CN208283576U - A kind of underwater collision detecting device - Google Patents
A kind of underwater collision detecting device Download PDFInfo
- Publication number
- CN208283576U CN208283576U CN201821000522.1U CN201821000522U CN208283576U CN 208283576 U CN208283576 U CN 208283576U CN 201821000522 U CN201821000522 U CN 201821000522U CN 208283576 U CN208283576 U CN 208283576U
- Authority
- CN
- China
- Prior art keywords
- guide rod
- cushion
- pedestal
- detecting device
- underwater
- 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
- Geophysics And Detection Of Objects (AREA)
Abstract
The utility model provides a kind of underwater collision detecting device, belongs to underwater detection field.The underwater collision detecting device includes pedestal and the guide rod across pedestal, is cased with spring on the part guide rod of base interior；Pedestal has been connected by screw to the first cushion and the second cushion, is welded with block on the guide rod between the first cushion and the second cushion, roller devices is respectively welded at guide rod both ends and close to plate；The end of pedestal is welded with end plate, adopts and is secured with nuts close to switch on end plate.The underwater collision detecting device of the utility model can be to underwater obstacle, and especially non-magnetic underwater obstacle is perceived, and generates approach signal, and controller is allowed to adjust motion state in time, effectively evacuation barrier.
Description
Technical field
The utility model relates to underwater detection technique field, in particular to a kind of underwater collision detecting device.
Background technique
Existing underwater robot platform generally using be remotely controlled and it is semi-autonomous by the way of moved, i.e., by install additional under water
Photographic device by monitor more than underwater scene real-time transmission to the water surface, user by oneself to the judgements of actual conditions come
Control the movement of underwater robot platform.When encountering barrier, user needs the experience according to itself to control underwater robot
Platform avoids barrier, this proposes high requirement to the practical operation experience of user.If user's practical operation experience is insufficient,
Once underwater robot platform knocks barrier, it will lead to different degrees of damage and destruction, to influence working efficiency, and make
At certain economic loss.
How develop can adapt to different underwater environments with the underwater robot platform of autonomous navigation, avoid direction of advance
On barrier be a most basic, most important ring.Most effective detection means are exactly sonar under water, but due to sonar contact
According to the difference of its frequency and transmission power, detection blind area different in size can be generated, the barrier of short distance is turned a blind eye to,
Underwater robot platform can not accurately be controlled under some special occasions.When generating collision, collision can not be timely feedbacked
Signal makes it that can not adjust in time the motion state of platform to controller, to generate more serious consequence.
Underwater type can perceive closely ferromagnetic barrier close to switch and can produce in the presence of perception has barrier
Approach signal simultaneously feeds back to controller, when not colliding or slight impact occurring, controller is allowed to adjust the fortune of platform in time
Dynamic state, effectively evacuation barrier, so that mitigation of consequences, reduces loss, and improve underwater robot platform reliability and
Obstacle avoidance ability；It is greatly non-magnetic since underwater obstacle not all has ferromagnetism, thus the close switch of underwater type
The nonmagnetic barrier that short distance can not be perceived, cannot avoid in time.
Utility model content
The purpose of this utility model is to provide a kind of underwater collision detecting device, with solve existing underwater detection device without
Method perceives nonmagnetic barrier, the problem of cannot avoiding in time.
In order to solve the above technical problems, the utility model provides a kind of underwater collision detecting device, including pedestal and wear
The guide rod for crossing the pedestal is cased with spring on the part guide rod of the base interior；The pedestal has been connected by screw to
First cushion and the second cushion are welded with block on the guide rod between first cushion and second cushion,
The guide rod both ends are respectively welded roller devices and close to plates；The end of the pedestal is welded with end plate, uses on the end plate
Nut is fixed close to switch.
Optionally, the size close to plate and the block is respectively less than the inside dimension of the pedestal, can lead described
It is moved in the pedestal under the drive of bar.
Optionally, the guide rod passes through first cushion and second cushion.
Optionally, the hole with the guide rod clearance fit is provided on first cushion and second cushion,
It is free to slide convenient for guide rod.
Optionally, the block and first cushion contact, for compressing the spring.
Optionally, the pedestal is U-shaped structure.
Optionally, described close to plate and described close to the distance between switch end, it is greater than roller devices and described first
The distance between cushion, and the difference of the two is less than close to switch to the maximum detectable range close to plate.
Optionally, described close to switch connection cables.
In underwater collision detecting device provided by the utility model, including pedestal and across the guide rod of pedestal, it is located at base
Spring is cased on part guide rod inside seat；Pedestal has been connected by screw to the first cushion and the second cushion, the first buffering
It pads and is welded with block on the guide rod between the second cushion, roller devices are respectively welded at guide rod both ends and close to plate；Pedestal
End is welded with end plate, adopts and is secured with nuts close to switch on end plate.The underwater collision detecting device of the utility model can be to water
Lower barrier, especially non-magnetic underwater obstacle is perceived, and generates approach signal, and controller is allowed to adjust movement in time
State, effectively evacuation barrier.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the underwater collision detecting device that the utility model embodiment one provides.
Specific embodiment
Below in conjunction with the drawings and specific embodiments to the utility model proposes a kind of underwater collision detecting device make into one
Step is described in detail.According to following explanation and claims, will be become apparent from feature the advantages of the utility model.It should be noted
It is that attached drawing is all made of very simplified form and using non-accurate ratio, only to facilitate, lucidly aid in illustrating this reality
With the purpose of new embodiment.
Embodiment one
The utility model provides a kind of underwater collision detecting device, and structural schematic diagram is as shown in Figure 1.It is described to touch under water
Hitting detection device includes pedestal 1 and the guide rod 2 across the pedestal 1.
Specifically, the pedestal 1 is U-shaped structure, spring 3 is cased on the part guide rod inside the pedestal 1；It is described
Pedestal 1 is connected with the first cushion 5 and the second cushion 6 by screw 4；The guide rod 2 passes through first cushion 5 and institute
The second cushion 6 is stated, and is provided on first cushion 5 and second cushion 6 and 2 clearance fit of guide rod
Hole, convenient for guide rod 2 can be free to slide.
Further, block 7, the gear are welded on the guide rod between first cushion 5 and second cushion 6
Block 7 is contacted with first cushion 5, for compressing the spring 3.8 He of roller devices is respectively welded at 2 both ends of guide rod
Close to plate 9.Specifically, the size close to plate 9 and the block 7 is respectively less than the inside dimension of the pedestal 1, so as in institute
Stating can move under the drive of guide rod 2 in the pedestal 1.The end of the pedestal 1 is welded with end plate 10, adopts on the end plate 10
It is fixed close to switch 12 with nut 11, it is described close to 12 connection cables 13 of switch.
Specifically, it is described close to plate 9 the gap close between 12 end of switch, greater than roller devices 8 with it is described
The difference in the gap between the first cushion 5, the two is less than close to maximum detectable range of 12 pairs of the switch close to plate 9.
When the underwater collision detecting device in a free state, block 7 and the first cushion 5 keep gentle touchdown shape
State keeps certain interval close between plate 9 and the second cushion 6.
When the roller devices 8 collide right side barrier, under pressure, the guide rod 2 drives block 7 to the left
Movement, compresses the spring 3；The guide rod 2 is pushed in the fixation of its end close to plate 9 close to the close switch 12 simultaneously.
It is detected close to the entrance of plate 9 induction range close to switch 12, and by described close to switch 12 when described, described approach is opened
It closes 12 and collision alarm is exported by cable 13.It is described close when the roller devices 8 collide first cushion 5 to the left
Plate 9 reaches the extreme position of its movement.
After roller devices 8 leave barrier, external force is removed, and the spring 3 in compressive state is acted in elastic restoring force
Under, push block 7 to move right；When the block 7 collides to the right the left side of first cushion 5, spring 3 restores certainly
By state, roller devices 8 return to initial position.
Foregoing description is only the description to the utility model preferred embodiment, not to any limit of the scope of the utility model
Fixed, any change, the modification that the those of ordinary skill in the utility model field does according to the disclosure above content belong to right and want
Seek the protection scope of book.
Claims (8)
1. a kind of underwater collision detecting device, which is characterized in that including pedestal (1) and pass through the pedestal (1) guide rod (2),
Spring (3) are cased on the part guide rod internal positioned at the pedestal (1)；The pedestal (1) is connected with first by screw (4) and delays
(5) and the second cushion (6) are padded in punching, are welded with gear on the guide rod between first cushion (5) and second cushion (6)
Roller devices (8) are respectively welded at the guide rod (2) both ends and close to plate (9) in block (7)；The end of the pedestal (1) is welded with
End plate (10), it is fixed close to switch (12) using nut (11) on the end plate (10).
2. underwater collision detecting device as described in claim 1, which is characterized in that described close to plate (9) and the block (7)
Size be respectively less than the inside dimension of the pedestal (1), can the movement in the pedestal (1) under the drive of the guide rod (2).
3. underwater collision detecting device as described in claim 1, which is characterized in that it is slow that the guide rod (2) passes through described first
Punching pad (5) and second cushion (6).
4. underwater collision detecting device as claimed in claim 3, which is characterized in that first cushion (5) and described the
The hole with the guide rod (2) clearance fit is provided on two cushions (6), it is free to slide convenient for guide rod (2).
5. underwater collision detecting device as described in claim 1, which is characterized in that the block (7) and first buffering
(5) contact is padded, for compressing the spring (3).
6. underwater collision detecting device as described in claim 1, which is characterized in that the pedestal (1) is U-shaped structure.
7. underwater collision detecting device as described in claim 1, which is characterized in that described to be opened close to plate (9) and described approach
The distance between (12) end is closed, is greater than the distance between roller devices (8) and first cushion (5), and the two
Difference is less than close to switch (12) to the maximum detectable range close to plate (9).
8. underwater collision detecting device as described in claim 1, which is characterized in that described close to switch (12) connection cables
(13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821000522.1U CN208283576U (en) | 2018-06-27 | 2018-06-27 | A kind of underwater collision detecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821000522.1U CN208283576U (en) | 2018-06-27 | 2018-06-27 | A kind of underwater collision detecting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208283576U true CN208283576U (en) | 2018-12-25 |
Family
ID=64704676
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821000522.1U Active CN208283576U (en) | 2018-06-27 | 2018-06-27 | A kind of underwater collision detecting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208283576U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109738155A (en) * | 2019-01-22 | 2019-05-10 | 浙江大学 | One kind is for simulating shell structure object and sea bed power collision test device in deep-sea |
| CN109738156A (en) * | 2019-01-22 | 2019-05-10 | 浙江大学 | Shell structure object and sea bed power collision test device in orientable simulation deep-sea |
| CN110696766A (en) * | 2019-11-11 | 2020-01-17 | 深圳一清创新科技有限公司 | A collision detection mechanism and unmanned vehicle for unmanned vehicle |
-
2018
- 2018-06-27 CN CN201821000522.1U patent/CN208283576U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109738155A (en) * | 2019-01-22 | 2019-05-10 | 浙江大学 | One kind is for simulating shell structure object and sea bed power collision test device in deep-sea |
| CN109738156A (en) * | 2019-01-22 | 2019-05-10 | 浙江大学 | Shell structure object and sea bed power collision test device in orientable simulation deep-sea |
| US11346746B2 (en) | 2019-01-22 | 2022-05-31 | Zhejiang University | Testing apparatus for directional simulation of dynamic collision between deep-sea shell structure and seabed |
| CN110696766A (en) * | 2019-11-11 | 2020-01-17 | 深圳一清创新科技有限公司 | A collision detection mechanism and unmanned vehicle for unmanned vehicle |
| CN110696766B (en) * | 2019-11-11 | 2023-12-22 | 深圳一清创新科技有限公司 | Collision detection mechanism for unmanned vehicle and unmanned vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208283576U (en) | A kind of underwater collision detecting device | |
| JP6335322B2 (en) | Magnetic connection and alignment of connectable devices | |
| CN105402309A (en) | Cultural relic shock-proof device adopting hybrid shock-absorbing technology | |
| JP2020069552A5 (en) | Control devices, robot systems and control methods | |
| CN208409919U (en) | A kind of robot collision detecting device and robot | |
| CN107756388B (en) | Physical man-machine interaction platform based on rope traction series elastic drive | |
| CN109591747A (en) | A kind of avoidance protective device of the mobile robot with pooling feature | |
| CN207956976U (en) | A kind of hydraulic valve spring cup production transmitting device | |
| CN102942089B (en) | Electromagnetic rail clamping device | |
| CN202967791U (en) | Electromagnetic rail clamping device | |
| CN208745951U (en) | A kind of collision prevention device applied to industrial robot | |
| CN203516460U (en) | Guide rail pair | |
| CN106379793B (en) | A kind of dynamic apparatus for lift and its lift appliance | |
| KR101030087B1 (en) | Shock absorber of linear motor | |
| JP6148045B2 (en) | Double-sided slide support device for structures | |
| CN104485195A (en) | Electromagnet with buffer structure | |
| CN209991954U (en) | Plunger position sensing mechanism for progressive dispensers | |
| CN105261575B (en) | Magnetic connecting device | |
| CN112228761A (en) | Spacing piece and stop device of colliding | |
| CN215701753U (en) | Anti-collision assembly of artificial intelligent education robot | |
| CN219413643U (en) | High-sensitivity pressure reducing valve | |
| CN205588057U (en) | Safety of machine tool limit control mechanism | |
| CN210033150U (en) | Protective door | |
| CN213452822U (en) | Spacing piece and stop device of colliding | |
| CN108942645A (en) | It is precisely controlled the grinding head device of perception amount |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 214000 1, Lane 3, Huiqian Road, Liangxi District, Wuxi City, Jiangsu Province Patentee after: Wuxi Zhonghui Tianze Intelligent Technology Co.,Ltd. Address before: 214000 Yougu business park, Liangxi District, Wuxi City, Jiangsu Province 39-929 Patentee before: WUXI ZHONGHUI TIANZE ENVIRONMENTAL PROTECTION TECHNOLOGY Co.,Ltd. |
|
| CP03 | Change of name, title or address |