CN201329583Y

CN201329583Y - Underwater manipulator

Info

Publication number: CN201329583Y
Application number: CNU200820125803XU
Authority: CN
Inventors: 陶泽文
Original assignee: Individual
Current assignee: Individual
Priority date: 2008-07-14
Filing date: 2008-07-14
Publication date: 2009-10-21
Anticipated expiration: 2018-07-14

Abstract

An underwater manipulator, which is controlled by a line wheel and fastened with a cable, comprises an over-water control part and a manipulator, wherein the manipulator has the functions of underwater self guiding and visibility and is capable of catching observed articles under water. The line wheel is connected with the manipulator through the cable; and a user can ascertain the landing point of the manipulator according to the length of a control cable and observe underwater situation through an infrared underwater camera and a liquid crystal display (LCD) on the line wheel; the switch of the manipulator can be controlled to complete catching through switching on an underwater motor in the forward or reverse direction; and the cable can be retracted through the line wheel so as to lift the underwater articles.

Description

Underwater manipulator

Technical field

It is underwater manipulator that the utility model relates to a kind of line wheel control cable, has under water guiding and visual function certainly, can grasp the article of seeing under water.

Background technology

The cable under water of use that people develop now is that plant equipment mainly is that cable is a robot, and the cable by the control of line wheel is not a underwater manipulator.

Send out name content main purpose of the present utility model and provide a kind of underwater manipulator that connects control by the line wheel by cable, manipulator has to be put under water and does not spin, the good resistance of water permeability is little, control characteristics easily, behind the object in the operator sees underwater manipulator clearly, can operate and close manipulator and grasp object, article under water be left the water by packing up cable.

The purpose of this utility model is achieved in that online the wheel be equipped with liquid crystal display and gauge tap and connect capable power supply, be tied with cable on the runner of line wheel and be connected with joint on the underwater manipulator fixed mount, two mutual meshing rotating shafts are housed on fixed mount, be fixed with shell type manipulator in the rotating shaft with pervious function, motor is housed in fixed mount, Motor Shaft is fixed in the rotating shaft, motor rotates then driving device hand switch, camera is housed on fixed mount, can see immersed body, in the fixed mount rear end deflector is housed, underwater manipulator is not spinned.

At rectilinear submarine mechanical on hand, vertical fixing has motor on the fixed mount, and worm screw is housed on the Motor Shaft, with being equipped with on the fixed mount two rotating shafts meshing mutually, be fixed with the shell type manipulator in the rotating shaft, motor rotates then driving device hand switch.

At the nose suspension type submarine mechanical on hand, be fixed with suspension bracket on the fixed mount, camera and deflector are arranged on the suspension bracket, a shell type manipulator is fixed on the fixed mount, and another shell type manipulator symmetry is fixed in the rotating shaft, and motor is housed in fixed mount, Motor Shaft is fixed in the rotating shaft, motor rotates then driving device hand switch, and suspension bracket rotated when manipulator was opened, and camera is aimed in the middle of two manipulators all the time.

When using control pole control underwater manipulator, be equipped with on the manipulator under water and streamlinedly cursoryly guide current simultaneously to alleviate manipulator weight, in the take-up pulley side fixedly card is housed, it can be installed on the control pole, control pole center fixed has opening to lead eye, make things convenient for cable to take out, the fluted pulley of control pole front end, the wearing and tearing that alleviate cable.

Motor has adopted the design of skidding, and guarantees that motor is not burnt.

Description of drawings

Below in conjunction with drawings and Examples invention is further specified

Fig. 1. the meshing underwater manipulator front view of the wheeled rotating shaft of line

Fig. 2. the meshing underwater manipulator left view of the wheeled rotating shaft of line

Fig. 3. the meshing underwater manipulator vertical view of the wheeled rotating shaft of line

Fig. 4. manipulator front view under the setting stick formula worm tooth Heshui

Fig. 5. manipulator left view under the setting stick formula worm tooth Heshui

Fig. 6. manipulator vertical view under the setting stick formula worm tooth Heshui

Fig. 7. the wheeled single rotating shaft underwater manipulator front view of line

Fig. 8. the wheeled single rotating shaft underwater manipulator left view of line

Fig. 9. the wheeled single rotating shaft underwater manipulator vertical view of line

Figure 10. the meshing machine of rotating shaft is tool hand front view under water

Figure 11. the meshing underwater manipulator left view of rotating shaft

Figure 12. the meshing underwater manipulator vertical view of rotating shaft

Figure 13. manipulator front view under the worm tooth Heshui

Figure 14. manipulator left view under the worm tooth Heshui

Figure 15. manipulator vertical view under the worm tooth Heshui

Figure 16. control rod-type underwater manipulator front view

Figure 17. control rod-type underwater manipulator left view

Figure 18. cursory underwater manipulator front view

Figure 19. cursory underwater manipulator left view

Figure 20. cursory underwater manipulator vertical view

Figure 21. the conducting slip ring front view

Figure 22. the conducting slip ring left view

Figure 23. the conducting slip ring configuration diagram

Figure 24. lead a front view

Figure 25. lead eye and open diagrammatic sketch

Figure 26. lead a left view

Figure 27. the pulley front view

Figure 28. the pulley left view

Figure 29. the electric machine structure diagrammatic sketch

Figure 30. the fixing card of line wheel body front view

Figure 31. the fixing card of line wheel body left view

Figure 32. runner counter structure diagrammatic sketch

1. support 2. liquid crystal displays 3. annular seal spaces 4. cables 5. motors 6. deflectors 7. cameras 8. manipulators 9. forward worm wheel shafts 10. positive and negative switch 11. handles 12. illuminating lamps 13. hooks 14. worm screws 15. water seals 16. pulleys 17. fixed mounts 18. sky shades 19. gears 20. runners 21. slip rings 22. shafts 23. suspension brackets 24. cards 25. sleeve pipes 26. groove pulleys 27. cursory 28. are led eye 29. rotors 30. stators 31. metals 32. conducting rings 33. springs 34. friction pulleys 35. friction plates 36. driving gear rotating shafts 37. rotating shafts 38. one-level gears 39. wires 40. power lines 41. driven gear rotating shafts 42. reverse-worm rotating shafts 43. winds 44. axle sleeves 45. counters

The specific embodiment

Now be elaborated: during the work of the meshing underwater manipulator of the wheeled rotating shaft of line such as Fig. 1 .2.3.10.11.12.21.22.23.29 user opening power according to Figure of description, hold handle 11, rotary handle crank 43 drives runner 20 and rotates folding and unfolding cable 4 by travelling gear 19.

Press positive and negative switch 10 and connect circuit, electric current is transmitted to motor 5 through slip ring 21 cables 4 leads 39, by positive and negative conversion and control motor 5 rotatings of electric current, Motor Shaft 22 rotates and drives driving gear rotating shaft 36 rotations and by the interlock of the gear in rotating shaft driven gear rotating shaft 41 backward rotation, make two fixing in rotating shaft manipulators 8 finish synchro switch.

Be fixed with deflector 6 and camera 7 on the fixed mount 17, the image of camera is presented on the liquid crystal display 2 through slip ring 21 by lead 39 cables 4.

When motor rotated, one-level gear 38 drove friction pulley 34 and rotates, and the terminal teeth wheel shaft drives shaft 22 by friction plate 35 and rotates, and skids slipping protection micro machine between friction pulley 34 and the one-level gear 38 behind shaft 22 stalls between friction plate 35 and the terminal teeth wheel shaft.

Manipulator when work such as Fig. 4 .5.6.13.14.15. user opening power are held handle 11 under the setting stick formula worm tooth Heshui, with hand folding and unfolding cable 4.

Press positive and negative switch 10 and connect circuit, electric current is transmitted to motor 5 through cable 4, by positive and negative conversion and control motor 5 rotatings of electric current, worm screw 14 on the Motor Shaft is rotated and promotes forward worm wheel shaft meshing with it 9 and oppositely worm wheel shaft 42 rotatings, makes two fixing in rotating shaft manipulators 8 finish synchro switch.

During the wheeled single rotating shaft underwater manipulator work of line such as Fig. 7 .8.9.29.32 user opening power, hold handle 11, rotary handle crank 43 drives runners 20 and rotates folding and unfolding cables 4.

Press positive and negative switch 10 and connect circuit, electric current is transmitted to motor 5 through slip ring 21 cables 4 leads 39, by positive and negative conversion and control motor 5 rotatings of electric current, be fixed with a manipulator 8 on the fixed mount 17, be fixed with another manipulator 8 in the rotating shaft 37, Motor Shaft 22 rotates and drives rotating shaft 37 rotations, finishes two manipulator switches.

When manipulator was opened, fixed mount 17 and suspension bracket 23 relatively rotated, and deflector 6 on the suspension bracket 23 and camera 7 are perpendicular in the middle of the manipulator, and the image of camera is presented on the liquid crystal display 2 through slip ring 21 by lead 39 cables 4.

During the work of control rod-type underwater manipulator such as the fixedly card 24 on Figure 16 .17.18.19.20.24.25.26.27.28.29.30.31 line wheel be installed on the control pole, rotary handle crank 43 drives runners and rotates, and cable 4 passes through groove pulley 26 and leads eye 28 and be wrapped on the runner.

It is cursory 27 that water conservancy diversion is housed on the manipulator under water, can alleviate the weight of manipulator, and the sleeve pipe 25 on the control bar is connected to support by the string axle with support controls bar.

Claims

1, a kind of line wheel control underwater manipulator, mainly by manipulator, drive motors, deflector, infrared camera, the line wheel, the control bar, liquid crystal display, cursory composition, its principal character is: handle type line wheel is connected with the manipulator fixed mount by cable, on the manipulator fixed mount, deflector is housed, motor is housed in the fixed mount, camera, it is connected with cable by lead, the rotating shaft of band tooth is housed in the fixed mount side by side, its gear teeth are meshing mutually, the active rotating shaft rear end is contained on the Motor Shaft, grid or porous shell type symmetry manipulator are equipped with in rotating shaft, go out the axis hole front end at fixed mount axle sleeve is housed, the axle sleeve rear end is provided with oil pocket, and a plurality of unidirectional oil sealings are housed in the oil pocket rear end, stage clip and friction plate are housed between Motor Shaft and the motor gear box, on the gearbox one-level gear slip gear and stage clip are housed.

2, underwater manipulator according to claim 1 is characterized in that: the wrom tooth rotating shaft is housed in the fixed mount side by side, and the worm screw on it on wrom tooth and the motor shaft is meshing, and grid or the involutory manipulator of porous shell type are equipped with in rotating shaft.

3, underwater manipulator according to claim 1, it is characterized in that: be fixed with a shell type manipulator on the fixed mount, the rotary machine hand is housed in the rotating shaft, the rotating shaft rear end is contained on the Motor Shaft, on the hanging column of fixed mount, suspension bracket is housed, be fixed with camera on the suspension bracket and connect, on fixed mount and hanger plank, be fixed with deflector and water conservancy diversion is cursory by lead and cable.

4, underwater manipulator according to claim 1 is characterized in that: at control bar front end the groove pulley is housed, control bar middle-end has and is provided with opening and leads eye, and the control rod rear end is equipped with rack sleeve and support.

5, underwater manipulator according to claim 1 is characterized in that: online take turns with setting stick on adjustable liquid crystal display is housed, liquid crystal display is provided with sky shade.

6, underwater manipulator according to claim 1 is characterized in that: the online wheel with setting stick is provided with handle, and handle is provided with positive and negative switch.

7, underwater manipulator according to claim 1 is characterized in that: online take turns with setting stick on illuminating lamp is housed.

8, underwater manipulator according to claim 1 is characterized in that: in the middle of the line wheel runner is housed, gear and wind are housed on the runner shaft, the slip ring sum counter is housed in the runner central siphon.

9, underwater manipulator according to claim 1 is characterized in that: online wheel side is provided with the card body, and line wheel lower end is provided with pulley.

10, underwater manipulator according to claim 1 is characterized in that: be provided with U type groove at the setting stick periphery, the centre is provided with annular seal space.