CN204508745U - A kind of change stroke rapid moving mechanism for under-water operation - Google Patents
A kind of change stroke rapid moving mechanism for under-water operation Download PDFInfo
- Publication number
- CN204508745U CN204508745U CN201520061909.8U CN201520061909U CN204508745U CN 204508745 U CN204508745 U CN 204508745U CN 201520061909 U CN201520061909 U CN 201520061909U CN 204508745 U CN204508745 U CN 204508745U
- Authority
- CN
- China
- Prior art keywords
- platform
- reel
- cable
- mobile platform
- guide rail
- Prior art date
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of change stroke rapid moving mechanism for under-water operation, belong to rope (band) and drive category, be applied to fields such as following the tracks of movement, the simulation of Underwater loading kinematic velocity under water, specifically comprise pedestal, submersible machine, coupler, reel, steel rope, mobile platform, platform movement guide rail; Fixed pulley support can move on platform movement guide rail, adjust the length of advance cable and retrogressing cable simultaneously, the stroke of mobile platform can be regulated, gather mobile platform information further by stay wire displacement sensor and feed back to motion control case, motion control case regulating frequency realizes the speeds control to submersible machine.Compared with traditional travel mechanism under water, the utility model structure is simple, cost is low, and can realize becoming stroke by means of only the length of the position of adjustment fixed pulley support on motion guide rail and steel rope and move, simple and direct drive mechanism can retain the fast-response energy of motor, has larger using value.
Description
Technical field
The utility model relates to a kind of change stroke rapid moving mechanism for under-water operation.
Background technology
Travel mechanism has multi-field application demand under water, as the occasions such as underwater photography shooting, underwater target tracking, sub aqua sport simulation all need to use travel mechanism under water, in particular cases to the degree of stability of travel mechanism under water and velocity accuracy, there is higher requirement at some.
There is more design difficulty during travel mechanism's design under water: first should solve underwater sealing problem, increase because hydraulic pressure is linear along with the depth of water increases, travel mechanism's watertight problem can become harsh all the more along with the increase of the application depth of water; Secondly, install because of underwater structure and there is larger difficulty, therefore should make every effort to simple for its structure design of travel mechanism under water, be convenient to Assembly &Disassembly; In most cases, the movement travel of travel mechanism is under water that requirement is adjustable, proposes high requirement to the adaptive capacity of structure design.Traditional design of travel mechanism under water, adopts the form such as mobile robot, motion guide rail under water usually.Under water mobile robot have range of movement unrestricted, can move freely in the plane and the advantage such as kinematic velocity is under water adjustable, but also exist cost high, control the shortcomings such as complicated and load-carrying capacity is limited, for most occasion because this mode high cost is inapplicable; For motion guide rail (or rack-and-gear) form, its advantage can realize the underwater steady movement of travel mechanism because guide rail exists, speed stability is good, but this form stroke is fixing can not be regulated, Long Distances application scenario is needed to lay comparatively long guideway, and motion motor moves together along with travel mechanism, cable servo-actuated more difficult.
Travel mechanism under water of the present utility model, fixed pulley support can move on platform movement guide rail, adjust the length of advance cable and retrogressing cable simultaneously, the stroke of mobile platform can be regulated in this way, by rope (band) type of drive can realize with cheap cost sub aqua sport platform fast speed, change stroke move, there is larger using value.
Utility model content
The technology that the utility model solves is dealt with problems and is: overcome the deficiencies in the prior art, there is provided that a kind of cost is low, load-carrying capacity is strong, become stroke and with the rapid moving mechanism under water of stroke measurment, for occasions such as underwater photography shooting, underwater target tracking, sub aqua sport simulations.
Technical solution of the present utility model is: a kind of change stroke rapid moving mechanism for under-water operation, comprises pedestal, submersible machine, reel, motor installing front support, motor installation after poppet, reel front frame, reel after poppet, mobile platform, platform front frame, platform after poppet, platform movement guide rail, fixed pulley support, fixed pulley, advance cable, retreats cable; Mobile platform can carry various equipment, and as the carrying platform of a load, roller is installed in mobile platform bottom, can move forward and backward in platform movement guide rail (can select channel-section steel); Drive part selects the version of submersible machine, coupler, binary channel reel, wherein submersible machine can be selected according to application operating mode, emphasis considers the factors such as the withstand voltage depth of water, driving power and tuning range, submersible machine is connected with drum shaft by coupler, drum diameter and reel axial length determine the maximum stroke movement of travel mechanism, advance cable, the length retreating cable and fixed pulley backing positions can be adjusted in this trip, realize the change stroke motion of mobile platform.
When mobile platform advances, submersible machine band movable reel rotates clockwise, and advance cable is wrapped in indentation on reel, retreat cable synchronously to screw out by reel simultaneously, advance cable realizes break-in by the fixed pulley be arranged on fixed pulley support, drags mobile platform and advances, as shown in hereinafter Fig. 1; When mobile platform retreats, submersible machine band movable reel rotates counterclockwise, and advance cable is wrapped on reel and screws out, and retreats cable simultaneously and synchronously tightens up by reel, retreats cable and drags mobile platform retrogressing, as shown in Figure 2.When changing the movement travel of mobile platform, need dismounting fixed pulley mounting bracket, on platform movement guide rail, relevant position is reinstalled, and platform movement mode is constant, as shown in Figure 3.
Further, mobile platform arranges near pedestal one end and is applicable to underwater environment stay wire displacement sensor, stay wire displacement sensor can be measured the displacement of motion platform and speed, stay wire displacement sensor obtains the location information of platform when platform movement, feed back to motion control case, realized the closed loop control of mobile platform by motion control case.
This novel compared with prior art beneficial effect is:
(1) this novel under-water operation travel mechanism structure is simple, with low cost, is easy to realize, is adapted to multi-field application, as occasions such as underwater photography shooting, underwater target tracking, sub aqua sport simulations.
(2) this is novelly applicable to different water depth, and by selecting the submersible machine of different size to control, load-carrying capacity setting range is wide, and messenger chain is without the need to retarder, and efficiency is high, and response is fast.
(2) the present invention adopts the type of drive of rope (band), binary channel reel, fixed pulley, is convenient to realize becoming stroke speed control.
(3) the present invention adopts stay wire displacement sensor to carry out position feedback, can realize position and the velocity close-loop control of sub aqua sport platform.
Accompanying drawing explanation
Fig. 1 is the utility model under-water operation travel mechanism forward travel state schematic diagram;
Fig. 2 is the utility model under-water operation travel mechanism fallback state schematic diagram;
Fig. 3 is that the utility model under-water operation travel mechanism becomes stroke state schematic diagram;
Fig. 4 is connection diagram between the utility model submersible machine and reel.
Wherein, 1-pedestal 2-submersible machine 3-reel 4-motor installing front support 5-motor is installed after poppet 6-reel front frame 7-reel after poppet 8-mobile platform 9-platform front frame 10-platform after poppet 11-platform movement guide rail 12-fixed pulley support 13-fixed pulley 14-advance cable 15-and is retreated cable 16-stay wire displacement sensor 17-motion control case 18-drum shaft 19-coupler
Detailed description of the invention
As shown in Figure 1, 2, under-water operation travel mechanism of the present invention, comprises pedestal 1, submersible machine 2, reel 3, motor installing front support 4, motor installation after poppet 5, reel front frame 6, reel after poppet 7, mobile platform 8, platform front frame 9, platform after poppet 10, platform movement guide rail 11, fixed pulley support 12, fixed pulley 13, advance cable 14, retreats cable 15, stay wire displacement sensor 16, motion control case 17.Platform front frame 9 and platform after poppet 10 are installed on mobile platform 8, and mobile platform 8 can move forward and backward on platform movement guide rail 11; Fixed pulley support 12 is installed on platform movement guide rail 11 destination terminal, and pedestal 1 is positioned at platform movement guide rail 11 initiating terminal; Advance cable 14 and retrogressing cable 15 stretch out along the tangential direction of reel 3 respectively above and below reel 3, wherein advance cable 14 one end is connected with reel 3, the other end is walked around the fixed pulley 13 be positioned on fixed pulley support 12 and is connected with platform after poppet 10, retreat cable 15 one end to be connected with reel 3, the other end is connected with platform front frame 9; Platform after poppet 10 is highly greater than platform front frame 9 height, and adaptation advance cable 14 stretches out height with retrogressing cable 15; Stay wire displacement sensor 16 is fixed on the one end near pedestal 1 on mobile platform 8, and bracing wire is connected with pedestal 1 after stay wire displacement sensor 16 is drawn.
Described reel 3 is connected in drum shaft 18 by key, and drum shaft 18 is connected to by coupler 19 and key on the output shaft of submersible machine 2 again, as shown in Figure 4; When mobile platform 8 advances, submersible machine 2 is with movable reel 3 to rotate clockwise, advance cable 14 is wrapped in indentation on reel 3, retreat cable 15 synchronously to screw out by reel 3 simultaneously, advance cable 14 realizes break-in by the fixed pulley 13 be arranged on fixed pulley support 12, drag mobile platform 8 to advance, as shown in Figure 1.When mobile platform 8 retreats, submersible machine 2 is with movable reel 4 to rotate counterclockwise, and advance cable 14 is wrapped on reel 3 and screws out, and retreats cable 15 simultaneously and synchronously tightens up by reel 3, and retrogressing cable 14 drags mobile platform 8 and retreats, as shown in Figure 2.When changing the movement travel of mobile platform 8, need dismounting fixed pulley mounting bracket 12, on platform movement guide rail 11, relevant position is reinstalled, and platform movement mode is constant, as shown in Figure 3.
The moving displacement of mobile platform 8 and speed are measured by stay wire displacement sensor 16 and are obtained, the take off data of stay wire displacement sensor 16 is gathered by motion control case 17, and motion control case sends control command according to control overflow to submersible machine 2 and carries out speed governing and start-stop control.
The unexposed technology of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (5)
1. a change stroke rapid moving mechanism for under-water operation, is characterized in that: comprise and be arranged on submersible machine (2) on pedestal (1) and reel (3), mobile platform (8), platform movement guide rail (11), fixed pulley support (12); Connected by coupler (19) between described submersible machine (2) and reel (3); Described mobile platform (8) can be upper movable at platform movement guide rail (11); The upper erecting stage front frame (9) of described mobile platform (8) and platform after poppet (10); Stretch out advance cable (14) respectively along the tangential direction of reel (3) above and below described reel (3) and retreat cable (15), described advance cable (14) is walked around the fixed pulley (13) be arranged on fixed pulley support (12) and is connected with platform after poppet (10), and described retrogressing cable (15) is connected with platform front frame (9); The position-adjustable of described fixed pulley support (12) on platform movement guide rail (11), adjust the length of advance cable (14) and retrogressing cable (15) simultaneously, thus the stroke of mobile platform (8) can be regulated.
2. the change stroke rapid moving mechanism of a kind of under-water operation according to claim 1, it is characterized in that: described reel (3) is connected in drum shaft (18) by key, and drum shaft (18) is connected on the output shaft of submersible machine (2) by coupler (19) and key again; Submersible machine (2) forward and backward band movable reel (3) rotates, reel (3) tightens up according to hand of rotation or discharges advance cable (14), discharge simultaneously or tighten up and retreat cable (15), drive mobile platform (8) upper movable at platform movement guide rail (11).
3. the change stroke rapid moving mechanism of a kind of under-water operation according to claim 2, is characterized in that: the height of described platform front frame (9) and platform after poppet (10) adapts to retreat stretching out highly of cable (15) and advance cable (14) respectively.
4. the change stroke rapid moving mechanism of a kind of under-water operation according to claim 3, it is characterized in that: described pedestal (1) is positioned at platform movement guide rail (11) initiating terminal, described submersible machine (2) is installed after poppet (5) by motor installing front support (4) and motor and is installed on pedestal (1), and reel (3) is installed on pedestal (1) by reel front frame (6) and reel after poppet (7).
5. according to the change stroke rapid moving mechanism of the arbitrary described a kind of under-water operation of claim 1-4, it is characterized in that: described mobile platform (8) is arranged stay wire displacement sensor (16), described stay wire displacement sensor (16) is drawn bracing wire and is connected with pedestal (1); The data obtained by moving displacement and the speed of stay wire displacement sensor (16) measurement mobile platform (8) are gathered by motion control case (17), and motion control case (17) sends control command according to control overflow to submersible machine (2) and carries out speed governing and start-stop control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520061909.8U CN204508745U (en) | 2015-01-29 | 2015-01-29 | A kind of change stroke rapid moving mechanism for under-water operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520061909.8U CN204508745U (en) | 2015-01-29 | 2015-01-29 | A kind of change stroke rapid moving mechanism for under-water operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204508745U true CN204508745U (en) | 2015-07-29 |
Family
ID=53706739
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520061909.8U Active CN204508745U (en) | 2015-01-29 | 2015-01-29 | A kind of change stroke rapid moving mechanism for under-water operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204508745U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108188849A (en) * | 2017-12-27 | 2018-06-22 | 芜湖市恒浩机械制造有限公司 | A kind of auto parts buffed surface comer device |
| CN110054130A (en) * | 2019-03-25 | 2019-07-26 | 天津大学 | A kind of workbench and method that can be realized hydrospace detection equipment and lay recycling |
| CN111986827A (en) * | 2020-08-19 | 2020-11-24 | 吉林大学 | Underwater cleaning device applied to deep water |
-
2015
- 2015-01-29 CN CN201520061909.8U patent/CN204508745U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108188849A (en) * | 2017-12-27 | 2018-06-22 | 芜湖市恒浩机械制造有限公司 | A kind of auto parts buffed surface comer device |
| CN110054130A (en) * | 2019-03-25 | 2019-07-26 | 天津大学 | A kind of workbench and method that can be realized hydrospace detection equipment and lay recycling |
| CN111986827A (en) * | 2020-08-19 | 2020-11-24 | 吉林大学 | Underwater cleaning device applied to deep water |
| CN111986827B (en) * | 2020-08-19 | 2024-04-12 | 吉林大学 | Underwater cleaning device applied to deep water |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204508745U (en) | A kind of change stroke rapid moving mechanism for under-water operation | |
| US10260497B2 (en) | Power unit of hydraulic pumping unit and corresponding hydraulic pumping unit | |
| CN201874536U (en) | Swing type double-well pumping unit | |
| CN103010993B (en) | Rope guider for mining puffer | |
| CN110761745A (en) | Wheel shaft type energy-saving beam-pumping unit | |
| CN103939058B (en) | The beam pumping unit intelligent balance device of wind-solar-storage joint | |
| CN102635581B (en) | Hydraulic control system for ultra-deep radial well operations | |
| CN205772383U (en) | The Intelligent drainage line apparatus of doubling winder | |
| CN205312954U (en) | Two -way winch overspeed device tensioner of belt conveyor | |
| CN101881146A (en) | Swinging double-well pumping unit | |
| CN201396119Y (en) | Winch intelligent vertical balance type pumping device | |
| CN103527703B (en) | Self-supplied magnetic current vibration damper | |
| CN209910737U (en) | Natural river flow measuring device | |
| CN202945010U (en) | Rope arranging device of small mine winch | |
| CN209522511U (en) | A kind of load hoofing part mechanism | |
| CN110417185A (en) | A kind of water kinetic energy generator | |
| CN107435529B (en) | Double-stroke hydraulic pumping unit adopting reversible variable pump | |
| CN210918997U (en) | High-precision bailing type oil pumping unit for oil exploitation | |
| CN204163046U (en) | A kind of turnover plate type tail-gate device for hydraulic model | |
| CN103600411B (en) | A kind of bellmouth moves pipe device | |
| CN103350162B (en) | Cable wire cutting apparatus | |
| CN207363647U (en) | Planetary ring gear type non-beam oil pump | |
| CN203636972U (en) | Bellmouth pipe moving device | |
| CN112761645A (en) | Continuous slag discharging device of vertical shaft heading machine and follow-up slag discharging method | |
| CN220908485U (en) | Bottom plate anti-floating fixing structure of tunnel foundation pit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Ren Lele Inventor after: Niu Liren Inventor after: Jie Dangyang Inventor after: Yao Jiying Inventor before: Ren Lele Inventor before: Niu Liren Inventor before: Jie Dangyang Inventor before: Yao Jiying |
|
| COR | Change of bibliographic data | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170901 Address after: 065599 Guan County Industrial Park in Hebei province Langfang City South Road No. 2 Hing Man Patentee after: HEBEI CHENGHANG MACHINERY MANUFACTURING CO., LTD. Address before: 100176, room 2, building 15, Wanyuan street, Beijing economic and Technological Development Zone, Beijing, Daxing District, 321 Patentee before: Beijing Space Hua Yu Science and Technology Ltd. |