CN204527592U - Absorption type manipulator carrier under water - Google Patents
Absorption type manipulator carrier under water Download PDFInfo
- Publication number
- CN204527592U CN204527592U CN201520154388.0U CN201520154388U CN204527592U CN 204527592 U CN204527592 U CN 204527592U CN 201520154388 U CN201520154388 U CN 201520154388U CN 204527592 U CN204527592 U CN 204527592U
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- China
- Prior art keywords
- road wheel
- absorption
- imbibition
- walking
- under water
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Abstract
The utility model discloses one absorption type manipulator carrier under water, comprise the pedestal for charging manipulator and the absorption traveling gear be arranged on for walking along running surface absorption on pedestal, absorption traveling gear comprises road wheel and walking absorbent module, walking absorbent module comprises sucker, imbibition generating means and imbibition loop, road wheel arranges multiple described sucker along walking circumference, and the imbibition end in imbibition loop is just arranged the mode of the sucker of running surface to act on all the time on road wheel; Imbibition is successively carried out to along road wheel walking multiple suckers circumferentially by imbibition loop, the object be fixed in underwater operation target is jointly reached with the rotation of road wheel, thus make this carrier under water can flexible motion, and can be stable be fixed on running surface, feeling the current is less, and Integrated comparative, cost is relatively low, and economic serviceability is good.
Description
Technical field
The utility model relates to a kind of automated machine parts, particularly one absorption type manipulator carrier under water.
Background technology
Manipulator is widely studied as critical equipment comparatively main in important manufacturing equipment, be mainly used in automobile, boats and ships, naval vessels, aircraft, satellite, rocket, spacecraft, heavy duty machine tools, large-scale production line and the industry such as equipment group and Ferrous Metallurgy, the multiple multiclass of shape of its carrier.
In prior art, underwater operation has often been come by the dive instruments such as the large-scale submarine being equipped with manipulator or diver.These dive instruments often can not reach very near the distance on work object surface.And be easily subject to the impacts such as ocean current impact in the course of the work.And due to these carrier bulks huge, sensitieness is poor.Simply work for some on the other hand, these dive instruments seem again costly.For artificial dive, although save spending, hazard level also promotes greatly.
Therefore need one absorption type manipulator carrier under water, carry out the dive instruments such as alternative submarine, and alternative artificial dive completes some under-water operations.Thus reach and reduce expenses, heighten stability, and greatly reduce the effect of personal security hidden danger.
Utility model content
In view of this, the utility model provides one absorption type manipulator carrier under water, solves the underwater operation carrier existed in prior art expensive, and poor stability, the problem of sensitive manoevreability difference.And substitute manual work, reduce personal security hidden danger.
The manipulator of absorption type under water carrier of the present utility model, comprise the pedestal for charging manipulator and the absorption traveling gear be arranged on for walking along running surface absorption on pedestal, absorption traveling gear comprises road wheel and walking absorbent module, walking absorbent module comprises sucker, imbibition generating means and imbibition loop, road wheel arranges multiple sucker along walking circumference, and the imbibition end in imbibition loop is just arranged the mode of the sucker of running surface to act on all the time on road wheel.
Further, imbibition loop comprises pipeline in the dish that is arranged in basal disc and is arranged on pipeline in the wheel in road wheel, in wheel, pipeline corresponding each sucker connection in each road wheel arranges one, in dish, pipeline each road wheel corresponding arranges one, and in wheel, pipeline is arranged with the mode of pipeline connection in the dish of corresponding row travelling wheel successively to rotate with road wheel.
Further, also comprising for generation of deboost is the absorption pressurizer of absorption supercharging, absorption pressurizer comprise supercharging hydrojet loop and be arranged at described pedestal upper surface and with the upper mouth spray of described supercharging hydrojet circuit communication.
Further, the pedestal of carrier is also provided with for turning to auxiliary mechanism, describedly turn to auxiliary mechanism to comprise to turn to hydrojet loop and respectively arrange respectively at described pedestal both sides the side mouth spray of, side mouth spray described in two is all communicated with the described hydrojet loop open-close type that turns to.
Further, base bottom is provided with the pulley for stabilized walking, and described pulley is provided with shock absorbing apparatus.
Further, road wheel comprises two main drive wheels and two from drive wheel.
The beneficial effects of the utility model: the manipulator of absorption type under water carrier of the present utility model, have employed the most common working medium-liquid under water and be used as driving medium, liquid compares gas very large incompressibility and stability, in use, imbibition is successively carried out to along road wheel walking multiple suckers circumferentially by imbibition loop, the object be fixed in underwater operation target is jointly reached with the rotation of road wheel, thus make this carrier under water can flexible motion, and can be stable be fixed on running surface, feeling the current is less, and Integrated comparative, cost is relatively low, economic serviceability is good.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further described.
Fig. 1 is the utility model structural representation.
Fig. 2 is the imbibition loop diagram of the utility model inside
Detailed description of the invention
Fig. 1 is the utility model structural representation, Fig. 2 is the imbibition loop diagram of the utility model inside, as shown in the figure: the manipulator of the absorption type under water carrier of the present embodiment, comprise the pedestal 1 for charging manipulator and the absorption traveling gear be arranged on for walking along running surface absorption on pedestal 1, absorption traveling gear comprises road wheel 2 and walking absorbent module, walking absorbent module comprises sucker 3, imbibition generating means 6 and imbibition loop, road wheel 2 arranges multiple described sucker 3 along walking circumference, the imbibition end in imbibition loop is just arranged the mode of the sucker 3 of running surface to act on all the time on road wheel 2, imbibition generating means is screw propeller pressing device, the flight 63 comprising drive motor 61, turning cylinder 62 and arrange on the rotating shaft, turning cylinder rotates under the driving of drive motor, flight turns in company with turning cylinder is same, produce the imbibition to liquid in the sucker on two sidecar wheels, screw propeller pressing device arranges two, controls the absorption of the sucker of the road wheel of pedestal both sides respectively, in addition, the walking of road wheel is realized by internal driving mechanism, and internal driving mechanism can be motor and gear pair live axle realizes, and is prior art, does not repeat them here.
In the present embodiment, imbibition loop comprises pipeline 7 in the dish that is arranged in basal disc and is arranged on pipeline 8 in the wheel in road wheel, described interior pipeline each sucker corresponding in each road wheel of taking turns is communicated with and arranges one, in dish, pipeline each road wheel corresponding arranges one, and in wheel, pipeline is arranged with the mode of pipeline connection in the dish of corresponding row travelling wheel successively to rotate with road wheel; For ensureing that imbibition end in imbibition loop acts on road wheel 2 all the time just to the sucker 3 of running surface, wherein, in wheel, pipeline each sucker corresponding arranges one, road wheel is pivotally arranged at basal disc, when road wheel rotates, pipeline connection in the dish that in wheel, pipeline is arranged with respective side successively.
In the present embodiment, also comprising for generation of deboost is the absorption pressurizer of absorption supercharging, absorption pressurizer comprise supercharging hydrojet loop 9 and be arranged at pedestal 1 upper surface and with the upper mouth spray 4 of supercharging hydrojet circuit communication; In the present embodiment, the pedestal 1 of carrier is also provided with for turning to auxiliary mechanism, turn to auxiliary mechanism to comprise hydrojet generating means II, turn to hydrojet loop and respectively arrange the side mouth spray 5 of respectively at pedestal 1 both sides, both sides mouth spray is all communicated with turning to hydrojet loop open-close type; Upper mouth spray is normally open, the side mouth spray of the left and right sides is normally off, selectively opened when turning to, supercharging hydrojet loop and turn to hydrojet loop all with coil interior pipeline connection, the rotating shaft of screw propeller pressing device and flight are arranged in the upper hydrojet pipeline of mouth spray, by screw propeller pressing device, liquid suction basal disc is inner and be expelled to mouth spray; As shown in the figure, supercharging hydrojet loop is communicated with all the time with pipeline in dish, the rotating shaft of screw propeller pressing device and blade (i.e. flight) are arranged on the interior pipeline of dish, blade rotation can be formed in the air-flow in dish, pipeline risen, thus liquid interior on pipeline in suction tray rises along the direction of arrow in figure, form imbibition and supercharging.
In the present embodiment, be provided with the pulley 6 for stabilized walking bottom pedestal 1, pulley is provided with shock absorbing apparatus; Play the effect conveniently walking and prevent to vibrate.
In the present embodiment, road wheel 2 comprises two main drive wheels and two from drive wheel.
What finally illustrate is, above embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify to the technical solution of the utility model or equivalent replacement, and not departing from aim and the scope of technical solutions of the utility model, it all should be encompassed in the middle of right of the present utility model.
Claims (6)
1. an absorption type manipulator carrier under water, it is characterized in that: comprise the pedestal for charging manipulator and the absorption traveling gear be arranged on for walking along running surface absorption on described pedestal, described absorption traveling gear comprises road wheel and walking absorbent module, described walking absorbent module comprises sucker, imbibition generating means and imbibition loop, described road wheel arranges multiple described sucker along walking circumference, and the imbibition end in described imbibition loop is just arranged the mode of the sucker of running surface to act on all the time on road wheel.
2. the manipulator of absorption type under water carrier according to claim 1, it is characterized in that: imbibition loop comprises pipeline in the dish that is arranged in basal disc and is arranged on pipeline in the wheel in road wheel, described interior pipeline each sucker corresponding in each road wheel of taking turns is communicated with and arranges one, in dish, pipeline each road wheel corresponding arranges one, and in wheel, pipeline is arranged with the mode of pipeline connection in the dish of corresponding row travelling wheel successively to rotate with road wheel.
3. the manipulator of absorption type under water carrier according to claim 2, it is characterized in that: also comprising for generation of deboost is the absorption pressurizer of absorption supercharging, described absorption pressurizer comprise supercharging hydrojet loop and be arranged at described pedestal upper surface and with the upper mouth spray of described supercharging hydrojet circuit communication.
4. the manipulator of absorption type under water carrier according to claim 3, it is characterized in that: the pedestal of described carrier is also provided with for turning to auxiliary mechanism, describedly turn to auxiliary mechanism to comprise to turn to hydrojet loop and respectively arrange respectively at described pedestal both sides the side mouth spray of, side mouth spray described in two is all communicated with the described hydrojet loop open-close type that turns to.
5. the manipulator of absorption type under water carrier according to claim 4, is characterized in that: described base bottom is provided with the pulley for stabilized walking, described pulley is provided with shock absorbing apparatus.
6. the manipulator of the absorption type under water carrier according to the arbitrary claim of claim 1-5, is characterized in that: described road wheel comprises two main drive wheels and two from drive wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520154388.0U CN204527592U (en) | 2015-03-18 | 2015-03-18 | Absorption type manipulator carrier under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520154388.0U CN204527592U (en) | 2015-03-18 | 2015-03-18 | Absorption type manipulator carrier under water |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204527592U true CN204527592U (en) | 2015-08-05 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520154388.0U Expired - Fee Related CN204527592U (en) | 2015-03-18 | 2015-03-18 | Absorption type manipulator carrier under water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204527592U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104648637A (en) * | 2015-03-18 | 2015-05-27 | 重庆交通大学 | Manipulator carrier for underwater operation |
| CN105080872A (en) * | 2015-09-17 | 2015-11-25 | 重庆交通大学 | Underwater ship cleaning robot |
| CN109334801A (en) * | 2018-09-19 | 2019-02-15 | 上海工程技术大学 | A kind of climbing robot and control method for big bending curvature wall surface |
-
2015
- 2015-03-18 CN CN201520154388.0U patent/CN204527592U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104648637A (en) * | 2015-03-18 | 2015-05-27 | 重庆交通大学 | Manipulator carrier for underwater operation |
| CN105080872A (en) * | 2015-09-17 | 2015-11-25 | 重庆交通大学 | Underwater ship cleaning robot |
| CN109334801A (en) * | 2018-09-19 | 2019-02-15 | 上海工程技术大学 | A kind of climbing robot and control method for big bending curvature wall surface |
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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: 20150805 Termination date: 20160318 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |