CN211466408U - Offshore cable feeding robot - Google Patents
Offshore cable feeding robot Download PDFInfo
- Publication number
- CN211466408U CN211466408U CN201922196838.3U CN201922196838U CN211466408U CN 211466408 U CN211466408 U CN 211466408U CN 201922196838 U CN201922196838 U CN 201922196838U CN 211466408 U CN211466408 U CN 211466408U
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- crawler
- frame
- driving
- mechanical arm
- water surface
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Abstract
An offshore cable feeding robot comprises a frame, an executing device, a wall climbing device and a water surface advancing device; the execution device, the wall climbing device and the water surface advancing device are all arranged on the frame; the execution device comprises: the manipulator comprises an end effector, a manipulator, a mechanical arm and a mechanical arm base; the executing device is arranged in front of the frame and is positioned on a symmetrical axis of the robot; the wall climbing device is used for driving the equipment to climb; and the water surface advancing device is used for driving the equipment to move on the water surface. The utility model discloses in, under the condition that boats and ships broke down for to boats and ships conveying cable. The equipment can be remotely operated or automatically advanced on the water surface, and has the capability of climbing along the ship body; equipment for securing and transporting cables and cables; meanwhile, the equipment adopts a modular design, is convenient for production and maintenance, and provides logistics support and support for offshore operation.
Description
Technical Field
The invention relates to the field of ocean engineering equipment, in particular to an offshore cable conveying robot.
Background
The ocean is an area which is not completely explored by human beings at present, and compared with the land, the ocean contains more abundant resources. Thus, the ocean becomes a national complex and highly skilled arena. The ocean operation equipment is an indispensable means and tool for ocean exploration and resource development and utilization. However, in the process of marine operation, once dangerous situations such as fire, leakage, mechanical failure, personal injury and the like occur on ships, in such a situation, the ideal effect is difficult to achieve by only ships and manual rescue, and personal property loss is easily caused. The robot has more flexible action capability and more sensitive sensors, can replace people to carry out rescue work, improves the ship rescue speed, reduces casualties and ship sinking risks, and reduces the loss of shipwrecks.
The generalized rescue robot at sea can be divided into a rotor unmanned aerial vehicle or a ship type in the aspect of structure; the following should be classified in terms of functions: carrying out offshore rescue and marine rescue; and can be divided into civil rescue on water and military rescue on water in the aspect of application. In practical application, the rescue robot should have at least one of the following functions: personnel positioning and drowning rescue, wounded personnel and medical supplies conveying, simple troubleshooting and equipment maintenance, marine fire extinguishing, beach shark driving, living supplies transportation and the like.
Aiming at the condition that a ship fails, the invention designs and realizes an offshore cable feeding robot, which has the following four functions: 1. can be remotely operated or automatically moved on the water surface; 2. the capability of climbing along the hull is provided; 3, fixing and transporting the cable and the cable; 4. and the modular design is convenient for production and maintenance. Providing logistics support and support for offshore operation.
Disclosure of Invention
Objects of the invention
In order to solve the technical problems in the background technology, the invention provides an offshore cable conveying robot which can be remotely operated or automatically advanced on the water surface, and equipment has the capability of climbing along a ship body; equipment for securing and transporting cables and cables; the equipment adopts a modular design, is convenient for production and maintenance, and provides logistics support and support for offshore operation.
(II) technical scheme
In order to solve the problems, the invention provides an offshore cable feeding robot, which comprises a frame, an executing device, a wall climbing device and a water surface advancing device, wherein the frame is provided with a support; the execution device, the wall climbing device and the water surface advancing device are all arranged on the frame;
the execution device comprises: the manipulator comprises an end effector, a manipulator, a mechanical arm and a mechanical arm base; the mechanical arm is arranged on the mechanical arm, and the mechanical arm is installed on the mechanical arm base in a rotating mode along the direction of the mechanical arm; the mechanical arm base is arranged on the frame; the mechanical arm, the end effector and the mechanical arm base form an executing device with four degrees of freedom; the executing device is arranged in front of the frame and is positioned on a symmetrical axis of the robot;
the wall climbing device is used for driving the equipment to climb;
and the water surface advancing device is used for driving the equipment to move on the water surface.
Preferably, when the robot is in the travel state: the executing device is in a contraction state, and the cable is fixed on the end effector; when climbing on the ship: and positioning the cable laying position, unfolding the manipulator, moving the executing device to the specified cable laying position, and finishing the cable suspension work by the end effector to finish the cable feeding task.
Preferably, the wall climbing device comprises a crawler, an electromagnet, an electromagnetic chuck, a driven crawler wheel, a driving crawler wheel, a driven wheel cross arm, a driving wheel cross arm, a shock absorber, a crawler suspension, a bearing seat, a transmission shaft, an electromagnet fixing frame, a crawler pressing plate and a crawler plate; the crawler belts comprise four groups of independent single crawler belts; the single group of tracks are driven and supported by the driven crawler wheels and the driving crawler wheels; the driven crawler wheel and the driving crawler wheel are respectively connected to the crawler suspension through a driven wheel cross arm, a driving wheel cross arm and a shock absorber; the crawler suspension is fixed on the frame; the driving motor is supported by the bearing seat and the head-up sliding block; the driving motor is arranged on the frame through a bearing seat and is in transmission connection with the driving crawler wheel through a transmission shaft; the electromagnet is arranged on the electromagnet fixing frame, and the electromagnet fixing frame is arranged on the track shoe; the electromagnet is powered by an electric brush in the middle of the crawler; the automatic feeding device also comprises a lead screw, a clamping plate, a lead screw outer ring, a lead screw inner ring and a lead screw ring mechanism; the screw outer ring, the screw inner ring and the screw ring mechanism are arranged above the clamping plate; the electromagnetic chuck, the screw rod outer ring, the screw rod inner ring and the screw rod ring structure form a steering mechanism for driving the equipment to rotate in place and changing the advancing direction of the equipment on the ship wall; the electromagnetic chuck is used for auxiliary adsorption.
Preferably, the water surface travelling device comprises a propeller, a motor, four groups of buoyancy blocks and a buoyancy frame; the four groups of buoyancy blocks are symmetrically and uniformly arranged on two sides of the frame, and the buoyancy blocks are connected with the buoyancy frame; the propellers are symmetrically arranged at the tail part of the frame; the machine frame is provided with a motor for driving the propeller to rotate so as to be provided with a lower computer for controlling the rotating speed of the propeller, and the lower computer is connected with the upper computer; when the rotating speeds of the propellers on the two sides are consistent, the equipment moves forwards on the water surface along a straight line; when the rotating speeds of the propellers on the two sides are different, the advancing direction is changed, and the equipment turns on the water surface.
The technical scheme of the invention has the following beneficial technical effects:
the invention is used for transporting cables to ships in case of a ship failure. The equipment can be remotely operated or automatically advanced on the water surface, and has the capability of climbing along the ship body; equipment for securing and transporting cables and cables; meanwhile, the equipment adopts a modular design, is convenient for production and maintenance, and provides logistics support and support for offshore operation.
In the invention, the water surface advancing device is used for driving the equipment to move on the water surface so as to control the equipment to move on the water surface; when the robot reaches a fault ship, the advancing mode is changed from water surface to wall climbing; and the wall climbing device is used for driving the equipment to climb.
Drawings
Fig. 1 is a schematic view of the overall structure of the invention after the housing is hidden.
Fig. 2 is a front view of the present invention with the housing hidden.
Fig. 3 is a side view of the present invention after hiding the housing and a pair of track wheels.
Fig. 4 is a top view of the present invention with the housing concealed.
Fig. 5 is a top view of the front drive of the present invention.
Fig. 6 is a left side view of the track assembly of the present invention with the track wheels hidden.
Fig. 7 is a partially enlarged view of the driving track wheel transmission structure of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
As shown in fig. 1-7, the present invention provides an offshore cable feeding robot, which comprises a frame 37, an executing device, a wall climbing device and a water surface traveling device; the execution device, the wall climbing device and the water surface advancing device are all arranged on the frame 37;
the execution device comprises: the mechanical arm comprises an end effector 11, a mechanical arm 10, a mechanical arm 9 and a mechanical arm base 8; the mechanical arm 10 is arranged on a mechanical arm 9, and the mechanical arm 9 is rotatably arranged on a mechanical arm base 8 along 360 degrees; the mechanical arm base 8 is arranged on the frame 37; the manipulator 10, the mechanical arm 9, the end effector 11 and the mechanical arm base 8 together form an executing device with four degrees of freedom; the executing device is arranged in front of the frame 37 and is positioned on the symmetry axis of the robot;
the wall climbing device is used for driving the equipment to climb;
and the water surface advancing device is used for driving the equipment to move on the water surface.
In an alternative embodiment, when the robot is in the travel state: the actuator is in a retracted state, and the cable is fixed to the end effector 11; when climbing on the ship: and positioning the cable laying position, unfolding the mechanical arm 10, moving the executing device to the specified cable laying position, and finishing the cable suspension work by the end effector 11 so as to finish the cable feeding task.
The invention is used for transporting cables to ships in case of a ship failure. The equipment can be remotely operated or automatically advanced on the water surface, and has the capability of climbing along the ship body; equipment for securing and transporting cables and cables; meanwhile, the equipment adopts a modular design, is convenient for production and maintenance, and provides logistics support and support for offshore operation.
In the invention, the water surface advancing device is used for driving the equipment to move on the water surface so as to control the equipment to move on the water surface; when the robot reaches a fault ship, the advancing mode is changed from water surface to wall climbing; and the wall climbing device is used for driving the equipment to climb.
In an alternative embodiment, the wall climbing device comprises a crawler 5, an electromagnet 6, an electromagnetic sucker 7, a driven crawler wheel 19, a driving crawler wheel 22, a driven wheel cross arm 27, a driving wheel cross arm 25, a shock absorber 24, a crawler suspension 36, a bearing seat 31, a transmission shaft 14, an electromagnet fixing frame 23, a crawler pressing plate 21 and a crawler plate 20; the crawler 5 comprises four independent single crawler groups; the single group of tracks are driven and supported by the driven crawler wheels 19 and the driving crawler wheels 22; the driven crawler wheel 19 and the driving crawler wheel 22 are connected to a crawler suspension 36 through a driven wheel cross arm 27, a driving wheel cross arm 25 and a shock absorber 24, respectively; the track suspension 36 is fixed to the frame 37; the driving motor is supported by the bearing seat 31 and the head-up slider; the driving motor is arranged on the frame 37 through a bearing seat 31 and is in transmission connection with the driving crawler wheel 22 through a transmission shaft 14; the electromagnet 6 is arranged on an electromagnet fixing frame 23, and the electromagnet fixing frame 23 is arranged on the track shoe 20; the electromagnet 6 is powered by an electric brush in the middle of the crawler 5; the automatic screw rod mechanism further comprises a screw rod 15, a clamping plate 26, a screw rod outer ring 33, a screw rod inner ring 34 and a screw rod ring mechanism 35; the screw outer ring 33, the screw inner ring 34 and the screw ring mechanism 35 are arranged above the clamping plate 26; the electromagnetic chuck 7, the lead screw 15, the lead screw outer ring 33, the lead screw inner ring 34 and the lead screw ring 35 form a steering mechanism for driving the equipment to rotate in place and changing the traveling direction of the equipment on the ship wall; the electromagnetic chuck 7 is used for auxiliary adsorption.
In an alternative embodiment, the water travelling device comprises a propeller 1, a motor 2, four groups of buoyancy blocks 3 and a buoyancy frame 4; the four groups of buoyancy blocks 3 are symmetrically and uniformly arranged on two sides of the frame 37, and the buoyancy blocks 3 are connected with the buoyancy frame 4; the propellers 1 are symmetrically arranged at the tail part of the frame 37; the frame 37 is provided with a motor 2 for driving the propeller 1 to rotate so as to be provided with a lower computer 32 for controlling the rotating speed of the propeller 1, and the lower computer 32 is connected with an upper computer; when the rotating speeds of the propellers 1 on the two sides are consistent, the equipment moves forwards on the water surface along a straight line; when the rotating speeds of the propellers 1 on the two sides are different, the advancing direction changes, and the equipment turns on the water surface.
In the invention, the propeller at the tail end of the robot is driven by the motor to provide power for the movement of the whole robot on the water surface, and the speed difference of the propellers at the two sides can realize the regulation and control of the advancing direction. The buoyancy block arranged on the buoyancy frame can ensure that the robot can suspend on the water surface and complete water surface propulsion by matching with the propeller. When the robot is in a traveling state, the mechanical arm is in a contraction state, the mooring rope is fixed on an end effector of the mechanical arm, the mechanical arm is installed on a mechanical arm base and can rotate around the base for 360 degrees, the mechanical arm base is installed on the front half part of the robot and is balanced with a propeller and related components which are installed at the tail end by gravity, and the uniformity of stress of the robot is guaranteed. When the robot is in a water surface advancing state, the whole executing device is in a contraction state, and the mooring rope is guaranteed not to be wound or fall off in the conveying process.
When the robot arrives at a fault ship, the advancing mode is changed from water surface to wall climbing, and the wall climbing device mainly comprises a crawler, a belt wheel, a crawler main beam, a motor, an electromagnet and an electromagnetic chuck. The electromagnet is arranged on the crawler board, is powered by the electric brush in the middle of the crawler, and generates magnetic force to adsorb the ship body when being electrified. The electromagnetic chuck is arranged in the center of the trunk and is used for assisting in adsorption and rotation. The crawling mechanism is provided with four groups of independent tracks, when the tracks move to the lower part, the tracks enter the electric brush plate and are in contact with the electric brush, and the electromagnet is electrified to generate adsorption force; when the track is separated from the electric brush, the electromagnet loses adsorption capacity and is separated from the wall surface. In the motion process of the ship rescue robot, the crawler belt and the wall surface do not have relative displacement, and the adsorption is more stable and reliable.
The electromagnetic chuck, the screw rod outer ring, the screw rod inner ring and the screw rod ring which are arranged above the clamping plate form a steering mechanism, so that the robot can rotate on site to change the advancing direction of the robot on the wall of the ship. And performing auxiliary adsorption and rotation. When the robot climbs to the ship wall top, direction adjustment mechanism plays the direction control effect, makes preceding automobile body relative back automobile body forward rotation 90 degrees, and the level falls on the deck, fixes a position through end effector cable laying position again, and the manipulator expandes, moves to appointed cable laying position, accomplishes cable suspension work by end effector, accomplishes the cable task of sending.
In the invention, the direction adjusting mechanism is positioned in the center of the robot and is used for connecting the front vehicle body and the rear vehicle body and adjusting the direction angle between the two vehicle bodies, so that the two vehicle bodies can rotate according to a fixed angle to limit the rotating direction of the vehicle bodies, thereby realizing the purpose of anticipating ship climbing. When the ship rescue robot climbs a wall, the direction adjusting mechanism plays a role in connection, the front and rear bodies are connected, when the robot climbs to the top end, the direction adjusting mechanism plays a role in direction adjustment, the front body rotates 90 degrees forwards relative to the rear body, the level falls onto a deck, the cable laying position is positioned, the mechanical arm is unfolded, the specified cable laying position is moved, the end effector finishes cable suspension work, and a cable feeding task is finished.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (4)
1. An offshore cable feeding robot is characterized by comprising a frame (37), an executing device, a wall climbing device and a water surface advancing device; the execution device, the wall climbing device and the water surface advancing device are all arranged on the frame (37);
the execution device comprises: the device comprises an end effector (11), a mechanical arm (10), a mechanical arm (9) and a mechanical arm base (8); the mechanical arm (10) is arranged on a mechanical arm (9), and the mechanical arm (9) is rotatably arranged on a mechanical arm base (8) along 360 degrees; the mechanical arm base (8) is arranged on the rack (37); the manipulator (10), the mechanical arm (9), the end effector (11) and the mechanical arm base (8) jointly form an executing device with four degrees of freedom; the execution device is arranged in front of the frame (37) and is positioned on the symmetry axis of the robot;
the wall climbing device is used for driving the equipment to climb;
and the water surface advancing device is used for driving the equipment to move on the water surface.
2. The marine cable feeding robot of claim 1, wherein when the robot is in a traveling state: the executing device is in a contraction state, and the cable is fixed on the end effector (11); when climbing on the ship: the cable laying position is positioned, the mechanical arm (10) is unfolded, the executing device moves to the appointed cable laying position, and the end effector (11) executes cable feeding action.
3. The offshore cable feeding robot of claim 1, wherein the wall climbing device comprises a crawler (5), an electromagnet (6), an electromagnetic sucker (7), a driven crawler wheel (19), a driving crawler wheel (22), a driven wheel cross arm (27), a driving wheel cross arm (25), a shock absorber (24), a crawler suspension (36), a bearing seat (31), a transmission shaft (14), an electromagnet fixing frame (23), a crawler pressing plate (21) and a crawler plate (20);
the crawler belts (5) comprise four groups of independent single crawler belts; the single group of tracks are driven and supported by the driven crawler wheels (19) and the driving crawler wheels (22); the driven crawler wheel (19) and the driving crawler wheel (22) are respectively connected to a crawler suspension frame (36) through a driven wheel cross arm (27), a driving wheel cross arm (25) and a shock absorber (24); the crawler suspension (36) is fixed on the frame (37); the driving motor is supported by a bearing seat (31) and a head-up sliding block; the driving motor is arranged on the frame (37) through a bearing seat (31), and is in transmission connection with the driving crawler wheel (22) through a transmission shaft (14); the electromagnet (6) is arranged on the electromagnet fixing frame (23), and the electromagnet fixing frame (23) is arranged on the track shoe (20); the electromagnet (6) is powered by an electric brush in the middle of the crawler belt (5);
the automatic screw rod mechanism further comprises a screw rod (15), a clamping plate (26), a screw rod outer ring (33), a screw rod inner ring (34) and a screw rod ring mechanism (35); the screw outer ring (33), the screw inner ring (34) and the screw ring mechanism (35) are arranged above the clamping plate (26); the electromagnetic chuck (7), the screw rod (15), the screw rod outer ring (33), the screw rod inner ring (34) and the screw rod ring mechanism (35) form a steering mechanism for driving the equipment to rotate in place and changing the advancing direction of the equipment on the ship wall; the electromagnetic chuck (7) is used for auxiliary adsorption.
4. The marine cable feeding robot as claimed in claim 1, wherein the water traveling means comprises a propeller (1), a motor (2), four sets of buoyancy blocks (3) and a buoyancy frame (4); the four groups of buoyancy blocks (3) are symmetrically and uniformly arranged on two sides of the rack (37), and the buoyancy blocks (3) are connected with the buoyancy frame (4); the propellers (1) are symmetrically arranged at the tail part of the frame (37); the frame (37) is provided with a motor (2) for driving the propeller (1) to rotate so as to be provided with a lower computer (32) for controlling the rotating speed of the propeller (1), and the lower computer (32) is connected with the upper computer;
when the rotating speeds of the propellers (1) on the two sides are consistent, the equipment moves forwards on the water surface along a straight line; when the rotating speeds of the propellers (1) on the two sides are different, the advancing direction changes, and the equipment turns on the water surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922196838.3U CN211466408U (en) | 2019-12-10 | 2019-12-10 | Offshore cable feeding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922196838.3U CN211466408U (en) | 2019-12-10 | 2019-12-10 | Offshore cable feeding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211466408U true CN211466408U (en) | 2020-09-11 |
Family
ID=72369644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922196838.3U Expired - Fee Related CN211466408U (en) | 2019-12-10 | 2019-12-10 | Offshore cable feeding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211466408U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114013528A (en) * | 2021-11-01 | 2022-02-08 | 重庆大学 | Wall-climbing robot for walking operation of boiler water wall in thermal power plant |
| CN114435563A (en) * | 2021-12-27 | 2022-05-06 | 广州道彰工程科技有限公司 | Underwater creeping cable detection robot |
-
2019
- 2019-12-10 CN CN201922196838.3U patent/CN211466408U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114013528A (en) * | 2021-11-01 | 2022-02-08 | 重庆大学 | Wall-climbing robot for walking operation of boiler water wall in thermal power plant |
| CN114435563A (en) * | 2021-12-27 | 2022-05-06 | 广州道彰工程科技有限公司 | Underwater creeping cable detection robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20200911 Termination date: 20211210 |