CN211336367U - Underwater robot throwing and recycling device - Google Patents
Underwater robot throwing and recycling device Download PDFInfo
- Publication number
- CN211336367U CN211336367U CN201922428240.2U CN201922428240U CN211336367U CN 211336367 U CN211336367 U CN 211336367U CN 201922428240 U CN201922428240 U CN 201922428240U CN 211336367 U CN211336367 U CN 211336367U
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- damping
- platform
- underwater robot
- flotation pontoon
- spring
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Abstract
The utility model discloses a recovery unit is put in to underwater robot, retrieve the platform including the flotation pontoon with putting in, the afterbody of flotation pontoon is provided with water spray drive arrangement, both sides are provided with leading spring damping device and rearmounted hydraulic damping mechanism respectively around the flotation pontoon, put in and retrieve the platform and be connected with the flotation pontoon through leading spring damping device and rearmounted hydraulic damping mechanism. This recovery unit is put in to underwater robot, the hydraulic stem is regulated and control to staff's accessible manual or remote control's mode, motor and gripper carry out underwater robot's quick input, it puts in efficiency to show to improve, practice thrift the input cost, adopt binary structure and water jet propulsion power simultaneously, it is stable to travel, be difficult for rocking, the maneuverability is high, thereby it is more steady when using to make this input recovery unit, guarantee the stability when this input recovery unit operation, adopt the green energy-saving design of solar energy shell, can supply power for the battery when navigating, make full use of clean energy.
Description
Technical Field
The utility model relates to a boats and ships technical field specifically is a underwater robot puts in recovery unit.
Background
The underwater glider is a novel underwater robot, obtains propelling force by utilizing net buoyancy and attitude angle adjustment, has extremely low energy consumption, only consumes a small amount of energy when adjusting the net buoyancy and the attitude angle, and has the characteristics of high efficiency and large endurance. Although the underwater glider has a slow sailing speed, the underwater glider has the characteristics of low manufacturing cost and maintenance cost, reusability, large-scale throwing and the like, and meets the requirement of long-time and large-scale ocean exploration.
However, in the process of putting and recovering operation, the underwater glider is easily affected by wind waves, the operation is difficult, the time spent is long, the efficiency of putting and recovering is low, and therefore the use efficiency of the underwater glider putting and recovering device is reduced, and the underwater robot putting and recovering device is provided so as to solve the problems.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a recovery unit is put in to underwater robot to solve the influence that the recovery unit is put in and is retrieved the operation in-process easily by the stormy waves to glider under water on the present market that above-mentioned background art provided, the operation is comparatively difficult, and the time of cost is longer, leads to putting in recovery efficiency not high, thereby has reduced the problem to the availability factor that recovery unit was put in to glider under water.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a recovery unit is put in to underwater robot, includes the flotation pontoon and puts in and retrieve the platform, the afterbody of flotation pontoon is provided with water spray drive arrangement, both sides are provided with leading spring damping device and rearmounted hydraulic damping mechanism respectively around the flotation pontoon, put in and retrieve the platform and be connected with the flotation pontoon through leading spring damping device and rearmounted hydraulic damping mechanism.
Preferably, the inside of flotation pontoon is provided with two sections of airtight water tanks to the water jet drive device of flotation pontoon afterbody comprises water jet propulsion ware and steering wheel, and the steering wheel is located water jet propulsion ware's the place ahead simultaneously, water jet propulsion ware is provided with 2, and 2 water jet propulsion ware are symmetrical about the vertical central line of flotation pontoon.
Preferably, put in and retrieve and be provided with control room and manipulator formula recovery system on the platform, and put in and retrieve the platform below and be provided with rim plate fluid pressure type input system to be equipped with solar panel on the shell of control room, put in simultaneously and retrieve the platform below and be equipped with the platform gallows.
Preferably, leading spring damping device and rearmounted hydraulic damping mechanism all set up about the central axis symmetry of flotation pontoon and input recovery platform, and are parallel to each other between leading spring damping device and the rearmounted hydraulic damping mechanism to leading spring damping device and rearmounted hydraulic damping mechanism all constitute welded integral structure with the flotation pontoon and set up, all reserve between leading spring damping device and rearmounted hydraulic damping mechanism and the flotation pontoon and have the slope contained angle, and set up to articulated rotating-structure between the afterbody of rearmounted hydraulic damping mechanism and flotation pontoon.
Preferably, the front spring damping device comprises a damping base frame, a connecting damping rod, a damping machine part and a spring damping rod, the front spring damping device is connected with the buoy through a damping base frame hinge, a hard damping spring is arranged in the middle of the damping base frame and connected with the buoy, a universal joint is arranged on the damping base frame and hinged with the connecting damping rod, the hard spring is arranged in the middle of the connecting damping rod, the connecting damping rod is hinged with the damping machine part, and the spring damping rod is hinged with the throwing recovery platform and connected to the lower portion of the damping machine part.
Preferably, rearmounted hydraulic damping mechanism includes head rod, spring beam and spring hydraulic stem, and rearmounted hydraulic damping mechanism is connected through head rod and flotation pontoon are articulated, the head rod is connected with the recovery platform of input through the spring beam, and the head rod is the triangle with the spring hydraulic stem and appears and retrieve the platform and be connected with the input.
Preferably, rim plate fluid pressure type dispensing system is including connecting hydraulic stem, motor, planetary gear rim plate, second connecting rod, gripper and rim plate bearing, it is provided with 4 to connect the hydraulic stem, and connects the hydraulic stem and be the one end that rectangle four corners distributed connection is motor and rim plate bearing under the platform for 4 to the motor is located platform afterbody below and is connected with the planetary gear rim plate, the planetary gear rim plate drives the rim plate bearing and the planetary gear rim plate rotation of the other end through the second connecting rod, and installs the gripper on the second connecting rod.
Preferably, the manipulator type recovery system is welded and installed at the rear part of the putting-in recovery platform and consists of a three-section hydraulic rod, a support and a manipulator body, and the manipulator type recovery system can perform recovery work of the underwater robot through an operating console.
Compared with the prior art, the beneficial effects of the utility model are that: the underwater robot puts in and retrieves the device;
(1) the throwing recovery device adopts a double-body structure and water spray propulsion power, is stable in running, not easy to shake and high in maneuverability, so that the throwing recovery device is more stable in use, and the stability of the throwing recovery device in operation is ensured;
(2) the front side and the rear side of the buoy are respectively provided with the front spring damping device and the rear hydraulic damping mechanism, so that when the throwing recovery device is sailed on the sea, damage caused by the impact of wind waves on the throwing recovery device can be effectively reduced through the front spring damping device and the rear hydraulic damping mechanism, and the service life of the throwing recovery device is further prolonged;
(3) the throwing recovery device adopts a remote control mode to replace a manual throwing recovery underwater robot, so that the throwing manpower and material resources are effectively reduced, the throwing recovery cost is reduced, and the practicability of the throwing recovery device is improved;
(4) the solar panel is arranged on the shell of the control room, and the green energy-saving design of the solar shell is adopted, so that power can be supplied to the battery during navigation, clean energy is fully utilized, and the pollution to the environment is effectively reduced.
Drawings
Fig. 1 is a schematic view of the overall front view structure of an underwater robot throwing and recovering device of the present invention;
fig. 2 is a schematic view of the overall side view structure of the underwater robot throwing and recovering device of the present invention;
FIG. 3 is a schematic view of a front view structure of the underwater robot throwing and recovering device with a shock absorbing rod and a shock absorbing machine member connected thereto;
fig. 4 is a schematic structural view of a front spring damping device of an underwater robot throwing and recovering device of the present invention;
fig. 5 is a schematic structural view of a rear hydraulic damping mechanism of the underwater robot throwing and recovering device of the present invention;
fig. 6 is a structural schematic diagram of a hydraulic throwing system of a wheel disc of a throwing and recovering device of an underwater robot;
fig. 7 is a schematic structural view of a manipulator type recovery system of the underwater robot throwing recovery device of the present invention;
fig. 8 is the utility model relates to a recovery unit water spray drive arrangement local structure schematic diagram is put in to underwater robot.
In the figure: 1. a float bowl; 2. putting in and recovering the platform; 21. a platform hanger; 3. a water spray driving device; 31. A water jet propeller; 32. a steering engine; 4. a front spring damping device; 41. a shock-absorbing base frame; 42. connecting a shock absorption rod; 43. a damping member; 44. a spring shock-absorbing lever; 5. a rear hydraulic damping mechanism; 51. a first connecting rod; 52. a spring lever; 53. a spring hydraulic lever; 6. a hydraulic wheel disc throwing system; 61. connecting a hydraulic rod; 62. a motor; 63. a planetary gear wheel disc; 64. a second connecting rod; 65. a gripper; 66. A wheel disc bearing; 7. a control room; 8. a robotic recovery system; 81. a three-section hydraulic ram; 82. a support; 83. a manipulator body; 84. a console.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-8, the present invention provides a technical solution: a throwing and recovering device for an underwater robot comprises a floating drum 1 and a throwing and recovering platform 2, wherein the tail part of the floating drum 1 is provided with a water spray driving device 3, the front side and the rear side of the floating drum 1 are respectively provided with a front spring damping device 4 and a rear hydraulic damping mechanism 5, and the throwing and recovering platform 2 is connected with the floating drum 1 through the front spring damping device 4 and the rear hydraulic damping mechanism 5;
two sections of closed water tanks are arranged inside the buoy 1, the front end of the buoy 1 is rhinoceros horn-shaped, the water spray driving device 3 at the tail part of the buoy 1 consists of water spray propellers 31 and steering gears 32, meanwhile, the steering gears 32 are positioned in front of the water spray propellers 31, the number of the water spray propellers 31 is 2, and the 2 water spray propellers 31 are symmetrical about the longitudinal central line of the buoy 1, so that the whole throwing and recovering device can stably operate on the sea surface;
the control room 7 and the manipulator type recovery system 8 are arranged on the putting and recovering platform 2, the wheel disc hydraulic putting system 6 is arranged below the putting and recovering platform 2, the solar panel is arranged on the shell of the control room 7, and the platform hanging bracket 21 is arranged below the putting and recovering platform 2, so that power can be supplied to equipment of the control room 7, clean energy is fully utilized, the environment is protected, and the pollution to the environment is effectively reduced;
the front spring damping device 4 and the rear hydraulic damping mechanism 5 are symmetrically arranged about the central axis of the buoy 1 and the throwing recovery platform 2, the front spring damping device 4 and the rear hydraulic damping mechanism 5 are parallel to each other, the front spring damping device 4, the rear hydraulic damping mechanism 5 and the buoy 1 form a welded integrated structure, inclined included angles are reserved between the front spring damping device 4, the rear hydraulic damping mechanism 5 and the buoy 1, and a hinged rotating structure is arranged between the rear hydraulic damping mechanism 5 and the tail of the buoy 1, so that the stability of the throwing recovery platform 2 can be maintained, the influence of waves on equipment on the platform is reduced, and the stability of the throwing recovery device during use is ensured;
the preposed spring damping device 4 comprises a damping base frame 41, a connecting damping rod 42, a damping machine member 43 and a spring damping rod 44, the preposed spring damping device 4 is hinged with the buoy 1 through the damping base frame 41, a hard damping spring is arranged in the middle of the damping base frame 41 and is connected with the buoy 1, a universal joint is arranged on the damping base frame 41 and is hinged with the connecting damping rod 42, the hard spring is arranged in the middle of the connecting damping rod 42, the connecting damping rod 42 is hinged with the damping machine member 43, meanwhile, the spring damping rod 44 is arranged on the lower portion of the damping machine member 43 and is hinged with the throwing recovery platform 2, the vibration amplitude of the throwing recovery device during use is reduced, and the stability of the throwing recovery device during use is further ensured;
the rear hydraulic damping mechanism 5 comprises a first connecting rod 51, a spring rod 52 and a spring hydraulic rod 53, the rear hydraulic damping mechanism 5 is hinged with the buoy 1 through the first connecting rod 51, the first connecting rod 51 is connected with the throwing and recovering platform 2 through the spring rod 52, and the first connecting rod 51 and the spring hydraulic rod 53 are connected with the throwing and recovering platform 2 in a triangular shape, so that the wind and wave resistance of the whole device can be further improved;
the hydraulic wheel disc throwing system 6 comprises a connecting hydraulic rod 61, a motor 62, a planetary wheel disc 63, a second connecting rod 64, mechanical claws 65 and a wheel disc bearing 66, wherein 4 connecting hydraulic rods 61 are arranged, the 4 connecting hydraulic rods 61 are distributed and connected with one ends of the motor 62 and the wheel disc bearing 66 at the four rectangular corners under the platform, the motor 62 is positioned below the tail part of the platform and connected with the planetary wheel disc 63, the planetary wheel disc 63 drives the wheel disc bearing 66 and the planetary wheel disc 63 at the other end to rotate through the second connecting rod 64, and the mechanical claws 65 are arranged on the second connecting rod 64, so that an underwater robot can be conveniently held, and throwing work can be conveniently carried out;
manipulator formula recovery system 8 welded mounting is in the rear portion of putting in recovery platform 2, and manipulator formula recovery system 8 comprises syllogic hydraulic stem 81, support 82 and manipulator body 83 to manipulator formula recovery system 8 accessible control console 84 carries out underwater robot's recovery work, can make whole manipulator formula recovery system 8's removal more nimble, and then the sensitivity when being convenient for the operation.
The working principle of the embodiment is as follows: when the underwater robot throwing and recycling device is used, as shown in fig. 1 and 3-5, when the underwater robot throwing and recycling device is used, firstly, the water spray driving device 3 drives the whole device to move on the sea surface, two sections of closed water tanks are arranged inside the buoy 1, and the bow is shaped like a rhinoceros horn, so that the buoy 1 can stably move on the sea surface, the front and the back of the buoy 1 are respectively provided with the front spring damping device 4 and the back hydraulic damping mechanism 5, the buoy 1 is connected with the throwing and recycling platform 2 through the front spring damping device 4 and the back hydraulic damping mechanism 5, the design can improve the wind and wave resistance of the whole device, the device can stably throw and recycle, in addition, the solar panel arranged outside the control chamber 7 on the throwing and recycling platform 2 can supply power to the control chamber 7 to fully use clean energy, the environment is protected;
when the throwing recovery device reaches a working area for throwing work, as shown in fig. 2, 6 and 8, a wheel disc throwing system connected below the platform hanger 21 drives a motor 62 through a wireless remote control or control room 7 to enable a planetary gear wheel disc 63, a second connecting rod 64 and a wheel disc bearing 66 to rotate together, when an underwater robot needing to be thrown moves to the lowest point of the planetary gear wheel disc 63, the four connecting hydraulic rods 61 are controlled to stretch and contract, the throwing angle of the underwater robot is adjusted, then a mechanical claw 65 is controlled to loosen, namely, the throwing work of the underwater robot is completed, when the underwater robot needs to be recovered, as shown in fig. 7, the manipulator type recovery system 8 is operated through the control console 84 on the platform, the extension and contraction of the three-section hydraulic rod 81 are controlled, then, the bracket 82 is driven to move to the water surface, so that the manipulator body 83 is controlled to rotate to capture the underwater robot to complete the recovery work, thereby completing a series of works.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (8)
1. The utility model provides an underwater robot puts in recovery unit, includes flotation pontoon (1) and puts in recovery platform (2), its characterized in that: the afterbody of flotation pontoon (1) is provided with water spray drive arrangement (3), both sides are provided with leading spring damping device (4) and rearmounted hydraulic damping mechanism (5) respectively around flotation pontoon (1), put in and retrieve platform (2) and be connected with flotation pontoon (1) through leading spring damping device (4) and rearmounted hydraulic damping mechanism (5).
2. The underwater robot throwing and recycling device of claim 1, wherein: the inside of flotation pontoon (1) is provided with two sections of airtight water tanks to the water jet drive device (3) of flotation pontoon (1) afterbody comprises water jet propulsion ware (31) and steering wheel (32), and steering wheel (32) are located the place ahead of water jet propulsion ware (31) simultaneously, water jet propulsion ware (31) are provided with 2, and 2 water jet propulsion ware (31) are symmetrical about the vertical central line of flotation pontoon (1).
3. The underwater robot throwing and recycling device of claim 1, wherein: put in and retrieve and be provided with control room (7) and manipulator formula recovery system (8) on platform (2), and put in and retrieve platform (2) below and be provided with rim plate fluid pressure type input system (6) to be equipped with solar panel on the shell of control room (7), put in simultaneously and retrieve platform (2) below and be equipped with platform gallows (21).
4. The underwater robot throwing and recycling device of claim 1, wherein: leading spring damping device (4) and rearmounted hydraulic damping mechanism (5) all set up about flotation pontoon (1) and the central axis symmetry of putting in and retrieving platform (2), and are parallel to each other between leading spring damping device (4) and rearmounted hydraulic damping mechanism (5) to leading spring damping device (4) and rearmounted hydraulic damping mechanism (5) all constitute welded integral structure with flotation pontoon (1) and set up, all reserve between leading spring damping device (4) and rearmounted hydraulic damping mechanism (5) and flotation pontoon (1) and have the slope contained angle, and set up to articulated rotating-structure between the afterbody of rearmounted hydraulic damping mechanism (5) and flotation pontoon (1).
5. The underwater robot throwing and recycling device of claim 1, wherein: the front spring damping device (4) comprises a damping base frame (41), a connecting damping rod (42), a damping machine part (43) and a spring damping rod (44), the front spring damping device (4) is hinged to the buoy (1) through the damping base frame (41), a hard damping spring is arranged in the middle of the damping base frame (41) and connected with the buoy (1), a universal joint is arranged on the damping base frame (41) and hinged to the connecting damping rod (42), the middle of the connecting damping rod (42) is provided with the hard spring, the connecting damping rod (42) is hinged to the damping machine part (43), and the spring damping rod (44) is hinged to the throwing recovery platform (2) and arranged on the lower portion of the damping machine part (43).
6. The underwater robot throwing and recycling device of claim 1, wherein: rearmounted hydraulic damping mechanism (5) include head rod (51), spring beam (52) and spring hydraulic stem (53), and rearmounted hydraulic damping mechanism (5) are connected through head rod (51) and flotation pontoon (1) are articulated, head rod (51) are connected with input recovery platform (2) through spring beam (52), and head rod (51) are three horn shapes with spring hydraulic stem (53) and are connected with input recovery platform (2).
7. The underwater robot throwing and recovering device of claim 3, wherein: hydraulic wheel disc throwing system (6) is including connecting hydraulic stem (61), motor (62), planetary gear rim plate (63), second connecting rod (64), gripper (65) and rim plate bearing (66), it is provided with 4 to connect hydraulic stem (61), and 4 connect hydraulic stem (61) and be the one end that rectangle four corners distribution is connecting motor (62) and rim plate bearing (66) under the platform to motor (62) are located platform afterbody below and are connected with planetary gear rim plate (63), planetary gear rim plate (63) drive rim plate bearing (66) and planetary gear rim plate (63) the rotation of the other end through second connecting rod (64), and install gripper (65) on second connecting rod (64).
8. The underwater robot throwing and recovering device of claim 3, wherein: the manipulator type recovery system (8) is welded and installed at the rear part of the putting-in recovery platform (2), the manipulator type recovery system (8) is composed of a three-section type hydraulic rod (81), a support (82) and a manipulator body (83), and the manipulator type recovery system (8) can conduct recovery work of the underwater robot through an operation control console (84).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922428240.2U CN211336367U (en) | 2019-12-30 | 2019-12-30 | Underwater robot throwing and recycling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922428240.2U CN211336367U (en) | 2019-12-30 | 2019-12-30 | Underwater robot throwing and recycling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211336367U true CN211336367U (en) | 2020-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922428240.2U Expired - Fee Related CN211336367U (en) | 2019-12-30 | 2019-12-30 | Underwater robot throwing and recycling device |
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| Country | Link |
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| CN (1) | CN211336367U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110901841A (en) * | 2019-12-30 | 2020-03-24 | 广东海洋大学 | Underwater robot throwing and recycling device |
| CN114771741A (en) * | 2022-04-12 | 2022-07-22 | 株洲中车时代电气股份有限公司 | Underwater robot laying and recycling device, laying method, recycling method and unmanned ship |
-
2019
- 2019-12-30 CN CN201922428240.2U patent/CN211336367U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110901841A (en) * | 2019-12-30 | 2020-03-24 | 广东海洋大学 | Underwater robot throwing and recycling device |
| CN110901841B (en) * | 2019-12-30 | 2024-04-26 | 广东海洋大学 | Underwater robot throwing and recycling device |
| CN114771741A (en) * | 2022-04-12 | 2022-07-22 | 株洲中车时代电气股份有限公司 | Underwater robot laying and recycling device, laying method, recycling method and unmanned ship |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200825 Termination date: 20201230 |