CN110126990A - A kind of delivery device for underwater robot and water surface high speed unmanned boat - Google Patents
A kind of delivery device for underwater robot and water surface high speed unmanned boat Download PDFInfo
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- CN110126990A CN110126990A CN201910351042.2A CN201910351042A CN110126990A CN 110126990 A CN110126990 A CN 110126990A CN 201910351042 A CN201910351042 A CN 201910351042A CN 110126990 A CN110126990 A CN 110126990A
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- high speed
- wirerope
- water surface
- auxiliary
- delivery device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
- B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
A kind of delivery device for underwater robot and water surface high speed unmanned boat, it belongs to delivery device field, it is big mainly for solving consuming resource in delivery device, and the lower problem of serious forgiveness in launch process, the present invention it include supporting mechanism, workbench, two pushing mechanisms and two discharging mechanisms；The workbench is slidably connected on supporting mechanism, two pushing mechanisms are installed on the workbench, and two pushing mechanisms are disposed opposite to each other, each discharging mechanism is fixed on a pushing mechanism, and present invention is mainly applied to underwater robots and water surface high speed unmanned boat to transport into water or on the water surface from pick-up boat.
Description
Technical field
The invention belongs to delivery device field, in particular to a kind of throwing for underwater robot and water surface high speed unmanned boat
Put device.
Background technique
Underwater robot and water surface high speed unmanned boat, are a kind of relatively advanced unmanned controllers, and majority is surveyed for ocean
It surveys, ocean accidents are searched and rescued, the activities such as ocean exploration, recently as the continuous development of science and technology, underwater robot and water surface high speed
The development of unmanned boat field also graduallys mature, and the underwater robot and water surface high speed unmanned boat of many complex profiles are come out one after another, this
The complex linear of kind of underwater robot and water surface high speed unmanned boat surface particles be more suitable for under water or adaptation when water surface operation
The flowing of seawater to reduce under water or damage of when water surface operation locating complex environment for shell, but this changes
Very big challenge is brought into the dispensing but to underwater robot and water surface high speed unmanned boat, traditional putting mode is adopted more
It is suspended in midair, more dispensing ship compounding practices, is made in underwater robot and water surface high speed unmanned boat input for safety water, this throwing with steel wire
Mode is put, when carrying out ocean exploration dispensing, excessive resource can be wasted, more dispensing ship work compounds waste people significantly
Power and material resources, while serious forgiveness is lower in launch process, if there is maloperation, pole occurs in a dispensing ship in launch process
It is likely to result in risk existing for entire launch process, a underwater robot or water surface high speed nothing for existing market situation
The cost of people's ship is all sufficiently expensive, once occur accident in dispensing, caused by loss be very huge.
Summary of the invention
The present invention is big in order to solve to expend resource in existing delivery device, and serious forgiveness is lower asks in launch process
Topic, and then a kind of delivery device for underwater robot and water surface high speed unmanned boat is provided.
A kind of delivery device for underwater robot and water surface high speed unmanned boat, it includes supporting mechanism, workbench, two
A pushing mechanism and two discharging mechanisms；
Workbench is slidably connected on supporting mechanism, and two pushing mechanisms are installed on the workbench, and two pushing mechanisms
It is oppositely arranged backwards, each discharging mechanism is fixed on a pushing mechanism；
Preferably, the supporting mechanism include main support, lead screw, auxiliary stand, No.1 motor, shaft coupling, with bearing
Bearing block and four slideways；
Main support and auxiliary stand are oppositely arranged, and No.1 motor is fixed on the upper surface of main support, and No.1 motor
Towards auxiliary stand, the bearing block with bearing is fixed on the upper surface of auxiliary stand output end, and four slideways are parallel to each other and set
It sets on the upper surface of main support and auxiliary stand, and one end of every slideway is fixedly connected with the upper surface of main support, every
The other end of slideway is fixedly connected with the upper surface of auxiliary stand, and lead screw is arranged among the slideway that four are parallel to each other, and silk
Thick stick is arranged in parallel with every slideway, and one end of lead screw is connected on the output end of No.1 motor by shaft coupling, lead screw it is another
One end is fixedly connected with the bearing inner race in the bearing block with bearing；
The preferably described workbench includes working plate, two auxiliary slide channel groups and two auxiliary sliders；
Two auxiliary slide channel groups are separately positioned on a side wall of working plate, and one end of each auxiliary slide channel group and work
A side wall for making plate is fixedly connected, and the other end of each auxiliary slide channel group is fixedly connected with the side wall of an auxiliary slider, work
The lower surface for making plate is equipped with two parallel No.1 sliding slots along the length direction of working plate, is equipped with one in the middle part of the end wall of working plate
Tapped through hole, the lower surface of each auxiliary slider are equipped with parallel with No.1 sliding slot No. two sliding slot, and lead screw is arranged in spiral shell
In line through-hole, and lead screw is threadedly coupled with tapped through hole, is located in the middle two slideways and is separately positioned in a No.1 sliding slot,
And each No.1 sliding slot is slidably connected with a slideway, two slideways positioned at outside are separately positioned in No. two sliding slots,
And each No. two sliding slots are slidably connected with a slideway；
Preferably, the pushing mechanism includes objective table, hydraulic cylinder, solenoid directional control valve, return pipe, fuel tank, oil pipe and oil
Pump；
The lower surface of objective table is equipped with two No. three parallel sliding slots along the width direction of objective table；
Piston rod in hydraulic cylinder is fixedly connected with the side wall of objective table, and one end of oil pipe is connected with the output end of oil pump,
The other end of oil pipe is connected by solenoid directional control valve with the oil suction chamber of hydraulic cylinder, and the input terminal of oil pump is connected with fuel tank, return pipe
One end be connected with fuel tank, the other end of return pipe is connected by solenoid directional control valve with the oil outlet chamber of hydraulic cylinder, auxiliary slide channel group
In two auxiliary slide channels be separately positioned in No. three sliding slots, and every auxiliary slide channel and the sliding of No. three sliding slot connect
It connects, hydraulic cylinder, solenoid directional control valve, return pipe, fuel tank, oil pipe and oil pump are arranged on the upper surface of working plate, and hydraulic cylinder
Cylinder body, fuel tank and oil pump be fixedly connected with the upper surface of working plate；
Preferably, the discharging mechanism includes wirerope rotating assembly, wirerope, No. two motors, shield, hollow multistage
Expansion plate and trailing arm；
One end of wirerope rotating assembly is equipped with motor connecting hole；
The output end of No. two motors is mounted in the motor connecting hole in wirerope rotating assembly, wirerope rotating assembly
Outside is equipped with shield, and the outlet of shield is fixedly connected with the root of hollow multi-stage expansion plate, and the one ends wound of wirerope exists
On the outer surface of wirerope rotating assembly, the other end of wirerope passes through hollow multi-stage expansion plate and is fixedly connected with trailing arm, hollow
The final stage plate of multi-stage expansion plate is fixedly connected with trailing arm, and wirerope rotating assembly and No. two motors are arranged at the upper table of objective table
On face, and wirerope rotating assembly and No. two motors are fixedly connected with the upper surface of objective table；
Preferably, the upper surface of the main support and the junction of No.1 motor are equipped with groove；
Preferably, the vertical section of the objective table is L shape；
Preferably, the trailing arm is equipped with rubber pad with the contact surface for being launched object.
The present invention has the advantages that with the prior art
The present invention provides a kind of delivery device for underwater robot and water surface high speed unmanned boat, and the present invention changes biography
System needs the dispensing mode of more dispensing ship work compounds, it is only necessary to which launch process can be realized in a pick-up boat, improves work
The loss of resource is also greatly reduced while efficiency, resource is made at least to have saved 40%, is carried out using such delivery device
Dispensing, which can also effectively avoid more dispensing ships, to be caused in work compound due to the maloperation of a dispensing ship entirely
Launch process failure, improves serious forgiveness, reduces the generation of accident, while substantially reducing the release time, make the release time extremely
24% is shortened less.
Detailed description of the invention
Fig. 1 is top view of the invention；
Fig. 2 is main view of the invention；
Fig. 3 is left view of the invention；
Fig. 4 is the bottom view of workbench in the present invention；
Fig. 5 is the top view of pushing mechanism in the present invention；
Fig. 6 is the top view of discharging mechanism in the present invention；
Fig. 7 is the main view of discharging mechanism in the present invention；
Fig. 8 is the top view of supporting mechanism in the present invention；
Fig. 9 is the cross-sectional view of hollow multi-stage expansion plate in the present invention.
In figure, 1 supporting mechanism, 1-1 main support, 1-2 slideway, 1-3 lead screw, 1-4 auxiliary stand, 1-5 No.1 motor, 1-6
The bearing block of shaft coupling, 1-7 with bearing, 2 workbench, 2-1 working plate, 2-2 auxiliary slide channel group, 2-3 auxiliary slider, 3 push machine
Structure, 3-1 objective table, 3-2 hydraulic cylinder, 3-3 solenoid directional control valve, 3-4 return pipe, 3-5 fuel tank, 3-6 oil pipe, 3-7 oil pump, 4-1 steel
Cord rotating assembly, 4-2 wirerope, No. bis- motors of 4-3,4-4 shield, the hollow multi-stage expansion plate of 4-5 and 4-6 trailing arm.
Specific embodiment
Specific embodiment 1: illustrating present embodiment in conjunction with Fig. 1 to Fig. 3, one kind is used for underwater machine in present embodiment
The delivery device of device people and water surface high speed unmanned boat, it includes under supporting mechanism 1, workbench 2, two pushing mechanisms 3 and two
Laying mechanism 4；
Workbench 2 is slidably connected on supporting mechanism 1, and two pushing mechanisms 3 are mounted on workbench 2, and two promotions
Mechanism 3 is oppositely arranged backwards, and each discharging mechanism 4 is fixed on a pushing mechanism 3.
Specific embodiment 2: embodiment is described with reference to Fig.8, supporting mechanism 1 described in present embodiment includes master
Bracket 1-1, lead screw 1-3, auxiliary stand 1-4, No.1 motor 1-5, shaft coupling 1-6, the bearing block 1-7 with bearing and four slideways
1-2；
Main support 1-1 and auxiliary stand 1-4 are oppositely arranged, and No.1 motor 1-5 is fixed on the upper surface of main support 1-1,
And the output end of No.1 motor 1-5, towards auxiliary stand 1-4, the bearing block 1-7 with bearing is fixed in the upper table of auxiliary stand 1-4
On face, four slideway 1-2 are arranged in parallel on the upper surface of main support 1-1 and auxiliary stand 1-4, and every slideway 1-2
One end be fixedly connected with the upper surface of main support 1-1, the upper surface of the other end of every slideway 1-2 and auxiliary stand 1-4 are solid
Fixed connection, lead screw 1-3 are arranged among the slideway 1-2 that four are parallel to each other, and lead screw 1-3 with every slideway 1-2 is parallel sets
It sets, one end of lead screw 1-3 is connected on the output end of No.1 motor 1-5 by shaft coupling 1-6, the other end and band of lead screw 1-3
Bearing inner race in the bearing block 1-7 of bearing is fixedly connected, other undocumented connection types are same as the specific embodiment one.
So set, the input terminal of No.1 motor 1-5 is connect with external power supply, the input terminal of No.1 motor 1-5 can band
Dynamic lead screw 1-3 rotation, it is in order to which cooperating platform 2 is on supporting mechanism that lead screw 1-3, which is arranged between the two slideway 1-2 in centre,
Doing sliding motion, lead screw 1-3 circles the distance for driving workbench 2 to move a lead on lead screw 1-3 on slideway 1-2, and four
Slideway 1-2 is arranged in parallel, be it is more steady in order to slide workbench 2 on supporting mechanism, in order to preferably cooperate work
Make the construction of platform 2, the slideway 1-2 distance of four centres slideway 1-2 two is smaller, the slideway 1-2 of two sides and intermediate two slideways
Distance is larger between 1-2.
Specific embodiment 3: embodiment is described with reference to Fig. 4, workbench 2 described in present embodiment includes work
Plate 2-1, two auxiliary slide channel group 2-2 and two auxiliary slider 2-3；
Two auxiliary slide channel group 2-2 are separately positioned on a side wall of working plate 2-1, and each auxiliary slide channel group 2-2
One end be fixedly connected with a side wall of working plate 2-1, the other end and an auxiliary slider 2- of each auxiliary slide channel group 2-2
3 side wall is fixedly connected, and the lower surface of working plate 2-1 is equipped with two parallel No.1 sliding slots along the length direction of working plate 2-1
A tapped through hole 2-1-2 is equipped in the middle part of the end wall of 2-1-1, working plate 2-1, the lower surface of each auxiliary slider 2-3 is equipped with
One parallel with No.1 sliding slot No. two sliding slot 2-3-1, lead screw 1-3 is arranged in tapped through hole 2-1-2, and lead screw 1-3 and spiral shell
Line through-hole 2-1-2 is threadedly coupled, and is located in the middle two slideway 1-2 and is separately positioned in a No.1 sliding slot 2-1-1, and each
No.1 sliding slot 2-1-1 is slidably connected with a slideway 1-2, and two slideway 1-2 positioned at outside are separately positioned on No. two cunnings
In slot 2-3-1, and an each No. two sliding slot 2-3-1 and slideway 1-2 is slidably connected, other undocumented connection types and specific
Embodiment one is identical.
So set, increasing auxiliary slider 2-3 in the two sides of working plate 2-1 can make to be workbench 2 on supporting mechanism 1
What is moved is more stable, while can be promotion machine with auxiliary slide channel group 2-2 connection between working plate 2-1 and auxiliary slider 2-3
Objective table 3-1 in structure 3 plays good supporting role, allows objective table 3-1 under the action of hydraulic cylinder 3-2, Ke Yi
It moves reciprocatingly on auxiliary slide channel group 2-2.
Specific embodiment 4: embodiment is described with reference to Fig.5, pushing mechanism 3 described in present embodiment includes carrying
Object platform 3-1, hydraulic cylinder 3-2, solenoid directional control valve 3-3, return pipe 3-4, fuel tank 3-5, oil pipe 3-6 and oil pump 3-7；
The lower surface of objective table 3-1 is equipped with two No. three parallel sliding slot 3-1-1 along the width direction of objective table 3-1；
Piston rod in hydraulic cylinder 3-2 is fixedly connected with the side wall of objective table 3-1, and one end of oil pipe 3-6 is with oil pump 3-7's
Output end is connected, and the other end of oil pipe 3-6 is connected by solenoid directional control valve 3-3 with the oil suction chamber of hydraulic cylinder 3-2, oil pump 3-7's
Input terminal is connected with fuel tank 3-5, and one end of return pipe 3-4 is connected with fuel tank 3-5, and the other end of return pipe 3-4 is changed by electromagnetism
It is connected to valve 3-3 with the oil outlet chamber of hydraulic cylinder 3-2, two auxiliary slide channels in auxiliary slide channel group 2-2 are separately positioned on one three
In number sliding slot 3-1-1, and every auxiliary slide channel is slidably connected with a No. three sliding slot 3-1-1, hydraulic cylinder 3-2, solenoid directional control valve
3-3, return pipe 3-4, fuel tank 3-5, oil pipe 3-6 and oil pump 3-7 are arranged on the upper surface of working plate 2-1, and hydraulic cylinder 3-2
Cylinder body, fuel tank 3-5 and oil pump 3-7 be fixedly connected with the upper surface of working plate 2-1, other undocumented connection types and tool
Body embodiment one is identical.
So set, hydraulic drive is most commonly seen one of the kind of drive, it is outstanding that its steady reliable and failure rate is low etc.
Performance, be selection it the most in pushing mechanism 3 the reason of dynamical system, screw slide rails mechanism be also in straight reciprocating motion often
The device seen drives lead screw rotation by motor, and the rotation of lead screw is changed into objective table and moves in a straight line on the slide rail, but examines
Consider the actual device to be carried on objective table 3-1, lead screw transmission need lead screw be arranged in auxiliary slide channel group 2-2 two it is auxiliary
Between inrun, stroke can be caused to interfere the movement of discharging mechanism 4, the function of being unfavorable for device is realized, lead to failure of apparatus,
The planform that nobody endures in view of the underwater robot or the water surface to be launched high speed is complex changeable, is not all axial symmetry
Figure, therefore two moving systems 3 are used, the hydraulic cylinder 3-2 between two moving systems 3 is unaffected to each other, in order to more
Good cooperation is launched the shape of object, is to launch to reach accurately and efficiently effect.
Specific embodiment 5: embodiment is described with reference to Fig.6, one kind described in present embodiment is used for underwater machine
The delivery device of device people and water surface high speed unmanned boat, it is characterised in that: the discharging mechanism 4 include wirerope rotating assembly 4-1,
Wirerope 4-2, No. two motor 4-3, shield 4-4, hollow multi-stage expansion plate 4-5 and trailing arm 4-6；
One end of wirerope rotating assembly 4-1 is equipped with motor connecting hole；
The output end of No. two motor 4-3 is mounted in the motor connecting hole in wirerope rotating assembly 4-1, wirerope shaft
The outside of component 4-1 is equipped with shield 4-4, and the outlet of shield 4-4 is fixedly connected with the root of hollow multi-stage expansion plate 4-5,
On the outer surface of wirerope rotating assembly 4-1, the other end of wirerope 4-2 passes through hollow more the one ends wound of wirerope 4-2
Grade expansion plate 4-5 is fixedly connected with trailing arm 4-6, and the most end step of hollow multi-stage expansion plate 4-5 is fixedly connected with trailing arm 4-6, steel
Cord rotating assembly 4-1, No. two motor 4-3 and shield 4-4 are arranged on the upper surface of objective table 3-1, and wirerope turns
Shaft assembly 4-1, No. two motor 4-3 and shield 4-4 are fixedly connected with the upper surface of objective table 3-1, other undocumented companies
It is same as the specific embodiment one to connect mode.
So set, wirerope rotating assembly 4-1 includes wirerope shaft and two fixed plates, two fixed plates are solid respectively
It connects in one end of wirerope shaft, hollow multi-stage expansion plate 4-5 is similar to Telescopic rod structure common in life, but every is stretched
Contracting plate is hollow structure, and by the mutually clamping of the protrusion on wooden partition of stretching between two neighboring expansion plate, wirerope 4-2 is set
Setting in hollow multi-stage expansion plate 4-5 is bad weather when at sea launching to overcome, and the sea wind of large wind was to launching
Journey impacts, and hollow multi-stage expansion plate 4-5 can play the role of certain radix saposhnikoviae and protection wirerope, due to wirerope 4-
Connection between 2 and trailing arm 4-6 is point contact, has jiggly phenomenon during exercise and occurs, therefore by hollow multi-stage expansion
The most final stage of plate 4-5 is also fixedly connected with the upper surface trailing arm 4-6, is twined when wirerope 4-2 is returned onto wirerope rotating assembly 4-1
When, wirerope 4-2 drives trailing arm 4-6 to move upwards, while driving the end with trailing arm 4-6 affixed hollow multi-stage expansion plate 4-5
Grade is contracted to the root of hollow multi-stage expansion plate 4-5, when wirerope 4-2 is detached from from cord shaft 4-1, wirerope 4- step by step
2, which will drive trailing arm 4-6, moves downward, while the most final stage of the hollow multi-stage expansion plate 4-5 affixed with trailing arm 4-6 being driven to draw step by step
The root for stretching out empty multi-stage expansion plate 4-5, until hollow multi-stage expansion plate 4-5 reaches the limit of length.
Specific embodiment 6: the upper table of embodiment is described with reference to Fig.8, main support 1-1 described in present embodiment
Face and the junction of No.1 motor 1-5 are equipped with groove 1-1-1, other undocumented connection types and specific embodiment two-phase
Together.
So set, preventing when in order to guarantee that the output end of No.1 motor 1-5 is connect with lead screw 1-3 on uniform level line
Only cause lead screw 1-3 excessive with respect to the distance of slideway 1-2 because motor is excessively high, what increases the height of workbench 2 from, leads to work
2 weight of platform increases, and brings larger bearing load for supporting mechanism 1.
Specific embodiment 7: embodiment is described with reference to Fig. 3, the perpendicular of objective table 3-1 described in present embodiment is cut
Face is L shape, other undocumented connection types are identical as specific embodiment four.
Specific embodiment 8: embodiment is described with reference to Fig.7, trailing arm 4-6 described in present embodiment be launched
The contact surface of object is equipped with rubber pad.Other undocumented connection types are identical as specific embodiment five.
So set, the surface quality in order to protect the underwater robot being launched or the quick unmanned boat of the water surface, simultaneously
Increase the contact friction force of trailing arm 4-6 and underwater robot or the quick unmanned boat of the water surface.
Working principle
The present invention provides a kind of delivery device for underwater robot and water surface high speed unmanned boat, main component type selecting
It is as follows:
First by the present invention on pick-up boat, main support 1-1 is fixedly connected on close to the side of pick-up boat driver's cabin, auxiliary
Bracket 1-4 is helped to be mounted at the outward opening of pick-up boat, control No.1 motor 1-5 rotates forward lead screw 1-3, makes to be mounted on lead screw 1-3
Upper table 2 slides on the slideway of the upper surface of support construction 1, and when the present invention does not work, wirerope 4-2 is returned and twined to steel wire
Restrict rotating assembly 4-1, while hollow multi-stage expansion plate 4-5 can return to hollow multi-stage expansion plate 4-5 under the action of wirerope 4-2
Root, remain most short compressive state, when workbench 2 be moved to needed for launch underwater robot or water surface high speed unmanned boat
Top, control hydraulic cylinder 3-2 pushes objective table 3-1 to slide into optimal gripping width on auxiliary slide channel group 2-2, control two
Number motor 4-3 makes wirerope rotating assembly 4-1 lower wire rope 4-2, wirerope 4-2 that trailing arm 4-6 be driven to move down, while driving
Empty multi-stage expansion plate 4-5 extends step by step, when trailing arm 4-6, which is moved down into, can clamp underwater robot or water surface high speed unmanned boat
It waits, control hydraulic cylinder 3-2 takes back objective table 3-1, and trailing arm 4-6 can be clamped in the two of underwater robot or water surface high speed unmanned boat
Side, due to having installed rubber pad protective device additional on trailing arm 4-6, when clamping, will not be to underwater robot or water surface high speed unmanned boat
Surface have an impact, after trailing arm 4-6 clamps underwater robot or water surface high speed unmanned boat, control No.1 motor 1-5 band
Dynamic lead screw 1-3 reversion, keeps workbench 2 mobile to pick-up boat opening, workbench 2 will drive pushing mechanism 3,4 and of discharging mechanism
Underwater robot or the water surface high speed unmanned boat being clamped on discharging mechanism 4 move together, the region to be moved then launched,
Control discharging mechanism 4 continues to transfer, and keeps underwater robot or water surface high speed unmanned boat submerged in water or float on the water surface, controls
Hydraulic cylinder 3-2 processed pushes objective table 3-1 to make trailing arm 4-6 far from clamped underwater robot or water surface high speed unmanned boat, simultaneously
Controlling No. two motor 4-3 drives wirerope rotating assembly time to twine wirerope 4-2, and the present invention is made to return to just beginning and end working condition.
Claims (8)
1. a kind of delivery device for underwater robot and water surface high speed unmanned boat, it is characterised in that: it includes supporting mechanism
(1), workbench (2), two pushing mechanisms (3) and two discharging mechanisms (4)；
Workbench (2) is slidably connected on supporting mechanism (1), and two pushing mechanisms (3) are installed on workbench (2), and two
A pushing mechanism (3) is oppositely arranged backwards, and each discharging mechanism (4) is fixed on a pushing mechanism (3).
2. a kind of delivery device for underwater robot and water surface high speed unmanned boat according to claim 1, special
Sign is: the supporting mechanism (1) include main support (1-1), lead screw (1-3), auxiliary stand (1-4), No.1 motor (1-5),
Shaft coupling (1-6), bearing block (1-7) the He Sigen slideway (1-2) with bearing；
Main support (1-1) and auxiliary stand (1-4) are oppositely arranged, and No.1 motor (1-5) is fixed in the upper surface of main support (1-1)
On, and the output end of No.1 motor (1-5), towards auxiliary stand (1-4), the bearing block (1-7) with bearing is fixed in auxiliary stand
On the upper surface of (1-4), four slideways (1-2) upper surface arranged in parallel in main support (1-1) and auxiliary stand (1-4)
On, and one end of every slideway (1-2) is fixedly connected with the upper surface of main support (1-1), the other end of every slideway (1-2) with
The upper surface of auxiliary stand (1-4) is fixedly connected, and lead screw (1-3) is arranged among four slideways being parallel to each other (1-2), and silk
Thick stick (1-3) is arranged in parallel with every slideway (1-2), and one end of lead screw (1-3) is connected to No.1 motor by shaft coupling (1-6)
On the output end of (1-5), the other end of lead screw (1-3) is fixedly connected with the bearing inner race in the bearing block (1-7) with bearing.
3. according to claim 1 or a kind of delivery device for underwater robot and water surface high speed unmanned boat described in 2,
Be characterized in that: the workbench (2) includes working plate (2-1), two auxiliary slide channel groups (2-2) and two auxiliary sliders (2-3)；
Two auxiliary slide channel groups (2-2) are separately positioned on a side wall of working plate (2-1), and each auxiliary slide channel group (2-
2) one end is fixedly connected with a side wall of working plate (2-1), the other end of each auxiliary slide channel group (2-2) and an auxiliary
The side wall of sliding block (2-3) is fixedly connected, and the lower surface of working plate (2-1) is equipped with two along the length direction of working plate (2-1) and puts down
The end wall middle part of capable No.1 sliding slot (2-1-1), working plate (2-1) is equipped with a tapped through hole (2-1-2), each auxiliary slider
The lower surface of (2-3) is equipped with parallel with No.1 sliding slot No. two sliding slot (2-3-1), and lead screw (1-3) setting is logical in screw thread
In hole (2-1-2), and lead screw (1-3) is threadedly coupled with tapped through hole (2-1-2), is located in the middle two slideways (1-2) respectively
It is arranged in a No.1 sliding slot (2-1-1), and each No.1 sliding slot (2-1-1) is slidably connected with a slideway (1-2), is located at
Two slideways (1-2) in outside are separately positioned in No. two sliding slots (2-3-1), and each No. two sliding slots (2-3-1) and one
Root slideway (1-2) is slidably connected.
4. according to claim 1 or a kind of delivery device for underwater robot and water surface high speed unmanned boat described in 3,
Be characterized in that: the pushing mechanism (3) includes objective table (3-1), hydraulic cylinder (3-2), solenoid directional control valve (3-3), return pipe (3-
4), fuel tank (3-5), oil pipe (3-6) and oil pump (3-7)；
The lower surface of objective table (3-1) is equipped with two No. three parallel sliding slots (3-1-1) along the width direction of objective table (3-1)；
Piston rod in hydraulic cylinder (3-2) is fixedly connected with the side wall of objective table (3-1), one end of oil pipe (3-6) and oil pump (3-
7) output end is connected, and the other end of oil pipe (3-6) is connected by solenoid directional control valve (3-3) with the oil suction chamber of hydraulic cylinder (3-2),
The input terminal of oil pump (3-7) is connected with fuel tank (3-5), and one end of return pipe (3-4) is connected with fuel tank (3-5), return pipe (3-4)
The other end be connected with the oil outlet chamber of hydraulic cylinder (3-2) by solenoid directional control valve (3-3), two in auxiliary slide channel group (2-2)
Auxiliary slide channel is separately positioned in No. three sliding slots (3-1-1), and every auxiliary slide channel and No. three sliding slot (3-1-1) are sliding
Dynamic connection, hydraulic cylinder (3-2), solenoid directional control valve (3-3), return pipe (3-4), fuel tank (3-5), oil pipe (3-6) and oil pump (3-7)
It is arranged on the upper surface of working plate (2-1), and the cylinder body of hydraulic cylinder (3-2), fuel tank (3-5) and oil pump (3-7) are and work
The upper surface for making plate (2-1) is fixedly connected.
5. according to claim 1 or a kind of delivery device for underwater robot and water surface high speed unmanned boat described in 4,
Be characterized in that: the discharging mechanism (4) includes wirerope rotating assembly (4-1), wirerope (4-2), No. two motors (4-3), prevents
Shield (4-4), hollow multi-stage expansion plate (4-5) and trailing arm (4-6)；
One end of wirerope rotating assembly (4-1) is equipped with motor connecting hole；
The output end of No. two motors (4-3) is mounted in the motor connecting hole in wirerope rotating assembly (4-1), wirerope shaft
The outside of component (4-1) is equipped with shield (4-4), and the root of the outlet of shield (4-4) and hollow multi-stage expansion plate (4-5) is solid
Fixed connection, the one ends wound of wirerope (4-2) on the outer surface of wirerope rotating assembly (4-1), wirerope (4-2) it is another
End is fixedly connected across hollow multi-stage expansion plate (4-5) with trailing arm (4-6), the final stage plate and support of hollow multi-stage expansion plate (4-5)
Arm (4-6) is fixedly connected, and wirerope rotating assembly (4-1), No. two motors (4-3) and shield (4-4) are arranged at objective table
On the upper surface of (3-1), and wirerope rotating assembly (4-1), No. two motors (4-3) and shield (4-4) with objective table (3-
1) upper surface is fixedly connected.
6. a kind of delivery device for underwater robot and water surface high speed unmanned boat according to claim 2, special
Sign is: the upper surface of the main support (1-1) and the junction of No.1 motor (1-5) are equipped with groove (1-1-1).
7. a kind of delivery device for underwater robot and water surface high speed unmanned boat according to claim 4, special
Sign is: the vertical section of the objective table (3-1) is L shape.
8. a kind of delivery device for underwater robot and water surface high speed unmanned boat according to claim 5, special
Sign is: the trailing arm (4-6) is equipped with rubber pad with the contact surface for being launched object.
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| CN201910351042.2A CN110126990B (en) | 2019-04-28 | 2019-04-28 | Throwing device for underwater robot and water surface high-speed unmanned boat |
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| CN201910351042.2A CN110126990B (en) | 2019-04-28 | 2019-04-28 | Throwing device for underwater robot and water surface high-speed unmanned boat |
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| CN115806022A (en) * | 2022-12-13 | 2023-03-17 | 威海水利工程集团有限公司 | Precise positioning device for underwater surveying and mapping and positioning method thereof |
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| CN110126990B (en) | 2021-07-09 |
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