CN112875020A - Transfer telescopic device for underwater robot transportation - Google Patents
Transfer telescopic device for underwater robot transportation Download PDFInfo
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- CN112875020A CN112875020A CN202110040153.9A CN202110040153A CN112875020A CN 112875020 A CN112875020 A CN 112875020A CN 202110040153 A CN202110040153 A CN 202110040153A CN 112875020 A CN112875020 A CN 112875020A
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- 230000007246 mechanism Effects 0.000 claims abstract description 49
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 230000000712 assembly Effects 0.000 description 9
- 238000000429 assembly Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/20—External fittings
- B65D25/24—External fittings for spacing bases of containers from supporting surfaces, e.g. legs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/02—Internal fittings
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Abstract
The invention belongs to the technical field of underwater robots, and particularly relates to a transfer telescopic device for underwater robot transportation. The container comprises a container, a transportation platform and two telescopic supporting mechanisms, wherein the two telescopic supporting mechanisms are arranged at the bottom of the container and are used for supporting the transportation platform and pushing the supporting transportation platform into or out of the container; the transport platform is used for bearing the underwater robot. The invention is not restricted by the field, can be used in flat ground places such as land, mother ship decks and the like, can be used for loading and unloading underwater robots with various configurations, saves the manpower, improves the field working efficiency, and has stronger environmental adaptability and operability.
Description
Technical Field
The invention belongs to the technical field of underwater robots, and particularly relates to a transfer telescopic device for underwater robot transportation.
Background
For underwater robots or underwater detection equipment with light weight, such as underwater gliders and small buoys, aviation case packaging transportation is mostly adopted, for underwater robots with light weight, such as 1-2 tons, container transportation can be adopted, hoisting expansion devices, such as electric hoists and other equipment are installed on the top plate in a container, space and manpower are saved, for equipment with larger weight and with the volume not exceeding that of a common container, the equipment needs to be placed on the bottom plate because the dead weight of the equipment exceeds the bearing capacity of the top plate of the container, a transfer device suitable for the underwater robot with the weight more than 2 tons needs to be designed, the manpower is further liberated, and the loading and unloading efficiency is improved.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a transfer telescopic device for transporting an underwater robot, which facilitates quick loading and unloading of an underwater robot with a weight greater than 2 tons, improves efficiency, frees manpower, and reduces operation risks.
In order to achieve the purpose, the invention adopts the following technical scheme:
a transfer telescopic device for underwater robot transportation comprises a bearing platform, a transportation platform and two telescopic supporting mechanisms, wherein the two telescopic supporting mechanisms are arranged on the bearing platform and are used for supporting the transportation platform and pushing the supporting transportation platform into or out of the bearing platform; the transportation platform is used for bearing the underwater robot.
The telescopic supporting mechanism comprises a bottom plate, two-stage track supporting parts, a bracket, a lifting device and an anti-tipping device, wherein the two-stage track supporting parts and the anti-tipping device are arranged on the bottom plate, and the two-stage track supporting parts are telescopic; the bracket is arranged on the two-stage track supporting part in a manner of moving along the vertical direction, and the lifting device is arranged on the two-stage track supporting part and is connected with the bracket; the bracket is used for supporting the bearing underwater robot, and the anti-tipping device is used for auxiliary support.
The two-stage track supporting part comprises a lower-stage linear driving mechanism, a lower-stage guide rail groove, a lower-stage guide rail, a lower-stage supporting wheel assembly, a middle supporting plate, a higher-stage linear driving mechanism, a higher-stage guide rail groove, a higher-stage guide rail, a higher-stage supporting wheel assembly and a top supporting plate, wherein the lower-stage linear driving mechanism, the lower-stage guide rail groove and the lower-stage supporting wheel assembly are all arranged on the bottom plate, and the lower-stage guide rail groove is positioned on the outer side; the middle supporting plate is connected with the lower guide rail groove in a sliding manner through a lower guide rail, and the lower supporting wheel assembly is used for supporting the middle supporting plate; the lower-stage linear driving mechanism is connected with the middle supporting plate and is used for driving the middle supporting plate to slide along the lower-stage guide rail groove;
the upper linear driving mechanism, the upper guide rail groove and the upper support wheel assembly are all arranged on the middle support plate, and the upper guide rail groove is positioned on the outer side of the upper support wheel assembly; the top supporting plate is connected with the upper guide rail groove in a sliding manner through an upper guide rail, and the upper supporting wheel assembly is used for supporting the middle supporting plate; and the upper-level linear driving mechanism is connected with the top supporting plate and is used for driving the top supporting plate to slide along the upper-level guide rail groove.
The lateral part of top backup pad is equipped with lift linear guide along vertical direction, the bracket passes through lift slider and lift linear guide sliding connection.
The lifting device is arranged on the top supporting plate; the lifting device comprises a servo motor and a worm and gear speed reducer, wherein the input end of the worm and gear speed reducer is connected with the servo motor, and the output end of the worm and gear speed reducer is connected with the bracket.
The lower linear driving mechanism comprises a lower motor assembly, a lower coupler, a lower lead screw, a lower nut and a lower bearing support, wherein two ends of the lower lead screw are supported by the lower bearing support and can rotate; the lower motor assembly is connected with a lower lead screw through a lower coupler; and the lower-level screw nut is in threaded connection with the lower-level screw rod and is connected with the intermediate support plate.
The upper linear driving mechanism comprises an upper servo motor, an upper coupler, an upper lead screw, an upper nut and an upper bearing support, wherein two ends of the upper lead screw are supported by the upper bearing support and can rotate; the upper servo motor is connected with the upper lead screw through an upper coupler; and the upper-level screw nut is in threaded connection with the upper-level screw rod and is connected with the top supporting plate.
Horizontal limit switches are arranged at two ends of the bottom plate and the middle supporting plate; a control box is arranged in the container.
The anti-tipping device comprises an anti-tipping support wheel assembly, an anti-tipping guide rail groove, an anti-tipping support plate and an end part support mechanism, wherein the anti-tipping support wheel assembly and the anti-tipping guide rail groove are arranged on the bottom plate, the anti-tipping guide rail groove is positioned on the outer side of the anti-tipping support wheel assembly, and the anti-tipping support plate is connected with the anti-tipping guide rail groove in a sliding manner through an anti-tipping guide rail; the end supporting mechanism is arranged at the outer end of the anti-tipping supporting plate.
The end supporting mechanism comprises a rocker and a screw rod, wherein the screw rod is in threaded connection with the anti-tipping supporting plate, and the rocker is arranged at the upper end of the screw rod.
The invention has the advantages and positive effects that:
1. the invention has better universality and can be used for the loading and unloading work of underwater robots with various configurations within the bearing range.
2. The invention has strong environmental adaptability, is not restricted by sites, and can be used in flat ground sites such as land, mother ship decks and the like.
3. The underwater robot has the advantages that manpower is liberated, fewer personnel teams can finish the loading and unloading of the underwater robot, the whole-process remote control operation is realized, the field work efficiency is improved, and the strong operability is realized.
Drawings
FIG. 1 is a schematic structural diagram of a transfer telescopic device for underwater robot transportation according to the present invention;
FIG. 2 is a schematic diagram of the extending state of a transfer telescopic device for underwater robot transportation according to the present invention;
FIG. 3 is a schematic view of the extendable support mechanism of the present invention in an extended position;
FIG. 4 is a schematic structural view of a base plate according to the present invention;
FIG. 5 is a schematic view of the retractable support mechanism of the present invention in a retracted state;
fig. 6 is a side view of the telescoping support mechanism of the present invention.
Wherein: 1 is a bottom plate, 2 is a support, 3 is a wheel shaft, 4 is a roller, 5 is an anti-tipping guide rail groove, 6 is an anti-tipping support plate, 7 is a bracket, 8 is a rocker, 9 is an anti-tipping guide rail, 10 is a screw, 11 is an eyebolt, 12 is a top support plate, 13 is a worm gear reducer, 14 is a lower bearing support, 15 is a lower nut, 16 is a servo motor, 17 is a lower lead screw, 18 is a middle support plate, 19 is a lower coupling, 20 is a lower motor component, 21 is a horizontal limit switch, 22 is a lifting linear guide rail, 23 is a lifting slider, 24 is a container, 25 is a control box, 26 is a transportation platform, 27 is an underwater robot, 30 is an upper servo motor, 31 is an upper coupling, 32 is an upper lead screw, 33 is an upper nut, 34 is an upper bearing support, 35 is a lower guide rail groove, 36 is an upper guide rail, 37 is an upper guide rail groove, 38 is an upper guide rail, and 39 is a lifting limit switch.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, the transfer expansion device for underwater robot transportation provided by the present invention comprises a carrying platform, a transportation platform 26 and two expansion support mechanisms, wherein the two expansion support mechanisms are disposed on the carrying platform and are used for supporting the transportation platform 26 and pushing the transportation platform 26 into or out of the carrying platform; the transport platform 26 is used to carry the underwater robot 1.
In the embodiment of the present invention, the carrying platform is a container 24, and two retractable supporting mechanisms are disposed on two sides of the bottom of the container 24, and can support the transportation platform 26.
As shown in fig. 3 to 5, in the embodiment of the present invention, the retractable support mechanism includes a base plate 1, two-stage rail support portions, a bracket 7, a lifting device, and an anti-tipping device, wherein the two-stage rail support portions and the anti-tipping device are disposed on the base plate 1, and the two-stage rail support portions are retractable; the bracket 7 is movably arranged on the two-stage track supporting part along the vertical direction, and the lifting device is arranged on the two-stage track supporting part and is connected with the bracket 7; the bracket 7 is used for supporting and bearing the underwater robot 27, and the anti-tipping device is used for auxiliary support.
As shown in fig. 3 and 6, in the embodiment of the present invention, the two-stage rail supporting portion includes a lower linear driving mechanism, a lower guide rail groove 35, a lower guide rail 36, a lower supporting wheel assembly, a middle supporting plate 18, an upper linear driving mechanism, an upper guide rail groove 37, an upper guide rail 38, an upper supporting wheel assembly, and a top supporting plate 12, wherein the lower linear driving mechanism, the lower guide rail groove 35, and the lower supporting wheel assembly are all disposed on the bottom plate 1, and the lower guide rail groove 35 is located at the outer side of the lower supporting wheel assembly; the intermediate support plate 18 is slidably connected with the lower guide rail groove 35 through a lower guide rail 36, and the lower support wheel assembly is used for supporting the intermediate support plate 18; the lower linear driving mechanism is connected with the intermediate support plate 18 and is used for driving the intermediate support plate 18 to slide along the lower guide rail groove 35; the upper linear driving mechanism, the upper guide rail groove 37 and the upper support wheel assembly are all arranged on the middle support plate 18, the upper guide rail groove 37 is positioned on the outer side of the upper support wheel assembly, and the upper guide rail groove 37 is parallel to the lower guide rail groove 35; the top supporting plate 12 is connected with an upper guide rail groove 37 in a sliding way through an upper guide rail 38, and an upper supporting wheel component is used for supporting the middle supporting plate 18; the superior linear driving mechanism is connected with the top support plate 12 for driving the top support plate 12 to slide along the superior guide rail groove 37.
As shown in fig. 6, a lifting linear guide 22 is vertically provided on a side portion of the top support plate 12, the carriage 7 is slidably connected to the lifting linear guide 22 via a lifting slider 23, and a lifting limit switch 39 is provided on a lower end of the lifting linear guide 22. The side of the top support plate 12 is provided with a support portion.
As shown in fig. 5, the lifting device is provided on the top support plate 12; the lifting device comprises a servo motor 16 and a worm and gear speed reducer 13, wherein the input end of the worm and gear speed reducer 13 is connected with the servo motor 16, and the output end of the worm and gear speed reducer is connected with the top of the bracket 7. Specifically, the top extending end of the worm gear speed reducer 13 is of a screw structure, and one end of the screw is of a flange structure and is connected with the bracket 7. The lifting linear guide rails 22 are symmetrically arranged at two ends of the side part of the top supporting plate 12 and play a role in guiding and supporting the bracket 7.
As shown in fig. 3, in the embodiment of the present invention, the lower linear driving mechanism includes a lower motor assembly 20, a lower coupling 19, a lower lead screw 17, a lower nut 15 and a lower bearing support 14, wherein both ends of the lower lead screw 17 are supported by the lower bearing support 14 and can rotate; the lower motor assembly 20 is connected with the lower lead screw 17 through a lower coupling 19; the lower screw nut 15 is screwed with the lower screw 17 and is connected with the side of the intermediate support plate 18. The lower motor assembly 20 drives the lower lead screw 17 to rotate, and drives the intermediate support plate 18 to slide along the lower guide rail groove 35 through the lower screw nut 15, and the intermediate support plate 18 is supported by the intermediate support plate 18 when the intermediate support plate 18 is retracted backwards.
The upper linear driving mechanism comprises an upper servo motor 30, an upper coupler 31, an upper lead screw 32, an upper nut 33 and an upper bearing support 34, wherein two ends of the upper lead screw 32 are supported by the upper bearing support 34 and can rotate; the upper servo motor 30 is connected with an upper screw rod 32 through an upper coupling 31; the upper screw nut 33 is screwed with the upper screw shaft 32 and is connected with the side of the top support plate 12. The upper servo motor 30 drives the upper screw 32 to rotate, and the upper screw 33 drives the top support plate 12 to slide along the upper guide rail groove 37. Lifting ring screws 11 are arranged at two ends of the top supporting plate 12.
In this embodiment, the lower-stage motor assembly 20 and the upper-stage servo motor 30 are both driven by a servo motor and driven by a planetary reducer.
Furthermore, two ends of the bottom plate 1 and the middle support plate 18 are provided with horizontal limit switches 21; a control box 25 is provided in the container 24. The horizontal limit switches 21 are installed at two ends of the middle support plate 18 in pairs, when the upper guide rail 38 extends to the limit position, the upper screw 33 touches the front horizontal limit switch 21, and a signal is fed back to the control box 25, so that the upper servo motor 30 stops rotating and is locked; when the upper guide rail 38 is retracted to the limit position, the rear end of the top support plate 12 touches the rear end horizontal limit switch 21 to control the upper servo motor 30 to stop rotating and lock. Similarly, the horizontal limit switches 21 are installed at both ends of the base plate 1 in pairs to realize the telescopic limit control of the lower stage guide rails 36.
In the embodiment of the present invention, the anti-toppling device includes an anti-toppling support wheel assembly, an anti-toppling guide rail groove 5, an anti-toppling support plate 6, and an end portion support mechanism, wherein the anti-toppling support wheel assembly and the anti-toppling guide rail groove 5 are disposed on the bottom plate 1, the anti-toppling guide rail groove 5 is located at the outer side of the anti-toppling support wheel assembly, and the anti-toppling guide rail groove 5 is disposed in parallel with the lower stage guide rail groove 35, as shown. The anti-tipping support plate 6 is connected with the anti-tipping guide rail groove 5 in a sliding way through an anti-tipping guide rail 9; the end supporting mechanism is arranged at the outer end of the anti-tipping supporting plate 6. In this embodiment, the lower rail groove 35, the upper rail groove 37, and the anti-tip rail groove 5 are all dovetail grooves.
Specifically, the end supporting mechanism includes a rocker 8 and a screw 10, wherein the screw 10 is in threaded connection with the anti-tipping supporting plate 6, and the rocker 8 is disposed at the upper end of the screw 10. Specifically, the anti-tipping supporting plate 6 is of a U-shaped steel structure, and the rocker 8 penetrates through a circular hole in the top of the screw rod 10 to be connected with the screw rod in a tight fit manner. The weight of a cantilever when the underwater robot extends out is supported through the screw 10, so that the container is prevented from tipping;
as shown in fig. 4, in the embodiment of the present invention, the anti-rollover support wheel assembly, the lower support wheel assembly, and the upper support wheel assembly have the same structure, and each of the anti-rollover support wheel assembly, the lower support wheel assembly, and the upper support wheel assembly includes a support 2, a roller 4, and a wheel axle 3, the support 2 is installed on the bottom plate 1 in pairs, the roller 4 is supported by the wheel axle 3, and the wheel axle 3 and the support 2 are. In this embodiment, the anti-toppling support wheel assemblies, the subordinate support wheel assemblies and the superior support wheel assemblies are all three groups, the three groups of anti-toppling support wheel assemblies are sequentially arranged along the direction of the anti-toppling guide rail groove 5 and are used in cooperation with the anti-toppling guide rail 9, and the anti-toppling guide rail 9 depends on the three groups of anti-toppling support wheel assemblies to bear force when stretching. The three lower support wheel assemblies are matched with the lower guide rail 36 for use, and the lower guide rail 36 bears force by virtue of the lower support wheel assemblies when being stretched; three groups of upper supporting wheel assemblies are matched with the upper guide rail 38 for use, and the upper guide rail 38 bears force by the upper supporting wheel assemblies when stretching.
In this embodiment, the underwater robot 27 is fastened by a tension belt after being seated in the storage device, and the bottom end thereof can be fixed by a suspension bolt 11.
The working principle of the invention is as follows:
as shown in fig. 1-2, two telescopic supporting mechanisms are symmetrically installed on the bottom plate of the container 24, the underwater robot 27 is seated on the transportation platform 26, two end surfaces of the transportation platform 26 are attached to two end surfaces of the bracket 7, so that the underwater robot 27 can be conveniently limited, the control box 25 is installed on the rear side wall of the container 24, and each servo motor driver, the control switch and the wireless transceiver are installed inside the control box.
Before the underwater robot 27 is loaded in a box, the two-stage rail supporting part is remotely controlled to extend, the lifting device is lowered, the anti-overturning device is extended, the screw rod 10 is rotated downwards to support the ground, the supporting surface of the bracket 7 is lower than the bottom surface of the transportation platform 26, then the transportation platform 26 is pushed to a specified lifting position, two end surfaces of the transportation platform 26 are ensured to be attached to the end surfaces of the two brackets 7, the bracket 7 is remotely controlled to be lifted, the transportation platform 26 is enabled to leave the ground, the trundles are higher than the bottom plate of the container 24, the upper-stage guide rail is remotely controlled to be retracted, after the upper-stage guide rail reaches a limit position, the lower-stage guide rail 36 is automatically driven to be retracted, and the lifting device is remotely controlled to be lowered. The extending sequence of the guide rails is opposite to that of the guide rails, the control program is pre-programmed, and the retracting operation can be completed only through the remote control box.
In conclusion, the invention provides the transfer telescopic device for transporting the underwater robot, which can be used in flat ground places such as land, mother ship decks and the like, can be used for loading and unloading underwater robots with various configurations, saves manpower, improves the field working efficiency, and has stronger environmental adaptability and operability.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The transfer telescopic device for underwater robot transportation is characterized by comprising a bearing platform, a transportation platform (26) and two telescopic supporting mechanisms, wherein the two telescopic supporting mechanisms are arranged on the bearing platform and are used for supporting the transportation platform (26) and pushing the supporting transportation platform (26) into or out of the bearing platform; the transport platform (26) is used for carrying an underwater robot (27).
2. The transfer telescopic device for underwater robot transportation according to claim 1, wherein the telescopic support mechanism comprises a base plate (1), two-stage rail support portions, a bracket (7), a lifting device and an anti-tipping device, wherein the two-stage rail support portions and the anti-tipping device are arranged on the base plate (1), and the two-stage rail support portions are telescopic; the bracket (7) is arranged on the two-stage track supporting part in a manner of moving along the vertical direction, and the lifting device is arranged on the two-stage track supporting part and is connected with the bracket (7); the bracket (7) is used for supporting the bearing underwater robot (1), and the anti-tipping device is used for auxiliary support.
3. The transfer telescopic device for underwater robot transportation according to claim 2, wherein the two-stage rail support part comprises a lower linear driving mechanism, a lower guide rail groove (35), a lower guide rail (36), a lower support wheel assembly, an intermediate support plate (18), an upper linear driving mechanism, an upper guide rail groove (37), an upper guide rail (38), an upper support wheel assembly and a top support plate (12), wherein the lower linear driving mechanism, the lower guide rail groove (35) and the lower support wheel assembly are all arranged on the bottom plate (1), and the lower guide rail groove (35) is located outside the lower support wheel assembly; the middle support plate (18) is connected with the lower guide rail groove (35) in a sliding mode through a lower guide rail (36), and the lower support wheel assembly is used for supporting the middle support plate (18); the lower linear driving mechanism is connected with the middle supporting plate (18) and is used for driving the middle supporting plate (18) to slide along the lower guide rail groove (35);
the superior linear driving mechanism, the superior guide rail groove (37) and the superior support wheel assembly are all arranged on the middle support plate (18), and the superior guide rail groove (37) is positioned at the outer side of the superior support wheel assembly; the top supporting plate (12) is connected with the upper guide rail groove (37) in a sliding way through an upper guide rail (38), and the upper supporting wheel assembly is used for supporting the middle supporting plate (18); and the superior linear driving mechanism is connected with the top supporting plate (12) and is used for driving the top supporting plate (12) to slide along the superior guide rail groove (37).
4. The transfer telescope device for underwater robot transport according to claim 3, wherein the side of the top support plate (12) is provided with a lifting linear guide (22) in the vertical direction, and the carriage (7) is slidably connected to the lifting linear guide (22) via a lifting slider (23).
5. The transfer telescope for underwater robotic transport according to claim 3, wherein the lifting device is provided on the top support plate (12); the lifting device comprises a servo motor (16) and a worm and gear speed reducer (13), wherein the input end of the worm and gear speed reducer (13) is connected with the servo motor (16), and the output end of the worm and gear speed reducer is connected with the bracket (7).
6. The transfer telescopic device for underwater robot transportation according to claim 3, wherein the lower linear driving mechanism comprises a lower motor assembly (20), a lower coupling (19), a lower lead screw (17), a lower nut (15) and a lower bearing support (14), wherein both ends of the lower lead screw (17) are rotatably supported by the lower bearing support (14); the lower motor component (20) is connected with a lower lead screw (17) through a lower coupling (19); the lower screw nut (15) is in threaded connection with the lower screw rod (17) and is connected with the middle support plate (18).
7. The transfer telescopic device for underwater robot transportation according to claim 3, wherein the upper linear driving mechanism comprises an upper servo motor (30), an upper coupling (31), an upper lead screw (32), an upper nut (33) and an upper bearing support (34), wherein two ends of the upper lead screw (32) are supported by the upper bearing support (34) and can rotate; the upper servo motor (30) is connected with an upper screw rod (32) through an upper coupling (31); the upper-level screw nut (33) is in threaded connection with the upper-level screw rod (32) and is connected with the top supporting plate (12).
8. The transfer telescope for underwater robot transport according to claim 3, characterized in that both ends of the bottom plate (1) and the intermediate support plate (18) are provided with horizontal limit switches (21); a control box (25) is arranged in the container (24).
9. The transfer telescopic device for underwater robot transportation according to claim 2, wherein the anti-toppling device comprises an anti-toppling support wheel assembly, an anti-toppling guide rail groove (5), an anti-toppling support plate (6) and an end support mechanism, wherein the anti-toppling support wheel assembly and the anti-toppling guide rail groove (5) are disposed on the bottom plate (1) and the anti-toppling guide rail groove (5) is located at an outer side of the anti-toppling support wheel assembly, and the anti-toppling support plate (6) is slidably connected with the anti-toppling guide rail groove (5) through an anti-toppling guide rail (9); the end supporting mechanism is arranged at the outer end of the anti-tipping supporting plate (6).
10. The transfer telescope for underwater robot transport according to claim 9, wherein the end support mechanism comprises a rocker (8) and a screw (10), wherein the screw (10) is in threaded connection with the anti-tipping support plate (6), and the rocker (8) is disposed at an upper end of the screw (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110040153.9A CN112875020A (en) | 2021-01-13 | 2021-01-13 | Transfer telescopic device for underwater robot transportation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110040153.9A CN112875020A (en) | 2021-01-13 | 2021-01-13 | Transfer telescopic device for underwater robot transportation |
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| CN112875020A true CN112875020A (en) | 2021-06-01 |
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| CN202110040153.9A Pending CN112875020A (en) | 2021-01-13 | 2021-01-13 | Transfer telescopic device for underwater robot transportation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113267323A (en) * | 2021-06-08 | 2021-08-17 | 上海市东方海事工程技术有限公司 | Intelligent multi-axis displacement and rotation device |
| CN114148457A (en) * | 2021-11-24 | 2022-03-08 | 宜昌江峡船用机械有限责任公司 | Submersible transport device and transfer debugging method |
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