CN212797221U

CN212797221U - Lifting platform for collecting and releasing underwater robot of unmanned ship

Info

Publication number: CN212797221U
Application number: CN202021820876.8U
Authority: CN
Inventors: 王思奥; 陈朝民
Original assignee: Shenzhen Chasing-Innovation Technology Co ltd
Current assignee: Shenzhen Chasing-Innovation Technology Co ltd
Priority date: 2020-08-27
Filing date: 2020-08-27
Publication date: 2021-03-26
Anticipated expiration: 2030-08-27

Abstract

The utility model discloses a lift platform that is used for unmanned ship to receive and release underwater robot relates to unmanned ship technical field. The lift platform includes robot bearing platform and the lift arm of force, the lift arm of force is by the platform spliced pole, the transfer line, reciprocal lead screw, the nut, motor and casing constitute, casing and unmanned ship hull fixed connection, platform spliced pole and robot bearing platform fixed connection, the motor sets up in the casing, motor output shaft is connected with shaft coupling one end, the shaft coupling other end is connected with reciprocal lead screw one end, reciprocal lead screw cup joints in the nut and stretches into inside the transfer line, transfer line one end is connected with the nut, the other end is connected with the platform spliced pole, the motor passes through the watertight plug connector on the casing and is connected with external power source. Carry on underwater robot through robot load-bearing platform, provide power through the motor, carry out the transmission through reciprocal lead screw and nut, realize robot load-bearing platform's decline and rise, realize transferring and retrieving underwater robot.

Description

Lifting platform for collecting and releasing underwater robot of unmanned ship

Technical Field

The utility model relates to an unmanned ship technical field, concretely relates to a lift platform that is used for unmanned ship to receive and release underwater robot.

Background

Underwater robots, particularly unmanned remote underwater vehicles (ROVs), acquire energy and underwater motion instructions through communication cables connected with the water surface, are more and more popular due to portability and flexibility, but are limited by the length of the cables, so that the range of motion of the underwater robots is limited. In order to overcome the defects, an unmanned ship is usually used as a transfer station, an operator operates the unmanned ship to a designated position and then transfers the underwater robot to operate, a control signal is transmitted to the underwater robot through a communication module on the unmanned ship, and the unmanned ship further has the functions of recovering, charging, cruising and data transmission of the underwater robot.

The current unmanned ship snatchs the ROV through the manipulator and transfers and retrieve, and this requires manipulator sensitivity high, and spacing accuracy, and when unmanned ship floated on the surface of water, in fact difficult with the accurate location of ROV, for satisfying the butt joint success rate of manipulator and ROV, the manipulator structure is comparatively complicated usually, needs high degree of freedom and need not to be equipped with the positioning system of high accuracy, leads to the whole cost of unmanned ship to be expensive, is unfavorable for its marketing.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a lift platform for unmanned ship receive and releases underwater robot solves current unmanned ship and receive and release underwater robot through the manipulator and lead to the whole cost of unmanned ship expensive, be unfavorable for its marketing problem.

In order to solve the technical problem, the utility model adopts the following technical scheme: the utility model provides a lift platform that is used for unmanned ship to receive and release underwater robot which characterized in that: including robot load-bearing platform and the lift arm of force, the lift arm of force is by the platform spliced pole, the transfer line, reciprocal lead screw, the nut, motor and casing constitute, casing and unmanned ship hull fixed connection, platform spliced pole and robot load-bearing platform fixed connection, the motor sets up in the casing, motor output shaft and shaft coupling one end are connected, the shaft coupling other end is connected with reciprocal lead screw one end, reciprocal lead screw cup joints in the nut and stretches into inside the transfer line, transfer line one end is connected with the nut, the transfer line other end is connected with the platform spliced pole, the platform spliced pole sets up in the casing below, the motor passes through the watertight plug connector on the casing and is connected with external.

A further technical scheme is that four lifting force arms are arranged and are uniformly distributed on four corners of the robot bearing platform; the robot bearing platform is flat and is provided with a plurality of through holes for water drainage.

The top of the upper shell is hermetically connected with the end cover, the watertight connector clip is hermetically arranged at the top of the end cover, the bottom of the upper shell is hermetically connected with the first connector, the motor is arranged in the upper shell and fixed on the first connector, and the coupler is coaxially arranged in the first connector; the top of the lower shell is connected with the first connecting piece in a sealing mode, the bottom of the lower shell is connected with the second connecting piece in a sealing mode, the platform connecting column is arranged below the second connecting piece, and the transmission rod, the reciprocating screw rod and the nut are all arranged in the lower shell.

The other technical scheme is that the first connecting piece is cylindrical, the middle part of the first connecting piece is a coupler abdicating through hole, the end face of the first connecting piece is provided with a fastening hole of the motor, two layers of fixing holes are uniformly distributed on the outer side wall of the first connecting piece, and a groove is inwards arranged on the outer side wall of the first connecting piece; a sealing ring is arranged in the groove, and through holes matched with the fixing holes are formed in the upper shell and the lower shell.

A further technical scheme is that the second connecting piece is cylindrical, the middle part of the second connecting piece is provided with a transmission rod abdicating through hole, the outer side wall of the second connecting piece is uniformly distributed with fixing holes, and the lower part of the side wall of the lower shell is provided with a through hole matched with the fixing holes; the outer side wall of the second connecting piece is inwards concave and provided with a groove, and a sealing ring is arranged in the groove.

The top of the second connecting piece is provided with a positioning ring, the positioning ring protrudes downwards to form a convex part, the middle of the second connecting piece is downwards concave to form a positioning step hole, and the bottom of the positioning step hole is provided with a sealing ring.

The nut is a T-shaped nut, a third connecting piece is coaxially fixed on the nut, the third connecting piece is hollow and cylindrical, a through hole is formed in the third connecting piece, the top of the third connecting piece is fixedly connected with the nut, and the bottom of the third connecting piece is fixedly connected with the top of the transmission rod.

The working principle is as follows: after the unmanned ship receives a lowering command, the motor rotates forwards and synchronously, the coupler drives the reciprocating screw rod to rotate synchronously with the output shaft of the motor, the T-shaped nut moves downwards, the transmission rod is pushed to move downwards through the third connecting piece, the platform connecting column at the bottom of the transmission rod pushes the robot bearing platform to move downwards at a constant speed, after the robot bearing platform moves to a proper position, the ROV submerges in the water and floats in the water due to self buoyancy, the ROV is controlled to move forwards, and the ROV is separated from the lifting platform. At the moment, the motor is controlled to synchronously rotate reversely, and the lifting platform is retracted.

Accomplish the operation when the ROV, transfer lift platform, control the ROV and remove and get into robot load-bearing platform top, close ROV drive arrangement, the unmanned ship assigns the recovery order, and the synchronous counter rotation of motor, T type nut up-movement, transfer line upward movement drive robot load-bearing platform upward movement retrieves the ROV.

Compared with the prior art, the beneficial effects of the utility model are that: the lifting platform for the unmanned ship to receive and release the underwater robot is simple in structure and convenient to operate, the underwater robot is carried by the robot bearing platform, and the platform is large in butt joint success rate and easy to control; the underwater robot is lowered and recovered by realizing the descending and ascending of the robot bearing platform through the lifting force arm; the whole lifting platform is simple in structure, low in manufacturing cost, easy to control and convenient for market popularization of the unmanned ship.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural view of the middle lifting force arm of the present invention.

Fig. 3 is a schematic view of the internal structure of the middle lifting force arm of the present invention.

Fig. 4 is a schematic structural diagram of the first connecting member of the present invention.

Fig. 5 is a schematic structural diagram of the second connecting member of the present invention.

In the figure: 1-a robot bearing platform, 2-a lifting force arm, 201-a platform connecting column, 202-a transmission rod, 203-a reciprocating screw rod, 204-a nut, 205-a motor, 206-a shell, 207-an upper shell, 208-a first connecting piece, 209-a lower shell, 210-a second connecting piece, 211-a coupler, 212-a groove, 213-a fixing hole, 214-a third connecting piece, 215-a positioning ring, 216-a positioning step hole and 217-an end cover.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Examples

Fig. 1 shows a lifting platform for an unmanned ship to receive and release underwater robot, which comprises a robot bearing platform 1 and four lifting force arms 2, wherein the robot bearing platform 1 is flat, a plurality of through holes for draining water are formed in the robot bearing platform, and the four lifting force arms 2 are uniformly distributed on four corners of the robot bearing platform 1.

As shown in fig. 2 and 3, the lifting force arm 2 is composed of a platform connection column 201, a transmission rod 202, a reciprocating screw rod 203, a nut 204, a motor 205 and a shell 206, the shell 206 is fixedly connected with the hull of the unmanned ship, the platform connection column 201 is fixedly connected with the robot bearing platform 1, the motor 205 is arranged in the shell 206, an output shaft of the motor 205 is connected with one end of a coupler 211, the other end of the coupler 211 is connected with one end of the reciprocating screw rod 203, the reciprocating screw rod 203 is sleeved in the nut 204 and extends into the transmission rod 202, one end of the transmission rod 202 is connected with the nut 204, the other end of the transmission rod 202 is connected with the platform connection column 201, the platform connection column 201 is arranged below the shell 206, and the motor.

In order to facilitate the assembly and replacement of the motor 205, the housing 206 is composed of an upper housing 207, a first connecting piece 208 and a lower housing 209, the upper housing 207 and the lower housing 209 are both hollow cylindrical, the top of the upper housing 207 is hermetically connected with an end cover 217, and a watertight connector is hermetically arranged at the top of the end cover 217. The bottom of the upper shell 207 is hermetically connected with the first connecting piece 208, the motor 205 is arranged in the upper shell 207 and fixed on the first connecting piece 208, and the coupling 211 is coaxially arranged in the first connecting piece 208; the top of the lower shell 209 is hermetically connected with the first connecting piece 208, the bottom of the lower shell 209 is hermetically connected with the second connecting piece 210, the platform connecting column 201 is arranged below the second connecting piece 210, and the transmission rod 202, the reciprocating screw rod 203 and the nut 204 are all arranged in the lower shell 209.

The first connecting piece 208 has a structure shown in fig. 4, the middle part is a coupler 211 abdicating through hole, the end surface is provided with a fastening hole of the motor 205, two layers of fixing holes 213 are uniformly distributed on the outer side wall, and the outer side wall is inwards provided with a groove 212; a sealing ring is arranged in the groove 212, and through holes matched with the fixing holes 213 are formed in the upper shell 207 and the lower shell 209.

The second connecting piece 210 has a structure as shown in fig. 5, the middle part is provided with a abdicating through hole of the transmission rod 202, the outer side wall is uniformly distributed with fixing holes 213, and the lower part of the side wall of the lower shell 209 is provided with a through hole matched with the fixing holes 213; the outer side wall of the second connecting piece 210 is provided with a concave groove 212 inwards, and a sealing ring is arranged in the concave groove 212. The top of the second connecting member 210 is provided with a positioning ring 215, the positioning ring 215 protrudes downwards to form a convex part, the middle of the second connecting member 210 is recessed downwards to form a positioning step 216, and a sealing ring is arranged inside the positioning step 216.

The third connecting member 214 is a hollow cylinder with a through hole, the nut 204 is a T-shaped nut, the third connecting member 214 and the T-shaped nut 204 are coaxially arranged, the top of the third connecting member is fixedly connected with the nut 204, and the bottom of the third connecting member is fixedly connected with the top of the transmission rod 202.

During assembly, a sealing ring is placed in the groove 212 to ensure the water tightness of the lifting force arm 2. The lifting force arm 2 is assembled from bottom to top, the sealing ring is arranged at the bottom of the positioning step 216, then the positioning ring 215 and the second connecting piece 210 are fixed and are integrally sleeved at the lower part of the transmission rod 202, the nut 204 is sleeved on the reciprocating screw rod 203, the third connecting piece 214 is screwed at the top of the transmission rod 202, the reciprocating screw rod 203 extends into the transmission rod 202, and the nut 204 is adjusted to a proper position and fixed at the top of the third connecting piece 214. The top of the reciprocating screw rod 203 is fixed with the coupler 211, the lower shell 209 is sleeved on the outer side wall of the second connector 210, and the lower shell is fastened on the second connector 210 through a fastener.

The first connector 208 is sleeved outside the coupler 211 and placed on the top of the lower shell 209 and fastened through a fastener. An output shaft of the motor 205 is inserted into the coupling 211 and fixed, the upper housing 207 is sleeved on the upper portion of the first connecting piece 208, and the upper housing 207 is fixed on the upper portion of the first connecting piece 208 through the side through hole by a fastener. The outgoing line of the motor 205 is connected with the watertight connector at the top of the end cover 217, and then the end cover 217 sleeved with the sealing ring is placed at the top of the upper shell 207 and fixed.

The bottom of the assembled lifting force arm 2 is sleeved with a sealing ring and then is inserted into the platform connecting column 201 and screwed, and the two are connected through threads. The platform connecting column 201 is fixed with the robot bearing platform 1 in advance, and finally the lower shell 209 is fixed with the unmanned ship body to complete the assembly of the lifting platform.

After the unmanned ship receives a lowering command, the motor 205 rotates forwards and synchronously, the coupler 211 drives the reciprocating screw rod 203 to rotate synchronously with the output shaft of the motor 205, the T-shaped nut moves downwards and pushes the transmission rod 202 to move downwards through the third connecting piece 214, the platform connecting column 201 at the bottom of the transmission rod 202 pushes the robot bearing platform 1 to move downwards at a constant speed, and after the robot ROV moves to a proper position, the underwater robot ROV is submerged in the water and floats in the water due to self buoyancy, the ROV is controlled to move forwards, and the ROV is separated from the lifting platform. At this point, the motor 205 is again controlled to rotate in a synchronous reverse direction to retract the lift platform.

When the ROV accomplishes the operation, transfer lift platform, control the ROV and remove and get into robot load-bearing platform 1 top, close ROV drive arrangement, the unmanned ship assigns the recovery order, and motor 205 synchronous counter-rotation, T type nut up-movement, transfer line 202 upward movement drives robot load-bearing platform 1 upward movement, retrieves the ROV.

Although the invention has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the spirit and scope of the principles of this invention. More particularly, various variations and modifications are possible in the component parts and/or arrangements within the scope of the disclosure, the drawings and the appended claims. In addition to variations and modifications in the component parts and/or arrangements, other uses will also be apparent to those skilled in the art.

Claims

1. The utility model provides a lift platform that is used for unmanned ship to receive and release underwater robot which characterized in that: comprises a robot bearing platform (1) and a lifting force arm (2), wherein the lifting force arm (2) consists of a platform connecting column (201), a transmission rod (202) and a reciprocating screw rod (203), nut (204), motor (205) and casing (206) constitute, casing (206) and unmanned ship hull fixed connection, platform spliced pole (201) and robot load-bearing platform (1) fixed connection, motor (205) set up in casing (206), motor (205) output shaft is connected with shaft coupling (211) one end, the shaft coupling (211) other end is connected with reciprocal lead screw (203) one end, reciprocal lead screw (203) cup joint in nut (204) and stretch into inside transfer line (202), transfer line (202) one end is connected with nut (204), the transfer line (202) other end is connected with platform spliced pole (201), platform spliced pole (201) set up in casing (206) below, motor (205) pass through the watertight plug connector on casing (206) and are connected with external power source.

2. The lifting platform for deploying and retracting an underwater robot from and to an unmanned ship according to claim 1, wherein: four lifting force arms (2) are uniformly distributed on four corners of the robot bearing platform (1); the robot bearing platform (1) is flat and is provided with a plurality of through holes for water drainage.

3. The lifting platform for deploying and retracting an underwater robot from and to an unmanned ship according to claim 1, wherein: the shell (206) is composed of an upper shell (207), a first connecting piece (208) and a lower shell (209), the upper shell (207) and the lower shell (209) are both hollow cylinders, the top of the upper shell (207) is hermetically connected with an end cover (217), a watertight connector clip is hermetically arranged at the top of the end cover (217), the bottom of the upper shell (207) is hermetically connected with the first connecting piece (208), a motor (205) is arranged in the upper shell (207) and fixed on the first connecting piece (208), and a coupler (211) is coaxially arranged in the first connecting piece (208); the top of the lower shell (209) is connected with the first connecting piece (208) in a sealing manner, the bottom of the lower shell (209) is connected with the second connecting piece (210) in a sealing manner, the platform connecting column (201) is arranged below the second connecting piece (210), and the transmission rod (202), the reciprocating screw rod (203) and the nut (204) are arranged in the lower shell (209).

4. The lifting platform for deploying and retracting an underwater robot from and to an unmanned ship according to claim 3, wherein: the first connecting piece (208) is cylindrical, the middle part of the first connecting piece is a shaft coupling (211) abdicating through hole, the end face of the first connecting piece is provided with a fastening hole of the motor (205), two layers of fixing holes (213) are uniformly distributed on the outer side wall, and the outer side wall is inwards provided with a groove (212); a sealing ring is arranged in the groove (212), and through holes matched with the fixing holes (213) are formed in the upper shell (207) and the lower shell (209).

5. The lifting platform for deploying and retracting an underwater robot from and to an unmanned ship according to claim 3, wherein: the second connecting piece (210) is cylindrical, the middle part of the second connecting piece is provided with a abdicating through hole of the transmission rod (202), the outer side wall of the second connecting piece is uniformly distributed with fixing holes (213), and the lower part of the side wall of the lower shell (209) is provided with a through hole matched with the fixing hole (213); a groove (212) is inwards recessed in the outer side wall of the second connecting piece (210), and a sealing ring is arranged in the groove (212).

6. The lifting platform for deploying and retracting an underwater robot from and to an unmanned ship according to claim 5, wherein: the top of the second connecting piece (210) is provided with a positioning ring (215), the positioning ring (215) protrudes downwards to form a convex part, the middle part of the second connecting piece (210) is concave downwards to form a positioning step hole (216), and the bottom of the positioning step hole (216) is provided with a sealing ring.

7. The lifting platform for deploying and retracting an underwater robot from and to an unmanned ship according to claim 1, wherein: the nut (204) is a T-shaped nut, a third connecting piece (214) is coaxially fixed on the nut (204), the third connecting piece (214) is hollow and cylindrical, a through hole is formed in the third connecting piece (214), the top of the third connecting piece (214) is fixedly connected with the nut (204), and the bottom of the third connecting piece (214) is fixedly connected with the top of the transmission rod (202).