and are mounted on bottom by screw threads for fastening connection
On plate；The erecting bed is mounted on two sliding rails by being slidably connected, and stepper motor is mounted on by screw threads for fastening connection
On erecting bed, gear shaft is fastenedly connected on the motor shaft of stepper motor by the 4th shaft coupling, and the shaft end of gear shaft is by turning
Dynamic connection is mounted on erecting bed；It is the oppositely oriented of axis and both ends screw rod that the both ends of the lead screw assembly, which are among lead screw,
Lead screw assembly is mounted on erecting bed by rotation connection, and gear is fastened together by key and lead screw assembly, and axle sleeve is total
It two and is made by elastic material, two axle sleeves are separately mounted to the both ends of lead screw assembly by clearance fit；Described
Totally two, through-hole track, two through-hole tracks are the two circular arc through-holes on bottom plate；The nut support component totally two,
Two nut support components pass through respectively to be connected by meshing transmission on lead screw assembly, and two nut support components pass through sliding respectively
Connection is mounted on two through-hole tracks；The mounting base C totally two, two mounting base C and contact platform are fixedly mounted on bottom
On the bottom surface of plate；The upper limit switch is fixedly mounted on nut support component, and lower position switch, which is fixedly mounted on, to be connect
It touches on platform；The cable for having cable underwater robot passes through the upper end through-hole of contact platform and collection device links together.
7. a kind of underwater robot draw off gear as claimed in claim 6, it is characterised in that: the nut support component is
Be made of nut, the second threaded hole, roller support, mounting base D and installation axle C, second threaded hole be through-hole and
On nut, nut and lead screw assembly are installed together by being slidably connected；The nut is fixedly mounted on installation axle C
On, mounting base D is mounted on the shaft end of installation axle C by screw threads for fastening connection, and installation axle C and through-hole track carry out sliding company
It connects；The rolling support totally two, two rolling supports are respectively and fixedly installed to the both ends of nut, and rolling support is logical
It crosses and is slidably connected on bottom plate.
8. a kind of underwater robot draw off gear as claimed in claim 6, it is characterised in that: the erecting bed is by installing
Stage body, the 5th support, the 6th support, through-hole A, axis hole, sliding rail matching hole and through-hole B composition, the 5th support and the
Six supports are fixedly mounted on installation stage body, and stepper motor is mounted on the 5th support by screw threads for fastening connection, gear shaft
Shaft end is mounted on the 6th support by rotation connection；The sliding rail matching hole is through-hole and the lower end surface for being located at installation stage body
On, sliding rail is mounted on sliding rail matching hole by being slidably connected；The through-hole A and through-hole B is through-hole and is located on erecting bed；
The axis hole is through-hole and is located on erecting bed that lead screw assembly is mounted on axis hole upper cover by rotation connection.
9. a kind of underwater robot draw off gear as claimed in claim 7, it is characterised in that: the clamp assembly is by spiral shell
Bar A, fixture A, screw rod B, stepped hole and fixture B composition, the screw rod A totally two, screw rod B totally two, two screw rod A and
Two screw rod B are respectively and fixedly installed on fixture A and fixture B, and stepped hole is located at fixture A and fixture B medial surface, the ladder
Hole can be fitted in cable underwater robot surrounding, and the screw rod A is mounted on mounting base C by screw threads for fastening connection, spiral shell
Bar B is mounted on mounting base D by screw threads for fastening connection.
10. a kind of underwater robot draw off gear as claimed in claim 3, it is characterised in that: the ratchet assembly be by
What connecting rod and coordinating block formed, connecting rod is made of gonnecting rod body, installation axle D and rubber sleeve, and installation axle D is fixedly mounted on connecting rod
On body, rubber sleeve is mounted on the shaft end of installation axle D by clearance fit, and the coordinating block totally two, two coordinating blocks point
The both ends of installing connecting rods Tong Guo be rotatablely connected, two coordinating blocks pass through the upper peace that rotation connection is mounted on the first support plate respectively
It fills in axis and lower installation axle, the installation axle D is by being slidably connected in the adjustment hole for being mounted on the first support plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910302656.1A CN109969359A (en) | 2019-04-16 | 2019-04-16 | A kind of underwater robot draw off gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910302656.1A CN109969359A (en) | 2019-04-16 | 2019-04-16 | A kind of underwater robot draw off gear |
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| Publication Number | Publication Date |
|---|---|
| CN109969359A true CN109969359A (en) | 2019-07-05 |
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ID=67084759
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910302656.1A Pending CN109969359A (en) | 2019-04-16 | 2019-04-16 | A kind of underwater robot draw off gear |
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| CN (1) | CN109969359A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109850099A (en) * | 2019-04-16 | 2019-06-07 | 山东建筑大学 | A kind of underwater sea cucumber fishing robot draw off gear |
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2019
- 2019-04-16 CN CN201910302656.1A patent/CN109969359A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109850099A (en) * | 2019-04-16 | 2019-06-07 | 山东建筑大学 | A kind of underwater sea cucumber fishing robot draw off gear |
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