CN209758759U

CN209758759U - Retraction device of shallow water observation-level underwater robot

Info

Publication number: CN209758759U
Application number: CN201920280955.5U
Authority: CN
Inventors: 周立涛; 桑恩方; 桑延
Original assignee: Tianjin Sea Star Underwater Robot Co Ltd
Current assignee: Tianjin Sea Star Underwater Robot Co Ltd
Priority date: 2019-03-06
Filing date: 2019-03-06
Publication date: 2019-12-10
Anticipated expiration: 2029-03-06

Abstract

The utility model provides a shallow water observation level underwater robot's winding and unwinding devices, which comprises a ship body, the bow of hull faces the right side, the stern faces the left side, the middle part of hull is equipped with the cavity, the top surface and the bottom surface of cavity all communicate with each other with the outside, the cavity does not communicate with each other with the cabin inside of hull, the top surface both sides difference fixed mounting support of hull, the support is located the both sides of cavity respectively, bearing installation pivot between the support, the right-hand member of pivot passes from the support that is located the right side, the first sprocket of right-hand member fixed mounting of pivot, the top surface right side fixed mounting motor of hull, the motor is located the right side of support on right side, the output shaft of motor faces left and fixed mounting second sprocket, first sprocket. The utility model discloses a winding and unwinding devices can accomplish underwater robot's receive and release work automatically, need not staff's assistance and carries out the couple when using, can further reduce staff's intensity of labour, reduces staff's duty cycle.

Description

Retraction device of shallow water observation-level underwater robot

Technical Field

The utility model belongs to the field of underwater detection equipment, specifically speaking are shallow water observation level underwater robot's winding and unwinding devices.

Background

The underwater robot can replace a diver to carry out certain underwater operation, and is more and more popularized and used, but most of the existing underwater robots need to be lifted to the water surface by using a hoisting device, particularly when the underwater robots are recovered, because the water surface and a ship deck have a certain height difference, and the underwater robots float on the water surface, the underwater robots are difficult to directly hook by using hooks, and often workers need to climb to the positions with the same height as the water surface from the deck and then hook the hooks onto the water surface robots.

SUMMERY OF THE UTILITY MODEL

The utility model provides a shallow water observation level underwater robot's winding and unwinding devices for solve the defect among the prior art.

The utility model discloses a following technical scheme realizes: a retraction device of a shallow water observation-level underwater robot comprises a ship body, wherein the bow of the ship body faces right, the stern of the ship body faces left, a cavity is arranged in the middle of the ship body, the top surface and the bottom surface of the cavity are communicated with the outside, the cavity is not communicated with the inside of a cabin of the ship body, brackets are fixedly arranged on two sides of the top surface of the ship body respectively, the brackets are respectively positioned on two sides of the cavity, a rotating shaft is arranged between the brackets through a bearing, the right end of the rotating shaft penetrates through the bracket positioned on the right side, a first chain wheel is fixedly arranged on the right end of the rotating shaft, a motor is fixedly arranged on the right side of the top surface of the ship body, the motor is positioned on the right side of the bracket on the right side, an output shaft of the motor faces left and is fixedly arranged on a second chain wheel, the first chain wheel is movably connected with the second chain wheel, a remote control module and a controller, the stern department of hull installs the screw, be equipped with the horizontally lifter plate in the cavity, the lifter plate can reciprocate along the cavity, the bottom surface both sides of lifter plate are fixed mounting magnet respectively, the magnetism of two magnet is opposite, the below of lifter plate is equipped with underwater robot body, the top surface both sides of underwater robot body are fixed mounting electro-magnet respectively, the magnetism of two electro-magnets is opposite, magnet and the position one-to-one and magnetism of electro-magnet attract each other, the one end of the top surface middle part fixed connection cable of underwater robot body, the through-hole is seted up at the top surface middle part of lifter plate, the cable passes from the through-hole, the periphery fixed mounting line roller of pivot, the other end of cable and the periphery fixed connection of line roller just can twine on the line roller, underwater robot body passes through cable circuit connection with the battery, other fixed mounting stopper is equallyd divide in the both sides inner wall.

According to the retraction device of the shallow water observation-level underwater robot, the front end and the rear end of the inner walls of the two sides of the cavity are respectively and fixedly provided with the vertical racks which are parallel to each other, the front end and the rear end of the two sides of the lifting plate are respectively provided with the grooves, the grooves are internally and respectively hinged with the gears through the hinge posts, and the gears correspond to the racks in position one to one and are meshed with the racks.

According to the retraction device of the shallow water observation-level underwater robot, the ship body is made of glass fiber reinforced plastic.

According to the retraction device of the shallow water observation-level underwater robot, the upper end and the lower end of the inner periphery of the through hole are both arc-shaped structures.

According to the retraction device of the shallow water observation-level underwater robot, the storage battery is a lithium battery.

According to the retraction device of the shallow water observation-level underwater robot, the solar power generation panel is fixedly mounted on the right side of the top surface of the ship body and is connected with the storage battery circuit.

The utility model has the advantages that: before use, the cable is wound on the wire roller, the electromagnets are electrified and respectively magnetically attracted with the corresponding magnets, and the lifting plate is positioned at the upper end of the cavity; when in use, the winding and unwinding device of the utility model is placed in water, the storage battery can respectively supply power to the remote control module, the controller, the motor and the propeller, the remote control module is controlled by the remote control end, the remote control module can send a control signal to the controller, the controller can control the propeller to rotate, and then the winding and unwinding device of the utility model can be driven to move in water, then the controller is utilized to control the electromagnet to be powered off, when the electromagnet is powered off, the magnet is not attracted to the electromagnet magnetism, and the electromagnet can be respectively disconnected with the corresponding magnet, and simultaneously the motor is controlled to rotate, the motor is a positive and negative rotating motor, and further the output shaft of the motor drives the second chain wheel to rotate, the second chain wheel drives the first chain wheel to rotate through a chain, the first chain wheel drives the rotating shaft to rotate, the rotating shaft drives the wire roller to rotate, thereby the cable wound on the, when the underwater robot body is recovered, the motor is reversely rotated, and then the wire roller is driven to reversely rotate through the transmission energy of the second chain wheel, the chain, the first chain wheel and the rotating shaft, so that the cable can be wound on the wire roller again, and the electromagnets are electrified simultaneously, when the electromagnets respectively lean against the corresponding magnets, the electromagnets can respectively magnetically attract the corresponding magnets, so that the underwater robot body can be limited on the lifting plate, at the moment, the wire roller continuously rotates and continuously winds the cable, and then the underwater robot body can drive the lifting plate to move upwards, and when the lifting plate moves upwards to the upper end of the cavity and is limited by the limit block positioned above, the motor can be controlled to stop rotating through the controller, so that the recovery work of the underwater robot body can be completed. The utility model discloses a winding and unwinding devices can accomplish underwater robot's receive and release work automatically, need not staff's supplementary couple of carrying on when using, can further reduce staff's intensity of labour, reduce staff's duty cycle, and use the utility model discloses a winding and unwinding devices is time spent, need not the staff and make a round trip to scramble between deck and the surface of water, can further reduce staff's risk at the during operation to improve staff's security at the during operation greatly, be fit for using widely.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.

Fig. 1 is a schematic structural diagram of the present invention; 3 fig. 3 2 3 is 3 a 3 sectional 3 view 3 taken 3 along 3 line 3 a 3- 3 a 3 of 3 fig. 3 1 3. 3

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

A retraction device of a shallow water observation-level underwater robot comprises a ship body 1, wherein the bow of the ship body 1 faces right, the stern faces left, a cavity 2 is arranged in the middle of the ship body 1, the top surface and the bottom surface of the cavity 2 are communicated with the outside, the cavity 2 is not communicated with the inside of a cabin of the ship body 1, two sides of the top surface of the ship body 1 are respectively and fixedly provided with a support 3, the supports 3 are respectively positioned on two sides of the cavity 2, a rotating shaft 4 is arranged between the supports 3 through a bearing, the right end of the rotating shaft 4 penetrates through the support 3 positioned on the right side, a first chain wheel 5 is fixedly arranged at the right end of the rotating shaft 4, a motor 6 is fixedly arranged at the right side of the top surface of the ship body 1, the motor 6 is positioned at the right side of the support 3 on the right side, an output shaft of the motor 6 faces left and is fixedly provided with a second chain wheel 7, the first chain, the remote control module 9 and the controller 10 are both positioned on the left side of the left support 3, the storage batteries 11 are mounted inside cabins on both sides of the ship body 1, the two storage batteries 11 are connected in parallel, the stern part of the ship body 1 is provided with a propeller 12, a horizontal lifting plate 13 is arranged in the cavity 2, the lifting plate 13 can move up and down along the cavity 2, magnets 14 are respectively and fixedly mounted on both sides of the bottom surface of the lifting plate 13, the magnetism of the two magnets 14 is opposite, an underwater robot body 15 is arranged below the lifting plate 13, electromagnets 16 are respectively and fixedly mounted on both sides of the top surface of the underwater robot body 15, the magnetism of the two electromagnets 16 is opposite, the positions of the magnets 14 and the electromagnets 16 are in one-to-one correspondence and attract each other, the middle part of the top surface of the underwater robot body 15 is fixedly connected with one end of a cable 17, a through hole 18 is formed in the, the other end of cable 17 and the periphery fixed connection of line roller 19 and can twine on line roller 19, underwater robot body 15 passes through cable 17 circuit connection with battery 11, respectively fixed mounting stopper 20 is equallyd divide to the both sides inner wall four corners of cavity 2, stopper 20 homoenergetic and lifter plate 13 contact cooperation, remote control module 9 can be through remote control end control, remote control module 9 and controller 10 circuit connection, controller 10 and motor 6, screw 13 is circuit connection respectively, battery 11 and remote control module 9, controller 10, motor 6, screw 13 is circuit connection respectively. Before use, the cable 17 is wound on the wire roller 19, the electromagnets 16 are electrified and respectively magnetically attracted with the corresponding magnets 14, and the lifting plate 13 is positioned at the upper end of the cavity 2; when in use, the winding and unwinding device of the utility model is placed in water, the storage battery 11 can respectively supply power to the remote control module 9, the controller 10, the motor 6 and the propeller 13, the remote control module 9 is controlled by the remote control end, the remote control module 9 can send a control signal to the controller 10, the controller 10 can control the propeller 12 to rotate, and further can drive the winding and unwinding device of the utility model to move in water, then the controller 10 is used for controlling the electromagnet 16 to power off, when the electromagnet 16 is powered off, the electromagnet 14 is not attracted with the electromagnet 16 magnetically, and further the electromagnet 16 can be disconnected with the corresponding magnet 14 respectively, and simultaneously the motor 6 is controlled to rotate, the motor 6 is a positive and negative rotation motor, and further the output shaft of the motor 6 drives the second chain wheel 7 to rotate, the second chain wheel 7 drives the first chain wheel 5 to rotate through the chain 8, the first chain wheel 5 drives the rotating shaft 4 to rotate, and the, so as to loosen the cable 17 wound on the wire roller 19, the cable 17 can move downwards along the through hole 18, at the moment, the underwater robot body 15 can submerge underwater to work, the lifting plate 13 can move downwards to the lower end of the cavity 2 under the action of self gravity, the position of the lifting plate 13 can be limited by the limiting block 20 positioned below, when the underwater robot body 15 is recovered, the motor 6 is reversely rotated, and then the wire roller 19 is driven to reversely rotate by the transmission energy of the second chain wheel 7, the chain 8, the first chain wheel 5 and the rotating shaft 4 in sequence, so that the cable 17 can be wound on the wire roller 19 again, and the electromagnets 16 are electrified simultaneously, when the electromagnets 16 respectively lean against the corresponding magnets 14, the electromagnets 16 can respectively attract the corresponding magnets 14, so that the underwater robot body 15 can be limited on the lifting plate 13, at the moment, the wire roller 19 continuously rotates and continuously winds the cable 17, and then underwater robot body 15 can drive lifter plate 13 rebound, when lifter plate 13 rebound to the upper end of cavity 2 and by the stopper 20 limit position that is located the top, can control motor 6 through controller 10 stall to can accomplish underwater robot body 15's recovery work. The utility model discloses a winding and unwinding devices can accomplish underwater robot's receive and release work automatically, need not staff's supplementary couple of carrying on when using, can further reduce staff's intensity of labour, reduce staff's duty cycle, and use the utility model discloses a winding and unwinding devices is time spent, need not the staff and make a round trip to scramble between deck and the surface of water, can further reduce staff's risk at the during operation to improve staff's security at the during operation greatly, be fit for using widely.

Particularly, in order to further improve the utility model discloses a stability of winding and unwinding devices, this embodiment the both ends respectively vertical and the rack 21 that is parallel to each other of fixed mounting around the both sides inner wall of cavity 2, recess 22 is seted up respectively at both ends around the both sides of lifter plate 13, all through the articulated installation gear 23 of hinge post in the recess 22, gear 23 and rack 21's position one-to-one and meshing cooperation. When using, rack 21 can inject the position of the gear 23 that corresponds respectively, and then gear 23 can inject the position of lifter plate 13 simultaneously to enable lifter plate 13 can remain the horizontality throughout when reciprocating along cavity 2, be favorable to further improving the utility model discloses a winding and unwinding devices's stability.

Specifically, in order to further prolong the utility model discloses a life of winding and unwinding devices, this embodiment the material of hull 1 be the glass steel material. Glass steel's density is little, intensity is big, and easy shaping and surface are smooth, have good sea water corrosion resistance and easy to maintain maintenance, are favorable to further extension the utility model discloses a winding and unwinding devices's life.

Further, for further improvement the utility model discloses a safety of winding and unwinding devices, this embodiment through-hole 18 the interior circumference about both ends be the arc structure. When cable 17 slided along through-hole 18, arc structure's through-hole 18 can further alleviate the wearing and tearing to cable 17's ectoderm, and then can further prevent that cable 17's ectoderm from breaking and leading to taking place the danger of electric leakage, thereby can further improve the utility model discloses a winding and unwinding devices's security.

Furthermore, in order to further improve the stability of the power supply of the storage battery 11, the storage battery 11 according to the present embodiment is a lithium battery. The lithium battery has light weight, long service life and stable charging and discharging process, and is favorable for further improving the power supply stability of the storage battery 11.

Further, as shown in the figure, a solar power generation panel 24 is fixedly mounted on the right side of the top surface of the hull 1, and the solar power generation panel 24 is electrically connected to the battery 11. When using on a sunny day the utility model discloses a during winding and unwinding devices, solar radiation solar panel 24 can generate electricity, and then can charge for battery 11 through solar panel 24 to can further increase battery 11's electric quantity, be favorable to further extension the utility model discloses a winding and unwinding devices's operating time.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. The utility model provides a shallow water observation level underwater robot's winding and unwinding devices which characterized in that: comprises a ship body (1), the bow of the ship body (1) faces right, the stern faces left, a cavity (2) is arranged in the middle of the ship body (1), the top surface and the bottom surface of the cavity (2) are communicated with the outside, the cavity (2) is not communicated with the cabin inside of the ship body (1), two sides of the top surface of the ship body (1) are respectively fixedly provided with a support (3), the supports (3) are respectively positioned at two sides of the cavity (2), a rotating shaft (4) is arranged between the supports (3) in a bearing way, the right end of the rotating shaft (4) penetrates through the support (3) positioned at the right side, the right end of the rotating shaft (4) is fixedly provided with a first chain wheel (5), the right side of the top surface of the ship body (1) is fixedly provided with a motor (6), the motor (6) is positioned at the right side of the support (3) at the right side, the output shaft of the motor (6) faces left and is fixedly, a remote control module (9) and a controller (10) are sequentially installed on the left side of the top surface of a ship body (1) from left to right, the remote control module (9) and the controller (10) are both positioned on the left side of a support (3) on the left side, storage batteries (11) are installed inside cabins on two sides of the ship body (1) and are connected in parallel, a propeller (12) is installed at the stern of the ship body (1), a horizontal lifting plate (13) is arranged in a cavity (2), the lifting plate (13) can move up and down along the cavity (2), magnets (14) are fixedly installed on two sides of the bottom surface of the lifting plate (13) respectively, the magnetism of the two magnets (14) is opposite, an underwater robot body (15) is arranged below the lifting plate (13), electromagnets (16) are fixedly installed on two sides of the top surface of the underwater robot body (15) respectively, the magnetism of the two electromagnets (16) is opposite, the magnets (14) and the electromagnets (16), one end of the top surface middle part fixed connection cable (17) of robot body (15) under water, through-hole (18) are seted up in the top surface middle part of lifter plate (13), pass in through-hole (18) are followed in cable (17), the periphery fixed mounting line roller (19) of pivot (4), the other end of cable (17) just can twine on line roller (19) with the periphery fixed connection of line roller (19), robot body (15) passes through cable (17) circuit connection with battery (11) under water, other fixed mounting stopper (20) are equallyd divide to the both sides inner wall four corners of cavity (2), stopper (20) homoenergetic and lifter plate (13) contact cooperation.

2. The retraction device of the shallow water observation-level underwater robot as claimed in claim 1, wherein: the front end and the rear end of the inner walls of the two sides of the cavity (2) are respectively fixedly provided with a vertical rack (21) which is parallel to each other, the front end and the rear end of the two sides of the lifting plate (13) are respectively provided with a groove (22), the grooves (22) are internally provided with gears (23) in a hinged mode through hinged columns, and the gears (23) correspond to the racks (21) in position one to one and are meshed with each other.

3. The retraction device of the shallow water observation-level underwater robot as claimed in claim 1, wherein: the ship body (1) is made of glass fiber reinforced plastic.

4. The retraction device of the shallow water observation-level underwater robot as claimed in claim 1, wherein: the upper end and the lower end of the inner periphery of the through hole (18) are both arc-shaped structures.

5. The retraction device of the shallow water observation-level underwater robot as claimed in claim 1, wherein: the storage battery (11) is a lithium battery.

6. The retraction device of the shallow water observation-level underwater robot as claimed in claim 1, wherein: the solar power generation panel (24) is fixedly arranged on the right side of the top surface of the ship body (1), and the solar power generation panel (24) is in circuit connection with the storage battery (11).