CN207843276U - Break catching apparatus and robot is broken through under water - Google Patents

Break catching apparatus and robot is broken through under water Download PDF

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Publication number
CN207843276U
CN207843276U CN201820231915.7U CN201820231915U CN207843276U CN 207843276 U CN207843276 U CN 207843276U CN 201820231915 U CN201820231915 U CN 201820231915U CN 207843276 U CN207843276 U CN 207843276U
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China
Prior art keywords
support arm
walking mechanism
catching apparatus
break catching
arrest net
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CN201820231915.7U
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Chinese (zh)
Inventor
温亚楠
朱建鑫
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Qingdao Academy for Opto Electronics Engineering
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Qingdao Academy For Opto-Electronics Engineering (qingdao Opto-Electronics Engineering Technology Research Center Academy Of Opto-Electronics Chinese Academy Of Sciences)
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Priority to CN201820231915.7U priority Critical patent/CN207843276U/en
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Abstract

The utility model provides a kind of break catching apparatus and breaks through robot under water, is related to the technical field of underwater equipment, the break catching apparatus, including:Walking mechanism and arresting agency, arresting agency are mounted on walking mechanism, so that walking mechanism drives arresting agency that can move under water;Arresting agency includes support arm, and support arm includes the first end and second end being oppositely arranged, and the quantity of support arm is multiple, and the first end of support arm is connect with walking mechanism;Arresting agency includes arrest net, and the second end of multiple support arms is connected to the edge of arrest net, so that arrest net is softened;Break catching apparatus includes He Wang mechanisms, and He Wang mechanisms are connect with support arm, for driving the second end of multiple support arms to be moved to the center position of arrest net, so that target object is trapped in arrest net.

Description

Break catching apparatus and robot is broken through under water
Technical field
The utility model is related to the technical fields of underwater equipment, break through more particularly, to a kind of break catching apparatus and under water machine People.
Background technology
Terrorist activity is rampant in world wide at present, and enormous impact is brought to the lives and properties of the mankind.National governments are confused The confused terrified crime of strike of adopting various measures, sea, land have taken a large amount of measures in the air, but anti-to the underwater attack of terrorism Model is very few.In addition, be similar to aerial small drone control problem, in recent years various consumer level underwater equipment such as fishing tackles, take the photograph Shadow device, companion's trip device, small-sized bionic equipment, other water surface miniature self-service devices etc. are large number of, and quality is irregular, is managed to marine site It has been manufactured into difficulty, there is no effective anti-means both at home and abroad at present, prestige is caused to the water surface, underwater facility and personnel safety The side of body.
Utility model content
The purpose of this utility model is to provide a kind of break catching apparatus and break through robot under water, to realize various consumption The capture of grade underwater equipment, reduces the degree of difficulty of marine area management, reduces various consumer level underwater equipments to the water surface, underwater Threat caused by facility and personnel safety.
In a first aspect, a kind of break catching apparatus that the utility model embodiment provides, including:Walking mechanism and arresting agency, The arresting agency is mounted on walking mechanism, so that the walking mechanism drives the arresting agency that can move under water;
The arresting agency includes support arm, and the support arm includes the first end and second end being oppositely arranged, the branch The quantity of brace is multiple, and the first end of the support arm is connect with the walking mechanism;
The arresting agency includes arrest net, and the second end of multiple support arms is connected to the side of the arrest net Edge, so that the arrest net is softened;
The break catching apparatus includes He Wang mechanisms, and the He Wang mechanisms are connect with the support arm, for driving multiple institutes The second end for stating support arm is moved to the center position of the arrest net, so that target object is trapped in arrest net.
With reference to first aspect, the utility model embodiment provides the first possible embodiment of first aspect, In, the first end of the support arm is hinged with the walking mechanism, and torsionspring is provided at the articulated position, the torsion Turn spring for driving the support arm to move, so that the second end of the support arm is to far from the walking mechanism direction Movement.
The possible embodiment of with reference to first aspect the first, the utility model embodiment provide the of first aspect Two kinds of possible embodiments, wherein the support arm includes multiple hinged rod pieces successively, and two bars of arbitrary neighborhood Torsionspring is provided between part, the torsionspring is for driving multiple rod piece expansion.
Second of possible embodiment with reference to first aspect, the utility model embodiment provide the of first aspect Three kinds of possible embodiments, wherein the walking mechanism includes sequentially connected control switch, linkage unit and backstop knot Structure, the stop configurations prevent the second end of the support arm towards far from the walking mechanism institute for support arm described in backstop It is moved in direction;The control switch controls the stop configurations by the linkage mechanism and opens, so that the support arm Second end is unfolded towards the direction far from the walking mechanism.
With reference to first aspect, the utility model embodiment provides the 4th kind of possible embodiment of first aspect, In, the walking mechanism includes holding tank, and the quantity of the holding tank is identical as the quantity of the support arm, and is corresponded; The support arm is slidably connected in the holding tank, and is provided with spring between the support arm and the sliding groove, described Spring is used to the support arm popping up the holding tank.
With reference to first aspect, the utility model embodiment provides the 5th kind of possible embodiment of first aspect, In, the He Wang mechanisms include closing up rope and take-up mechanism, the take-up mechanism are fixed on support arm, and the of the support arm Be provided with through-hole on two ends, described one end for closing up rope is fixed on the second end of the support arm equipped with take-up mechanism, the other end according to It is secondary to be fixed on take-up mechanism after the through-hole of other support arm second ends.
With reference to first aspect, the utility model embodiment provides the 6th kind of possible embodiment of first aspect, In, it is provided with image collecting device on the walking mechanism, and the camera lens of described image harvester is towards the arresting agency.
The 6th kind of possible embodiment with reference to first aspect, the utility model embodiment provide the of first aspect Seven kinds of possible embodiments, wherein the walking mechanism includes main body and driving unit, and the driving unit is for generating drive Power, to drive the bulk motion;The driving unit is connect with the body rotation, so that the advance of the break catching apparatus Direction is adjustable.
The 7th kind of possible embodiment with reference to first aspect, the utility model embodiment provide the of first aspect Eight kinds of possible embodiments, wherein described image harvester is connect with the subject activity, so that described image acquisition dress The camera lens set is towards adjustable.
Second aspect, the underwater counter robot of one kind that the utility model embodiment provides, including above-mentioned break catching apparatus.
The utility model embodiment brings following advantageous effect:
A kind of break catching apparatus that the utility model embodiment provides, including walking mechanism and arresting agency, it is described to arrest machine Structure is mounted on walking mechanism, and walking mechanism can drive arresting agency to move under water.Arresting agency may include support arm, The both ends of support arm are respectively first end and second end, and the quantity of the support arm is multiple, and the first end of the support arm It links together with the walking mechanism.Arresting agency includes arrest net, and the second end of multiple support arms is connected to The edge of the arrest net can strut the arrest net when support arm is unfolded, and walking mechanism is moved towards target object When, distracted arrest net can wrap target object.Break catching apparatus further includes He Wang mechanisms, the He Wang mechanisms with it is described Support arm connects, and for driving the second end of multiple support arms to be moved to the center position of the arrest net, works as object After body is trapped in arrest net, the opening of arrest net is tightened by He Wang mechanisms, is tightened so as to which target object to be trapped in In arrest net.
The underwater counter robot of one kind that the utility model embodiment provides, including above-mentioned break catching apparatus, break catching apparatus Including walking mechanism and arresting agency.Arresting agency may include support arm, and the both ends of support arm are respectively first end and second The quantity at end, support arm is multiple, and the first end of support arm links together with walking mechanism.Arresting agency includes arresting The second end of net, multiple support arms is connected to the edge of arrest net.Break catching apparatus further includes He Wang mechanisms, He Wang mechanisms with Support arm connects, for driving the second end of multiple support arms to be moved to the center position of arrest net, when target object is trapped in After in arrest net, the opening of arrest net is tightened by He Wang mechanisms, so as to be trapped in target object in the arrest net being tightened.
Other feature and advantage of the utility model will illustrate in the following description, also, partly from specification In become apparent, or understood by implementing the utility model.The purpose of this utility model and other advantages are illustrating Specifically noted structure is realized and is obtained in book, claims and attached drawing.
To enable the above objects, features, and advantages of the utility model to be clearer and more comprehensible, preferred embodiment cited below particularly, and The appended attached drawing of cooperation, is described in detail below.
Description of the drawings
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art Specific implementation mode or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art Under the premise of labour, other drawings may also be obtained based on these drawings.
Fig. 1 is the schematic diagram for the break catching apparatus that the utility model embodiment 1 provides;
Fig. 2 is a kind of schematic diagram of the support arm for the break catching apparatus that the utility model embodiment 1 provides;
Fig. 3 is the schematic diagram for the break catching apparatus that the utility model embodiment 2 provides;
Fig. 4 is the schematic diagram for the break catching apparatus that the utility model embodiment 3 provides.
Icon:100- walking mechanisms;200- support arms;210- torsionsprings;300- arrest nets;410-, which closes up, to restrict;420- Take-up mechanism;500- control switches;610- driving units;620- image collecting devices.
Specific implementation mode
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally The every other embodiment that field those of ordinary skill is obtained without making creative work, belongs to this practicality Novel protected range.
In the description of the present invention, it should be noted that such as occur term "center", "upper", "lower", " left side ", The orientation or positional relationship on " right side ", "vertical", "horizontal", "inner", "outside" etc., instruction is orientation based on ... shown in the drawings or position Relationship is set, is merely for convenience of describing the present invention and simplifying the description, device or element are not indicated or implied the indicated It must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention.This Outside, such as there is term " first ", " second ", " third " are used for description purposes only, be not understood to indicate or imply relatively heavy The property wanted.
The utility model provides a kind of break catching apparatus, and multiple embodiments are given below and are arrested to provided by the utility model The structure of device is described in detail.
Embodiment 1
As shown in Figs. 1-2, a kind of break catching apparatus that the utility model embodiment provides, including walking mechanism 100 and arrest Mechanism, the arresting agency are mounted on walking mechanism 100, and walking mechanism 100 can drive arresting agency to move under water.It grabs It may include support arm 200 to catch mechanism, and the both ends of support arm 200 are respectively first end and second end, the number of the support arm 200 Amount is multiple, and the first end of the support arm 200 links together with the walking mechanism 100.Arresting agency includes arresting The second end of net 300, multiple support arms 200 is connected to the edge of the arrest net 300, when support arm 200 is unfolded When, the arrest net 300 can be strutted, when walking mechanism 100 is moved towards target object, distracted arrest net 300 can incite somebody to action Target object wraps.Break catching apparatus further includes He Wang mechanisms, and the He Wang mechanisms are connect with the support arm 200, is used for band The second end for moving multiple support arms 200 is moved to the center position of the arrest net 300, is arrested when target object is trapped in After in net 300, the opening of arrest net 300 is tightened by He Wang mechanisms, so as to which target object to be trapped in the arrest net being tightened In 300.
Walking mechanism 100 can be small underwater device, with driving rotating plasma, may be implemented underwater advance, retreat with And the movements such as turning.
In the scheme that one can implement, the first end of support arm 200 is hinged with the shell structure of walking mechanism 100, That is, one end of support arm 200 can be rotated around walking mechanism 100.It is provided with torsionspring at the articulated position 210, the elastic force of torsionspring 210 can be such that support arm 200 is fully deployed, state as shown in Figure 2, at this point, whether supporting Arm 200 is rotated clockwise or is rotated counterclockwise, and torsionspring 210 all can apply elastic force to support arm.Specifically, not finding When target object, support arm 200 can be bent in walking mechanism 100, then when finding target, can discharge support arm 200, support arm 200, to which the arrest net 300 for being located at second end to be unfolded, carries out arresting standard because the effect of elastic force is unfolded It is standby.Using hingedly add torsionspring 210 scheme, the expansion of support arm 200 can be made quicker, and completely when machinery connect It connects, stability is strong, is also not easy to go wrong under water.Meanwhile it when the opening of arrest net 300 is tightened by He Wang mechanisms, turning round Turn spring 210 and also ensures that support arm 200 can be rotated inwardly.
What support arm 200 can be integrally formed, can also include multiple hinged rod pieces successively, and arbitrary neighborhood two Torsionspring 210 is provided between the rod piece, the torsionspring 210 between rod piece may be implemented multiple rod piece bendings and be accommodated in Together, spatial volume is reduced, when support arm 200 is released, multiple rod piece expansion are into a line, realize to arrest net 300 Expansion.On the one hand multiple rod pieces can improve the length of support arm 200, the area of such arrest net 300 can be also correspondingly improved, And folding storage effect is also more preferable.
In the scheme that one can implement, the walking mechanism 100 may include sequentially connected control switch 500, Linkage unit and stop configurations can receive the instruction of people on the bank by signal receiving module, complete to controlling switch 500 Manipulation.The stop configurations block support for support arm 200 described in backstop for example, stop configurations can be a pin Arm 200 prevents support arm 200 to be unfolded, can be by linkage unit, by pin when control switch 500 receives open instructions Origin-location is detached, support arm 200 is discharged.Linkage unit can be multiple drive links that link together, the mechanical structures such as swing arm.
In the scheme that one can implement, He Wang mechanisms may include close up rope 410 and take-up mechanism 420, the receipts Line mechanism 420 can be fixed on one in multiple support arms 200, and through-hole is provided in the second end of the support arm 200, One end of closing in rope 410 is fixed on the second end of the support arm 200 equipped with take-up mechanism 420, and the other end sequentially passes through other institutes It is fixed on take-up mechanism 420 after stating the through-hole of 200 second end of support arm.When target object enters in arrest net 300, take-up The rope that will close up of mechanism 420 410 is recovered in take-up mechanism 420, with the reduction for 410 length of rope that close up, the second of support arm 200 End can gradually be gathered to centre position, have the function that close the entrance of arrest net 300.
In the scheme that one can implement, image collecting device 620, such as water can be provided on walking mechanism 100 Video image can be passed to the display device of land by lower camera, facilitated manipulator to control walking mechanism 100 and captured mesh Mark object.The camera lens of described image harvester 620 can also use 360 full-shape cameras towards the arresting agency. Larger range of image can be collected in this way.When arresting, target object is searched out by image collecting device 620, when seeing After being had been introduced into arrest net 300 to target object, manipulator can control take-up mechanism 420 and arrest net 300 closes up.
Embodiment 2
As shown in figure 3, difference from Example 1 is, the walking mechanism 100 may include holding tank, the appearance Receive slot quantity it is identical as the quantity of the support arm 200, and correspond, holding tank is for accommodating support arm 200.The branch Brace 200 is slidably connected in the holding tank, and is provided with spring between the support arm 200 and the sliding groove, described Spring is used to the support arm 200 popping up the holding tank.In use, the support arm in the holding tank being accommodated in It after 200 are released, is acted on by spring force, and is popped up from holding tank, realize the opening of arrest net 300.
The mode of spring may be used, supporting rod can also be ejected into holding tank by the way of hydraulic cylinder.
In this embodiment, support arm 200 has certain elasticity, ensures that arrest net 300 can be tightened.
Embodiment 3
As shown in figure 4, the difference is that, walking mechanism 100 may include main body and driving unit with Examples 1 and 2 610, for the driving unit 610 for generating driving force, driving unit 610 can be propeller, the driving unit 610 and institute Body rotation connection is stated, so that the direction of advance of the break catching apparatus is adjustable.When being arrested, 610 court of driving unit To the rear of main body, arresting agency arrests target object when advancing towards the front of main body;When capturing mesh After marking object, driving unit 610 can be made towards arresting agency direction, by object by the direction of transformation driving unit 610 Body retracts on the bank, can reduce running resistance in this way.
Image collecting device 620 is connect with the subject activity, so that the camera lens direction of described image harvester 620 can It adjusts, according to direction of travel, adjusts the direction of 620 camera lens of image collecting device.
In conclusion a kind of break catching apparatus that the utility model embodiment provides, including walking mechanism 100 and arrest machine Structure, the arresting agency are mounted on walking mechanism 100, and walking mechanism 100 can drive arresting agency to move under water.It arrests Mechanism may include support arm 200, and support arm 200 can be integrated or multiple rod pieces are hinged, the both ends of support arm 200 Respectively first end and second end, the quantity of the support arm 200 be it is multiple, and the first end of the support arm 200 with it is described Walking mechanism 100 links together, and can be hinged, or be slidably connected.Arresting agency includes arrest net 300, multiple The second end of the support arm 200 is connected to the edge of the arrest net 300, can be by institute when support arm 200 is unfolded It states arrest net 300 to strut, when walking mechanism 100 is moved towards target object, distracted arrest net 300 can wrap up target object Firmly.Break catching apparatus further includes He Wang mechanisms, and the He Wang mechanisms are connect with the support arm 200, for driving multiple branch The second end of brace 200 is moved to the center position of the arrest net 300, after target object is trapped in arrest net 300, is closed The opening of arrest net 300 is tightened by net mechanism, so as to be trapped in target object in the arrest net 300 being tightened.
The underwater counter robot of one kind that the utility model embodiment provides, including above-mentioned break catching apparatus, break catching apparatus Including walking mechanism 100 and arresting agency.Arresting agency may include support arm 200, and the both ends of support arm 200 are respectively first The quantity of end and second end, support arm 200 is multiple, and the first end of support arm 200 links together with walking mechanism 100. Arresting agency includes arrest net 300, and the second end of multiple support arms 200 is connected to the edge of arrest net 300.Break catching apparatus Further include He Wang mechanisms, He Wang mechanisms are connect with support arm 200, for driving the second ends of multiple support arms 200 to arrest net 300 center position movement, after target object is trapped in arrest net 300, the opening of arrest net 300 is received by He Wang mechanisms Tightly, so as to target object being trapped in the arrest net 300 being tightened.
Finally it should be noted that:Embodiment described above, only specific embodiment of the present utility model, to illustrate this The technical solution of utility model, rather than its limitations, the scope of protection of the utility model is not limited thereto, although with reference to aforementioned The utility model is described in detail in embodiment, it will be understood by those of ordinary skill in the art that:It is any to be familiar with this skill The technical staff in art field within the technical scope disclosed by the utility model, still can be to the skill recorded in previous embodiment Art scheme modify or can readily occur in variation or equivalent replacement of some of the technical features;And these modifications, Variation is replaced, the spirit and model of the utility model embodiment technical solution that it does not separate the essence of the corresponding technical solution It encloses, should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model is answered described is wanted with right Subject to the protection domain asked.

Claims (10)

1. a kind of break catching apparatus, which is characterized in that including:Walking mechanism and arresting agency, the arresting agency, which is mounted on, advances In mechanism, so that the walking mechanism drives the arresting agency that can move under water;
The arresting agency includes support arm, and the support arm includes the first end and second end being oppositely arranged, the support arm Quantity be multiple, and the first end of the support arm is connect with the walking mechanism;
The arresting agency includes arrest net, and the second end of multiple support arms is connected to the edge of the arrest net, So that the arrest net is softened;
The break catching apparatus includes He Wang mechanisms, and the He Wang mechanisms are connect with the support arm, for driving multiple branch The second end of brace is moved to the center position of the arrest net, so that target object is trapped in arrest net.
2. break catching apparatus according to claim 1, which is characterized in that the first end of the support arm and the walking mechanism It is hinged, and torsionspring is provided at the articulated position, the torsionspring is for driving the support arm to move, so that institute The second end for stating support arm is moved to far from the walking mechanism direction.
3. break catching apparatus according to claim 2, which is characterized in that the support arm includes multiple hinged bars successively Part, and torsionspring is provided between two rod pieces of arbitrary neighborhood, the torsionspring is for driving multiple rod pieces Expansion.
4. break catching apparatus according to claim 3, which is characterized in that the walking mechanism includes that sequentially connected control is opened It closes, linkage unit and stop configurations, the stop configurations prevent the second end court of the support arm for support arm described in backstop It is moved far from the walking mechanism direction;The control switch controls the stop configurations by the linkage mechanism and opens It opens, so that the second end of the support arm is unfolded towards the direction far from the walking mechanism.
5. break catching apparatus according to claim 1, which is characterized in that the walking mechanism includes holding tank, the receiving The quantity of slot is identical as the quantity of the support arm, and corresponds;The support arm is slidably connected in the holding tank, and Spring is provided between the support arm and the sliding groove, the spring is used to the support arm popping up the holding tank.
6. break catching apparatus according to claim 1, which is characterized in that the He Wang mechanisms include close up rope and admission machine Structure, the take-up mechanism are fixed on support arm, and through-hole, one end of the rope that closes up are provided in the second end of the support arm It is fixed on the second end of the support arm equipped with take-up mechanism, after the other end sequentially passes through the through-hole of other support arm second ends It is fixed on take-up mechanism.
7. break catching apparatus according to claim 1, which is characterized in that be provided with image collector on the walking mechanism It sets, and the camera lens of described image harvester is towards the arresting agency.
8. break catching apparatus according to claim 7, which is characterized in that the walking mechanism includes main body and driving unit, The driving unit is for generating driving force, to drive the bulk motion;The driving unit is connect with the body rotation, So that the direction of advance of the break catching apparatus is adjustable.
9. break catching apparatus according to claim 8, which is characterized in that described image harvester connects with the subject activity It connects, so that the camera lens of described image harvester is towards adjustable.
10. a kind of underwater counter robot, which is characterized in that including break catching apparatus described in any one of claim 1-9.
CN201820231915.7U 2018-02-08 2018-02-08 Break catching apparatus and robot is broken through under water Active CN207843276U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108238223A (en) * 2018-02-08 2018-07-03 青岛市光电工程技术研究院(中国科学院光电研究院青岛光电工程技术研究中心) Break catching apparatus and robot is broken through under water

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108238223A (en) * 2018-02-08 2018-07-03 青岛市光电工程技术研究院(中国科学院光电研究院青岛光电工程技术研究中心) Break catching apparatus and robot is broken through under water
CN108238223B (en) * 2018-02-08 2023-11-03 青岛市光电工程技术研究院(中国科学院光电研究院青岛光电工程技术研究中心) Capturing device and underwater reverse robot

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Address after: 266000 No. 61, Guangsheng Road, high tech Industrial Development Zone, Qingdao, Shandong

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Address before: 266000 No. 61, Guangsheng Road, high tech Industrial Development Zone, Qingdao, Shandong

Patentee before: QINGDAO ACADEMY FOR OPTO-ELECTRONICS ENGINEERING (QINGDAO OPTO-ELECTRONICS ENGINEERING TECHNOLOGY RESEARCH CENTER, ACADEMY OF OPTO-ELECTRONICS, CHINESE ACADEMY OF SCIENCES)

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