CN203780779U - Automatic lifting device for intelligent underwater robot - Google Patents
Automatic lifting device for intelligent underwater robot Download PDFInfo
- Publication number
- CN203780779U CN203780779U CN201420104176.7U CN201420104176U CN203780779U CN 203780779 U CN203780779 U CN 203780779U CN 201420104176 U CN201420104176 U CN 201420104176U CN 203780779 U CN203780779 U CN 203780779U
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- CN
- China
- Prior art keywords
- middle level
- underwater robot
- crane
- equipment
- fixed mount
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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Abstract
The utility model provides an automatic lifting device for an intelligent underwater robot. The automatic lifting device comprises an equipment mounting rack, an inner-layer winding frame, a middle-layer lifting frame and an outer-layer fixing frame, wherein equipment to be lifted is mounted on the equipment mounting rack; an equipment cable is winded through the inner-layer winding frame; the equipment mounting rack is fixed to the middle-layer lifting frame; the middle-layer lifting frame is embedded into the outer-layer fixing frame through a slide way and is in match with a gear mounted on a driving motor through a rack, and the driving motor is mounted on the outer-layer fixing frame. The automatic lifting device for the intelligent underwater robot is simple and compact in structure, can effectively handle with the problem that stream causes impact on the equipment cable while the underwater robot moves, and is applicable to small or medium type equipment. The automatic lifting device for the intelligent underwater robot can lift single or a plurality of sets of equipment at the same time by acting once.
Description
Technical field
The utility model relates to a kind of apparatus for automatically lifting, particularly a kind of apparatus for automatically lifting of lift work of the small-sized or medium size installations that is applicable to Intelligent Underwater Robot.
Background technology
Along with the research of Intelligent Underwater Robot correlation technique is goed deep into, people are more and more higher to the requirement of the abilities such as its ability to communicate, navigator fix.The communication modes of current Intelligent Underwater Robot is mainly divided into two kinds of underwater communication and water surface communications: underwater communication mainly completes by sonar aid, and water surface communication mainly realizes by the mode such as radio, WIFI.Navigate mode is mainly divided into dead reckoning navigation, inertial navigation, underwater sound navigation, vision guided navigation, geophysical navigation and integrated navigation etc.In Intelligent Underwater Robot, the most frequently used navigate mode is that inertial navigation adds the position correction of GPS boat at present.
When closely water surface communication or under-water robot navigate position correction by GPS at the water surface, often need relevant device emersion waters surface such as the communication antenna on under-water robot and GPS positioning antennas.Consider the working environment of under-water robot reality, complete smoothly above-mentioned task if think, if only use fixed support by equipment lifting, there will be the situation of under-water robot at Near-surface motion that hinder, be also difficult to avoid the impact effect of the cable of current to connecting device simultaneously.
Summary of the invention
The purpose of this utility model is to provide a kind of can effectively prevent the interference of the current in under-water robot carrier working environment to equipment cable, the Intelligent Underwater Robot apparatus for automatically lifting of the functional reliability of energy guarantee equipment in lifting process.
Comprise equipment mounting frame, internal layer bobbin winder bracket, middle level crane, outer fixed mount, the equipment of pre-lifting is arranged on equipment mounting frame, equipment cable is wound up through in internal layer bobbin winder bracket, equipment mounting frame is fixed on the crane of middle level, middle level crane is embedded in outer fixed mount by slideway, middle level crane matches with the gear being arranged on drive motor by the tooth bar on it, and drive motor is arranged on outer fixed mount.
Described internal layer bobbin winder bracket comprises pedestal, bobbin and isolated tube, bobbin and isolated tube are fixed on pedestal, on bobbin, have the first row mouth of a river, between bobbin and isolated tube, have the spacing of the cable maximum gauge that is slightly larger than institute's erecting equipment, on isolated tube, have cable input port.
Tooth bar end on the crane of described middle level is curved, anodontia, and the first slideway is arranged on the outer wall of middle level crane, has the first cable openings on the crane of middle level, has the first targeting port on the crane of middle level.
On described outer fixed mount, have the second row mouth of a river, also have the second cable openings, outer fixed mount has two fixed interfaces for fixed drive motor, and the second slideway is arranged on outer fixed mount inner side.
Retaining sheet is installed in the axial outside that is installed in the gear on drive motor, and two retaining sheets block middle level crane wall.
For fear of the shock vibration effect of current to pre-jacking equipment cable in Intelligent Underwater Robot working environment, the utility model provides a kind of suitable Intelligent Underwater Robot apparatus for automatically lifting.This device is applicable to the lift work of small-sized or medium size installations, as required, and lift work when this device can a lifting be realized separate unit or multiple devices.
The utility model is controlled the state of whole jacking system by the motion of drive motor.The equipment of pre-lifting is arranged on equipment mounting frame, equipment cable is wound up through in internal layer bobbin winder bracket, equipment mounting frame is fixed on the crane of middle level, middle level crane is embedded in outer fixed mount by slideway, and match with the gear being arranged on drive motor by the tooth bar on it, drive motor is arranged on outer fixed mount, by the motion of drive motor, drive the dipping and heaving of middle level crane, and then realize the vertical dipping and heaving of erecting equipment.
The beneficial effects of the utility model are, lift work when can realizing single or multiple small-sized or medium size installations by the motion of Intelligent Underwater Robot apparatus for automatically lifting, and can effectively prevent current in the under-water robot carrier working environment interference effect to equipment cable in whole motion process, and then the functional reliability of guarantee equipment in lifting process.
Brief description of the drawings
Fig. 1 Intelligent Underwater Robot apparatus for automatically lifting schematic diagram.
Fig. 2 a Intelligent Underwater Robot apparatus for automatically lifting state 1 schematic diagram.
Fig. 2 b Intelligent Underwater Robot apparatus for automatically lifting state 2 schematic diagrams.
Fig. 3 internal layer bobbin winder bracket schematic diagram.
Fig. 4 a middle level crane tooth bar face schematic diagram.
Fig. 4 b middle level crane tooth bar schematic rear view.
The outer fixed mount drive motor of Fig. 5 a stationary plane schematic diagram.
The fixing schematic rear view of the outer fixed mount drive motor of Fig. 5 b.
Fig. 6 gear scheme of installation.
Detailed description of the invention
For example the utility model is described in more detail below in conjunction with accompanying drawing.
In conjunction with Fig. 1, the state of whole jacking system is controlled in the motion of drive motor 4.The first equipment 7 and second equipment 8 of pre-lifting are arranged on equipment mounting frame 6, the cable 9 of the second equipment penetrates in middle level crane 2, the cable of the first equipment 7 and the second equipment 8 is wound up through in internal layer bobbin winder bracket 1 jointly, equipment mounting frame 6 is fixed on middle level crane 2, crane 2 inner sleeves in middle level are in outer fixed mount 3, and match with drive motor 4 by the tooth bar 5 on it, drive motor 4 is arranged on outer fixed mount 3.There is heavy keying fit with under-water robot and internal layer bobbin winder bracket 1 in outer fixed mount 3, to support the weight of whole jacking system.Jacking system is similar to hollow columnar, and equipment cable can be from bottom of device via the inner equipment that reaches device top of device like this.
Fig. 2 a and Fig. 2 b have shown respectively collapsed state and the rise state of Intelligent Underwater Robot apparatus for automatically lifting, the control system of under-water robot can be controlled the motion that is arranged on drive motor 4 on outer fixed mount, drive motor 4 drives the lifting of middle level crane 2 by tooth bar 5, thereby realizes the lifting of equipment.The second slideway 11 on the first slideway 10 and outer fixed mount 3 on middle level crane 2 can cooperatively interact, for limiting the position of middle level crane 2 at outer fixed mount 3.Relative motion between the first slideway 10 and the second slideway 11 can be lubricated by the water in working environment.
In conjunction with Fig. 3, internal layer bobbin winder bracket is mainly made up of pedestal 12, bobbin 14 and isolated tube 13, and bobbin 14 and isolated tube 13 are fixed on pedestal 12.On bobbin 14, have the first row mouth of a river 15, for the ponding of eduction gear.Spacing between bobbin 14 and isolated tube 13 is larger than the cable diameter of institute's erecting equipment, and as plurality of devices will be installed, the spacing between bobbin and isolated tube is larger than the cable diameter of diameter maximum in institute's erecting equipment.Isolated tube 13 is for separating equipment cable and middle level crane.On isolated tube 13, have cable input port 16, one end of equipment cable is sent into from cable input port 16, and at jacking system, during in collapsed state, around the spiral inner wall coiling of isolated tube 13, the other end is received on equipment.After coiling, when jacking system is in the time rising state, cable can coil around the axis direction of bobbin 14 in the shape of a spiral, and is circumferentially shrinking to bobbin 14, thereby reduces the impact of cable on jacking system lift work like this.
In Fig. 4 a and Fig. 4 b, on the crane of middle level, have tooth bar 5, tooth bar 5 is for matching with drive motor, and tooth bar 5 ends are curved, anodontia, for stop by force, prevent that middle level crane from exceeding range of movement in motion process.Middle level crane is equipped with the first slideway 10 on outer wall, for coordinating with outer fixed mount.On the crane of middle level, have the first cable openings 17, for the control cable of additional equipment is introduced to jacking system inside.On the crane of middle level, have the first targeting port 18, for the ponding in frame is drawn and discharged in one end of equipment cable.
In Fig. 5 a and Fig. 5 b, show the keystone configuration of outer fixed mount.On outer fixed mount, have the first row mouth of a river 19, for discharging the ponding in frame.Also have the second cable openings 20, for the cable through additional equipment.Outer fixed mount has the first fixed interface 211 and the second fixed interface 212 for fixed drive motor.
Outer fixed mount inner side is equipped with slideway b(11), for coordinating with middle level crane.
In conjunction with figure Fig. 6, gear 24 is installed on drive motor, retaining sheet 23 is installed in the axial outside of gear 24, connecting firmly and can be connected by screw rod between gear 24 and retaining sheet 23, two retaining sheets 23 block middle level crane 2 walls, be used for limiting gear 24 at axial motion, and then the vertical and circumferential position of auxiliary fixing middle level crane 2.
Claims (9)
1. an Intelligent Underwater Robot apparatus for automatically lifting, comprise equipment mounting frame, internal layer bobbin winder bracket, middle level crane, outer fixed mount, it is characterized in that: the equipment of pre-lifting is arranged on equipment mounting frame, equipment cable is wound up through in internal layer bobbin winder bracket, equipment mounting frame is fixed on the crane of middle level, middle level crane is embedded in outer fixed mount by slideway, middle level crane matches with the gear being arranged on drive motor by the tooth bar on it, and drive motor is arranged on outer fixed mount.
2. Intelligent Underwater Robot apparatus for automatically lifting according to claim 1, it is characterized in that: described internal layer bobbin winder bracket comprises pedestal, bobbin and isolated tube, bobbin and isolated tube are fixed on pedestal, on bobbin, have the first row mouth of a river, the spacing that has the cable maximum gauge that is slightly larger than institute's erecting equipment between bobbin and isolated tube, has cable input port on isolated tube.
3. Intelligent Underwater Robot apparatus for automatically lifting according to claim 1 and 2, it is characterized in that: the tooth bar end on the crane of described middle level is curved, anodontia, the first slideway is arranged on the outer wall of middle level crane, on the crane of middle level, have the first cable openings, on the crane of middle level, have the first targeting port.
4. Intelligent Underwater Robot apparatus for automatically lifting according to claim 1 and 2, it is characterized in that: on described outer fixed mount, have the second row mouth of a river, also have the second cable openings, outer fixed mount has two fixed interfaces for fixed drive motor, and the second slideway is arranged on outer fixed mount inner side.
5. Intelligent Underwater Robot apparatus for automatically lifting according to claim 3, it is characterized in that: on described outer fixed mount, have the second row mouth of a river, also have the second cable openings, outer fixed mount has two fixed interfaces for fixed drive motor, and the second slideway is arranged on outer fixed mount inner side.
6. Intelligent Underwater Robot apparatus for automatically lifting according to claim 1 and 2, is characterized in that: retaining sheet is installed in the axial outside that is installed in the gear on drive motor, and two retaining sheets block middle level crane wall.
7. Intelligent Underwater Robot apparatus for automatically lifting according to claim 3, is characterized in that: retaining sheet is installed in the axial outside that is installed in the gear on drive motor, and two retaining sheets block middle level crane wall.
8. Intelligent Underwater Robot apparatus for automatically lifting according to claim 4, is characterized in that: retaining sheet is installed in the axial outside that is installed in the gear on drive motor, and two retaining sheets block middle level crane wall.
9. Intelligent Underwater Robot apparatus for automatically lifting according to claim 5, is characterized in that: retaining sheet is installed in the axial outside that is installed in the gear on drive motor, and two retaining sheets block middle level crane wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420104176.7U CN203780779U (en) | 2014-03-10 | 2014-03-10 | Automatic lifting device for intelligent underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420104176.7U CN203780779U (en) | 2014-03-10 | 2014-03-10 | Automatic lifting device for intelligent underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203780779U true CN203780779U (en) | 2014-08-20 |
Family
ID=51316990
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420104176.7U Withdrawn - After Issue CN203780779U (en) | 2014-03-10 | 2014-03-10 | Automatic lifting device for intelligent underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203780779U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895841A (en) * | 2014-03-10 | 2014-07-02 | 哈尔滨工程大学 | Automatic lifting device for smart underwater robots |
| CN104787577A (en) * | 2015-03-19 | 2015-07-22 | 杭州富生电器股份有限公司 | Motor stator trimming feeding device |
| CN107444588A (en) * | 2017-07-31 | 2017-12-08 | 苏州元有讯电子科技有限公司 | A kind of portable robot that itself can be supportted from the ground |
-
2014
- 2014-03-10 CN CN201420104176.7U patent/CN203780779U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103895841A (en) * | 2014-03-10 | 2014-07-02 | 哈尔滨工程大学 | Automatic lifting device for smart underwater robots |
| CN104787577A (en) * | 2015-03-19 | 2015-07-22 | 杭州富生电器股份有限公司 | Motor stator trimming feeding device |
| CN107444588A (en) * | 2017-07-31 | 2017-12-08 | 苏州元有讯电子科技有限公司 | A kind of portable robot that itself can be supportted from the ground |
| CN107444588B (en) * | 2017-07-31 | 2018-06-22 | 乐清市华尊电气有限公司 | A kind of portable robot that itself can be supportted from the ground |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140820 Effective date of abandoning: 20160629 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |