CN1397413A - Creep mechanism of underwater robot for autoamtically attacking mud - Google Patents
Creep mechanism of underwater robot for autoamtically attacking mud Download PDFInfo
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- CN1397413A CN1397413A CN 01127938 CN01127938A CN1397413A CN 1397413 A CN1397413 A CN 1397413A CN 01127938 CN01127938 CN 01127938 CN 01127938 A CN01127938 A CN 01127938A CN 1397413 A CN1397413 A CN 1397413A
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- mud
- autoamtically
- attacking
- underwater robot
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Abstract
A creeping mechanism for underground muddredging robot is composed of front body, back body, reverse cutting blades on the surface of the said front and back bodies, cylinder fixed to back body and piston rod fixed to front body and driven by said cylinder. The said reverse cutting blades has an open direction different from its advance direction.
Description
Technical field
The present invention relates to automatic muddredging robot under water, specifically a kind of creep mechanism of underwater robot for autoamtically attacking mud.
Background technology
Marine salvage operation, often need there be the shipwreck (ship) and the under-water hypostasis of strategy and economic value to salvage to various, with regard to domestic and international present salvaging a sunken ship (ship) situation, most of raising with salvage pontoons method that adopts, at first to guide hoist steel cable (a thousand pieces of gold cable) a thousand pieces of gold hole of carrying out shipwreck (ship) end to pass through shipwreck (ship) step by step by leading cable during salvaging, then floating drum is fixed together by hoist steel cable and shipwreck (ship) body.The under-water operation of (ship) of salvaging a sunken ship comprising: underwater environment investigation, hydraulic giant ditching, spoil disposal, drill rod burrow, wear very heavy cable, band fixedly cable, fixing floating drum.The under-water operation part of salvaging process is finished by the diver.Because the under-water operation environment is abominable, for the diver, burrowing, wear band a thousand pieces of gold cable under water is one labour intensity is big, efficient is low and a dangerous high job, the sea area of particularly big, complicated geology in the degree of depth, difficulty is just higher, causes under water the work capacity that burrows, wears band a thousand pieces of gold cable to account for more than 50% of whole fishing job thus.Therefore, cycle, use funds and the success or failure of shipwreck (ship) salvaging depend primarily under water efficient and the success or failure that burrow, wear the work of band a thousand pieces of gold cable.At present, a kind ofly replace hand labor with the special type under-water robot of creeping, become pressing for of under-water operation at wreck salvage.
Summary of the invention
The purpose of this invention is to provide a kind of simple and reliablely, can replace the creep mechanism of underwater robot for autoamtically attacking mud of diver, high efficiency.
Technical scheme of the present invention is: mainly be made up of precursor, back body, reverse cutting blade, cylinder body, piston rod, wherein: back body and cylinder body are connected, piston rod and precursor are connected, precursor is connected with the cylinder body moving contact, is respectively equipped with reverse cutting blade at forward and backward body outside face; Its reverse cutting blade open position is opposite with working direction; Described piston rod is driven by operating cylinder.
The present invention has following advantage:
1. because the moving power relative to straight line and just can realize travelling forward of entire mechanism of body before and after only need providing, so advantage such as the present invention has that version is simple and reliable, high efficiency, engineering exploitativeness are strong.
2. adopt the present invention to save shipwreck (ship) greatly and salvage the use funds, can shorten the salvaging cycle, replace the numerous and diverse work of diver.Further, the wriggling crawling robot that adopts the different distortion of organization plan of the present invention can make various sizes, in multiple medium, move.
Principle of work of the present invention:
Reverse cutting blade power-assisted creeping mechanism scheme of the present invention is to propose on the basis of having analyzed reptile movement characteristics such as snake, earthworm.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2-1 is the mode of operation of the embodiment of the invention in motion process.
Fig. 2-2 is the embodiment of the invention another mode of operation in motion process.
Fig. 2-3 is three mode of operation of the embodiment of the invention in motion process.
The specific embodiment
Below in conjunction with accompanying drawing in detail the present invention is described in detail.
As shown in Figure 1, the present invention mainly is made up of precursor, back body, reverse cutting blade, cylinder body, piston rod, wherein: back body 1 is connected with cylinder body 3, piston rod 5 is connected with precursor 4, precursor 4 is connected with cylinder body 3 moving contacts, be respectively equipped with reverse cutting blade 2 at forward and backward body 1,4 outside faces, its reverse cutting blade 2 open positions are opposite with working direction; Described piston rod 5 is driven by operating cylinder.
Principle of work of the present invention:
Reverse cutting blade power-assisted creeping mechanism scheme of the present invention is to propose on the basis of having analyzed reptile movement characteristics such as snake, earthworm.Motion process of the present invention is as follows:
Shown in Fig. 2-1,2-2,2-3, (1) starts operating cylinder, and piston rod 5 moves forward, and piston drives precursor 4 and travels forward.Precursor 4 is proal gives 1 one thrusts backward of back body simultaneously, because back body 1 has the trend of motion backward, so its reverse cutting blade 2 boosted by mud, and the reverse cutting blade of holding up 2 provides enough thrust for travelling forward of precursor 4; (2) with opposite direction startup operating cylinder, piston rod 5 moves backward, and piston drives precursor 4 makes it produce the trend of motion backward, so its reverse cutting blade also will be boosted prevention by mud, and it moves backward.Because precursor 4 can not move backward, forces back body 1 to travel forward and finishes a motion process of this mechanism.
Claims (3)
1. creep mechanism of underwater robot for autoamtically attacking mud, it is characterized in that: mainly form by precursor, back body, reverse cutting blade, cylinder body, piston rod, wherein: back body (1) is connected with cylinder body (3), piston rod (5) is connected with precursor (4), precursor (4) is connected with cylinder body (3) moving contact, is respectively equipped with reverse cutting blade (2) at forward and backward body (1,4) outside face.
2. according to the described creep mechanism of underwater robot for autoamtically attacking mud of claim 1, it is characterized in that: described reverse cutting blade (2) open position direction is opposite with working direction.
3. according to the described creep mechanism of underwater robot for autoamtically attacking mud of claim 1, it is characterized in that: described piston rod (5) is driven by operating cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01127938 CN1244436C (en) | 2001-07-16 | 2001-07-16 | Creep mechanism of underwater robot for autoamtically attacking mud |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01127938 CN1244436C (en) | 2001-07-16 | 2001-07-16 | Creep mechanism of underwater robot for autoamtically attacking mud |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1397413A true CN1397413A (en) | 2003-02-19 |
| CN1244436C CN1244436C (en) | 2006-03-08 |
Family
ID=4667843
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 01127938 Expired - Fee Related CN1244436C (en) | 2001-07-16 | 2001-07-16 | Creep mechanism of underwater robot for autoamtically attacking mud |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1244436C (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103861849A (en) * | 2014-02-24 | 2014-06-18 | 浙江海洋学院 | Pipeline climbing robot |
| CN104859732A (en) * | 2015-05-12 | 2015-08-26 | 西北工业大学 | Worming moving device |
| CN108639282A (en) * | 2018-04-11 | 2018-10-12 | 哈尔滨工程大学 | A kind of underwater no-dig technique wears cable robot operating system and operational method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104627336B (en) * | 2013-11-10 | 2017-02-15 | 佳木斯大学 | Double-helical-blade move-in-mud robot |
-
2001
- 2001-07-16 CN CN 01127938 patent/CN1244436C/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103861849A (en) * | 2014-02-24 | 2014-06-18 | 浙江海洋学院 | Pipeline climbing robot |
| CN104859732A (en) * | 2015-05-12 | 2015-08-26 | 西北工业大学 | Worming moving device |
| CN108639282A (en) * | 2018-04-11 | 2018-10-12 | 哈尔滨工程大学 | A kind of underwater no-dig technique wears cable robot operating system and operational method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1244436C (en) | 2006-03-08 |
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| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |