CN115258840A - Be applied to underwater robot's winding device - Google Patents
Be applied to underwater robot's winding device Download PDFInfo
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- CN115258840A CN115258840A CN202211178067.5A CN202211178067A CN115258840A CN 115258840 A CN115258840 A CN 115258840A CN 202211178067 A CN202211178067 A CN 202211178067A CN 115258840 A CN115258840 A CN 115258840A
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- rod
- fixedly connected
- cable
- underwater robot
- buffer
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- 238000004804 winding Methods 0.000 title claims abstract description 50
- 238000005299 abrasion Methods 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 19
- 230000003139 buffering effect Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 2
- 210000004209 hair Anatomy 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 18
- 238000005452 bending Methods 0.000 abstract description 5
- 230000032683 aging Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035882 stress Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4402—Guiding arrangements to control paying-out and re-storing of the material
- B65H75/4405—Traversing devices; means for orderly arranging the material on the drum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/20—Cleaning of moving articles, e.g. of moving webs or of objects on a conveyor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
- B65H75/4492—Manual drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/34—Handled filamentary material electric cords or electric power cables
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- Manipulator (AREA)
Abstract
The invention relates to the field of winding machines, in particular to a winding device applied to an underwater robot. The cable is easy to stretch and deform due to long-time excessive straightening under the unstable influence of an underwater environment, and the corner area of the cable is easy to seriously wear when sliding into a winding device under strong tension during the bending deformation, so that the safety performance of the later-stage use of the cable is influenced. The invention provides a winding device applied to an underwater robot, which comprises a translation part, a steering part and the like; the translation member is connected with the steering member. According to the underwater cable protection device, when the cable is impacted in water, the buffer assembly is matched with the buffer wheel to absorb the impact tensile force applied to the cable, and when the underwater robot meets a rapid stream in water, the guide assembly is matched with the guide wheel, the buffer assembly and the steering piece, so that deformation and abrasion applied to the corner of the cable are relieved, and the safety performance of later-stage use of the cable is guaranteed.
Description
Technical Field
The invention relates to the field of winding machines, in particular to a winding device applied to an underwater robot.
Background
The underwater robot is also called as an unmanned remote control submersible, can adapt to the severe danger of the underwater environment, replaces manpower to become an important tool for developing the ocean, needs to be connected with a power supply cable on the underwater robot to continuously provide operation energy for the underwater robot in order to ensure that the underwater robot can continuously work in the deep water for a long time, the other end of the cable is wound on a winding device, the winding device is arranged on a bank or a ship, the underwater moving range of the underwater robot is controlled by winding and unwinding the cable, when the underwater robot meets the severe underwater environment, the underwater robot is timely recycled by winding the cable, the underwater robot is effectively recycled in time, the underwater robot is prevented from being washed away by the severe water flow, and after the cable is discharged for a specified length due to the unstable underwater environment, need in time with cable locking, prevent that rivers from will sinking the unlimited towards other directions of cable in aqueous and wash away, but the cable is after the locking, the cable between underwater robot and the winding device is also easy because of the excessive straight tensile deformation that stretches for a long time, cause the ageing damage of cable material, and meet the torrent when underwater robot, when needing to regain the cable fast and retrieve underwater robot, underwater robot receives the torrent impact that comes from the indefinite direction, the tip that easy-to-draw cable was emitted forms the turning district, the turning district of cable is in the bending deformation period that appears, easily appear serious wearing and tearing when receiving the high tension gliding winding device, thereby influence the structural strength and the waterproof nature of cable, finally influence the safe performance in cable later stage.
Disclosure of Invention
The invention provides a winding device applied to an underwater robot, aiming at overcoming the defects that a cable is easy to stretch and deform due to long-time over-straightening under the influence of unstable underwater environment, and the corner area of the cable is easy to seriously abrade when sliding into the winding device under strong tension during bending deformation, so that the safety performance of the cable in later use is influenced.
The technical implementation scheme of the invention is as follows: a winding device applied to an underwater robot, the winding machine comprises a buffering component, a guiding component, a limiting component, a mounting rack, a main shaft, a winding drum, a translation component, a steering component, a buffering wheel, a guiding wheel and a brush roll; the middle part of the mounting rack is rotatably connected with a main shaft; the left end of the main shaft is fixedly connected with a handle; a bobbin is fixedly connected to the outer surface of the main shaft; a plurality of slot structures are arranged around the left edge of the winding drum; the rear side of the mounting rack is connected with a limiting component; the limiting assembly prevents the winding reel from winding and unwinding the cable through the slot structure; the front side of the mounting rack is provided with a translation piece; a steering piece for controlling the pay-off angle is arranged on the translation piece; the upper side of the steering piece is connected with a buffer wheel through a buffer assembly, the buffer assembly is matched with the buffer wheel to absorb impact tensile force applied to the cable, and the left side and the right side of the buffer wheel are fixedly connected with a first straight gear respectively; the lower side of the steering piece is connected with a guide wheel through a guide assembly, the guide assembly is matched with the guide wheel, a buffer wheel, the buffer assembly and the steering piece to relieve deformation and abrasion of the cable at the corner, and the left side and the right side of the guide wheel are fixedly connected with a second straight gear respectively; a brush roll is rotatably connected inside the steering piece, the brush roll is matched with a buffer wheel to clean dirt adhered to the outer surface of the cable, and a third straight gear is fixedly connected to each of the left side and the right side of the brush roll; the two first straight gears are respectively meshed with a third straight gear.
More preferably, the translation member comprises a screw rod and a first motor; the front side of the mounting rack is rotationally connected with a screw rod; the screw rod is connected with a steering piece; a first motor is fixedly connected to the right side of the mounting frame; an output shaft of the first motor is fixedly connected with a screw rod.
More preferably, the steering member comprises a main slider, a rotary block, a torsion spring and a support block; the front side of the mounting frame is connected with a main sliding block in a sliding manner; the main sliding block is connected with a screw rod in a screwing way; the lower side of the main sliding block is rotationally connected with a rotary block through a rotating shaft; the rotary block is connected with the guide assembly; the interior of the rotary block is rotatably connected with the brush roll; a torsion spring is fixedly connected between the main sliding block and the rotary block and sleeved on the outer surface of the rotary shaft part of the rotary block; the upper side of the rotary block is fixedly connected with a supporting block; the supporting shoe connects the buffering subassembly.
More preferably, a plurality of bristles are secured around the outer surface of the buffer wheel.
More preferably, a plurality of first protruding strip structures are arranged around the outer surface of the buffer wheel.
More preferably, a plurality of second protruding strip structures are arranged around the outer surface of the guide wheel.
More preferably, the buffer assembly comprises a first rotating shaft, a first electric push rod and a slide rod; the inside of the supporting block is rotatably connected with a first rotating shaft; the left end and the right end of the first rotating shaft are fixedly connected with a first electric push rod respectively; a sliding rod is fixedly connected between the telescopic ends of the two first electric push rods; the sliding rod is connected with the guide assembly; the middle part of the sliding rod is rotatably connected with a buffer wheel.
More preferably, the guiding assembly comprises a second rotating shaft, a transmission arm, an auxiliary sliding block, a first spring, a fixed rod and a second motor; the inner part of the rotary block is rotatably connected with a second rotating shaft; the left end and the right end of the second rotating shaft are fixedly connected with a transmission arm respectively; the inner parts of the two transmission arms are respectively connected with an auxiliary sliding block in a sliding way; two ends of the sliding rod are respectively connected with an auxiliary sliding block in a rotating way; a first spring is fixedly connected between the two auxiliary sliding blocks and the transmission arm respectively; a fixed rod is fixedly connected between the front ends of the two transmission arms; the middle part of the fixed rod is rotatably connected with a guide wheel; a second motor is fixedly connected to the left side of the fixed rod; the output shaft of the second motor is fixedly connected with the guide wheel.
More preferably, the limiting component comprises a second electric push rod, a pulling plate, an inner rod, an outer rod and a second spring; a second electric push rod is fixedly connected to the rear side of the mounting frame; a telescopic end of the second electric push rod is fixedly connected with a pulling plate; an inner rod is fixedly connected to the front side of the pulling plate; the outer surface of the inner rod is connected with an outer rod in a sliding manner; a second spring is fixedly connected between the inner rod and the outer rod and sleeved on the outer surface of the inner rod; the outer rod is inserted into the slot structure.
More preferably, the right end of the outer rod is provided with a hemispherical structure.
Compared with the prior art, the invention has the following advantages: the winding device applied to the underwater robot is provided with a limiting assembly, wherein the limiting assembly controls a winding drum to wind and unwind a cable through a slot structure, the winding device is also provided with a buffer wheel and a guide wheel which are used for controlling the winding and unwinding of the cable in different modes under different environments, the upper side of a steering piece is connected with the buffer wheel through the buffer assembly, when the cable connected to the underwater robot is impacted by unstable water flow in water, the buffer assembly is matched with the buffer wheel to absorb impact tension force borne by the cable, the lower side of the steering piece is connected with the guide wheel through the guide assembly, when the underwater robot meets a rapid current which influences the normal work of the underwater robot in water, the guide assembly is matched with the guide wheel, the buffer assembly and the steering piece to relieve deformation and abrasion borne by the corners of the cable, the inner part of the steering piece is rotatably connected with a brush roll, and the brush roll is matched with the buffer wheel to clean dirt adhered to the outer surface of the cable; the realization is in various unstable underwater environment, and the cable is difficult for appearing tensile deformation phenomenon because of the long-time excessively tight straight to the turning district of cable receives strong pulling force and is effectually alleviated in the bending deformation period appearing, makes the cable difficult serious wearing and tearing appear when slipping into winding device, thereby the security performance that the guarantee cable later stage was used.
Drawings
Fig. 1 is a schematic perspective view of a first embodiment of the present disclosure;
FIG. 2 is a schematic perspective view of a second embodiment of the present application;
fig. 3 is a schematic perspective view of a limiting assembly and a bobbin according to the present application;
FIG. 4 is a perspective view of a stop assembly of the present application;
FIG. 5 is a perspective view of a translator and a diverter of the present application;
FIG. 6 is a perspective view of a cushion assembly and a guide assembly according to the present application;
FIG. 7 is a perspective view of the buffer assembly and the buffer wheel of the present application;
FIG. 8 is a perspective view of a brush roll according to the present application;
FIG. 9 is a schematic perspective view of the buffer wheel and brush roller of the present application;
FIG. 10 is a perspective view of a guide assembly and guide wheel according to the present application;
fig. 11 is a schematic view of the working state of the present application.
Reference numerals: 1-mounting frame, 2-spindle, 21-handle, 3-bobbin, 31-cable, 32-slot, 41-screw rod, 42-first motor, 51-main slider, 52-rotary block, 53-torsion spring, 54-supporting block, 6-buffer wheel, 61-first straight gear, 62-bristle, 63-first raised line, 7-guide wheel, 71-second straight gear, 72-second raised line, 8-brush roller, 81-third straight gear, 101-first rotating shaft, 102-first electric push rod, 103-slide rod, 201-second rotating shaft, 202-transmission arm, 203-auxiliary slider, 204-first spring, 205-fixed rod, 206-second motor, 301-second electric push rod, 302-pull plate, 303-inner rod, 304-outer rod, 305-second spring.
Detailed Description
Although the present invention may be described with respect to particular applications or industries, those skilled in the art will recognize the broader applicability of the invention. Those of ordinary skill in the art will recognize other factors such as: terms such as above, below, upward, downward, and the like are used to describe the accompanying drawings and are not meant to limit the scope of the invention, which is defined by the appended claims. Such as: any numerical designation of first or second, and the like, is merely exemplary and is not intended to limit the scope of the invention in any way.
Examples
A winding device applied to an underwater robot is shown in figures 1-10 and comprises a buffering assembly, a guiding assembly, a limiting assembly, a mounting frame 1, a main shaft 2, a winding drum 3, a translation member, a steering member, a buffering wheel 6, a guiding wheel 7 and a brush roller 8; the middle part of the mounting rack 1 is rotatably connected with a main shaft 2; the left end of the main shaft 2 is connected with a handle 21 through a bolt; the outer surface of the main shaft 2 is fixedly connected with a bobbin 3; a cable 31 is wound around the bobbin 3; a plurality of slot 32 structures are arranged around the left edge of the bobbin 3; the rear side of the mounting rack 1 is connected with a limiting component; the limiting component is connected with the slot 32 structure; the front side of the mounting rack 1 is provided with a translation piece; the translation piece is provided with a steering piece; the upper side of the steering piece is connected with a buffer component; the buffer component is connected with a buffer wheel 6; a plurality of bristles 62 are fixedly connected around the outer surface of the buffer wheel 6; a plurality of first convex strip 63 structures are arranged around the outer surface of the buffer wheel 6; a first straight gear 61 is fixedly connected to the left side and the right side of the buffer wheel 6 respectively; the lower side of the steering piece is connected with a guide component; the buffer component is connected with the guide component; the guide component is connected with a guide wheel 7; a plurality of second raised strip 72 structures are arranged around the outer surface of the guide wheel 7; a second straight gear 71 is fixedly connected to the left side and the right side of the guide wheel 7 respectively; the interior of the steering part is rotatably connected with a brush roller 8; the left side and the right side of the brush roller 8 are respectively fixedly connected with a third straight gear 81; the two first spur gears 61 are each in mesh with a third spur gear 81.
As shown in fig. 5, the translation member includes a screw 41 and a first motor 42; the front side of the mounting rack 1 is rotatably connected with a screw rod 41; the screw rod 41 is connected with a steering piece; a first motor 42 is connected to the right bolt of the mounting frame 1; an output shaft of the first motor 42 is fixedly connected with the screw rod 41.
As shown in fig. 5, the steering member includes a main slider 51, a rotary block 52, a torsion spring 53 and a support block 54; the front side of the mounting frame 1 is connected with a main sliding block 51 in a sliding way; the main slide block 51 is screwed with the screw rod 41; the lower side of the main sliding block 51 is rotatably connected with a rotary block 52 through a rotating shaft; the rotary block 52 is connected with the guide component; the inner part of the rotary block 52 is rotatably connected with the brush roller 8; a torsion spring 53 is fixedly connected between the main sliding block 51 and the rotary block 52, and the torsion spring 53 is sleeved on the outer surface of the rotary shaft part of the rotary block 52; the upper side of the rotary block 52 is connected with a supporting block 54 through a bolt; the support block 54 is connected to the damping assembly.
As shown in fig. 6-8, the buffering assembly includes a first rotating shaft 101, a first electric push rod 102 and a sliding rod 103; a first rotating shaft 101 is rotatably connected inside the supporting block 54; the left end and the right end of the first rotating shaft 101 are respectively connected with a first electric push rod 102 through bolts; a sliding rod 103 is connected between the telescopic ends of the two first electric push rods 102 through bolts; the sliding rod 103 is connected with a guide component; the middle part of the sliding rod 103 is rotatably connected with the buffer wheel 6.
As shown in fig. 6 and 10, the guiding assembly includes a second rotating shaft 201, a driving arm 202, a sub-slider 203, a first spring 204, a fixing rod 205 and a second motor 206; a second rotating shaft 201 is rotatably connected inside the rotating block 52; the left end and the right end of the second rotating shaft 201 are respectively welded with a transmission arm 202; the inner parts of the two transmission arms 202 are respectively connected with an auxiliary sliding block 203 in a sliding way; two ends of the sliding rod 103 are respectively connected with an auxiliary sliding block 203 in a rotating way; a first spring 204 is fixedly connected between each of the two auxiliary sliding blocks 203 and the transmission arm 202; a fixing rod 205 is connected between the front ends of the two transmission arms 202 through bolts; the middle part of the fixed rod 205 is rotatably connected with a guide wheel 7; a second motor 206 is bolted to the left side of the fixing rod 205; the output shaft of the second motor 206 is fixedly connected with the guide wheel 7.
As shown in fig. 2-4, the limiting component comprises a second electric push rod 301, a pull plate 302, an inner rod 303, an outer rod 304 and a second spring 305; a second electric push rod 301 is connected to the rear side of the mounting rack 1 through a bolt; the telescopic end of the second electric push rod 301 is connected with a pulling plate 302 through a bolt; an inner rod 303 is welded at the front side of the pulling plate 302; the outer surface of the inner rod 303 is connected with an outer rod 304 in a sliding manner; a second spring 305 is fixedly connected between the inner rod 303 and the outer rod 304, and the second spring 305 is sleeved on the outer surface of the inner rod 303; the outer rod 304 is connected in the slot 32 in a pluggable manner; the right end of the outer rod 304 is arranged to be a hemispherical structure.
This should be used for cable 31 front end of underwater robot's winding device, pass between buffer wheel 6 and the brush roll 8, and the upper surface rigid coupling that bypasses leading wheel 7 is in underwater robot, this should be used for underwater robot's winding device's mounting bracket 1 installs on bank base or ship, after putting underwater robot into the aquatic, operator control second electric putter 301 drives arm-tie 302, interior pole 303, outer pole 304 and second spring 305 remove left, make the bulb portion of outer pole 304 hemisphere type structure leave the slot 32 of bobbin 3, during underwater robot removed in the aquatic, underwater robot pulling cable 31 drives bobbin 3 and main shaft 2 and rotates, make cable 31 emit fast from bobbin 3.
When the underwater robot moves to a designated working range area, an operator controls the second electric push rod 301 to drive the pull plate 302, the inner rod 303, the outer rod 304 and the second spring 305 to move rightwards, so that the hemispherical structure of the outer rod 304 is inserted into the slot 32 of the bobbin 3, at the moment, the bobbin 3 is in a half-locking state, even if the area of the cable 31 connected with the underwater robot in water is affected by water flow impact, the cable 31 cannot be discharged inefficiently due to the fact that the bobbin 3 is pulled to rotate, if the underwater robot needs to adjust the moving range continuously, the underwater robot can effectively pull the cable 31 to drive the bobbin 3 to rotate in the moving process, during the period, the rotating bobbin 3 pushes the ball head of the outer rod 304 through the slot 32, the outer rod 304 moves leftwards along the inner rod 303, the outer rod 304 drives the second spring 305 to compress to generate elastic force, the outer rod 304 leaves the current slot 32 and aligns with the next slot 32, the compressed second spring 305 drives the outer rod 304 to reset along the inner rod 303, the ball head of the outer rod 304 is inserted into the current slot 32, and the underwater robot can independently discharge the effective length of the cable 31 controlled by the underwater robot.
When the underwater robot reaches a designated working range, the released cable 31 is enough for the underwater robot to move freely in water, an operator controls the second electric push rod 301 to drive the pull plate 302, the inner rod 303, the outer rod 304 and the second spring 305 to move rightwards, so that the outer rod 304 is integrally inserted back into the slot 32 of the bobbin 3, the bobbin 3 is locked, during the underwater robot working in water, the cable 31 is immersed in water and is impacted by water flow in an uncertain direction, when the cable 31 is tensioned and tightened by the impact of the water flow, the cable 31 winds the area arranged on the lower surface of the buffer wheel 6 and is tightened upwards by the received tension force, the cable 31 pushes the buffer wheel 6 to drive the slide rod 103, the first electric push rod 102 and the first rotating shaft 101 to be screwed upwards, meanwhile, the slide rod 103 drives the auxiliary slide block 203 to move forwards along the transmission arm 202, the auxiliary slide block 203 drives the first spring 204 to be compressed, meanwhile, the slide rod 103 pushes the transmission arm 202 to drive the second rotating shaft 201 to rotate forwards, so that the first electric push rod 102 is screwed out naturally, the cable 31 is transferred to the first spring 204, and the cable 31 is tensioned and is not deformed effectively by the tension force absorbed by the cable 31.
When the moving range of the underwater robot in water needs to be reduced, and a region where a part of the cable 31 is released is recovered, an operator controls the second electric push rod 301 to drive the pull plate 302, the inner rod 303, the outer rod 304 and the second spring 305 to move leftwards, so that the bulb part of the outer rod 304 leaves the slot 32 of the winding drum 3, then the hand-operated handle 21 of the operator drives the main shaft 2 and the winding drum 3 to rotate, the winding drum 3 slowly recovers the cable 31, meanwhile, the output shaft of the first motor 42 drives the screw rod 41 to rotate, the screw rod 41 drives the main sliding block 51 to reciprocate leftwards and rightwards along the mounting frame 1, so that the cable 31 is sequentially recovered to the winding drum 3, when the cable 31 passes through a space between the buffer wheel 6 and the brush roll 8, the cable 31 drives the buffer wheel 6 to rotate, the buffer wheel 6 is meshed with the third straight gear 61 to drive the brush roll 81 to rotate, so that the straight gear 6 is matched with the brush roll 8 to respectively clean two sides of the cable 31 during the rotation of the brush roll 62, and dirt adhered to the outer surface of the cable 31 in water is removed.
When the underwater robot meets a rapid current which influences the normal work of the underwater robot in water, the rapid current continuously impacts the underwater robot from different directions to enable the underwater robot to swing in water indefinitely, the underwater robot pulls the cable 31 to drive the rotary block 52 through the guide component and the limiting component to rotate towards the underwater robot, the rotary block 52 drives the torsion spring 53 to generate torque, when the rapid current drives the underwater robot to pull the cable 31 to form a corner area, the rotary block 52, the guide component and the limiting component are matched with the cable 31 to rotate, the bending radian of the corner area of the cable 31 is effectively relieved, at the moment, an operator needs to rapidly hand the handle 21 to enable the winding drum 3 to rapidly retract the cable 31, meanwhile, the telescopic end of the first electric push rod 102 outwards pushes the slide rod 103, the slide rod 103 drives the auxiliary slide block 203 to move forwards along the transmission arm 202, the auxiliary slide block 203 drives the first spring 204 to compress, as shown in fig. 11, the sliding rod 103 pushes the transmission arm 202 to drive the entire guide assembly to rotate downward until the first spur gear 61 of the buffer gear 6 is engaged with the second spur gear 71 of the guide gear 7, at this time, the first protruding strip 63 of the buffer gear 6 and the second protruding strip 72 of the guide gear 7 respectively lock both sides of the cable 31, and then the output shaft of the second motor 206 drives the guide gear 7 to rotate, and the guide gear 7 is engaged with the first spur gear 61 through the second spur gear 71 to drive the buffer gear 6 to rotate, so that the rotating buffer gear 6 and the guide gear 7 respectively apply a transmission force to the cable 31 through the first protruding strip 63 and the second protruding strip 72, thereby dispersing a pulling force applied to the corner region of the cable 31 during retraction, and avoiding a severe abrasion phenomenon caused by too concentrated stress in the corner region of the cable 31, thereby ensuring safety performance of the cable 31 in later use.
Although the present invention has been described in detail with reference to the above embodiments, it will be apparent to those skilled in the art from this disclosure that various changes or modifications can be made herein without departing from the principles and spirit of the invention as defined by the appended claims. Therefore, the detailed description of the embodiments of the present disclosure is to be construed as merely illustrative, and not limitative of the remainder of the disclosure, but rather to limit the scope of the disclosure to the full extent set forth in the appended claims.
Claims (10)
1. A winding device applied to an underwater robot comprises a mounting frame (1), a main shaft (2) and a winding drum (3); the middle part of the mounting rack (1) is rotatably connected with a main shaft (2); the left end of the main shaft (2) is fixedly connected with a handle (21); the outer surface of the main shaft (2) is fixedly connected with a winding reel (3); the method is characterized in that: the device also comprises a buffer component, a guide component, a limiting component, a translation component, a steering component, a buffer wheel (6), a guide wheel (7) and a brush roll (8); a plurality of slot (32) structures are arranged around the left edge of the bobbin (3); the rear side of the mounting rack (1) is connected with a limiting component; the limiting component prevents the winding reel (3) from winding and unwinding the cable (31) through a slot (32) structure; the front side of the mounting rack (1) is provided with a translation piece; a steering piece for controlling the pay-off angle is arranged on the translation piece; the upper side of the steering piece is connected with a buffer wheel (6) through a buffer component, the buffer component is matched with the buffer wheel (6) to absorb impact tensile force applied to the cable (31), and the left side and the right side of the buffer wheel (6) are fixedly connected with a first straight gear (61) respectively; the lower side of the steering part is connected with a guide wheel (7) through a guide assembly, the guide assembly is matched with the guide wheel (7), a buffer wheel (6), the buffer assembly and the steering part to relieve deformation and abrasion at the corner of the cable (31), and the left side and the right side of the guide wheel (7) are respectively fixedly connected with a second straight gear (71); a brush roller (8) is rotatably connected inside the steering piece, the brush roller (8) is matched with a buffer wheel (6) to clean dirt adhered to the outer surface of the cable (31), and a third straight gear (81) is fixedly connected to the left side and the right side of the brush roller (8) respectively; the two first spur gears (61) are each in mesh with a third spur gear (81).
2. The winding device for the underwater robot as claimed in claim 1, wherein: the translation piece comprises a screw rod (41) and a first motor (42); the front side of the mounting rack (1) is rotatably connected with a screw rod (41); the screw rod (41) is connected with a steering piece; a first motor (42) is fixedly connected to the right side of the mounting rack (1); an output shaft of the first motor (42) is fixedly connected with a screw rod (41).
3. The winding device for the underwater robot as claimed in claim 2, wherein: the steering element comprises a main sliding block (51), a rotary block (52), a torsion spring (53) and a supporting block (54); the front side of the mounting rack (1) is connected with a main sliding block (51) in a sliding way; the main sliding block (51) is connected with the screw rod (41) in a screwing way; the lower side of the main sliding block (51) is rotatably connected with a rotary block (52) through a rotating shaft; the rotary block (52) is connected with the guide component; the interior of the rotary block (52) is rotationally connected with the brush roll (8); a torsion spring (53) is fixedly connected between the main sliding block (51) and the rotary block (52), and the torsion spring (53) is sleeved on the outer surface of the rotary shaft part of the rotary block (52); a supporting block (54) is fixedly connected to the upper side of the rotary block (52); the supporting block (54) is connected with the buffering component.
4. The winding device for the underwater robot as claimed in claim 1, wherein: a plurality of brush hairs (62) are fixedly connected around the outer surface of the buffer wheel (6).
5. The winding device for the underwater robot as claimed in claim 1, wherein: a plurality of first convex strip (63) structures are arranged on the outer surface of the surrounding buffer wheel (6).
6. The winding device for the underwater robot as claimed in claim 1, wherein: a plurality of second convex strip (72) structures are arranged on the outer surface of the surrounding guide wheel (7).
7. A winding apparatus for use in an underwater robot as claimed in claim 3, wherein: the buffer component comprises a first rotating shaft (101), a first electric push rod (102) and a sliding rod (103); a first rotating shaft (101) is rotatably connected inside the supporting block (54); the left end and the right end of the first rotating shaft (101) are fixedly connected with a first electric push rod (102) respectively; a sliding rod (103) is fixedly connected between the telescopic ends of the two first electric push rods (102); the sliding rod (103) is connected with the guide component; the middle part of the sliding rod (103) is rotatably connected with a buffer wheel (6).
8. The winding device for the underwater robot as claimed in claim 7, wherein: the guide assembly comprises a second rotating shaft (201), a transmission arm (202), an auxiliary sliding block (203), a first spring (204), a fixed rod (205) and a second motor (206); a second rotating shaft (201) is rotatably connected inside the rotary block (52); a transmission arm (202) is fixedly connected to the left end and the right end of the second rotating shaft (201) respectively; the inner parts of the two transmission arms (202) are respectively connected with an auxiliary sliding block (203) in a sliding way; two ends of the sliding rod (103) are respectively connected with an auxiliary sliding block (203) in a rotating way; a first spring (204) is fixedly connected between each of the two auxiliary sliding blocks (203) and the transmission arm (202); a fixed rod (205) is fixedly connected between the front ends of the two transmission arms (202); the middle part of the fixed rod (205) is rotatably connected with a guide wheel (7); a second motor (206) is fixedly connected to the left side of the fixed rod (205); the output shaft of the second motor (206) is fixedly connected with the guide wheel (7).
9. The winding device applied to the underwater robot as claimed in claim 1, wherein: the limiting component comprises a second electric push rod (301), a pulling plate (302), an inner rod (303), an outer rod (304) and a second spring (305); a second electric push rod (301) is fixedly connected to the rear side of the mounting rack (1); a pulling plate (302) is fixedly connected to the telescopic end of the second electric push rod (301); an inner rod (303) is fixedly connected to the front side of the pulling plate (302); the outer surface of the inner rod (303) is connected with an outer rod (304) in a sliding way; a second spring (305) is fixedly connected between the inner rod (303) and the outer rod (304), and the second spring (305) is sleeved on the outer surface of the inner rod (303); the outer rod (304) is inserted into the slot (32) structure.
10. The winding device for the underwater robot as claimed in claim 9, wherein: the right end of the outer rod (304) is arranged to be a hemispherical structure.
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| CN115258840B (en) | 2022-12-13 |
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