CN212074380U - Directional extension track of underwater robot - Google Patents
Directional extension track of underwater robot Download PDFInfo
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- CN212074380U CN212074380U CN202020816639.8U CN202020816639U CN212074380U CN 212074380 U CN212074380 U CN 212074380U CN 202020816639 U CN202020816639 U CN 202020816639U CN 212074380 U CN212074380 U CN 212074380U
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- fixedly connected
- moving
- plate
- underwater robot
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Abstract
The utility model provides a directional track that extends of underwater robot. The directional extension track of the underwater robot comprises: a case and a base; the connecting piece is fixedly connected to the top of the inner wall of the case, and a contraction roller is rotatably connected to the connecting piece; a track structure disposed on an outer surface of the shrink drum. The utility model provides a directional track that extends of underwater robot, through setting up the track into collapsible chain formula structure, when laying, rotate through a driving motor, can drive first belt pulley and rotate, it rotates to drive the second belt pulley simultaneously, rotation through the second belt pulley, can drive the shrink cylinder and rotate, rotation through the shrink cylinder, can make the track structure on its surface begin to extend, it is more convenient to use, operation steps are simple, do not need the manual work to lay the guide rail, the working time is saved, the efficiency of laying is improved.
Description
Technical Field
The utility model relates to an underwater robot field especially relates to a directional track that extends of underwater robot.
Background
An underwater robot is also called an unmanned remote control submersible vehicle and is a limit operation robot working underwater. Underwater robots have become an important tool for the development of the ocean because of the harsh and dangerous underwater environment and the limited depth of human diving. The unmanned remote control submersible mainly comprises: the cable remote-control submersible comprises a cable remote-control submersible and a cableless remote-control submersible, wherein the cable remote-control submersible is divided into three types of underwater self-propelled type, towing type and crawling type on a seabed structure, and a typical remote-control submersible comprises water surface equipment (comprising an operation control console, a cable winch, hoisting equipment, a power supply system and the like) and underwater equipment (comprising a repeater and a submersible body). The submersible body moves underwater by a propeller, and observation equipment (a video camera, a camera, an illuminating lamp and the like) and operation equipment (a mechanical arm, a cutter, a cleaner and the like) are arranged on the submersible body.
The underwater robot is before work, at first need drop into underwater robot into aquatic, to some medium-sized underwater robots that the volume is bigger than normal, if directly drop into the aquatic with the robot, because the aquatic environment is not stable enough, make the robot can not be fast accurate reach the assigned position, so need lay specific track in the aquatic, the robot dives to submarine through the track, but current vertically steel construction track is laid more troublesome, self weight is also relatively well, after using, it is also harder to collect up the track, it wastes time and energy to use, it is inconvenient.
Therefore, it is necessary to provide a limit operation robot working under water to solve the above technical problems.
SUMMERY OF THE UTILITY MODEL
The utility model provides a directional extension track of underwater robot has solved the track and has operated the not convenient enough problem of laying. In order to solve the technical problem, the utility model provides a pair of directional track that extends of underwater robot, include:
a case and a base;
the connecting piece is fixedly connected to the top of the inner wall of the case, and a contraction roller is rotatably connected to the connecting piece;
the track structure is arranged on the outer surface of the shrinkage roller and comprises a plurality of track strips and a settlement plate, a stabilizing plate is fixedly connected to one side of each track strip, a plurality of sliding grooves are formed in the bottom of the settlement plate, a buffer block is slidably connected between the two sides of the inner surface of each sliding groove, a spring is arranged between the top of the buffer block and the top of the inner surface of each sliding groove, a buffer pad is arranged at the top of the settlement plate, a moving structure is arranged on each track strip and comprises a moving plate, moving blocks are fixedly connected to the two sides of the moving plate, a rectangular groove is formed in one side of each moving block, a plurality of pulleys are arranged on one side of the inner surface of the rectangular groove, an installation seat is arranged on one side of the moving plate, and a moving groove is formed in;
by adopting the technical scheme, the top and the bottom of a plurality of track strips are sequentially and rotatably connected, the track strips are fixedly connected on the left side and the right side of a stabilizing plate to form a ladder shape, so that the whole track is a retractable mechanism, the track strips are made of alloy materials with higher hardness, then the extension and the retraction of the track strips are controlled by the rotation of a retractable roller, when the track is laid, a settlement plate is put into water, the settlement plate has certain weight and is enough to drive the whole track to sink in the water, when the settlement plate descends to the bottom, the uneven condition can occur on the bottom, the settlement plate can always keep a vertical state by a plurality of buffer blocks, the robot can stably descend to move the plate without inclination when descending to the bottom, and the left side and the right side of the settlement plate are respectively and fixedly connected with one side of a moving block, two movable blocks are sleeved on the track strip and move on the movable grooves through a plurality of pulleys, so that the movable plate can drive the robot to sink fast, a mounting seat arranged on the movable plate is matched with the robot, a clamp and a position sensor are arranged on the mounting seat and connected with the control console through wireless signals, the mounting seat is mounted with the robot together, when the robot sinks to the bottom, the robot is released by controlling the mounting seat, after the robot finishes working, the robot returns to the track to be connected with the mounting seat in a clamping mode, then the mounting seat is controlled to fix the robot, and then the robot is pulled up through the contraction track.
In addition, the whole track comprises a track strip, a moving plate, a moving block, a settling plate and a robot, the outer surface of the track comprises a layer of anticorrosive coating, the coating is an underwater cured epoxy resin coating for metal corrosion prevention, the coating comprises polysulfide modified epoxy resin, polyamine curing agent, polyphosphate, special auxiliary agent and the like, the formed coating has excellent anticorrosive performance, high mechanical strength and good adhesiveness, can be effectively placed to be corroded in water for a long time, prolongs the service life of the track, and plays a good role in protecting the track.
The protection box is fixedly connected to the left side of the case, a first driving motor is arranged inside the protection box, one end of an output shaft of the first driving motor is fixedly connected with a first belt pulley, a second belt pulley is rotatably connected to the connecting piece, and the outer surface of the second belt pulley is in transmission connection with the outer surface of the first belt pulley through a belt;
through adopting above-mentioned technical scheme, first driving motor is servo motor, can its positive and negative rotation of controller, rotates through first driving motor for first belt pulley drives the second belt pulley and rotates with the same speed, thereby drives the rotation of shrink cylinder, realizes extension and shrink to orbital.
The device groove is arranged in the base.
Furthermore, a second driving motor is arranged at the bottom of the inner surface of the device groove, and a first bevel gear is fixedly connected to the right end of an output shaft of the second driving motor.
Through adopting above-mentioned technical scheme, rotate through first driving motor, can drive first bevel gear and rotate, power take off structure to the most quick-witted case provides power for the shrink gyro wheel.
Furthermore, the middle of the bottom of the case is fixedly connected with a rotating shaft, the bottom end of the rotating shaft penetrates through the top of the base and extends to the inside of the device groove, and one end of the rotating shaft, which extends to the inside of the device groove, is fixedly connected with a second bevel gear.
Through adopting above-mentioned technical scheme, second bevel gear and first bevel gear adaptation, meshing between the two gears through second driving motor's rotation for first bevel gear drives second bevel gear and rotates, and then makes the axis of rotation rotate, finally makes quick-witted case begin to rotate, and the axis of rotation still plays the effect of support to quick-witted case in addition, when needs change track direction, then realizes through rotating quick-witted case.
Furthermore, the two sides of the bottom of the case are respectively provided with a roller, and the two sides of the top of the base and the positions below the rollers are provided with circular ring moving grooves.
By adopting the technical scheme, the two rollers simultaneously play a supporting role on the case to share the gravity of part of the case, and the rollers rotate along the circular ring moving groove while the case rotates.
Furthermore, the bottom on the right side of the case is provided with a leading-out head, the top and the bottom of the inner wall of the leading-out head are both provided with cleaning brushes, and the bottom on the right side of the leading-out head is provided with auxiliary rollers.
Through adopting above-mentioned technical scheme, leading-out head and quick-witted case intercommunication, the track extends away through leading-out head, and the cleaning brush is then when retrieving the track, cleans its surface at the absorptive rubbish of aquatic etc. guarantees orbital cleanliness, and supplementary gyro wheel is then supplementary track extension and shrink for the resistance that the track received reduces.
Furthermore, a dryer is arranged on the right side of the bottom of the inner wall of the case, and one side of the shrinkage roller is fixedly connected with one side of the second belt pulley through a connecting shaft.
Through adopting above-mentioned technical scheme, the drying-machine is then when will contracting the track, in time dries its surperficial moisture for the track is in dry environment all the time, avoids too moist surface to appear corroding, when influencing the track.
Furthermore, the top ends and the bottom ends of the two track strips are rotatably connected through a connecting piece, and one sides of the two track strips, which are opposite to each other, are fixedly connected with the two sides of the stabilizing plate respectively.
Furthermore, the two sides of the top of the settlement plate are respectively fixedly connected with the bottom ends of the two track strips, and the settlement plate is made of metal and is rectangular in shape.
Furthermore, one side of the outer surface of the pulley is connected with one side of the inner surface of the moving groove in a sliding mode, and the two moving blocks are respectively sleeved on the surface of the track strip.
Furthermore, the cushion pad is made of rubber, a clamping structure is arranged on the mounting seat, and a position sensor is arranged on the moving plate.
Through adopting above-mentioned technical scheme, the blotter plays certain cushioning effect, when the machine descends and subsides the board contact, avoids causing the damage because of effort robot and track that gravity produced most, and position sensor then is the concrete position of response robot, and the action personnel of being convenient for master the positional information of robot.
Compared with the prior art, the utility model provides a pair of directional extension track of underwater robot has following beneficial effect:
the utility model provides a directional extension track of underwater robot, through setting up the track into collapsible chain formula structure, compare in traditional perpendicular track structure, when laying, through the rotation of first driving motor, can drive first belt pulley rotation, drive the rotation of second belt pulley simultaneously, through the rotation of second belt pulley, can drive the rotation of shrink cylinder, through the rotation of shrink cylinder, can make the track structure on its surface begin to extend, it is more convenient to use, the operation is simple, do not need the manual work to lay the guide rail, the working time is saved, the laying efficiency is improved, when packing up the guide rail, also only need start first driving motor, the track is packed up;
the moving block is sleeved on the surface of the track strip, so that dislocation and offset cannot occur during moving, the mounting seat is arranged on the moving plate and used for mounting the robot, the robot is clamped through the clamping structure on the mounting seat, the robot can follow the moving plate and sink to a specified position at the bottom of the water along the track, and the robot can be guaranteed to smoothly reach the specified position;
the settlement plate is made of a heavy metal material, so that the track structure can be stably maintained to descend and finally reach a specified position when settling, and the buffer cushion is arranged on the settlement plate, so that the moving plate plays a role in buffering when moving to the bottom of the track, and the settlement plate and a robot on the settlement plate are protected;
when orbital direction needs to be adjusted, the second driving motor is started to rotate, so that the first bevel gear rotates, the second bevel gear can be driven to rotate through the rotation of the first bevel gear, the rotating shaft rotates, the case can be driven to rotate through the rotation of the rotating shaft, two idler wheels at the bottom of the case begin to rotate along the circular ring moving groove, the track structure is finally driven to move, manual adjustment is not needed, manpower is saved, and the work efficiency of laying the track is improved.
Drawings
Fig. 1 is a schematic structural diagram of a preferred embodiment of a directional extension track of an underwater robot according to the present invention;
FIG. 2 is a schematic structural diagram of the track structure shown in FIG. 1;
fig. 3 is a schematic view of the internal structure of the moving block shown in fig. 1;
fig. 4 is an enlarged view of the portion a shown in fig. 2.
Reference numbers in the figures: 1. the machine box comprises a machine box, 2, a base, 3, a connecting piece, 4, a shrinkage roller, 5, a track structure, 51, a track bar, 52, a settlement plate, 53, a stabilizing plate, 54, a sliding groove, 55, a buffer block, 56, a spring, 57, a buffer cushion, 58, a moving structure, 581, a moving plate, 582, a moving block, 583, a rectangular groove, 584, a pulley, 585, a mounting seat, 59, a moving groove, 6, a protection box, 7, a first driving motor, 8, a first belt pulley, 9, a second belt pulley, 10, a device groove, 11, a second driving motor, 12, a first bevel gear, 13, a rotating shaft, 14, a second bevel gear, 15, a roller, 16, a circular ring moving groove, 17, a leading-out head, 18, a cleaning brush, 19, an auxiliary roller, 20 and a dryer.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and embodiments.
Please refer to fig. 1, fig. 2, fig. 3 and fig. 4 in combination, wherein fig. 1 is a schematic structural diagram of a preferred embodiment of a directional extension track of an underwater robot according to the present invention; FIG. 2 is a schematic structural diagram of the track structure shown in FIG. 1; fig. 3 is a schematic view of the internal structure of the moving block shown in fig. 1; fig. 4 is an enlarged view of the portion a shown in fig. 2. A directionally extending track for an underwater robot, comprising:
a case 1 and a base 2;
the connecting piece 3 is fixedly connected to the top of the inner wall of the case 1, and the contracting roller 4 is rotatably connected to the connecting piece 3;
the track structure 5 is arranged on the outer surface of the shrinkage roller 4, the track structure 5 comprises a plurality of track bars 51 and a settlement plate 52, a stabilizing plate 53 is fixedly connected to one side of each track bar 51, a plurality of sliding grooves 54 are formed in the bottom of the settlement plate 52, a buffer block 55 is slidably connected between two sides of the inner surface of each sliding groove 54, a spring 56 is arranged between the top of each buffer block 55 and the top of the inner surface of each sliding groove 54, a buffer pad 57 is arranged on the top of each settlement plate 52, a moving structure 58 is arranged on each track bar 51 and comprises a moving plate 581, moving blocks 582 are fixedly connected to two sides of each moving plate 581, a rectangular groove 583 is formed in one side of each moving block 582, a plurality of pulleys 584 are arranged on one side of the inner surface of each rectangular groove 583, a mounting seat 585 is arranged on one side;
the protection box 6 is fixedly connected to the left side of the case 1, a first driving motor 7 is arranged inside the protection box 6, one end of an output shaft of the first driving motor 7 is fixedly connected with a first belt pulley 8, a second belt pulley 9 is rotatably connected to the connecting piece 3, and the outer surface of the second belt pulley 9 is in transmission connection with the outer surface of the first belt pulley 8 through a belt;
the device groove 10 is opened in the base 2, and the device groove 10 is opened in the base 2.
The bottom of the inner surface of the device groove 10 is provided with a second driving motor 11, and the right end of the output shaft of the second driving motor 11 is fixedly connected with a first bevel gear 12.
A rotating shaft 13 is fixedly connected to the middle of the bottom of the case 1, the bottom end of the rotating shaft 13 penetrates through the top of the base 2 and extends into the device groove 10, and a second bevel gear 14 is fixedly connected to one end of the rotating shaft 13 extending into the device groove 10.
The two sides of the bottom of the case 1 are respectively provided with a roller 15, and the two sides of the top of the base 2 and below the rollers 15 are provided with a circular ring moving groove 16.
The bottom on the right side of the case 1 is provided with a leading-out head 17, the top and the bottom of the inner wall of the leading-out head 17 are both provided with cleaning brushes 18, and the bottom on the right side of the leading-out head 17 is provided with auxiliary rollers 19.
The right side of the bottom of the inner wall of the case 1 is provided with a dryer 20, and one side of the shrinkage roller 4 is fixedly connected with one side of the second belt pulley 9 through a connecting shaft.
The top ends and the bottom ends of the two track bars 51 are rotatably connected through a connecting piece, and one opposite sides of the two track bars 51 are fixedly connected with two sides of the stabilizing plate 53 respectively.
The two sides of the top of the settling plate 52 are respectively fixedly connected with the bottom ends of the two track bars 51, and the settling plate 52 is made of metal and is rectangular in shape.
One side of the outer surface of the pulley 584 is slidably connected to one side of the inner surface of the moving groove 59, and the two moving blocks 582 are respectively fitted to the surfaces of the track bars 51.
The cushion pad 57 is made of rubber, the mounting seat 585 is provided with a clamping structure, and the moving plate 581 is provided with a position sensor.
The utility model provides a pair of orbital theory of operation of directional extension of underwater robot as follows:
when the robot is used for underwater work, firstly, a track is required to be laid at a designated underwater position, the robot is conveyed to the underwater position, firstly, the position of the track is determined, the direction of the track is adjusted, the first bevel gear 12 starts to rotate by starting the second driving motor 11, the second bevel gear 14 can be driven to rotate by the rotation of the first bevel gear 12, the rotating shaft 13 is driven to rotate simultaneously, finally, the case 1 is driven to rotate, meanwhile, the two rollers 15 at the bottom of the case 1 start to rotate along the circular ring moving groove 16, the direction of the leading-out head 17 is changed by the rotation of the case 1, and therefore, the sinking direction of the track extending from the leading-out head 17 is changed;
then, the first belt pulley 8 is rotated by starting the first driving motor 7, the second belt pulley 9 is driven to rotate by the rotation of the first belt pulley 8, the second belt pulley 9 simultaneously drives the contraction roller 4 to rotate, and the contraction roller 4 rotates to enable the track to extend underwater until the settlement plate 52 sinks to the water bottom;
then, the robot starts to be mounted on the mounting seat 585 in the middle of the moving plate 581, so that the mounting seat 585 fixes the robot, and then the moving plate 581 is slowly released, so that the moving blocks 582 on the left and right sides of the moving plate 581 start to move downwards along the track bar 51, and the pulleys 584 inside the moving blocks start to move along the moving grooves 59 on the surface of the track bar 51, so that the moving plate 581 drives the robot to start to dive to the water bottom.
Compared with the prior art, the utility model provides a pair of directional extension track of underwater robot has following beneficial effect:
the utility model provides a directional extension track of underwater robot, through setting up the track into collapsible chain formula structure, compare in traditional perpendicular track structure, when laying, through the rotation of first driving motor 7, can drive first belt pulley 8 and rotate, drive second belt pulley 9 and rotate simultaneously, through the rotation of second belt pulley 9, can drive shrink cylinder 4 and rotate, through the rotation of shrink cylinder 4, can make track structure 5 on its surface begin to extend, it is more convenient to use, the operation is simple, do not need the manual work to lay the guide rail, the working time is saved, the laying efficiency is improved, when packing up the guide rail, also only need start first driving motor 7, the track is packed up;
by arranging the moving plate 581 and the moving block 582, the moving block 582 is sleeved on the surface of the track bar 51, so that dislocation and deviation cannot occur during moving, the mounting seat 585 is arranged on the moving plate 581 and used for mounting the robot, and the robot is clamped through a clamping structure on the mounting seat 585, so that the robot can follow the moving plate 581, sink to a specified position at the bottom of the water along the track, and can be guaranteed to smoothly reach the specified position;
by arranging the settling plate 52, the settling plate 52 is made of a heavy metal material, so that the track structure 5 can be stably lowered and finally reaches a specified position when settling, and by arranging the buffer pad 57 on the settling plate 52, the moving plate 581 plays a role in buffering when moving to the bottom of the track, so that the settling plate 52 and a robot thereon are protected;
when orbital direction needs to be adjusted, the second driving motor 11 is started to rotate, so that the first bevel gear 12 rotates, the second bevel gear 14 can be driven to rotate through the rotation of the first bevel gear, the rotating shaft 13 rotates, the case 1 can be driven to rotate through the rotation of the rotating shaft 13, two rollers 15 at the bottom of the case 1 start to rotate along the circular ring moving groove 16, the track structure 5 is finally driven to move, manual adjustment is not needed, manpower is saved, and the work efficiency of laying the track is improved.
The above only is the embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent processes of the present invention are used in the specification and the attached drawings, or directly or indirectly applied to other related technical fields, and the same principle is included in the protection scope of the present invention.
Claims (10)
1. A directionally extending track for an underwater robot, comprising:
a case and a base;
the connecting piece is fixedly connected to the top of the inner wall of the case, and a contraction roller is rotatably connected to the connecting piece;
the track structure is arranged on the outer surface of the shrinkage roller and comprises a plurality of track strips and a settlement plate, a stabilizing plate is fixedly connected to one side of each track strip, a plurality of sliding grooves are formed in the bottom of the settlement plate, a buffer block is slidably connected between the two sides of the inner surface of each sliding groove, a spring is arranged between the top of the buffer block and the top of the inner surface of each sliding groove, a buffer pad is arranged at the top of the settlement plate, a moving structure is arranged on each track strip and comprises a moving plate, moving blocks are fixedly connected to the two sides of the moving plate, a rectangular groove is formed in one side of each moving block, a plurality of pulleys are arranged on one side of the inner surface of the rectangular groove, an installation seat is arranged on one side of the moving plate, and a moving groove is formed in;
the protection box is fixedly connected to the left side of the case, a first driving motor is arranged inside the protection box, one end of an output shaft of the first driving motor is fixedly connected with a first belt pulley, a second belt pulley is rotatably connected to the connecting piece, and the outer surface of the second belt pulley is in transmission connection with the outer surface of the first belt pulley through a belt;
the device groove is arranged in the base.
2. The directional extension track of the underwater robot as claimed in claim 1, wherein a second driving motor is provided at the bottom of the inner surface of the device groove, and a first bevel gear is fixedly connected to the right end of the output shaft of the second driving motor.
3. The track of claim 1, wherein a rotating shaft is fixedly connected to the bottom of the housing in the middle of the bottom of the housing, the bottom end of the rotating shaft penetrates through the top of the base and extends into the device groove, and a second bevel gear is fixedly connected to one end of the rotating shaft extending into the device groove.
4. The directionally-extending track of claim 1, wherein rollers are respectively disposed on two sides of the bottom of the case, and circular moving grooves are disposed on two sides of the top of the base and below the rollers.
5. The directionally-extending track of the underwater robot as claimed in claim 1, wherein a leading-out head is arranged at the bottom of the right side of the case, cleaning brushes are arranged at the top and the bottom of the inner wall of the leading-out head, and auxiliary rollers are arranged at the bottom of the right side of the leading-out head.
6. The directionally-extending track of the underwater robot as claimed in claim 1, wherein a dryer is disposed at the right side of the bottom of the inner wall of the case, and one side of the retraction roller is fixedly connected with one side of the second pulley through a connecting shaft.
7. The directionally-extending track of claim 1, wherein the top ends and the bottom ends of the two track bars are rotatably connected through a connecting member, and the opposite sides of the two track bars are fixedly connected with the two sides of the stabilizing plate respectively.
8. The directionally-extended track of the underwater robot as claimed in claim 1, wherein two sides of the top of the settling plate are respectively and fixedly connected with the bottom ends of the two track bars, and the settling plate is made of metal and is rectangular in shape.
9. The directionally-extended track of claim 1, wherein one side of the outer surface of the pulley is slidably connected to one side of the inner surface of the moving groove, and the two moving blocks are respectively sleeved on the surface of the track bar.
10. A directionally extending track for an underwater robot as claimed in claim 1, wherein said bumper pad is made of rubber, said mounting seat is provided with a clamping structure, and said moving plate is provided with a position sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020816639.8U CN212074380U (en) | 2020-05-17 | 2020-05-17 | Directional extension track of underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020816639.8U CN212074380U (en) | 2020-05-17 | 2020-05-17 | Directional extension track of underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212074380U true CN212074380U (en) | 2020-12-04 |
Family
ID=73567862
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020816639.8U Expired - Fee Related CN212074380U (en) | 2020-05-17 | 2020-05-17 | Directional extension track of underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212074380U (en) |
-
2020
- 2020-05-17 CN CN202020816639.8U patent/CN212074380U/en not_active Expired - Fee Related
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Granted publication date: 20201204 Termination date: 20210517 |
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| CF01 | Termination of patent right due to non-payment of annual fee |