CN204916127U - A frame of underwater robot receive and releases system - Google Patents

A frame of underwater robot receive and releases system Download PDF

Info

Publication number
CN204916127U
CN204916127U CN201520565118.9U CN201520565118U CN204916127U CN 204916127 U CN204916127 U CN 204916127U CN 201520565118 U CN201520565118 U CN 201520565118U CN 204916127 U CN204916127 U CN 204916127U
Authority
CN
China
Prior art keywords
frame
hydraulic actuating
actuating cylinder
under
water robot
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.)
Withdrawn - After Issue
Application number
CN201520565118.9U
Other languages
Chinese (zh)
Inventor
宣耀伟
俞恩科
汪洋
敬强
解玉文
高安洁
曹向勇
郭志广
李红云
林晓波
沈耀军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
State Grid Corp of China SGCC
Zhoushan Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
Beijing Guowang Fuda Technology Development Co Ltd
Original Assignee
State Grid Corp of China SGCC
Zhoushan Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
Beijing Guowang Fuda Technology Development Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by State Grid Corp of China SGCC, Zhoushan Power Supply Co of State Grid Zhejiang Electric Power Co Ltd, Beijing Guowang Fuda Technology Development Co Ltd filed Critical State Grid Corp of China SGCC
Priority to CN201520565118.9U priority Critical patent/CN204916127U/en
Application granted granted Critical
Publication of CN204916127U publication Critical patent/CN204916127U/en
Withdrawn - After Issue legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model provides a frame of underwater robot receive and releases system, it includes: the bed frame, it has the chassis and connects the left side frame and the right side frame of chassis both sides, be provided with the winch on the chassis, the A frame, it is rotationally connected on the frame of left side, the pneumatic cylinder frame, it is connected a frame with between the frame of left side, the pneumatic cylinder frame has the lug board, the lug board is connected a frame with the one end that the left side frame is connected, be connected with on hydraulic cylinders and lower pneumatic cylinder on the lug board, on hydraulic cylinders with the A frame links to each other, down the pneumatic cylinder with the left side frame links to each other. The utility model discloses a frame of underwater robot receive and releases system can realize receiving and releasing the underwater robot to this A frame receive and releases the system and goes into to show the increase of A frame hunting range, convenience receiving and releasing the underwater robot through the pendulum of a plurality of pneumatic cylinders realization A frame of interconnect.

Description

The A frame extension and retraction system of under-water robot
Technical field
The utility model has about a kind of A frame extension and retraction system, especially has the A frame extension and retraction system about the under-water robot applied in a kind of technical field of sea exploration.
Background technology
At present, the under-water robot extension and retraction system that China uses mostly is A rack-like structures, and it is mainly used in reclaiming the under-water robot on research vessel and discharging.
Existing under-water robot extension and retraction system adopts the integrated design of A frame and winch substantially, is realized the swinging in of A frame by hydraulic actuating cylinder, is shown two actions; The pedestal of A frame, higher than ship side, can use in optional position, deck.This under-water robot extension and retraction system possesses row's cable function automatically, thus ensure that cable arranging is closely orderly.
In prior art, A frame is by being connected to two Driven by Hydraulic Cylinder on base to carry out swinging arm, Hydraulic Pump is had synchronously to drive two hydraulic actuating cylinders to show to realize swinging in of A frame in the structure shown here, in this structure, the pendulum angle of A frame is subject to the restriction of hydraulic ram installation site, the pulling force that when A frame swings in or shows, single hydraulic ram is subject to and thrust huge, easily cause the damage of hydraulic ram.
Therefore, be necessary to provide a kind of new under-water robot extension and retraction system, overcome the problems referred to above.
Utility model content
The purpose of this utility model is to provide a kind of A frame extension and retraction system of under-water robot, it can realize the folding and unfolding to under-water robot, and this A frame extension and retraction system realizes swinging in of A frame by interconnective multiple hydraulic actuating cylinder and shows, A frame hunting range increases, the convenient folding and unfolding to under-water robot.
Above-mentioned purpose of the present utility model can adopt following technical proposal to realize:
The utility model provides a kind of A frame extension and retraction system of under-water robot, and it comprises:
Pedestal, its left frame and left side frame of having underframe and being connected to described underframe both sides, described underframe is provided with winch;
A frame, it is rotatably connected on described left frame;
Hydraulic actuating cylinder frame, it is connected between described A frame and described left frame, described hydraulic actuating cylinder frame has shackle plate, described shackle plate is connected to one end that described A frame is connected with described left frame, described shackle plate is connected with hydraulic actuating cylinder and lower hydraulic actuating cylinder, described upper hydraulic actuating cylinder is connected with described A frame, and described lower hydraulic actuating cylinder is connected with described left frame.
In a preferred embodiment, be connected with two described hydraulic actuating cylinder framves between described A frame and described left frame, two described hydraulic actuating cylinder framves lay respectively at the both sides, front and back of described pedestal.
In a preferred embodiment, described A frame has upper frame and is connected to the side frame of described upper frame both sides, described left frame is made up of two vertical rods, two described vertical rods are connected to the both sides, front and back of described underframe, and the lower end of two side frames of described A frame is rotationally connected with the upper end of two vertical rods of described left frame respectively.
In a preferred embodiment, described upper hydraulic actuating cylinder has upper cylinder body and is positioned at the upper piston rod of described upper cylinder body, described shackle plate is connected to the side frame lower end of described A frame, and described upper cylinder body is connected with described shackle plate, and described upper piston rod is connected on the side frame of described A frame.
In a preferred embodiment, described lower hydraulic actuating cylinder has lower cylinder body and is positioned at the lower piston rod of described lower cylinder body, and described lower cylinder body is connected with the vertical rod of described left frame, and described lower piston rod is connected on described shackle plate.
In a preferred embodiment, the outside of described left side frame is connected with hydraulic fluid tank, and described hydraulic fluid tank is connected with described upper hydraulic actuating cylinder, described lower hydraulic actuating cylinder.
In a preferred embodiment, described left side frame is connected with hand valve, described hand valve is connected with described hydraulic fluid tank.
In a preferred embodiment, the upper frame of described A frame is connected with pulley.
Feature and the advantage of the A frame extension and retraction system of under-water robot of the present utility model are: the A frame extension and retraction system structure of this under-water robot is simple, processing ease, easily realize the folding and unfolding to under-water robot; In addition, by four hydraulic actuating cylinders in A frame extension and retraction system, A frame hunting range is increased, the convenient folding and unfolding to under-water robot.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the utility model embodiment, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the three-dimensional structure diagram of the A frame extension and retraction system of under-water robot of the present utility model.
Fig. 2 is the lateral plan of the A frame collapse state of the A frame extension and retraction system of under-water robot of the present utility model.
Fig. 3 is the lateral plan of the A frame deployed condition of the A frame extension and retraction system of under-water robot of the present utility model.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
Position relationship up and down of the present utility model is based on shown in Fig. 2.
As shown in Figure 1, the utility model provides a kind of A frame extension and retraction system of under-water robot, it comprises pedestal 1, A frame 2 and hydraulic actuating cylinder frame 3, wherein: pedestal 1 has underframe 11 and is connected to left frame 12 and the left side frame 13 of underframe 11 both sides, underframe 11 is provided with winch 4; A frame 2 is rotatably connected on left frame 12; Hydraulic actuating cylinder frame 3 is connected between A frame 2 and left frame 12, hydraulic actuating cylinder frame 3 has shackle plate 33, shackle plate 33 is connected to one end that A frame 2 is connected with left frame 12, shackle plate 33 is connected with hydraulic actuating cylinder 31 and lower hydraulic actuating cylinder 32, upper hydraulic actuating cylinder 31 is connected with A frame 2, and lower hydraulic actuating cylinder 32 is connected with left frame 12.
Specifically, the underframe 11 of pedestal 1 is welded to each other by multiple shaped steel and is connected to form a rectangular flat plate, left frame 12 and left side frame 13 are connected to the limit, the left and right sides of underframe 11, thus form the pedestal 1 that is rectangle frame-like substantially, winch 4 is fixedly connected on the upper surface of underframe 11, and it is between left frame 12 and left side frame 13.Wherein, in the utility model, left frame 12 is made up of two vertical rods 121, and two vertical rods 121 are connected to the both sides, front and back of underframe 11, is also namely positioned at former and later two end angle places on limit on the left of underframe 11; In the present embodiment, the outside of left side frame 13 is connected with hydraulic fluid tank 5, and the upper end of left side frame 13 is provided with hand valve 6, and this hand valve 6 is connected with hydraulic fluid tank 5, and it is for opening or closing hydraulic fluid tank 5.
A frame 2 is equivalent to the top cover of pedestal 1, and it is arranged on the pedestal 1 opening or closing.A frame 2 is substantially in A font, and it is made up of upper frame 21 and the side frame 22 that is connected to upper frame 21 both sides, and upper frame 21 is connected with pipe link 212, pulley 211 is rotatably connected on this pipe link 212; The lower end of two side frames 22 of A frame 2 is rotationally connected with the upper end of two vertical rods 121 of left frame 12 respectively, such as, connect side frame 22 and vertical rod 121 by hinged mode, do not limit at this.
Hydraulic actuating cylinder frame 3 is the device for driving A frame 2 to swing back and forth on left frame 12, and it is connected between A frame 2 and left frame 12, and under the effect of this hydraulic actuating cylinder frame 3, A frame 2 can opposing left frame 12 reciprocally swinging, with in the state of closing or open.In the utility model, two hydraulic actuating cylinder framves 3 are connected with between A frame 2 and left frame 12, two hydraulic actuating cylinder framves 3 lay respectively at the both sides, front and back of pedestal 1, also be, on the left of pedestal 1, be connected with a hydraulic actuating cylinder frame 3 between the vertical rod 121 of front portion, limit and hinged side frame 22 corresponding to it, on the left of pedestal 1, be connected with another hydraulic actuating cylinder frame 3 between the vertical rod 121 at rear portion, limit and hinged side frame 22 corresponding to it.
In the utility model, hydraulic actuating cylinder frame 3 comprises shackle plate 33 and the upper hydraulic actuating cylinder 31 that is connected on shackle plate 33 and lower hydraulic actuating cylinder 32.Be described for the hydraulic actuating cylinder frame 3 connected between the vertical rod 121 of front portion, limit on the left of pedestal 1 and hinged side frame 22 corresponding to it below, the vertical rod 121 at rear portion, limit and identical with it with the hydraulic actuating cylinder frame 3 connected between its corresponding hinged side frame 22 on the left of pedestal 1, does not repeat them here.Wherein, upper hydraulic actuating cylinder 31 has upper cylinder body 311 and is positioned at the upper piston rod 312 of upper cylinder body 311, and shackle plate 33 is connected to side frame 22 lower end of A frame 2, and upper cylinder body 311 is connected with shackle plate 33, and upper piston rod 312 is connected on the side frame 22 of A frame 2.Lower hydraulic actuating cylinder 32 has lower cylinder body 321 and is positioned at the lower piston rod 322 of lower cylinder body 321, and lower cylinder body 321 is connected to vertical rod 121 lower end of left frame 12, and lower piston rod 322 is connected on shackle plate 33.
On this, hydraulic actuating cylinder 31 is connected with hydraulic fluid tank 5 respectively with lower hydraulic actuating cylinder 32, the hydraulic oil in hydraulic fluid tank 5 can be made to inject upper hydraulic actuating cylinder 31 and lower hydraulic actuating cylinder 32, moving to drive upper piston rod 312 and lower piston rod 322 by opening hand valve 6.
The working process of the A frame extension and retraction system of under-water robot of the present utility model is as follows: Figure 2 shows that A frame 2 reference position, now A frame 2 is in closed condition.The process that A frame 2 is outwards shown: by handling hand valve 6, make the hydraulic oil in hydraulic fluid tank 5 inject in two lower hydraulic actuating cylinders 32 simultaneously, now, the lower piston rod 322 of two lower hydraulic actuating cylinders 32 stretches out, A frame 2 is rotated a certain angle, end position is that A frame 2 is perpendicular to the ground, i.e. A frame 2 relative starting position half-twist; Afterwards, then by handling hand valve 6, make the hydraulic oil in hydraulic fluid tank 5 inject in two upper hydraulic actuating cylinders 31 simultaneously, now, the upper piston rod 312 of two upper hydraulic actuating cylinders 31 stretches out, and continues A frame to rotate a certain angle, final position is the surface that A frame arrives bracing frame, as shown in Figure 3.Now, the hydraulic efficiency pressure system of winch 4 is energized, the rotation (conter clockwise) of HM Hydraulic Motor, drive the drum rotating of winch 4, the cable be arranged on cylinder is released, cable winding on cylinder is on the pulley 211 of A frame 2, and under-water robot is released by the pulley 211 be connected on A frame 2 for connecting under-water robot cable by the cable stretched out from pulley 211, and pulley 211 has directional tagging.A frame swing back process: fuel-displaced by two upper hydraulic actuating cylinders 31, the upper piston rod 312 of two upper hydraulic actuating cylinders 31 bounces back, A frame 2 is rotated to an angle, continuing position is that A frame is perpendicular to the ground, now, then fuel-displaced by two lower hydraulic actuating cylinders 32, the lower piston rod 322 of two lower hydraulic actuating cylinders 32 bounces back, A frame 2 is rotated to reference position, then stops fuel-displaced., be energized to winch 4, the rotation (cw) of HM Hydraulic Motor, drives the drum rotating of winch 4 meanwhile, and will be arranged in cable on cylinder and regain, under-water robot is regained by pulley 211 by cable.
The A frame extension and retraction system of under-water robot of the present utility model, structure is simple, processing ease, easily realizes the folding and unfolding to under-water robot; In addition, by two the hydraulic actuating cylinder framves 3 (two upper hydraulic actuating cylinders 31 and two lower hydraulic actuating cylinders 32) in A frame extension and retraction system, A frame 2 hunting range is increased, the convenient folding and unfolding to under-water robot.
The foregoing is only several embodiment of the present utility model, those skilled in the art can carry out various change or modification to the utility model embodiment according to content disclosed in application documents and not depart from spirit and scope of the present utility model.

Claims (8)

1. an A frame extension and retraction system for under-water robot, it is characterized in that, it comprises:
Pedestal, its left frame and left side frame of having underframe and being connected to described underframe both sides, described underframe is provided with winch;
A frame, it is rotatably connected on described left frame;
Hydraulic actuating cylinder frame, it is connected between described A frame and described left frame, described hydraulic actuating cylinder frame has shackle plate, described shackle plate is connected to one end that described A frame is connected with described left frame, described shackle plate is connected with hydraulic actuating cylinder and lower hydraulic actuating cylinder, described upper hydraulic actuating cylinder is connected with described A frame, and described lower hydraulic actuating cylinder is connected with described left frame.
2. the A frame extension and retraction system of under-water robot as claimed in claim 1, it is characterized in that, be connected with two described hydraulic actuating cylinder framves between described A frame and described left frame, two described hydraulic actuating cylinder framves lay respectively at the both sides, front and back of described pedestal.
3. the A frame extension and retraction system of under-water robot as claimed in claim 1, it is characterized in that, described A frame has upper frame and is connected to the side frame of described upper frame both sides, described left frame is made up of two vertical rods, two described vertical rods are connected to the both sides, front and back of described underframe, and the lower end of two side frames of described A frame is rotationally connected with the upper end of two vertical rods of described left frame respectively.
4. the A frame extension and retraction system of under-water robot as claimed in claim 3, it is characterized in that, described upper hydraulic actuating cylinder has upper cylinder body and is positioned at the upper piston rod of described upper cylinder body, described shackle plate is connected to the side frame lower end of described A frame, described upper cylinder body is connected with described shackle plate, and described upper piston rod is connected on the side frame of described A frame.
5. the A frame extension and retraction system of under-water robot as claimed in claim 4, it is characterized in that, described lower hydraulic actuating cylinder has lower cylinder body and is positioned at the lower piston rod of described lower cylinder body, and described lower cylinder body is connected with the vertical rod of described left frame, and described lower piston rod is connected on described shackle plate.
6. the A frame extension and retraction system of under-water robot as claimed in claim 1, it is characterized in that, the outside of described left side frame is connected with hydraulic fluid tank, and described hydraulic fluid tank is connected with described upper hydraulic actuating cylinder, described lower hydraulic actuating cylinder.
7. the A frame extension and retraction system of under-water robot as claimed in claim 6, it is characterized in that, described left side frame is connected with hand valve, and described hand valve is connected with described hydraulic fluid tank.
8. the A frame extension and retraction system of under-water robot as claimed in claim 3, is characterized in that, the upper frame of described A frame is connected with pulley.
CN201520565118.9U 2015-07-30 2015-07-30 A frame of underwater robot receive and releases system Withdrawn - After Issue CN204916127U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520565118.9U CN204916127U (en) 2015-07-30 2015-07-30 A frame of underwater robot receive and releases system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520565118.9U CN204916127U (en) 2015-07-30 2015-07-30 A frame of underwater robot receive and releases system

Publications (1)

Publication Number Publication Date
CN204916127U true CN204916127U (en) 2015-12-30

Family

ID=54965282

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201520565118.9U Withdrawn - After Issue CN204916127U (en) 2015-07-30 2015-07-30 A frame of underwater robot receive and releases system

Country Status (1)

Country Link
CN (1) CN204916127U (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105644744A (en) * 2016-03-17 2016-06-08 天津海之星海洋科技发展有限公司 Throwing and recovering machine for ship-based underwater robot
CN106697235A (en) * 2015-07-30 2017-05-24 国家电网公司 A frame retractable system of underwater robot
CN108407976A (en) * 2018-03-30 2018-08-17 中船重工(武汉)船舶与海洋工程装备设计有限公司 A kind of high focal plane buoy folding and unfolding method and device
CN110466688A (en) * 2019-08-27 2019-11-19 珠海云洲智能科技有限公司 A kind of navigational equipment lays recovery system and navigational equipment lays recovery method
WO2020034460A1 (en) * 2018-08-14 2020-02-20 中国南方电网有限责任公司超高压输电公司广州局 Cable-driven follow-up rov winch applied to non-powered positioning mother ship

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106697235A (en) * 2015-07-30 2017-05-24 国家电网公司 A frame retractable system of underwater robot
CN106697235B (en) * 2015-07-30 2018-10-16 国家电网公司 The A frame extension and retraction systems of underwater robot
CN105644744A (en) * 2016-03-17 2016-06-08 天津海之星海洋科技发展有限公司 Throwing and recovering machine for ship-based underwater robot
CN108407976A (en) * 2018-03-30 2018-08-17 中船重工(武汉)船舶与海洋工程装备设计有限公司 A kind of high focal plane buoy folding and unfolding method and device
WO2020034460A1 (en) * 2018-08-14 2020-02-20 中国南方电网有限责任公司超高压输电公司广州局 Cable-driven follow-up rov winch applied to non-powered positioning mother ship
US11161570B1 (en) 2018-08-14 2021-11-02 Guangzhou Bureau, Csg Ehv Power Transmission Company Cable-direction-adaptive ROV winch applied to non-dynamic-positioning-equipped motherships
CN110466688A (en) * 2019-08-27 2019-11-19 珠海云洲智能科技有限公司 A kind of navigational equipment lays recovery system and navigational equipment lays recovery method
CN110466688B (en) * 2019-08-27 2023-11-03 珠海云洲智能科技股份有限公司 Navigation equipment cloth recycling system and navigation equipment cloth recycling method

Similar Documents

Publication Publication Date Title
CN204916127U (en) A frame of underwater robot receive and releases system
CN206243395U (en) Underwater robot extension and retraction system
CN206921996U (en) A kind of ultra-large type can rapid deployment and folded antenna front framework
US3888317A (en) Hydraulic pile driver
CN207550461U (en) A kind of new A UV accurately lays retracting device
CN106394822B (en) A kind of ship extendible bilge keelson device using guide rail
CN206049977U (en) A kind of covering device peculiar to vessel
CN106347608A (en) ROV underwater docking and retracting/deploying device
CN204265034U (en) Boats and ships modified form hydraulic foldable conveying arm structure
CN107933835A (en) A kind of underwater robot dispensing device
CN202911923U (en) Combined energy source boat
CN106697235B (en) The A frame extension and retraction systems of underwater robot
DE2526611A1 (en) SHIP FOR SUBSEA DISMANTLING
CN207580107U (en) Pile driving barge
CN108840248B (en) A kind of new type mining pipeline snatch device
CN207739946U (en) A kind of operating mechanism of multi-functional arching drill jumbo
CN204125984U (en) A kind of hydraulic pressure full circle swinging gripper device
CN204199256U (en) The fluid power system of oil fence automatic distributing and discharging robot and corollary equipment thereof
CN207191352U (en) A kind of bathyscaph lays recovery butt-joint locking device
CN107521640A (en) It is a kind of based on the swing span being synchronized with the movement and control method
CN110816867A (en) Novel fixed-wing unmanned aerial vehicle hook recovery mechanism and recovery method
CN105217338A (en) A kind of boats and ships hydraulic foldable conveying arm
CN204237287U (en) A kind of boats and ships hydraulic foldable conveying arm
CN106394814B (en) A kind of working ship
CN215323178U (en) Slide rail adjustable type ship-borne boat folding and unfolding device

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
AV01 Patent right actively abandoned

Granted publication date: 20151230

Effective date of abandoning: 20181016

AV01 Patent right actively abandoned