CN210971482U

CN210971482U - Crawling device of underwater robot

Info

Publication number: CN210971482U
Application number: CN201922001759.2U
Authority: CN
Inventors: 胡洪伟; 苗纯正; 高云霄; 丁明泽; 杨卫东
Original assignee: Cssc Southwest Equipment Research Institute Co ltd
Current assignee: Cssc Southwest Equipment Research Institute Co ltd
Priority date: 2019-11-19
Filing date: 2019-11-19
Publication date: 2020-07-10
Anticipated expiration: 2029-11-19

Abstract

The utility model discloses a crawling device of an underwater robot, which comprises a robot main body and a machine base, the robot main body is connected with a winch arranged on the ground through a steel wire rope, the robot main body and the base are connected through a crawling mechanism, the crawling mechanism comprises a crawling oil cylinder, a cylinder body of the crawling oil cylinder is fixedly connected with the outer side of a shell of the robot main body, the piston rod of the crawling oil cylinder is fixedly connected with the base, the crawling mechanism further comprises a walking wheel which is arranged on one side of the robot main body and the base opposite to the fine grating, the travelling wheels comprise a large wheel and two small wheels which are coaxially and fixedly connected, the large wheel is positioned between the two small wheels, a rotating shaft between the big wheel and the small wheel is fixedly arranged on the robot main body and the base through a wheel carrier, and the robot main body and the base are respectively provided with a clamping mechanism for clamping the fine grid. This robot can creep on the thin grid, and stability is high, convenient to use.

Description

Crawling device of underwater robot

Technical Field

The utility model relates to the technical field of robot, concretely relates to crawling device of underwater robot.

Background

The robot comprises a robot main body and a machine base, wherein one end of the robot main body is connected with a winch arranged on the ground through a steel wire rope, the robot main body and the machine base are connected through a crawling mechanism, the other end of the robot main body is provided with a shearing mechanism, the other end of the robot main body is further provided with a sonar, the angle of the sonar can be adjusted, the robot main body comprises a shell, the shearing mechanism comprises a horizontal rotating mechanism arranged in the shell, the lower end of the horizontal rotating mechanism penetrates through the shell and is fixedly provided with a first support, a first hydraulic oil cylinder is fixedly arranged on the first support, a L-shaped support is fixedly arranged on a cylinder body of the first hydraulic oil cylinder, a first crawling cutter frame is fixedly arranged on the first support, the lower end of the horizontal rotating mechanism penetrates through the shell and is fixedly provided with a second support, the fine-grating-shaped cutter frame and a second crawling cutter knife rack are arranged on the second support, the bamboo-rod-shaped cutter frame and a cutter rack, the fine-grating-rod-type robot-rod-type cutting-rod-cutting-rod-cutting-machine.

However, how to realize the underwater crawling of the robot and improve the stability of the robot becomes a technical problem to be solved firstly.

SUMMERY OF THE UTILITY MODEL

To the not enough of above-mentioned prior art, the utility model aims to solve the technical problem that: how to provide a crawling device of an underwater robot, which can realize crawling motion, has high stability and is convenient to use.

In order to solve the technical problem, the utility model discloses a following technical scheme:

a crawling device of an underwater robot comprises a robot main body and a base, wherein one end of the robot main body is connected with a winch arranged on the ground through a steel wire rope, the robot main body and the machine base are connected through a crawling mechanism, the crawling mechanism comprises a crawling oil cylinder, the cylinder body of the crawling oil cylinder is fixedly connected with the outer side of the shell of the robot main body, the piston rod of the crawling oil cylinder is fixedly connected with the base, the crawling mechanism also comprises a walking wheel arranged on one side of the robot main body and the machine base opposite to the fine grating, the travelling wheels comprise a large wheel and two small wheels which are coaxially and fixedly connected, the large wheel is positioned between the two small wheels, a rotating shaft between the big wheel and the small wheel is fixedly arranged on the robot main body and the base through a wheel carrier, and the robot main body and the base are respectively provided with a clamping mechanism for clamping the fine grid.

Therefore, the robot main body is connected with the base through the crawling oil cylinder, and after the robot enters the fine grating, the clamping mechanism clamps the fine grating. When needing to creep, clamping mechanism in the robot main part loosens, and the wire rope of hoist engine is transferred and is simultaneously crept the piston rod extension of hydro-cylinder, transfers to displacement distance (generally 180mm), then clamping mechanism centre gripping in the robot main part is on thin grid, later, clamping mechanism on the frame loosens, under the gravity of frame and the effect of the hydro-cylinder of crawling, frame and robot main part laminating, then clamping mechanism on the frame presss from both sides tightly on thin grid, accomplishes the action of once crawling.

Furthermore, the clamping mechanism comprises a second hydraulic cylinder and a third hydraulic cylinder which are respectively and fixedly installed in the robot body and the base, piston rods of the second hydraulic cylinder and the third hydraulic cylinder respectively penetrate through the shell and the base, a slider-crank mechanism is fixedly connected with the back of the shell and the base, the slider-crank mechanism comprises a mounting seat which is fixedly installed at the lower end of the shell or the base, through holes allowing the piston rods to penetrate through are formed in the mounting seat, vertical plates are correspondingly arranged on the mounting seat, the vertical plates are connected through a rotating shaft, the piston rods are hinged to a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are hinged to a third connecting rod and a fourth connecting rod respectively, the third connecting rod and the fourth connecting rod are hinged to the rotating shaft, and clamping blocks are hinged to the surfaces opposite to the end portions of the third connecting rod and.

Therefore, when the fine grating needs to be clamped by the clamping mechanism, the second hydraulic cylinder and the third hydraulic cylinder act, the piston rod contracts to push the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod to rotate, and the fine grating is clamped by the clamping blocks. When the clamping needs to be loosened, the piston rod extends outwards.

Furthermore, the two sides of one end, far away from the base, of the robot main body are fixedly provided with guide rods, and the end parts of the guide rods are rotatably provided with rollers.

Therefore, the rollers can enter between the fine grids, the guide rods enter between the fine grids to guide the robot, the friction force of the rollers in the guiding process can be reduced, and the fine grids cannot be damaged.

Furthermore, a guide sleeve is fixedly installed on the outer side of the robot main body, the axis of the guide sleeve is parallel to the axis of the piston rod of the crawling cylinder, and a guide rod in sliding fit with the guide sleeve is fixedly installed on the base.

Therefore, the guide rod and the guide sleeve can be used for guiding the movement of the machine base, and the reliability and the stability are improved.

Furthermore, the clamping mechanisms arranged on the robot main body and the machine base are arranged in a staggered mode.

Therefore, the clamping mechanism is clamped on different fine grids, the stability is improved, and the bearing capacity of the fine grids is reduced.

Further, the first connecting rod and the second connecting rod are consistent in length, the third connecting rod and the fourth connecting rod are consistent in length, and the length of the first connecting rod is smaller than that of the third connecting rod.

Like this, first connecting rod, second connecting rod length are little, can utilize little stroke to realize the centre gripping of thin grid with loosen, reduce the volume, can use on the thin grid of interval is little, can not take place to interfere, better satisfying the operation requirement.

To sum up, this device of crawling can drive robot main part and frame and crawl on thin grid, and it is effectual to press from both sides tight, and stability is good.

Drawings

Fig. 1 is a schematic structural diagram of a fine grid sundry shearing robot adopting the structure of the utility model.

Fig. 2 is an enlarged view of the structure of fig. 1 with the fine grid and the metal shield removed.

Fig. 3 is a partially enlarged view of a portion a in fig. 2.

Fig. 4 is a partially enlarged view of a portion B in fig. 2.

Fig. 5 is an enlarged schematic view of the structure of the shearing mechanism in fig. 2.

Fig. 6 is an enlarged view of the swing cylinder of fig. 5 with the swing cylinder removed.

FIG. 7 is a schematic structural view of the oil pipe of FIG. 6 without the first cutter, the second cutter and the first hydraulic cylinder.

Fig. 8 is a schematic view of the mounting structure of the sonar and shearing mechanism of fig. 2.

Fig. 9 is an enlarged schematic view of a connection structure of a cross bar and a guide rail at the lower end of the pitching frame in fig. 2.

Fig. 10 is an enlarged schematic view of the structure of the robot main body and the base in fig. 2.

FIG. 11 is a schematic view of the alternative orientation of FIG. 10 wherein the creeper cylinder is uncovered.

Fig. 12 is an enlarged view of the structure of the housing of fig. 10.

Fig. 13 is a schematic view of the internal structure of the stand.

Fig. 14 is an internal cross-sectional view of the robot body of fig. 10.

Detailed Description

The following is a detailed description of the present invention with reference to the accompanying drawings of a thin grid sundry shearing robot with the structure of the present invention.

In specific implementation, as shown in fig. 1-14, the fine grid sundry shearing robot comprises a robot main body 1 and a base 2, wherein one end of the robot main body 1 is connected with a winch arranged on the ground through a steel wire rope, the robot main body 1 and the base 2 are connected through a crawling mechanism, a shearing mechanism is arranged at the other end of the robot main body 1, a sonar 3 is further arranged at the other end of the robot main body 1, the angle of the sonar can be adjusted as required, the robot main body 1 comprises a shell, the shearing mechanism comprises a horizontal rotating mechanism arranged in the shell, the lower end of the horizontal rotating mechanism penetrates through the shell and is fixedly provided with a first support 11, a first hydraulic oil cylinder 12 is fixedly arranged on the first support 11, a L-shaped support 13 is fixedly arranged on the cylinder body of the first hydraulic oil cylinder 12, a knife rest 14 is fixedly arranged at the end of a piston rod of the first hydraulic oil cylinder 12, a first cutting knife 15 is fixedly arranged at the lower end of the knife rest 14, a L-shaped support 13 is opposite to the first cutting knife 15, and a second cutting knife 16 is opposite to the cutting edge of the first cutting.

Like this, have debris, thin bamboo pole etc. in the thin grid, need cut, when utilizing the robot to carry out debris clearance, utilize hoist and mount robot main part, transfer the robot, the robot is connected through crawling mechanism and thin grid and is set up and can crawl on the thin grid, utilizes the debris on the sonar detection thin grid, then utilizes to cut the mechanism and cut debris. Detect on the fine grid that there are debris such as bamboo pole to need cut at the sonar, the mechanism of crawling drives the motion of robot main part, horizontal rotating mechanism moves, drive first cutter and second cutter and rotate, then the sonar rotates thereupon, adjust the thin bamboo pole and be located between first cutter and the second cutter, later through the mechanism of crawling readjustment thin bamboo pole be close to the setting of second cutter, first hydraulic cylinder moves, drive first cutter to the motion of second cutter direction, the cutting edge that utilizes setting on first cutter and the second cutter carries out the shearing operation to the thin bamboo pole.

In the above embodiment, the lower end of the L-shaped bracket 13 is fixedly provided with a slide rail 17, the slide rail 17 is slidably fitted with a slide block 18, the length direction of the slide rail 17 is parallel to the length direction of the piston rod of the first hydraulic oil cylinder 12, and the slide block 17 is fixedly connected with the tool rest 14.

Like this, be provided with slide rail and slider, utilize slide rail and slider to lead to the motion of knife rest, more importantly, lead the back to the knife rest, can improve the stability of shearing process, reduce the degree of inclination of first hydraulic cylinder's piston rod, reduce the unbalance loading power between first hydraulic cylinder's piston rod and the cylinder body, reduce and reveal the risk, simple structure is convenient for installation and maintenance.

In the above embodiment, the sonar 3 is fixedly mounted on the pitch bracket 31 by a bolt, the cross bar 32 at the lower end of the pitch bracket 31 is recessed into a first sliding groove by adjusting the angle by the bolt, the first guide wheel 33 is rotatably mounted at the upper end of the L-shaped bracket 13, the first guide wheel 33 is in rolling fit with the first sliding groove, the robot main body 1 is fixedly mounted with the guide rail 34, the guide rail 34 is provided with a second sliding groove, the second guide wheel 35 is rotatably mounted at one end of the cross bar 32 at the lower end of the pitch bracket 31, and the second guide wheel 35 is in rolling fit with the second sliding groove.

Like this, transfer the in-process at the robot main part, horizontal rotating mechanism rotates, drives L shape support rotations, through first introduction, drives the every single move support and rotates for horizontal rotating mechanism follow-up is followed to the sonar, has enlarged the detection scope of sonar, and the installation of being convenient for is maintained.

In the above embodiment, the horizontal rotation mechanism includes a swing cylinder 19 fixedly installed in the housing, a lower end of a piston rod of the swing cylinder 19 penetrates through the housing and is fixedly connected to the first support 11, and the piston rod of the swing cylinder 19 is connected to the housing through a sealing bearing.

Therefore, the swing cylinder is a spiral swing cylinder, and the swing cylinder acts to drive the first support to rotate so as to drive the first hydraulic oil cylinder to rotate.

The utility model discloses in, the mechanism of crawling is including the hydro-cylinder 6 of crawling, the cylinder body of hydro-cylinder 6 of crawling with the casing outside fixed connection of robot main part 1, the piston rod of hydro-cylinder 6 of crawling with 2 fixed connections on the frame, the mechanism of crawling is including setting up robot main part 1 and frame 2 are just to the walking wheel 61 to one side of thin grid 4, walking wheel 61 includes coaxial fixed connection's bull wheel and two steamboats, the bull wheel is located two between the steamboat, the pivot in the middle of bull wheel and the steamboat is passed through wheel carrier fixed mounting and is in robot main part 1 and on frame 2, be provided with respectively on robot main part 1 and the frame 2 and be used for carrying out the tight clamping mechanism that presss from both sides to thin grid 4.

In the utility model, the clamping mechanism comprises a second hydraulic cylinder 7 and a third hydraulic cylinder 70 which are respectively and fixedly arranged in the robot main body 1 and the machine base 2, piston rods of the second hydraulic cylinder 7 and the third hydraulic cylinder 70 respectively penetrate through the shell and the base 2 and then are fixedly connected with a slider-crank mechanism, the slider-crank mechanism comprises a mounting seat 71 fixedly mounted at the lower end of the housing or frame 2, the mounting seat 71 is provided with a through hole allowing the piston rod to pass through, the mounting seat 71 is correspondingly provided with vertical plates 72, the vertical plates 72 are connected through a rotating shaft 73, the piston rod is hinged with a first connecting rod 74 and a second connecting rod 75, the first connecting rod 74 and the second connecting rod 75 are respectively hinged with a third connecting rod 76 and a fourth connecting rod 77, the third connecting rod 76 and the fourth connecting rod 77 are hinged with the rotating shaft 73, and the surfaces opposite to the ends of the third connecting rod 76 and the fourth connecting rod 77 are hinged with clamping blocks 78.

The utility model discloses in, the both sides fixed mounting that frame 2's one end was kept away from to robot main part 1 has guide bar 101, roller 102 is installed in the tip rotation of guide bar 101.

The utility model discloses in, the clamping mechanism dislocation set that sets up on robot main part and the frame.

The utility model discloses in, first connecting rod is unanimous with second connecting rod length, third connecting rod and fourth connecting rod length are unanimous, the length of first connecting rod is less than the length of third connecting rod.

In an embodiment of the fine grid sundry shearing robot, a metal protective cover 30 is arranged outside the sonar 3. Avoid the sonar to receive high-speed rivers direct impact or bump with the foreign matter.

In the above embodiment, a lifting blade 103 is installed at one end of the machine base 2 far away from the robot main body 1.

Therefore, the lifting scraper knife can be used for removing foreign matters rushing to the surface of the fine grid by water flow, and the robot is guaranteed to be lifted smoothly.

Specifically, the subaerial hydraulic power unit that is provided with, hydraulic power unit pass through oil circuit pipeline and first hydraulic cylinder, crawl hydro-cylinder, second hydraulic cylinder, third hydraulic cylinder connection setting, and hydraulic power unit is connected with the controller, and the sonar is connected with the controller, is provided with the display screen on the controller for show sonar is at the image of scanning under water.

The action principle is as follows:

firstly, a robot main body is lowered by a winch, the robot main body is guided by a roller, small wheels of the robot main body are pressed on thin gratings, large wheels are positioned between the thin gratings, and a clamping mechanism is clamped on the thin gratings;

then, the sonar scans the underwater environment, the image is transmitted to the controller, an operator operates the walking and shearing of the robot by controlling the actions of the first hydraulic oil cylinder, the second hydraulic oil cylinder, the third hydraulic oil cylinder and the crawling oil cylinder, and the sonar can follow up;

after the shearing is finished, the robot main body is lifted upwards through the winch, the base is driven to be lifted out of the water, and foreign matters on the surface of the fine grid rushed by water flow are removed by using the lifting shovel.

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 will be understood by those skilled in the art; the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the scope of the embodiments of the present invention, and are intended to be covered by the claims and the specification.

Claims

1. A crawling device of an underwater robot is characterized by comprising a robot main body and a machine base, one end of the robot main body is connected with a winch arranged on the ground through a steel wire rope, the robot main body and the machine base are connected through a crawling mechanism, the crawling mechanism comprises a crawling oil cylinder, a cylinder body of the crawling oil cylinder is fixedly connected with the outer side of a shell of the robot main body, the piston rod of the crawling oil cylinder is fixedly connected with the base, the crawling mechanism further comprises a walking wheel which is arranged on one side of the robot main body and the base opposite to the fine grating, the travelling wheels comprise a large wheel and two small wheels which are coaxially and fixedly connected, the large wheel is positioned between the two small wheels, a rotating shaft between the big wheel and the small wheel is fixedly arranged on the robot main body and the base through a wheel carrier, and the robot main body and the base are respectively provided with a clamping mechanism for clamping the fine grid.

2. The crawling device of the underwater robot as claimed in claim 1, wherein said clamping mechanism comprises a second hydraulic cylinder and a third hydraulic cylinder fixedly installed in said robot body and in said base, respectively, piston rods of the second hydraulic cylinder and the third hydraulic cylinder respectively penetrate through the shell and the base and then are fixedly connected with a slider-crank mechanism, the crank sliding block mechanism comprises a mounting seat fixedly mounted at the lower end of the shell or the base, a through hole allowing the piston rod to pass through is arranged on the mounting seat, the mounting seat is correspondingly provided with vertical plates which are connected through a rotating shaft, the piston rod is hinged with a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are respectively hinged with a third connecting rod and a fourth connecting rod, the third connecting rod and the fourth connecting rod are hinged with the rotating shaft, and clamping blocks are hinged on the surfaces opposite to the end parts of the third connecting rod and the fourth connecting rod.

3. The crawling device of the underwater robot as claimed in claim 2, wherein guide rods are fixedly installed on both sides of one end of the robot main body away from the base, and rollers are rotatably installed on the ends of the guide rods.

4. The crawling device of the underwater robot as claimed in claim 3, wherein a guide sleeve is fixedly installed on the outer side of the robot main body, the axis of the guide sleeve is parallel to the axis of the piston rod of the crawling cylinder, and a guide rod which is in sliding fit with the guide sleeve is fixedly installed on the base.

5. The crawling device of the underwater robot as claimed in claim 4, wherein the clamping mechanisms provided on the robot main body and the machine base are arranged in a staggered manner.

6. The crawling device of the underwater robot of claim 5, wherein said first and second links are of the same length, said third and fourth links are of the same length, and said first link is of a length less than said third link.