CN209242381U - A kind of cloth cable laying axis applied to underwater robot - Google Patents
A kind of cloth cable laying axis applied to underwater robot Download PDFInfo
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- CN209242381U CN209242381U CN201821836109.9U CN201821836109U CN209242381U CN 209242381 U CN209242381 U CN 209242381U CN 201821836109 U CN201821836109 U CN 201821836109U CN 209242381 U CN209242381 U CN 209242381U
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- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
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Abstract
The utility model relates to underwater propulsion equipment technical fields, specifically disclose a kind of cloth cable laying axis applied to underwater robot, including wire-wound rotary disc, the conducting mechanism positioned at wire-wound rotary disc side and the umbilical cables that are wound on wire-wound rotary disc, conducting mechanism is provided with force measuring machine far from the side of wire-wound rotary disc, the force measuring machine includes force-measuring wheel, pressure sensor and locating wheel group, and pressure sensor is connect with the force-measuring wheel；Locating wheel group includes spaced first locating wheel and the second locating wheel, and one end of the umbilical cables is across the conducting mechanism and around the periphery of the force-measuring wheel by stretching out first locating wheel and second locating wheel.The pressure in umbilical cables can be measured by pressure sensor, the pulling force of umbilical cables can be adjusted as needed, convenient for controlling underwater robot；First locating wheel and the second locating wheel are positioned and are oriented to umbilical cables, so that umbilical cables contact well with force-measuring wheel, guarantee stationarity.
Description
Technical field
The utility model relates to underwater propulsion equipment technical field more particularly to a kind of laying applied to underwater robot
Cable axis.
Background technique
Line traffic control underwater robot, be it is a kind of work in underwater limit operation robot, be ocean development and underwater operation
Important tool.Underwater man-hour, controller on the bank are connected by umbilical cables with underwater human body, umbilical cables
Electric energy is provided for underwater robot and is responsible for the transmitting of signal.
As shown in Figure 1, electronic cable axis includes wire-wound rotary disc 11, conducting mechanism 12, reciprocal lead screw 13, umbilical cables 14 and control
Case, umbilical cables 14 are wrapped on wire-wound rotary disc 11, can control cable spindle motor that wire-wound rotary disc 11 is driven to rotate forward reversion by control cabinet,
Realize take-up and unwrapping wire.In 11 rotation process of wire-wound rotary disc, conducting mechanism 12 moves back and forth along reciprocal lead screw 13, so that
Umbilical cables 14 realize regular neat arrangement.
Underwater man-hour, inevitably by the thrust of water flow, but existing electronic cable axis can only realize take-up and
Unwrapping wire can not observe the size of the pulling force in umbilical cables, and then can not more accurately control underwater robot.
Utility model content
The purpose of this utility model is to provide a kind of cloth cable laying axis applied to underwater robot, to solve the prior art
Present in pulling force size in umbilical cables the technical issues of can not detecting and controlling.
As above design, the technical scheme adopted by the utility model is
A kind of cloth cable laying axis applied to underwater robot, including wire-wound rotary disc, leading positioned at the wire-wound rotary disc side
Line mechanism and the umbilical cables being wound on the wire-wound rotary disc, the conducting mechanism are provided with far from the side of the wire-wound rotary disc
Force measuring machine, the force measuring machine include:
Force-measuring wheel；
Pressure sensor is connect with the force-measuring wheel；
One end of locating wheel group, including spaced first locating wheel and the second locating wheel, the umbilical cables passes through institute
State conducting mechanism and around the periphery of the force-measuring wheel by stretching out between first locating wheel and second locating wheel.
Wherein, the force measuring machine further includes bracket, the force-measuring wheel, first locating wheel and second locating wheel
It is rotatably dispose on the bracket, the pressure sensor is installed on the bracket and for detecting the force-measuring wheel periphery
Pressure on face.
Wherein, the side of the wire-wound rotary disc is provided with lead screw, the extending direction of the lead screw and the wire-wound rotary disc
Axis is parallel, and the conducting mechanism is spirally connected with the lead screw.
Wherein, the conducting mechanism includes shell and the directive wheel that is rotatably dispose on the shell, the umbilical cables
One end passes through between two spaced directive wheels, and the shell is spirally connected with the lead screw.
Wherein, the bracket is fixedly connected with the shell.
Wherein, the wire-wound rotary disc and the lead screw are rotatably dispose in fixing seat, the wire-wound rotary disc and the silk
Thick stick is connected by transmission mechanism.
Wherein, limit hole is offered on the shell, and limited post, the extension of the limited post are equipped in the limit hole
The both ends of the direction limited post identical and described with the extending direction of the lead screw are connect with the fixing seat.
Wherein, the wire-wound rotary disc includes the limit plate at the both ends for being located in the middle rotating cylinder and being connected to the rotating cylinder, institute
It states umbilical cables to be wound on the rotating cylinder, an at least corresponding limit plate is provided with locking mechanism, for clamping the limit
Position plate simultaneously makes the wire-wound rotary disc stop operating.
Wherein, the locking mechanism includes:
Clamping jaw, including the first clamping jaw and the second clamping jaw being hinged, the of first clamping jaw and second clamping jaw
One end is located at the two sides of the limit plate, and the side of first clamping jaw and the second clamping jaw towards the limit plate is equal
It is provided with friction plate；
Drive rod connect with the second end of first clamping jaw and second clamping jaw and can drive first clamping jaw
First end close to or far from second clamping jaw first end.
Wherein, the drive rod and second clamping jaw are rotatablely connected, one end of the drive rod and first clamping jaw
It is threadedly coupled.
The utility model has the beneficial effects that
The utility model proposes the cloth cable laying axis applied to underwater robot, one end of umbilical cables passes through conducting mechanism simultaneously
Around force-measuring wheel periphery by being stretched out between the first locating wheel and the second locating wheel, umbilical cables can be measured by pressure sensor
The pressure on force-measuring wheel is acted on, and then can learn the pulling force in umbilical cables, the pulling force to umbilical cables can be carried out as needed
Adjustment, convenient for controlling underwater robot；The setting of first locating wheel and the second locating wheel, to umbilical cables carry out positioning and
Guiding guarantees stationarity so that umbilical cables contact well with force-measuring wheel.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of existing electronic cable axis；
Fig. 2 is the structural schematic diagram of cloth cable laying axis provided by the utility model；
Fig. 3 is the partial structure diagram one of cloth cable laying axis provided by the utility model；
Fig. 4 is the partial structure diagram two of cloth cable laying axis provided by the utility model；
Fig. 5 is the partial structure diagram three of cloth cable laying axis provided by the utility model.
In figure:
11, wire-wound rotary disc；12, conducting mechanism；13, reciprocal lead screw；14, umbilical cables；
21, fixing seat；22, wire-wound rotary disc；23, lead screw；24, conducting mechanism；25, umbilical cables；26, force measuring machine；27, it locks
Crash structure；
241, shell；242, directive wheel；243, limited post；
261, bracket；262, force-measuring wheel；263, pressure sensor；264, the first locating wheel；265, the second locating wheel；
271, the first clamping jaw；272, the second clamping jaw；273, drive rod；274, handle；275, mounting plate.
Specific embodiment
The technical issues of to solve the utility model, the technical solution of use and the technical effect that reaches are clearer,
Further illustrate the technical solution of the utility model below with reference to the accompanying drawings and specific embodiments.It is understood that
Specific embodiment described herein is used only for explaining the utility model, rather than the restriction to the utility model.In addition it also needs
It is noted that illustrating only part relevant to the utility model for ease of description, in attached drawing and not all.
Referring to figs. 2 and 3, the utility model embodiment provides a kind of cloth cable laying axis applied to underwater robot, including
For providing the fixing seat 21 of support, rotation is provided with wire-wound rotary disc 22 and lead screw 23 in fixing seat 21, and lead screw 23 is located at coiling
The side of turntable 22, and the extending direction of lead screw 23 is parallel with the axis of wire-wound rotary disc 22, is provided with conducting mechanism on lead screw 23
24, conducting mechanism 24 is spirally connected with lead screw 23.Umbilical cables 25 are wound on wire-wound rotary disc 22, one end of umbilical cables 25 passes through conducting wire machine
Structure 24 extends.
Wire-wound rotary disc 22 is connected with lead screw 23 by transmission mechanism, i.e., wire-wound rotary disc 22 and lead screw 23 can be by the same drives
Motivation structure drives, and guarantees synchronism while wire-wound rotary disc 22 and lead screw 23 rotate.In the present embodiment, driving mechanism is electricity
Machine, transmission mechanism are gear mechanism, and when motor drives wire-wound rotary disc 22 to rotate, wire-wound rotary disc 22 will be moved by gear mechanism
It is transferred to lead screw 23, lead screw 23 is driven to rotate, and then conducting mechanism 24 is driven to move along lead screw 23.
Cloth cable laying axis further includes force measuring machine 26, for detecting the pulling force in umbilical cables 25.Force measuring machine 26 includes bracket
261 and the force-measuring wheel 262, pressure sensor 263 and the locating wheel group that are installed on bracket 261, locating wheel group include interval setting
The first locating wheel 264 and the second locating wheel 265, bracket 261 is set to side of the conducting mechanism 24 far from wire-wound rotary disc 22, surveys
Wheels 262, the first locating wheel 264 and the second locating wheel 265 are rotatably dispose on bracket 261.Pressure sensor 263 and dynamometry
Wheel 262 connects and for detecting the pressure on 262 outer peripheral surface of force-measuring wheel；One end of umbilical cables 25 passes through conducting mechanism 24 and bypasses
The periphery of force-measuring wheel 262 between the first locating wheel 264 and the second locating wheel 265 by stretching out.
The pressure that umbilical cables 25 act on force-measuring wheel 262 can be measured by pressure sensor 263, and then can be learnt
Pulling force in umbilical cables 25, can the pulling force as needed to umbilical cables 25 be adjusted, convenient for controlling underwater robot；
The setting of first locating wheel 264 and the second locating wheel 265 is positioned and is oriented to umbilical cables 25, so that umbilical cables 25 and survey
Wheels 262 contacts well, guarantees stationarity.
In the present embodiment, one end of umbilical cables 25 passes through conducting mechanism 24 and extends downwardly, and around 262 downside of force-measuring wheel
Periphery, then by stretching out between the first locating wheel 264 and the second locating wheel 265, therefore the downside of force-measuring wheel 262 is by umbilical cables
25 pressure.
Wire-wound rotary disc 22 includes the limit plate at the both ends for being located in the middle rotating cylinder and being connected to rotating cylinder, and umbilical cables 25 are wound in
On rotating cylinder and in proper alignment on rotating cylinder, limit plate prevents umbilical cables 25 to be detached from from the both ends of rotating cylinder.
Referring to fig. 4, conducting mechanism 24 includes shell 241 and the directive wheel 242 being rotatably dispose on shell 241, umbilical cables
25 one end passes through between two spaced directive wheels 242, and shell 241 is spirally connected with lead screw 23.When motor drives coiling
When turntable 22 rotates, wire-wound rotary disc 22 transfers the motion to lead screw 23 by gear mechanism, and lead screw 23 is driven to rotate, and then drives
Conducting mechanism 24 is moved along lead screw 23, so that umbilical cables 25 realize regular neat arrangement.
In order to guarantee the mobile stationarity of conducting mechanism 24, limit hole is offered on shell 241, is worn in limit hole limited
Position column 243, the extending direction of limited post 243 is identical as the extending direction of lead screw 23 and the both ends of limited post 243 and fixing seat
21 connections.
During installation, the bracket 261 of force measuring machine 26 is fixedly connected with the shell 241 of conducting mechanism 24.Work as conducting mechanism
24 along lead screw 23 when moving, while force measuring machine 26 being driven to move along lead screw 23, so that 25 proper alignment of umbilical cables and in real time inspection
Survey the pulling force in umbilical cables 25.
Referring to Fig. 5, for the ease of controlling wire-wound rotary disc 22, an at least corresponding limit plate is provided with locking mechanism
27, for clamping limit plate and wire-wound rotary disc 22 being made to stop operating.In the present embodiment, a lock is arranged in corresponding each limit plate
Crash structure 27.
Locking mechanism 27 includes clamping jaw and drive rod 273, and clamping jaw includes the first clamping jaw 271 and the second clamping jaw being hinged
272, the first end of the first clamping jaw 271 and the second clamping jaw 272 is located at the two sides of limit plate, the first clamping jaw 271 and the second folder
The side of pawl 272 towards limit plate is provided with friction plate；The second of drive rod 273 and the first clamping jaw 271 and the second clamping jaw 272
End connection and the first end that close or separate second clamping jaw 272 of the first end of the first clamping jaw 271 can be driven.
In the present embodiment, between the first clamping jaw 271 and the second clamping jaw 272 by shaft it is hinged, shaft rotational installation in
On mounting plate 275, mounting plate 275 is fixedly connected with fixing seat 21.
In the present embodiment, drive rod 273 and the second clamping jaw 272 are rotatablely connected, one end of drive rod 273 and the first clamping jaw
271 are threadedly coupled.Specifically, drive rod 273 and fixing seat 21 are rotatablely connected, and are provided with bearing, drive rod on the second clamping jaw 272
273 one end passes through bearing and is threadedly coupled with the first clamping jaw 271, and the other end of drive rod 273 is connected with handle 274.
When rotational handle 274 drive drive rod 273 along rotate clockwise when, the axial position of drive rod 273 is motionless, first
One end that clamping jaw 271 is connect with drive rod 273 is mobile to the direction far from the second clamping jaw 272 under the action of screw thread, and then makes
The first end of the first clamping jaw 271 is obtained close to the first end of the second clamping jaw 272, the first clamping jaw 271 and the second clamping jaw 272 are matched for clamping tightly
Limit plate, under the rubbing action of friction plate, wire-wound rotary disc 22 fails；When rotational handle 274 in the counterclockwise direction, the
The direction of one end that one clamping jaw 271 is connect with drive rod 273 to close second clamping jaw 272 is mobile, so that the first clamping jaw 271
First end of the first end far from the second clamping jaw 272, the first clamping jaw 271 and the second clamping jaw 272 unclamp limit plate, do not influence coiling
Turntable 22 rotates again.
Embodiment of above only elaborates the basic principles and features of the present invention, and the utility model is not by above-mentioned reality
The mode of applying limits, and on the premise of not departing from the spirit and scope of the utility model, the present invention has various changes and changes,
These changes and changes fall within the scope of the claimed invention.The utility model requires protection scope is by appended
Claims and its equivalent thereof.
Claims (10)
1. a kind of cloth cable laying axis applied to underwater robot, including wire-wound rotary disc (22), it is located at the wire-wound rotary disc (22) one
The conducting mechanism (24) of side and the umbilical cables (25) being wound on the wire-wound rotary disc (22), which is characterized in that the conducting wire machine
Structure (24) is provided with force measuring machine (26) far from the side of the wire-wound rotary disc (22), and the force measuring machine (26) includes:
Force-measuring wheel (262)；
Pressure sensor (263) is connect with the force-measuring wheel (262)；
Locating wheel group, including spaced first locating wheel (264) and the second locating wheel (265), the umbilical cables (25)
One end passes through the conducting mechanism (24) and around the periphery of the force-measuring wheel (262) by first locating wheel (264) and institute
It states and is stretched out between the second locating wheel (265).
2. cloth cable laying axis according to claim 1, which is characterized in that the force measuring machine (26) further includes bracket (261),
The force-measuring wheel (262), first locating wheel (264) and second locating wheel (265) are rotatably dispose in the bracket
(261) on, the pressure sensor (263) is installed on the bracket (261) and for detecting the force-measuring wheel (262) periphery
Pressure on face.
3. cloth cable laying axis according to claim 2, which is characterized in that the side of the wire-wound rotary disc (22) is provided with lead screw
(23), the extending direction of the lead screw (23) is parallel with the axis of the wire-wound rotary disc (22), the conducting mechanism (24) and institute
Lead screw (23) is stated to be spirally connected.
4. cloth cable laying axis according to claim 3, which is characterized in that the conducting mechanism (24) include shell (241) and
The directive wheel (242) being rotatably dispose on the shell (241), one end of the umbilical cables (25) is in two spaced institutes
It states and is passed through between directive wheel (242), the shell (241) is spirally connected with the lead screw (23).
5. cloth cable laying axis according to claim 4, which is characterized in that the bracket (261) and the shell (241) are fixed
Connection.
6. cloth cable laying axis according to claim 4, which is characterized in that the wire-wound rotary disc (22) and the lead screw (23) are equal
It is rotatably dispose on fixing seat (21), the wire-wound rotary disc (22) is connected with the lead screw (23) by transmission mechanism.
7. cloth cable laying axis according to claim 6, which is characterized in that limit hole is offered on the shell (241), it is described
It is equipped in limit hole limited post (243), the extending direction phase of the extending direction and the lead screw (23) of the limited post (243)
The both ends of the same and described limited post (243) are connect with the fixing seat (21).
8. cloth cable laying axis according to claim 6, which is characterized in that the wire-wound rotary disc (22) includes being located in the middle to turn
The limit plate of cylinder and the both ends for being connected to the rotating cylinder, the umbilical cables (25) are wound on the rotating cylinder, at least one corresponding
The limit plate is provided with locking mechanism (27), for clamping the limit plate and the wire-wound rotary disc (22) being made to stop operating.
9. cloth cable laying axis according to claim 8, which is characterized in that the locking mechanism (27) includes:
Clamping jaw, including the first clamping jaw (271) and the second clamping jaw (272) being hinged, first clamping jaw (271) and described
The first end of two clamping jaws (272) is located at the two sides of the limit plate, first clamping jaw (271) and second clamping jaw
(272) friction plate is provided with towards the side of the limit plate；
Drive rod (273) connect and can drive with the second end of first clamping jaw (271) and second clamping jaw (272)
The first end of close or separate second clamping jaw (272) of the first end of first clamping jaw (271).
10. cloth cable laying axis according to claim 9, which is characterized in that the drive rod (273) and second clamping jaw
(272) it is rotatablely connected, one end of the drive rod (273) is threadedly coupled with first clamping jaw (271).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821836109.9U CN209242381U (en) | 2018-11-08 | 2018-11-08 | A kind of cloth cable laying axis applied to underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821836109.9U CN209242381U (en) | 2018-11-08 | 2018-11-08 | A kind of cloth cable laying axis applied to underwater robot |
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| Publication Number | Publication Date |
|---|---|
| CN209242381U true CN209242381U (en) | 2019-08-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821836109.9U Active CN209242381U (en) | 2018-11-08 | 2018-11-08 | A kind of cloth cable laying axis applied to underwater robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111649910A (en) * | 2020-06-11 | 2020-09-11 | 中国科学院沈阳自动化研究所 | Umbilical cable dynamics model verification test system |
| CN112647869A (en) * | 2020-12-22 | 2021-04-13 | 四川宏华石油设备有限公司 | Drill floor manipulator |
| CN112811268A (en) * | 2021-01-13 | 2021-05-18 | 中国科学院光电技术研究所 | Automatic wire winding device |
| CN115258840A (en) * | 2022-09-27 | 2022-11-01 | 中科探海(苏州)海洋科技有限责任公司 | Be applied to underwater robot's winding device |
| CN116973001A (en) * | 2023-09-25 | 2023-10-31 | 江苏亨通海洋光网系统有限公司 | Umbilical cable stacking temperature rise test system and test method |
-
2018
- 2018-11-08 CN CN201821836109.9U patent/CN209242381U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111649910A (en) * | 2020-06-11 | 2020-09-11 | 中国科学院沈阳自动化研究所 | Umbilical cable dynamics model verification test system |
| CN112647869A (en) * | 2020-12-22 | 2021-04-13 | 四川宏华石油设备有限公司 | Drill floor manipulator |
| CN112811268A (en) * | 2021-01-13 | 2021-05-18 | 中国科学院光电技术研究所 | Automatic wire winding device |
| CN115258840A (en) * | 2022-09-27 | 2022-11-01 | 中科探海(苏州)海洋科技有限责任公司 | Be applied to underwater robot's winding device |
| CN115258840B (en) * | 2022-09-27 | 2022-12-13 | 中科探海(苏州)海洋科技有限责任公司 | Winding device applied to underwater robot |
| CN116973001A (en) * | 2023-09-25 | 2023-10-31 | 江苏亨通海洋光网系统有限公司 | Umbilical cable stacking temperature rise test system and test method |
| CN116973001B (en) * | 2023-09-25 | 2023-12-08 | 江苏亨通海洋光网系统有限公司 | Umbilical cable stacking temperature rise test system and test method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 300457 Tianjin Binhai New Area Tianjin Development Zone Muning road No.45 Jinbin development plant No.7 Patentee after: Shenzhen Blue Ocean Technology Co.,Ltd. Address before: 300457 Tianjin Binhai New Area Tianjin Development Zone Muning road No.45 Jinbin development plant No.7 Patentee before: Tianjin shenzhilan Marine Equipment Technology Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder | ||
| CP03 | Change of name, title or address |
Address after: 300457 Tianjin Binhai New Area Tianjin Development Zone Muning road No.45 Jinbin development plant No.7 Patentee after: Tianjin shenzhilan Marine Equipment Technology Co.,Ltd. Address before: 300457 Tianjin Binhai New Area Development Zone Muning road No.45 Jinbin development plant No.7 Patentee before: Tianjin Deepfar Ocean Technology Co.,Ltd. |
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| CP03 | Change of name, title or address | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220811 Address after: No.58, nanxiange street, Xicheng District, Beijing 100038 Patentee after: China South to North Water Diversion group middle line Co.,Ltd. Patentee after: Shenzhen Blue Ocean Technology Co.,Ltd. Address before: 300457 Tianjin Binhai New Area Tianjin Development Zone Muning road No.45 Jinbin development plant No.7 Patentee before: Shenzhen Blue Ocean Technology Co.,Ltd. |
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| TR01 | Transfer of patent right |