CN110406634A - Device is determined in a kind of anchoring of underwater robot - Google Patents
Device is determined in a kind of anchoring of underwater robot Download PDFInfo
- Publication number
- CN110406634A CN110406634A CN201910623164.2A CN201910623164A CN110406634A CN 110406634 A CN110406634 A CN 110406634A CN 201910623164 A CN201910623164 A CN 201910623164A CN 110406634 A CN110406634 A CN 110406634A
- Authority
- CN
- China
- Prior art keywords
- fixed
- bearing
- rotary shaft
- shell
- motor housing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004873 anchoring Methods 0.000 title claims abstract description 17
- 239000007787 solid Substances 0.000 claims abstract description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 17
- 238000003466 welding Methods 0.000 claims description 9
- 229910052742 iron Inorganic materials 0.000 claims description 8
- 230000005611 electricity Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/24—Anchors
- B63B21/26—Anchors securing to bed
Abstract
The invention discloses a kind of anchorings of underwater robot to determine device, including shell and motor housing, outer casing bottom quadrangle passes through screw and is fixed with electric telescopic rod, electric telescopic rod bottom passes through screw and is fixed with fixed plate, bearing is equipped on the left of interior of shell, bearing's inner upper is equipped with rotary shaft, is equipped with motor housing on the right side of bearing, motor is fixed with by screw inside motor housing, is equipped with control cabinet below motor housing；A kind of this underwater robot anchoring determine device and passes through bearing fixation rotary shaft, cable is withdrawn and released by rotary shaft, the present apparatus is once fixed by anchor, secondary fixation is carried out to the present apparatus by fixed plate, it is more secured as defined in making, detect whether fixed plate contacts ground by pressure sensor, make the more solid of fixation, humidity is detected by humidity sensor, convenient for timely being powered off when control cabinet is intake, it drives rotary shaft to be rotated by motor, overall control is carried out by controller.
Description
Technical field
The present invention relates to robotic technology field, device is determined in specially a kind of underwater robot anchoring.
Background technique
Anchor refers generally to ship anchor, is the main component of anchoring and mooring system.The utensil made of iron that brings to is connected with iron chains aboard ship, anchor
It throws at the bottom, ship can be made to come to a complete stop, but occur more machines with the development of the times, in water, and these machines are solid again
Timing is highly difficult, because usually will appear undercurrent under water, machine is caused not work normally, but online very much
In stationary machines, underwater can not be consolidated and firm fixation.
Summary of the invention
The purpose of the present invention is to provide a kind of anchorings of underwater robot to determine device, there is easy to operate, controller to control,
It the advantages of Humidity Detection, fix stably, automatic alarm, pressure detecting, battery storage electricity, connection network, solves existing
The problems in technology.
To achieve the above object, the invention provides the following technical scheme: device is determined in a kind of anchoring of underwater robot, including it is outer
Shell and motor housing, the outer casing bottom quadrangle pass through screw and are fixed with electric telescopic rod, and the electric telescopic rod bottom is logical
It crosses screw and is fixed with fixed plate, pressure sensor is embedded on the inside of the fixed plate, passes through screw above the shell right end
It is fixed with alarm lamp, is equipped with control switch below the alarm lamp, the control switch is fixed by screws on shell, described
Bearing is equipped on the left of interior of shell, the outer casing bottom is connected to bearing bottom, and bearing's inner upper is equipped with rotation
Shaft, is welded and connected with fixing axle among the rotary shaft, is fixed with cable, the cable by iron bar in the middle part of the fixing axle
Bottom is fixed with anchor by iron bar, and the bearing left and right ends and rotary shaft corresponding position offer rotary shaft opening, described
Rotary shaft is stretched out from rotary shaft opening, and the rotary shaft left and right ends are arranged with bearing, and the bearing is divided into left end bearing
With right end bearing, on the shell by welding installation, the right end bearing is mounted on motor housing by welding to the left end bearing
On, motor housing is equipped on the right side of the bearing, the motor housing on the shell, is passed through by welding installation inside the motor housing
Screw is fixed with motor, and the machine shaft is equipped with control cabinet, the control below the motor housing by being welded to connect rotary shaft
Humidity sensor is fixed with by screw below left end inside case processed, is equipped with battery, the storage on the right side of the humidity sensor
Battery is fixed by screws in control chamber interior wall, is equipped with controller on the right side of the battery, the controller is fixed by screw
It is equipped with network interface below control chamber interior wall, the controller, the network interface is fixed by screws in control chamber interior wall.
Preferably, the control chamber interior wall and control switch are equipped with waterproof layer.
Preferably, the humidity sensor model are as follows: HS12P, the pressure sensor model are as follows: CMS-50, the electricity
Dynamic telescopic rod model are as follows: HTKC-75.
Preferably, the battery connects power supply by cable and control switch, control switch are separately connected by cable
Controller, pressure sensor, network interface and humidity sensor, the controller by cable be separately connected pressure sensor,
Electric telescopic rod, network interface, alarm lamp, motor and humidity sensor.
Compared with prior art, beneficial effects of the present invention are as follows: a kind of this underwater robot anchoring determines device and passes through axis
Fixed rotary shaft is held, cable is withdrawn and released by rotary shaft, the present apparatus is once fixed by anchor, by solid
Fixed board carries out secondary fixation to the present apparatus, make as defined in it is more secured, whether contiguously by pressure sensor detection fixed plate
Face makes the more solid of fixation, detects humidity by humidity sensor and passes through convenient for timely powering off when control cabinet is intake
Motor drives rotary shaft to be rotated, and overall control is carried out by controller.
Detailed description of the invention
Fig. 1 is the overall structure diagram that device is determined in a kind of underwater robot anchoring of the present invention；
Fig. 2 is the bottom substance schematic diagram that device is determined in a kind of underwater robot anchoring of the present invention.
Explanation is marked in figure: 1 shell, 2 fixing axles, 3 bearings, 4 bearings, 5 electric telescopic rods, 6 fixed plates, 7 pressure pass
Sensor, 8 cables, 9 anchors, 10 humidity sensors, 11 batteries, 12 network interfaces, 13 control cabinets, 14 controllers, 15 control switches,
16 alarm lamps, 17 motor housings, 18 motors, 19 rotary shafts.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments, is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", "top",
The orientation or positional relationship of the instructions such as "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
Device, including shell 1 and motor housing 17, outer 1 shell bottom four are determined in a kind of underwater robot anchoring referring to FIG. 1-2,
Angle passes through screw and is fixed with electric telescopic rod 5,5 model of electric telescopic rod are as follows: HTKC-75,5 bottom of electric telescopic rod pass through
Screw is fixed with fixed plate 6, and 6 inside of fixed plate is embedded with pressure sensor 7,7 model of pressure sensor are as follows: CMS-50, outside
Alarm lamp 16 is fixed with by screw above 1 right end of shell, is equipped with control switch 15 below alarm lamp 6, control switch 15 passes through spiral shell
Nail is fixed on shell 1, and 1 inside left of shell is equipped with bearing 4, and 1 bottom of shell is connected to 4 bottom of bearing, in bearing 4
It is equipped with rotary shaft 19 above portion, is welded and connected with fixing axle 2 among rotary shaft 19, iron is fixed with by iron bar in the middle part of fixing axle 2
Rope 8,8 bottom of cable are fixed with anchor 9 by iron bar, and 4 left and right ends of bearing and 19 corresponding position of rotary shaft offer rotary shaft
19 openings, rotary shaft 19 are stretched out from 19 opening of rotary shaft, and 19 left and right ends of rotary shaft are arranged with bearing 3, and bearing 3 divides for a left side
End bearing 3 and right end bearing 3, left end bearing 3 are mounted on shell 1 by welding, and right end bearing 3 is mounted on motor by welding
On case 17, motor housing 17 is equipped on the right side of bearing 4, motor housing 17 is mounted on shell 1 by welding, is passed through inside motor housing 17
Screw is fixed with motor 18, and 18 shaft of motor is equipped with control cabinet 13, control by being welded to connect rotary shaft 19 below motor housing 17
Humidity sensor 10,10 model of humidity sensor are as follows: HS12P, humidity sensor are fixed with by screw below 13 inside left end of case
Battery 11 is equipped on the right side of device 10, battery 11 is fixed by screws in 13 inner wall of control cabinet, is equipped with control on the right side of battery 11
Device 14, controller 14 are fixed by screws in 13 inner wall of control cabinet, are equipped with network interface 12, network interface 12 below controller 14
It is fixed by screws in 13 inner wall of control cabinet, 13 inner wall of control cabinet and control switch 15 are equipped with waterproof layer, and battery 11 passes through
Cable connection power supply and control switch 15, control switch 15 are separately connected controller 14, pressure sensor 7, network by cable
Interface 12 and humidity sensor 10, controller 14 are separately connected pressure sensor 7, electric telescopic rod 5, network interface by cable
12, alarm lamp 16, motor 18 and humidity sensor 10.
Working principle: device is determined in a kind of underwater robot anchoring of the present invention, the present apparatus is fixed on underwater, electric power storage
Pond 11 connects power supply by cable and carries out storage electricity, when electricity storage reaches a hour, opens control switch 15, device
Inside is powered, and humidity value is set in controller 14, controller 14 is by 12 receiving real-time data of network interface, and worker can at this time
Fix command is issued according to network, controller 14 receives order and opens electric telescopic rod 5 and motor 18 by cable, electronic to stretch
Contracting bar 5 starts and extends downwardly, and pushes fixed plate 6, when pressure sensor 7 detects the pressure greater than hydraulic pressure, controller 14
Stop electric telescopic rod 5 by cable, fixed plate 6 is fixed on the bottom, and motor 18 drives rotary shaft 19 to rotate at this time, and cable 8 is stretched
Out, anchor 9 is fallen at the bottom, is fixed, and when fixed complete, controller 14 is inverted by cable by motor 18, and anchor 9 is received
It returns, electric telescopic rod 5 drives in fixed plate 6 and withdraws, and when control cabinet 13 is intake, controller 14 is examined by humidity sensor 10
It measuring real-time humidity and is greater than setting humidity, controller 14 opens alarm lamp 16 by cable, and alarm lamp 16 carries out flashing alarm, and
When moisture detector 10 detects that humidity is more than one times of humidity value, controller 14 disconnects 11 power supply of battery, dress by cable
Stopping is set to be powered, worker needs to take out the present apparatus and dehumidify at this time, control switch 15 is reopened, and when needs close this
When device, control switch 15 is closed.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from spirit of the invention or
In the case where essential characteristic, the present invention can be realized in other specific forms；Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention
Interior, any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (4)
1. device is determined in a kind of underwater robot anchoring, it is characterised in that；Including shell (1) and motor housing (17), the shell (1)
Bottom four corners pass through screw and are fixed with electric telescopic rod (5), and electric telescopic rod (5) bottom passes through screw and is fixed with
Fixed board (6), fixed plate (6) inside is embedded with pressure sensor (7), solid by screw above shell (1) right end
Surely have alarm lamp (16), be equipped with control switch (15) below the alarm lamp (16), the control switch (15) is solid by screw
It is scheduled on shell (1), shell (1) inside left is equipped with bearing (4), shell (1) bottom and bearing (4) bottom
Connection, bearing's (4) inner upper are equipped with rotary shaft (19), are welded and connected with fixing axle among the rotary shaft (19)
(2), it is fixed with cable (8) in the middle part of the fixing axle (2) by iron bar, cable (8) bottom is fixed with anchor by iron bar
(9), bearing (4) left and right ends and rotary shaft (19) corresponding position offer rotary shaft (19) opening, the rotary shaft
(19) it is stretched out from rotary shaft (19) opening, rotary shaft (19) left and right ends are arranged with bearing (3), the bearing (3)
It is divided into left end bearing (3) and right end bearing (3), the left end bearing (3) is mounted on shell (1) by welding, the right end
Bearing (3) is mounted on motor housing (17) by welding, is equipped with motor housing (17) on the right side of the bearing (4), the motor housing
(17) it is mounted on shell (1) by welding, the motor housing (17) is internal to be fixed with motor (18), the motor by screw
(18) shaft is equipped with control cabinet (13) below the motor housing (17), the control cabinet by being welded to connect rotary shaft (19)
(13) it is fixed with humidity sensor (10) below internal left end by screw, battery is equipped on the right side of the humidity sensor (10)
(11), the battery (11) is fixed by screws in control cabinet (13) inner wall, is equipped with controller on the right side of the battery (11)
(14), the controller (14) is fixed by screws in control cabinet (13) inner wall, connects below the controller (14) equipped with network
Mouth (12), the network interface (12) are fixed by screws in control cabinet (13) inner wall.
2. device is determined in a kind of underwater robot anchoring according to claim 1, it is characterised in that: in the control cabinet (13)
Wall and control switch (15) are equipped with waterproof layer.
3. device is determined in a kind of underwater robot anchoring according to claim 1, it is characterised in that: the humidity sensor
(10) model are as follows: HS12P, pressure sensor (7) model are as follows: CMS-50, electric telescopic rod (5) model are as follows: HTKC-
75。
4. device is determined in a kind of underwater robot anchoring according to claim 1, it is characterised in that: the battery (11) is logical
It crosses cable connection power supply and control switch (15), control switch (15) is separately connected controller (14), pressure sensing by cable
Device (7), network interface (12) and humidity sensor (10), the controller (14) are separately connected pressure sensor by cable
(7), electric telescopic rod (5), network interface (12), alarm lamp (16), motor (18) and humidity sensor (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910623164.2A CN110406634A (en) | 2019-07-11 | 2019-07-11 | Device is determined in a kind of anchoring of underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910623164.2A CN110406634A (en) | 2019-07-11 | 2019-07-11 | Device is determined in a kind of anchoring of underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110406634A true CN110406634A (en) | 2019-11-05 |
Family
ID=68361019
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910623164.2A Pending CN110406634A (en) | 2019-07-11 | 2019-07-11 | Device is determined in a kind of anchoring of underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110406634A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111026097A (en) * | 2019-12-30 | 2020-04-17 | 深圳供电局有限公司 | Fault self-diagnosis and early-warning method for inspection robot |
| CN112356980A (en) * | 2020-11-17 | 2021-02-12 | 江苏科技大学 | Anchoring system for underwater landing of submersible vehicle |
| CN113501111A (en) * | 2021-06-25 | 2021-10-15 | 上海海事大学 | Underwater robot with underwater high-stability positioning device |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4706595A (en) * | 1980-09-25 | 1987-11-17 | Haak Rob Van Den | Anchor |
| CN1182394A (en) * | 1995-04-26 | 1998-05-20 | 布鲁帕特有限公司 | Mooring bed assessment apparatus and method |
| US20040229531A1 (en) * | 2003-02-05 | 2004-11-18 | Florida Atlantic University | Deployable and autonomous mooring system |
| US20110247543A1 (en) * | 2008-10-10 | 2011-10-13 | David Peter Van Den Ende | Anchor with measurement coupling |
| CN102837804A (en) * | 2012-08-30 | 2012-12-26 | 上海利策科技股份有限公司 | Installation equipment and installation method for suction anchor in deep water |
| CN103249640A (en) * | 2010-11-05 | 2013-08-14 | 布鲁帕特有限公司 | Anchor data communication system |
| US20150116496A1 (en) * | 2013-10-29 | 2015-04-30 | Ottarr, Llc | Camera, Sensor and/or Light-Equipped Anchor |
| US20150274261A1 (en) * | 2014-03-27 | 2015-10-01 | Intermoor Inc. | Actively Steerable Gravity Embedded Anchor Systems And Methods For Using The Same |
| US20160096599A1 (en) * | 2014-10-01 | 2016-04-07 | Kuo-Chang Huang | Offshore floating support apparatus |
| CN107697244A (en) * | 2017-11-07 | 2018-02-16 | 哈尔滨工程大学 | The spherical underwater robot promoted based on vector |
| DE202018001591U1 (en) * | 2018-03-27 | 2018-06-12 | Wolfgang Lutz | Unterwasserbohrankersystem |
| CN108945355A (en) * | 2018-04-13 | 2018-12-07 | 马鞍山宏合建筑工程有限公司 | A kind of underwater robot |
| CN211519790U (en) * | 2019-07-11 | 2020-09-18 | 广西万鑫源环境科技工程有限公司 | Underwater robot anchor fixing device |
-
2019
- 2019-07-11 CN CN201910623164.2A patent/CN110406634A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4706595A (en) * | 1980-09-25 | 1987-11-17 | Haak Rob Van Den | Anchor |
| CN1182394A (en) * | 1995-04-26 | 1998-05-20 | 布鲁帕特有限公司 | Mooring bed assessment apparatus and method |
| US20040229531A1 (en) * | 2003-02-05 | 2004-11-18 | Florida Atlantic University | Deployable and autonomous mooring system |
| US20110247543A1 (en) * | 2008-10-10 | 2011-10-13 | David Peter Van Den Ende | Anchor with measurement coupling |
| CN103249640A (en) * | 2010-11-05 | 2013-08-14 | 布鲁帕特有限公司 | Anchor data communication system |
| CN102837804A (en) * | 2012-08-30 | 2012-12-26 | 上海利策科技股份有限公司 | Installation equipment and installation method for suction anchor in deep water |
| US20150116496A1 (en) * | 2013-10-29 | 2015-04-30 | Ottarr, Llc | Camera, Sensor and/or Light-Equipped Anchor |
| US20150274261A1 (en) * | 2014-03-27 | 2015-10-01 | Intermoor Inc. | Actively Steerable Gravity Embedded Anchor Systems And Methods For Using The Same |
| US20160096599A1 (en) * | 2014-10-01 | 2016-04-07 | Kuo-Chang Huang | Offshore floating support apparatus |
| CN107697244A (en) * | 2017-11-07 | 2018-02-16 | 哈尔滨工程大学 | The spherical underwater robot promoted based on vector |
| DE202018001591U1 (en) * | 2018-03-27 | 2018-06-12 | Wolfgang Lutz | Unterwasserbohrankersystem |
| CN108945355A (en) * | 2018-04-13 | 2018-12-07 | 马鞍山宏合建筑工程有限公司 | A kind of underwater robot |
| CN211519790U (en) * | 2019-07-11 | 2020-09-18 | 广西万鑫源环境科技工程有限公司 | Underwater robot anchor fixing device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111026097A (en) * | 2019-12-30 | 2020-04-17 | 深圳供电局有限公司 | Fault self-diagnosis and early-warning method for inspection robot |
| CN112356980A (en) * | 2020-11-17 | 2021-02-12 | 江苏科技大学 | Anchoring system for underwater landing of submersible vehicle |
| CN112356980B (en) * | 2020-11-17 | 2021-12-17 | 江苏科技大学 | Anchoring system for underwater landing of submersible vehicle |
| CN113501111A (en) * | 2021-06-25 | 2021-10-15 | 上海海事大学 | Underwater robot with underwater high-stability positioning device |
| CN113501111B (en) * | 2021-06-25 | 2022-09-30 | 上海海事大学 | Underwater robot with underwater high-stability positioning device |
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