CN213923850U

CN213923850U - Throwing device for underwater robot

Info

Publication number: CN213923850U
Application number: CN202022639192.4U
Authority: CN
Inventors: 陆玮铭; 胡陟
Original assignee: Shanghai University of Engineering Science
Current assignee: Shanghai University of Engineering Science
Priority date: 2020-11-13
Filing date: 2020-11-13
Publication date: 2021-08-10
Anticipated expiration: 2030-11-13

Abstract

The utility model relates to a underwater robot puts in technical field specifically is a put in device for underwater robot, the on-line screen storage device comprises a base, the upper end of base is equipped with to rotate and is connected with the loading board, the up end of loading board is connected with the main tributary vaulting pole and assists the bracing piece through the fixing base, the upper end of assisting bracing piece and main tributary vaulting pole is rotated respectively and is connected with first pulley and second pulley, up end one side of loading board still is equipped with the stranded conductor motor, the stranded conductor rod is connected to the output of stranded conductor motor, be equipped with wire rope on the stranded conductor roller. The utility model discloses a be equipped with fixture in putting in the frame for the robot is difficult for appearing rocking the phenomenon when putting in, prevents that the robot from colliding and damaging, and sets up derivation mechanism in the bottom of putting in the frame, can derive automatically when making in the robot, makes things convenient for putting in work of robot, improves work efficiency, simultaneously, rotates the loading board of connection, and the operation of putting in is carried out again to the convenient elder generation of robot.

Description

Throwing device for underwater robot

Technical Field

The utility model relates to an underwater robot puts in technical field, specifically is a put in device for underwater robot.

Background

With the increasing demands of China on the aspects of exploring deep sea, developing and utilizing deep sea resources, guaranteeing national deep sea safety and the like, more and more underwater novel equipment is developed and put into use.

At present, auxiliary work is basically required to be carried out by means of a throwing device in the throwing process of an underwater robot; however, most of the existing underwater robots can not perform effective stabilizing function on the robot when the robot is thrown in, so that the phenomenon of shaking and damage can easily occur in the throwing process, and the throwing of the robot has no automatic leading-out device, so that the throwing work increases certain difficulty, the working efficiency of the throwing is also reduced, meanwhile, the existing throwing device has no good buffering function, the throwing frame is easy to collide with underwater reef or the ground when falling and throwing, and the throwing equipment is damaged, therefore, the throwing device for the underwater robot is provided.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a put in device for underwater robot to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides a put in device for underwater robot, includes the base, the upper end of base is equipped with to rotate and is connected with the loading board, the up end of loading board is connected with main tributary vaulting pole and assists the bracing piece through the fixing base, the upper end of assisting bracing piece and main tributary vaulting pole is rotated respectively and is connected with first pulley and second pulley, up end one side of loading board still is equipped with the stranded conductor motor, the stranded conductor rod is connected to the output of stranded conductor motor, be equipped with wire rope on the stranded conductor roller, wire rope's expansion end passes first pulley and second pulley in proper order and is connected with and puts in the frame, be equipped with a plurality of fixture of stable robot on putting in two inside walls of frame, the interior diapire of putting in the frame is equipped with the derivation mechanism of deriving the robot automatically, the bottom of putting in the frame is equipped with a plurality of buffer gear.

As a further aspect of the present invention: fixture includes splint and hydraulic stem, hydraulic stem fixed connection is on the inside wall of putting in the frame, the expansion end of hydraulic stem and a side fixed connection of splint.

As a further aspect of the present invention: the derivation mechanism includes the fixed plate that two symmetries set up, two it is connected with a plurality of pivots to rotate between the fixed plate, and is a plurality of carry out the transmission through the conveyer belt between the pivot and connect, the lateral surface of fixed plate is equipped with driving motor, driving motor's output and one of them pivot are connected.

As a further aspect of the present invention: buffer gear includes sleeve, supporting legs and spring, telescopic upper end and the diapire fixed connection who puts in the frame, the spring sets up in the sleeve, and the upper end and the sleeve bottom fixed connection of spring, the upper end of supporting legs is inserted and is established in the sleeve, and the upper end of supporting legs and the lower extreme fixed connection of spring.

As a further aspect of the present invention: the included angle between the main supporting rod and the auxiliary supporting rod is a right angle.

As a further aspect of the present invention: the length of main bracing piece is greater than the length of auxiliary bracing piece.

Compared with the prior art, the utility model has the advantages of following several aspects:

1. the utility model discloses a be equipped with fixture in putting in the frame for the robot is difficult for appearing rocking the phenomenon when putting in, prevents that the robot from colliding and damaging, and sets up derivation mechanism in the bottom of putting in the frame, can derive automatically when making in the robot, makes things convenient for putting in work of robot, improves work efficiency, simultaneously, rotates the loading board of connection, and the operation of putting in is carried out again to the convenient elder generation of robot.

2. The utility model discloses the diapire of puting in the frame is equipped with a plurality of buffering supporting legss, prevents when putting in, puts in the collision on frame ground under water.

Drawings

Fig. 1 is a schematic structural diagram of a launch device for an underwater robot.

Fig. 2 is a schematic top view of a launching frame of a launching device for an underwater robot.

Fig. 3 is a schematic structural diagram of a buffer mechanism in a launching device for an underwater robot.

In the figure: 1. a base; 2. a carrier plate; 3. a wire stranding motor; 4. a stranding roller; 5. a first pulley; 6. an auxiliary support rod; 7. a main support bar; 8. a second pulley; 9. a putting frame; 10. a splint; 11. a lead-out mechanism; 111. a fixing plate; 112. a conveyor belt; 113. a drive motor; 114. a rotating shaft; 12. a buffer mechanism; 121. a sleeve; 122. supporting legs; 123. a spring; 13. a hydraulic lever; 14. a fixed seat.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments.

Referring to fig. 1-3, a throwing device for an underwater robot comprises a base 1, wherein the upper end of the base 1 is rotatably connected with a bearing plate 2, the upper end face of the bearing plate 2 is connected with a main support rod 7 and an auxiliary support rod 6 through a fixing seat 14, the upper ends of the auxiliary support rod 6 and the main support rod 7 are respectively rotatably connected with a first pulley 5 and a second pulley 8, one side of the upper end face of the bearing plate 2 is further provided with a stranded wire motor 3, the output end of the stranded wire motor 3 is connected with a stranded wire rod, a steel wire rope is arranged on the stranded wire roller 4, the movable end of the steel wire rope sequentially penetrates through the first pulley 5 and the second pulley 8 and is connected with a throwing frame 9, a plurality of clamping mechanisms for stabilizing the robot are arranged on two inner side walls of the throwing frame 9, a guiding mechanism 11 for automatically guiding the robot is arranged on the inner bottom wall of the throwing frame 9, and a plurality of buffer mechanisms 12 are arranged at the bottom of the throwing frame 9.

Fixture includes splint 10 and hydraulic stem 13, and hydraulic stem 13 fixed connection is on the inside wall of putting in frame 9, and hydraulic stem 13's expansion end and splint 10's a side fixed connection.

The leading-out mechanism 11 comprises two fixing plates 111 which are symmetrically arranged, a plurality of rotating shafts 114 are rotatably connected between the two fixing plates 111, the rotating shafts 114 are in transmission connection through a conveying belt 112, a driving motor 113 is arranged on the outer side surface of each fixing plate 111, and the output end of the driving motor 113 is connected with one rotating shaft 114.

The buffer mechanism 12 comprises a sleeve 121, supporting legs 122 and a spring 123, the upper end of the sleeve 121 is fixedly connected with the bottom wall of the releasing frame 9, the spring 123 is arranged in the sleeve 121, the upper end of the spring 123 is fixedly connected with the bottom of the sleeve 121, the upper ends of the supporting legs 122 are inserted in the sleeve 121, and the upper ends of the supporting legs 122 are fixedly connected with the lower ends of the spring 123.

The included angle between the main supporting rod 7 and the auxiliary supporting rod 6 is a right angle.

The length of the main supporting rod 7 is greater than that of the auxiliary supporting rod 6.

The utility model discloses a theory of operation is: when the utility model works, a robot is loaded on a conveyor belt 112 in a throwing frame 9, the hydraulic rods 13 on the two sides of the throwing frame 9 drive a plate 10 to stably clamp the robot, a stranded wire motor 3 is started to drive a stranded wire roller 4 to shrink a steel wire rope, so that the throwing frame 9 is hoisted, a bearing plate 2 is rotated, the throwing frame 9 is positioned above a throwing water area, the stranded wire motor 3 is started to pay off, when the throwing frame 9 reaches a throwing position, the hydraulic rods 13 shrink to drive the plate 10 to loosen the robot, meanwhile, a driving motor 113 rotates to drive the conveyor belt 112 to rotate, so that the robot can lead out the throwing frame 9, the throwing is successful, the robot is not easy to shake when being thrown by arranging a clamping mechanism in the throwing frame 9, the robot is prevented from being damaged by collision, the leading-out mechanism 11 is arranged at the bottom of the throwing frame 9, so that the robot can be automatically led out when being thrown, the throwing work of the robot is facilitated, the working efficiency is improved, and meanwhile, the operation of firstly loading and then throwing the robot is facilitated by rotating the connected bearing plates 2; put in the diapire of frame 9 and be equipped with a plurality of buffering supporting legss 122, prevent when putting in, put in the collision on frame 9 ground under water.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.

Claims

1. A throwing device for an underwater robot is characterized by comprising a base (1), wherein the upper end of the base (1) is rotatably connected with a bearing plate (2), the upper end face of the bearing plate (2) is connected with a main support rod (7) and an auxiliary support rod (6) through a fixing seat (14), the upper ends of the auxiliary support rod (6) and the main support rod (7) are respectively rotatably connected with a first pulley (5) and a second pulley (8), a stranded wire motor (3) is further arranged on one side of the upper end face of the bearing plate (2), the output end of the stranded wire motor (3) is connected with a stranded wire roller (4), a steel wire rope is arranged on the stranded wire roller (4), the movable end of the steel wire rope sequentially penetrates through the first pulley (5) and the second pulley (8) and is connected with a throwing frame (9), and a plurality of clamping mechanisms for stabilizing the robot are arranged on two inner side walls of the throwing frame (9), the inner bottom wall of the throwing frame (9) is provided with a guide-out mechanism (11) for automatically guiding out the robot, and the bottom of the throwing frame (9) is provided with a plurality of buffer mechanisms (12).

2. A launch device for an underwater robot according to claim 1, characterized in that said gripping means comprise a clamp plate (10) and a hydraulic rod (13), said hydraulic rod (13) being fixedly connected to the inner side wall of the launch frame (9), the movable end of said hydraulic rod (13) being fixedly connected to one side of the clamp plate (10).

3. The underwater robot throwing device of claim 1, wherein the guiding mechanism (11) comprises two symmetrically arranged fixing plates (111), a plurality of rotating shafts (114) are rotatably connected between the two fixing plates (111), the rotating shafts (114) are in transmission connection through a conveyor belt (112), a driving motor (113) is arranged on the outer side surface of each fixing plate (111), and the output end of the driving motor (113) is connected with one rotating shaft (114).

4. The underwater robot throwing device of claim 1, wherein the buffering mechanism (12) comprises a sleeve (121), supporting legs (122) and a spring (123), the upper end of the sleeve (121) is fixedly connected with the bottom wall of the throwing frame (9), the spring (123) is arranged in the sleeve (121), the upper end of the spring (123) is fixedly connected with the bottom of the sleeve (121), the upper ends of the supporting legs (122) are inserted in the sleeve (121), and the upper ends of the supporting legs (122) are fixedly connected with the lower ends of the spring (123).

5. A launch device for an underwater robot according to claim 1, characterized in that the angle between the main (7) and auxiliary (6) support bars is a right angle.

6. Launch device for an underwater robot according to claim 5, characterised in that the length of the main support bar (7) is greater than the length of the auxiliary support bar (6).