CN115230920A

CN115230920A - Expandable mounting device and underwater robot

Info

Publication number: CN115230920A
Application number: CN202210852291.1A
Authority: CN
Inventors: 迟令宝; 朱延本; 孙翔
Original assignee: Shenzhen Penglong Marine Robot Technology Co ltd
Current assignee: Shenzhen Penglong Marine Robot Technology Co ltd
Priority date: 2022-07-18
Filing date: 2022-07-18
Publication date: 2022-10-25
Anticipated expiration: 2042-07-18
Also published as: CN115230920B

Abstract

The invention discloses an expandable hanging device and a launching robot, which comprise a frame body and a plurality of limiting ropes, wherein a driving mechanism is installed at the upper end of the frame body, each limiting rope consists of a plurality of cylinders and a plurality of nylon ropes, a first groove is formed in one side surface of each cylinder, a second groove is formed in the other side surface of each cylinder, limiting rods are arranged in the first grooves, adjusting mechanisms for driving the limiting rods to stretch and retract are installed in the second grooves, mounting plates are arranged among the limiting ropes, sleeves are installed on four corners of each mounting plate and sleeved on the limiting pipes, clamping mechanisms are installed on the bottom surfaces of the mounting plates, and a plurality of floating plates are installed on the top surfaces of the mounting plates. The invention has simple structure, can limit the mounting plate through the limiting rod, enables the mounting plate and the load to automatically move to different depths, shoots and detects different planes, increases the range, can automatically retract the mounting plate subsequently, reduces the volume and is convenient to carry.

Description

Expandable mounting device and underwater robot

Technical Field

The invention relates to the technical field of underwater robots, in particular to an extensible mounting device and an underwater robot.

Background

Human beings are facing three major problems of population, resources and environment at present, along with the rapid development of the economy of each country and the continuous increase of the population of the world, the natural resources consumed by the human beings are more and more, the resources on land are increasingly reduced, and the marine development is imperative for survival and development. The ocean occupies 71 percent of the surface area of the earth, has a volume of 14 hundred million cubic kilometers, contains extremely rich biological resources and mineral resources in the ocean floor and ocean, and has extremely strong attraction and challenge as the ocean floor detection is similar to the space detection. The underwater robot and the underwater robot supporting facilities are products of various modern high technologies and system integration thereof, and have special significance for marine economy, marine industry, marine development and marine high technology in China.

The underwater robot has the advantages that the manufacturing cost is high, the loadable capacity of the underwater robot is in a range, the currently installed load is generally directly installed at the bottom of the underwater robot, the position cannot be adjusted, the underwater robot can only move upwards or downwards along with the underwater robot, the shooting or detection range is greatly reduced, and the use effect is influenced

Disclosure of Invention

The invention aims to provide an extensible mounting device and an underwater robot, wherein the depth of a mounted load can be adjusted, so that different conditions can be detected or photographed on different planes, and the photographing or detecting range is enlarged.

The invention is realized by the following technical scheme: the utility model provides an expanded carry device, including framework and many spacing ropes, all be equipped with the through-hole on four angles of framework, the spacing rope all passes the through-hole setting, the actuating mechanism of synchronous rolling or putting out the spacing rope is installed to the framework upper end, spacing rope comprises polylith cylinder and many nylon ropes, the equal sunken spread groove that forms in both ends of cylinder, the both ends of nylon rope all inwards dwindles and inserts in the spread groove, and it is fixed through the glue adhesion, still install many contact pins that pass the nylon rope on the cylinder, all be equipped with first recess on the side of cylinder, all be equipped with the second recess on the another side of cylinder, all be equipped with the gag lever post in the first recess, install the telescopic adjustment mechanism of drive gag lever post in the second recess, be equipped with the mounting panel between many spacing ropes, all install the sleeve pipe on four angles of mounting panel, the sleeve pipe all overlaps and locates on spacing pipe, all install fixture on the bottom surface of mounting panel, all install the polylith kickboard on the top surface of mounting panel, the bottom of spacing rope is all installed in there being equipped with the counter weight.

As preferred technical scheme, actuating mechanism includes servo motor, the chain, many axostylus axostyles, a plurality of reels, sprocket and first bearing, two liang of a set of installations of reel are on the axostylus axostyle, the reel all sets up with the through-hole relatively, spacing rope upper end is all coiled and is set up on the reel, the sprocket is installed respectively on the axostylus axostyle, the chain is coiled and is set up in the outside of a plurality of sprockets, first bearing is all installed on the axostylus axostyles, all install the dead lever between first bearing and the framework, servo motor's pivot is passed through shaft coupling and one of them axostylus axostyle fixed connection, install the motor support between servo motor and the framework, install many linking bridge of being connected with underwater robot on the top surface of framework.

As preferred technical scheme, adjustment mechanism all includes second bearing and screw, all is equipped with first screw hole between first recess and the second recess, and screw thread connects in first screw hole, all is equipped with the ejector pad in the first recess, all installs the spring between ejector pad and the gag lever post, and the equal embedded installation of second bearing is on a side of ejector pad, and the one end of screw is all installed in the inner circle of second bearing, and the one end that the second recess was kept away from to the gag lever post all is the setting of hemispherical structure.

According to a preferable technical scheme, the clamping mechanisms comprise C-shaped clamps and bottom plates, second screw holes are fully distributed in the mounting plates, the bottom plates abut against the bottom surfaces of the mounting plates and are locked and fixed in the second screw holes of the mounting plates through fixing bolts, the C-shaped clamps are mounted on the bottom surfaces of the bottom plates, the opening end surfaces of the C-shaped clamps are bent outwards to form fixing portions, and the fixing portions are locked through bolts and nuts in a matched mode; all install the roof on the bottom surface of kickboard, the roof all locks in the second screw hole of mounting panel through fixed bolt.

Preferably, the inner diameter of the upper casing is smaller than the inner diameter of the lower casing.

An underwater robot comprises the expandable mounting device.

The invention has the beneficial effects that: the invention has simple structure, the carried load can be arranged on the mounting plate through the clamping mechanism, the buoyancy of the mounting plate is adjusted according to the weight of the load, the overlarge weight is avoided, the mounting plate can be limited through the limiting rod, the mounting plate and the load can be automatically moved to different depths, different planes are shot and detected, the range is enlarged, the mounting plate and the load can be automatically retracted subsequently, the size is reduced, and the carrying is convenient.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the structure of the cylinder according to the present invention;

FIG. 3 is a schematic view of the mounting structure of the driving mechanism of the present invention;

fig. 4 is a schematic structural view of the mounting plate of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

All of the features disclosed in this specification, or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.

Any feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.

As shown in fig. 1, fig. 2, fig. 3 and fig. 4, the expandable hanging device comprises a frame body 1 and a plurality of limiting ropes, wherein through holes are formed in four corners of the frame body 1, the limiting ropes penetrate through the through holes, a driving mechanism for synchronously winding or unwinding the limiting ropes is installed at the upper end of the frame body 1, each limiting rope consists of a plurality of cylinders 3 and a plurality of nylon ropes 2, two ends of each cylinder 3 are recessed to form a connecting groove, two ends of each nylon rope 2 are inwardly reduced and inserted into the connecting grooves and fixed through glue adhesion, a plurality of contact pins 24 penetrating through the nylon ropes are further installed on each cylinder 3, a first groove 25 is formed in one side surface of each cylinder 3, a second groove 27 is formed in the other side surface of each cylinder 3, a limiting rod 23 is arranged in each first groove 25, an adjusting mechanism for driving the limiting rods to stretch is installed in each second groove 27, a mounting plate 4 is arranged between the limiting ropes, sleeves 5 are installed on four corners of the mounting plate 4, the sleeves 5 are all sleeved on the bottom surfaces of the limiting pipes, a clamping mechanism is installed on the mounting plate 4, a plurality of the top surfaces of the limiting rods 11, a plurality of the limiting plates are installed on the bottom surfaces of the limiting plates, a motor, and a motor is installed on the bottom of a servo motor, and a motor.

In this embodiment, actuating mechanism includes servo motor 17, chain 16, many axostylus axostyles 12, a plurality of reels 13, sprocket 29 and first bearing 15, two liang of a set of installations on axostylus axostyle 12 of reel 13, reel 13 all sets up with the through-hole is relative, spacing rope upper end is all coiled and is set up on reel 13, sprocket 29 installs respectively on axostylus axostyle 12, chain 16 coils and sets up in the outside of a plurality of sprockets 19, first bearing 15 all installs on axostylus axostyles 13, all install the dead lever between first bearing 15 and the framework 1, shaft coupling and one of them axostylus axostyle 12 fixed connection are passed through in servo motor 17's pivot, install the motor support between servo motor 17 and the framework 1, install many linking bridge 14 of being connected with underwater robot on the top surface of framework 1.

In this embodiment, adjustment mechanism all includes second bearing 19 and screw 26, all be equipped with first screw hole between first recess 25 and the second recess 27, screw 26 threaded connection is in first screw hole, all be equipped with ejector pad 21 in the first recess 25, all install spring 22 between ejector pad 21 and the gag lever post 23, second bearing 19 is all embedded to be installed on a side of ejector pad, the one end of screw 26 is all installed in the inner circle of second bearing, the one end that the second recess was kept away from to gag lever post 23 all is the setting of hemispherical structure.

In the embodiment, the clamping mechanisms comprise C-shaped clamps 8 and bottom plates 7, second screw holes 28 are fully distributed in the mounting plate 4, the bottom plates 7 abut against the bottom surface of the mounting plate 4 and are locked and fixed in the second screw holes of the mounting plate through fixing bolts, the C-shaped clamps 8 are mounted on the bottom surface of the bottom plate 7, the opening end surfaces of the C-shaped clamps 8 are bent outwards to form fixing parts, and the fixing parts are locked and locked through bolts and nuts; all install roof 9 on the bottom surface of kickboard 11, roof 9 all is fixed in the second screw hole of mounting panel through fixed bolt locking, during the installation, insert the load in the C type presss from both sides, and through the bolt and the nut with C type clamp locking fixed on the load, wherein, the quantity of kickboard is unlimited, can be according to the quantity of the weight adjustment kickboard of load, the weight of load slightly is greater than the buoyancy of kickboard, make the load can next time, but can not be direct impress the gag lever post in the first recess, it is spacing by the gag lever post that corresponds that the messenger's sleeve pipe can be smooth.

In this embodiment, the inner diameter of the upper sleeve 5 is smaller than the inner diameter of the lower sleeve, wherein the inner diameters of the sleeves are different, so that the extending distance of the limiting rod can be adjusted, and the extending distance of the upper limiting rod is smaller than the extending distance of the lower limiting rod, so that the sleeve with the larger inner diameter can pass through the upper limiting rod until being blocked by the lower limiting rod, and the sleeve, the mounting plate and the carried load can move to the specified position.

The underwater robot comprises the expandable mounting device, and the expandable mounting device is arranged on the bottom surface of the underwater robot through a connecting bracket.

When the device is used, the corresponding cylinder is selected according to the sinking position required, the corresponding screw is rotated through the screwdriver, the screw moves along the first screw hole, the pushing block, the spring and the limiting rod are pushed by the movement of the screw, and one end of the limiting rod can move to the outside;

after the underwater robot sinks, the load carried above can drive the mounting plate to move downwards, the movement of the mounting plate drives the sleeve to descend along the limiting rope until the bottom surface of the sleeve is contacted with the corresponding limiting rod, the sleeve, the mounting plate and the load are positioned through the limiting rod, so that different loads can be in different planes, and the range of one-time shooting, acquisition or detection is enlarged;

wherein, when the rolling, can start servo motor, servo motor's start-up has driven the axostylus axostyle, enable the synchronous rotation of axostylus axostyle through the chain, the reel has been driven in the rotation of axostylus axostyle, can withdraw spacing rope through the reel, sleeve pipe and framework at the top offset the back, the spacing rope of rolling that continues can make gag lever post and sheathed tube terminal surface take place the extrusion, make the gag lever post impressed in the first recess, the rolling that the spacing rope can continue, it is died to have avoided being blocked, finally make each sleeve pipe support together, and the configuration is then upwards extrudeed the sleeve pipe, increase the stability between the sleeve pipe.

The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope defined by the claims.

Claims

1. An expandable mounting device, comprising: including framework (1) and many spacing ropes, all be equipped with the through-hole on four angles of framework (1), the spacing rope all passes the through-hole setting, framework (1) upper end is installed synchronous rolling or is put out the actuating mechanism of spacing rope, spacing rope comprises polylith cylinder (3) and many nylon rope (2), the equal sunken spread groove that forms in both ends of cylinder (3), the both ends of nylon rope (2) all inwards reduce and insert in the spread groove, and it is fixed through the glue adhesion, still install many contact pin (24) that pass the nylon rope on cylinder (3), all be equipped with first recess (25) on the side of cylinder (3), all be equipped with second recess (27) on the another side of cylinder (3), all be equipped with gag lever post (23) in first recess (25), install the adjustment mechanism who drives the gag lever post is flexible in second recess (27), be equipped with between many spacing rope mounting panel (4), all install sleeve pipe (5) on four angles of mounting panel (4), all overlap and locate on the spacing pipe, all install on the mounting panel (4) top surface of centre gripping rope (11), the floating plate (11) of polylith floating plate (11) are all installed on the top surface.

2. The expandable mounting device of claim 1, wherein: actuating mechanism includes servo motor (17), chain (16), many axostylus axostyle (12), a plurality of reels (13), sprocket (29) and first bearing (15), two liang of a set of installation in axostylus axostyle (12) of reel (13), reel (13) all set up with the through-hole relatively, spacing rope upper end all coils and sets up on reel (13), install respectively on axostylus axostyle (12) sprocket (29), chain (16) coil and set up in the outside of a plurality of sprockets (19), first bearing (15) are all installed on axostylus axostyle (13), all install the dead lever between first bearing (15) and framework (1), shaft coupling and one of them axostylus axostyle (12) fixed connection are passed through in the pivot of servo motor (17), install the motor support between servo motor (17) and framework (1), install many linking bridge (14) of being connected with underwater robot on the top surface of framework (1).

3. The expandable mounting device of claim 1, wherein: adjustment mechanism all includes second bearing (19) and screw (26), all be equipped with first screw hole between first recess (25) and second recess (27), screw (26) threaded connection is in first screw hole, all be equipped with ejector pad (21) in first recess (25), all install spring (22) between ejector pad (21) and gag lever post (23), the equal embedded installation of second bearing (19) is on the side of ejector pad, the one end of screw (26) is all installed in the inner circle of second bearing, the one end that the second recess was kept away from in gag lever post (23) all is the setting of hemispherical structure.

4. The expandable mounting device of claim 1, wherein: the clamping mechanisms comprise C-shaped clamps (8) and bottom plates (7), second screw holes (28) are fully distributed in the mounting plates (4), the bottom plates (7) are abutted to the bottom surfaces of the mounting plates (4) and are locked and fixed in the second screw holes of the mounting plates through fixing bolts, the C-shaped clamps (8) are mounted on the bottom surfaces of the bottom plates (7), the opening end surfaces of the C-shaped clamps (8) are bent outwards to form fixing portions, and the fixing portions are locked through bolts and nuts; and the bottom surfaces of the floating plates (11) are respectively provided with a top plate (9), and the top plates (9) are locked and fixed in second screw holes of the mounting plates through fixing bolts.

5. The expandable mounting device of claim 1, wherein: the inner diameter of the upper sleeve (5) is smaller than that of the lower sleeve.

6. An underwater robot, characterized in that: comprising an expandable mounting device according to any of claims 1-5.