CN201494595U - Small-size underwater robot dipping portal mechanism - Google Patents
Small-size underwater robot dipping portal mechanism Download PDFInfo
- Publication number
- CN201494595U CN201494595U CN2009202306444U CN200920230644U CN201494595U CN 201494595 U CN201494595 U CN 201494595U CN 2009202306444 U CN2009202306444 U CN 2009202306444U CN 200920230644 U CN200920230644 U CN 200920230644U CN 201494595 U CN201494595 U CN 201494595U
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- free bearing
- underwater robot
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Abstract
The utility model relates to a small-size underwater robot dipping portal mechanism that is characterized by comprising a bottom plate, two master cylinders, two support cylinders and a cross beam, wherein the cylinder bodies of the two master cylinders are articulated on the bottom plate and the front ends of piston rods of the master cylinders are connected with the cross beam; the cylinder bodies of the master cylinders are provided with hinged supports; and the cylinder bodies of the two support cylinders are respectively articulated on the bottom plate and the piston rods of the support cylinders are respectively articulated with the hinged supports. The dipping portal mechanism is simple in structure, flexible and convenient in use and low in operation cost. After withdrawn, hanging brackets formed by the master cylinders and the support cylinders can be stored in a container. The container can be used for transporting and installing the hanging brackets conveniently to different support mother ships without modifying the support mother ships, thus being flexible and convenient in use. The hinged supports can slide within certain range on the master cylinders, cause the cross beam of a hanging robot to extend out for different distances and conveniently adjust the distribution work point of a robot.
Description
Technical field
The utility model relates to a kind of lifting appliance peculiar to vessel, especially relates to a kind of small underwater robot and hangs door frame mechanism.
Background technology
Under-water robot by supporting that lash ship is carried to the operation marine site, hangs it to water from lash ship then, and after it finishes under-water operation (or something unexpected happened), it is recovered to carries out care and maintenance on the lash ship again usually.Usually, under-water robot hangs mechanism and is equipped with by lash ship, be fixedly mounted on the lash ship, this under-water robot hangs mechanism and relatively is applicable to the special-purpose large-scale under-water robot of supporting lash ship, it is bulky, complex structure, poor, the operating cost height of transportation, in addition, because the maneuverability requirement of small underwater robot operation is higher, need operation on various support lash ships, therefore hard-wired under-water robot hangs the job requirements that mechanism can't satisfy small underwater robot.
The utility model content
The applicant has carried out research and has improved at above-mentioned problem, provides a kind of small underwater robot simple in structure, flexible and convenient to use, that operating cost is low to hang door frame mechanism.
In order to solve the problems of the technologies described above, the utility model adopts following technical scheme:
A kind of small underwater robot hangs door frame mechanism, it is characterized in that: comprise base plate, two master cylinders, two support cylinders and crossbeam, the cylinder body of two master cylinders is hinged on the base plate, the piston rod front end of two master cylinders connects crossbeam, and crossbeam and two master cylinders constitute " door " font structure; The cylinder body of master cylinder is provided with free bearing, and the cylinder body of two support cylinders is hinged on respectively on the base plate, and the piston rod of two support cylinders is hinged with described free bearing respectively.
Further:
Described free bearing slides on the cylinder body of master cylinder, and free bearing is provided with the lock screw that is used for fixing free bearing.
The cylinder body of described master cylinder is provided with the back-up ring of the described free bearing sliding stroke of restriction.
Described base plate is a container bottom board, and device has container body on the container bottom board.
The cylinder body of described master cylinder is provided with inclinometer.
Technique effect of the present utility model is:
The disclosed a kind of small underwater robot of the utility model hangs door frame mechanism, and simple in structure, flexible and convenient to use, operating cost is low; Can be collected in the freight container behind the suspension bracket retraction that master cylinder and support cylinder constitute, and utilize freight container to transport, can transport and be installed to different the support on the lash ship easily, not require and support lash ship to do any repacking, flexible and convenient to use; Free bearing can slide in the certain limit on master cylinder, and the distance that the crossbeam that hangs up robot is stretched out is different, can adjust the operation point that lays of robot easily.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
Fig. 2 is the birds-eye view of Fig. 1 (pull down container body after state).
The specific embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present utility model is described in further detail.
As shown in Figure 1 and Figure 2, the utility model comprises base plate 1, two master cylinders 3, two support cylinders 2 and crossbeams 4, the cylinder body 301 of two master cylinders 3 is hinged with the main free bearing 303 that is welded on the base plate 1 by bearing pin, piston rod 302 front ends of two master cylinders 3 connect crossbeam 4, crossbeam 4 and two master cylinders 3 constitute " door " font structure, and the middle part of crossbeam is the Heave Here of under-water robot.It is hinged with the support free bearing 203 that is welded on the base plate 1 respectively by bearing pin that the cylinder body 301 of master cylinder 3 is provided with the cylinder body 201 of 6, two support cylinders 2 of free bearing, and the piston rod 202 of two support cylinders 2 is hinged with free bearing 6 respectively.In the present embodiment, free bearing 6 slides on the cylinder body 301 of master cylinder 3, free bearing 6 is provided with lock screw 8, also be provided with back-up ring 7 on the cylinder body 301 of master cylinder 3, the sliding stroke of back-up ring 7 restriction free bearings 6 on the cylinder body 301 of master cylinder 3, lock screw 8 is fixed on a certain position on the master cylinder 3 with free bearing 6.Can be seen that by Fig. 1 the cylinder body 301 of master cylinder 3 is provided with inclinometer 5, inclinometer 5 can show the angle of inclination of master cylinder 3 in real time; Base plate 1 is a container bottom board, and device has container body 9 on the container bottom board, and when not using or transporting, master cylinder 3 and support cylinder 2 regractings are collected in the freight container the utility model.
In Fig. 1, all withdrawals fully of master cylinder 3 and support cylinder 2 during the utility model collection, free bearing is in B point place, BC line position among the position of master cylinder 3 such as the figure, master cylinder 3, support cylinder 2 and crossbeam 4 are withdrawn in the internal container range of sizes.During actual the use, at first utilize ship to hang the utility model risen to winch to lash ship deck topside, utilize bolt that container bottom board is fixed on the lash ship deck, pull down container body 9 and hang aside.Master cylinder 3, support cylinder 2 are connected with the deck hydraulic power source, start the deck hydraulic power source, the piston rod 202 that drives support cylinder 2 stretches out fully, the turning to as B1C1 line position among the figure of master cylinder 3; Unclamp the lock screw 8 on the free bearing 6, make piston rod 202 withdrawals of support cylinder 2 simultaneously, this moment, free bearing 6 slid into C1 point (free bearing 6 is fixed on the B1 point to the arbitrary position between the C1 point, and the distance that crossbeam 4 is stretched out is different) from the B1 point; Locking lock screw 8, can hang up under-water robot crossbeam 4 this moment; Control is stretched out the piston rod 302 of master cylinder 3 and the piston rod 202 of support cylinder 2 fully, and master cylinder 3 promptly is movable to as B2C2 position among the figure, and under-water robot is that the outer operation point of arrived ship side board lays.
Claims (5)
1. a small underwater robot hangs door frame mechanism, it is characterized in that: comprise base plate, two master cylinders, two support cylinders and crossbeam, the cylinder body of two master cylinders is hinged on the base plate, the piston rod front end of two master cylinders connects crossbeam, and crossbeam and two master cylinders constitute " door " font structure; The cylinder body of master cylinder is provided with free bearing, and the cylinder body of two support cylinders is hinged on respectively on the base plate, and the piston rod of two support cylinders is hinged with described free bearing respectively.
2. hang door frame mechanism according to the described small underwater robot of claim 1, it is characterized in that: described free bearing slides on the cylinder body of master cylinder, and free bearing is provided with the lock screw that is used for fixing free bearing.
3. hang door frame mechanism according to the described small underwater robot of claim 2, it is characterized in that: the cylinder body of described master cylinder is provided with the back-up ring of the described free bearing sliding stroke of restriction.
4. hang door frame mechanism according to the described small underwater robot of claim 1, it is characterized in that: described base plate is a container bottom board, and device has container body on the container bottom board.
5. hang door frame mechanism according to the described small underwater robot of claim 1, it is characterized in that: the cylinder body of described master cylinder is provided with inclinometer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202306444U CN201494595U (en) | 2009-08-18 | 2009-08-18 | Small-size underwater robot dipping portal mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202306444U CN201494595U (en) | 2009-08-18 | 2009-08-18 | Small-size underwater robot dipping portal mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201494595U true CN201494595U (en) | 2010-06-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202306444U Expired - Fee Related CN201494595U (en) | 2009-08-18 | 2009-08-18 | Small-size underwater robot dipping portal mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN201494595U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973364A (en) * | 2010-10-26 | 2011-02-16 | 常州超媒体与感知技术研究所有限公司 | Hoisting system of clearance vessel on lake surface |
| CN105947108A (en) * | 2016-05-30 | 2016-09-21 | 江苏科技大学 | Portal frame used for shelving and transporting super-large ship body cabin |
| CN108190718A (en) * | 2017-12-22 | 2018-06-22 | 国家海洋局第海洋研究所 | A kind of multi-functional ship combination hydraulic A type frame |
| CN108584720A (en) * | 2017-12-22 | 2018-09-28 | 国家海洋局第海洋研究所 | A kind of scientific investigation ship special-purpose combined type hydraulic lifting hoisting machine |
| CN109625183A (en) * | 2018-12-12 | 2019-04-16 | 上海大学 | A kind of unmanned water surface ship folding and unfolding autonomous underwater vehicle device |
| CN110562397A (en) * | 2019-08-27 | 2019-12-13 | 珠海云洲智能科技有限公司 | Hanging bracket and distribution and recovery system |
-
2009
- 2009-08-18 CN CN2009202306444U patent/CN201494595U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973364A (en) * | 2010-10-26 | 2011-02-16 | 常州超媒体与感知技术研究所有限公司 | Hoisting system of clearance vessel on lake surface |
| CN105947108A (en) * | 2016-05-30 | 2016-09-21 | 江苏科技大学 | Portal frame used for shelving and transporting super-large ship body cabin |
| CN108190718A (en) * | 2017-12-22 | 2018-06-22 | 国家海洋局第海洋研究所 | A kind of multi-functional ship combination hydraulic A type frame |
| CN108584720A (en) * | 2017-12-22 | 2018-09-28 | 国家海洋局第海洋研究所 | A kind of scientific investigation ship special-purpose combined type hydraulic lifting hoisting machine |
| CN109625183A (en) * | 2018-12-12 | 2019-04-16 | 上海大学 | A kind of unmanned water surface ship folding and unfolding autonomous underwater vehicle device |
| CN110562397A (en) * | 2019-08-27 | 2019-12-13 | 珠海云洲智能科技有限公司 | Hanging bracket and distribution and recovery system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100602 Termination date: 20140818 |
|
| EXPY | Termination of patent right or utility model |