CN214141418U - Large-scale ballast module interfacing apparatus - Google Patents
Large-scale ballast module interfacing apparatus Download PDFInfo
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- CN214141418U CN214141418U CN202023035559.8U CN202023035559U CN214141418U CN 214141418 U CN214141418 U CN 214141418U CN 202023035559 U CN202023035559 U CN 202023035559U CN 214141418 U CN214141418 U CN 214141418U
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- thrust bearing
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- 238000009434 installation Methods 0.000 abstract description 9
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Abstract
本实用新型属于海洋机器人领域，具体地说是一种大型压载模块对接装置，包括设有抛载机构的机器人外框架和与抛载机构相配合的压载模块，还包括框架支撑座与电动平车、支撑平台、支撑平台旋转机构、顶升油缸、横移油缸与压载模块支撑随形底座。机器人外框架放置在框架支撑座上，待安装的压载模块放置在压载模块支撑随形底座上，通过电动平车、支撑平台旋转机构、横移油缸及顶升油缸实现压载模块五个自由度的位姿调节。本实用新型能够实现大尺寸重量规格的压载模块在小范围空间内的安装，节省人力、提高作业效率；对接精度高，安装过程快速，同时安全可靠；通用性强，通过更换压载模块支撑随形底座，能够适应不同尺寸的压载模块安装。
The utility model belongs to the field of marine robots, in particular to a large-scale ballast module docking device. Flat car, supporting platform, supporting platform rotating mechanism, jacking oil cylinder, traversing oil cylinder and ballast module supporting conformal base. The outer frame of the robot is placed on the frame support base, and the ballast module to be installed is placed on the ballast module support conformal base. Five ballast modules are realized through the electric flat car, the support platform rotating mechanism, the traverse cylinder and the jacking cylinder. Pose adjustment of degrees of freedom. The utility model can realize the installation of ballast modules with large size and weight specifications in a small range of space, save manpower and improve work efficiency; the docking precision is high, the installation process is fast, and at the same time, it is safe and reliable; The conformable base can adapt to the installation of ballast modules of different sizes.
Description
Technical Field
The utility model belongs to the ocean robot field, specifically speaking are large-scale ballast module interfacing apparatus.
Background
On the marine robot, install the ballast balancing weight usually, the purpose is in order to realize retrieving marine robot after the throwing load. The existing small and medium-sized marine robots are light in weight of ballast balancing weights, easy to assemble, and low in difficulty due to the fact that the existing small and medium-sized marine robots are installed by manually assisting cranes, hydraulic jacks and the like according to different installation positions. In the case of large and ultra-large marine robots, the ballast module is large in size and weight, which may reach tonnage, and since the marine robot is compact in structure, the installation location and space are limited, the conventional method for installing the ballast module is difficult to implement, and it is necessary to design a special docking device to assist installation.
SUMMERY OF THE UTILITY MODEL
In view of the above, an object of the present invention is to provide a large ballast module docking device.
The purpose of the utility model is realized through the following technical scheme:
a large ballast module docking device comprises a robot outer frame provided with a load rejection mechanism, a ballast module matched with the load rejection mechanism, an electric flat car and a frame supporting seat for supporting the robot outer frame;
the electric flat carriage is provided with a supporting platform rotating mechanism, the output end of the supporting platform rotating mechanism is connected with a supporting platform, and the supporting platform is driven by the supporting platform rotating mechanism to horizontally rotate above the electric flat carriage;
jacking oil cylinder mounting seats are respectively arranged on the left side and the right side of the upper surface of the supporting platform, jacking oil cylinders are mounted on the jacking oil cylinder mounting seats, ballast module supporting conformal bases are arranged at the upper ends of the jacking oil cylinders, and traversing oil cylinders which are mounted on the upper surface of the supporting platform and enable the ballast module supporting conformal bases to move left and right are arranged on the two sides of the jacking oil cylinder mounting seats;
the ballast module to be installed is placed on the ballast module support conformal base, and posture adjustment of five degrees of freedom of the ballast module is achieved through the electric flat carriage, the support platform rotating mechanism, the transverse moving oil cylinder and the jacking oil cylinder.
The supporting platform rotating mechanism comprises a thrust bearing top seat, a thrust bearing base, a motor, a speed reducer and a transmission main shaft, wherein the thrust bearing top seat and the thrust bearing base are correspondingly arranged on the electric flat car up and down; a thrust bearing is arranged between the thrust bearing top seat and the thrust bearing base, the thrust bearing is rotatably connected with the transmission main shaft, the upper end of the transmission main shaft is fixedly connected with the supporting platform, a gear B is arranged at the lower end of the transmission main shaft, and the gear B is meshed with the gear A; the motor drives the supporting platform to horizontally rotate through the speed reducer, the gear A, the gear B and the transmission main shaft in sequence.
The thrust bearing base is further provided with a guide sleeve, and the middle of the transmission main shaft penetrates through the guide sleeve.
The ballast module support conformal base is provided with a ballast module end limiting seat respectively, and when the ballast module is placed on the ballast module support conformal base, the left end and the right end of the ballast module are limited by the ballast module end limiting seats respectively.
The left end and the right end of the supporting platform are provided with coarse positioning holes, positioning rods are respectively arranged on the outer frame of the robot at positions corresponding to the coarse positioning holes, and the positioning rods are inserted into the corresponding coarse positioning holes to perform coarse positioning.
The axial center line of the positioning rod is vertical to the horizontal plane.
The ballast module is provided with accurate positioning guide holes which are bilaterally symmetrical, accurate positioning guide pins are respectively arranged at positions, corresponding to the accurate positioning guide holes, on the outer frame of the robot, and the accurate positioning guide pins are inserted into the accurate positioning guide holes to perform accurate positioning.
The axial center line of the fine positioning guide pin is vertical to the horizontal plane.
Oblique limit stops are arranged at the left end and the right end of the ballast module respectively, and adjusting blocks are arranged on the outer frame of the robot at positions corresponding to the oblique limit stops respectively.
The ballast module is provided with a safety lock hole, and the outer frame of the robot is provided with a safety lock pin at the position corresponding to the safety lock hole; the safety lock pin can penetrate through the corresponding safety lock hole and lock the ballast module and the outer frame of the robot.
The utility model discloses an advantage does with positive effect:
1. the utility model can realize the installation of the ballast module with large size and weight specification in a small space, save labor and improve the operation efficiency;
2. the utility model can realize pose adjustment with five degrees of freedom, has high butting precision, quick installation process, and is safe and reliable;
3. the utility model discloses the commonality is strong, supports along with the shape base through changing ballast module, can adapt to not unidimensional ballast module installation.
Drawings
Fig. 1 is a schematic view of the overall structure of the ballast module of the present invention before being butted with the outer frame of the robot;
fig. 2 is a schematic view of the overall structure of the ballast module of the present invention when it is butted with the outer frame of the robot;
fig. 3 is a schematic view of the overall structure of the electric flat carriage and the supporting platform of the present invention;
fig. 4 is a schematic front view of the whole structure of the electric flat carriage and the supporting platform;
fig. 5 is a schematic top view of the electric flat carriage and the supporting platform of the present invention;
fig. 6 is a schematic structural view of the supporting platform rotating mechanism of the present invention;
fig. 7 is a schematic structural view of an outer frame of the robot of the present invention;
FIG. 8 is an enlarged view taken at A of FIG. 7;
fig. 9 is a schematic top view of the ballast module of the present invention when the ballast module is connected to the outer frame of the robot;
fig. 10 is a schematic structural diagram of a connection part of a ballast module and an outer frame of a robot.
In the figure: 1-robot outer frame, 101-positioning rod, 102-fine positioning guide pin, 103-adjusting block, 104-safety lock pin, 105-load rejection mechanism, 2-frame supporting seat, 3-electric flat carriage, 4-ballast module, 401-fine positioning guide hole, 402-oblique limit block, 403-safety lock hole, 404-hinged hook, 5-supporting platform, 501-coarse positioning hole, 6-jacking oil cylinder mounting seat, 7-jacking oil cylinder, 8-ballast module supporting conformal base, 9-traverse oil cylinder, 10-thrust bearing top seat, 11-thrust bearing base, 12-motor, 13-speed reducer, 14-transmission main shaft, 15-gear A, 16-thrust bearing, 17-gear B, 18-guide sleeve, 19-ballast module end limiting seat.
Detailed Description
The present invention will be described in further detail with reference to the accompanying fig. 1-10.
A large ballast module docking device comprises a robot outer frame 1 provided with a load rejection mechanism 105, a ballast module 4 matched with the load rejection mechanism 105, an electric flat carriage 3 and a frame supporting seat 2 for supporting the robot outer frame 1, as shown in figures 1 and 2; in the present embodiment, the ballast module 4 and the load rejection mechanism 105 are connected by the prior art, as shown in fig. 10, a hinged hook 404 is provided on the ballast module 4, and the hinged hook 404 can be locked by the load rejection mechanism 105 of the lock fork structure; in the embodiment, the electric flat carriage 3 is the electric flat carriage 3 which can be controlled by a wireless remote control mode in the prior art.
The electric flat carriage 3 is provided with a supporting platform rotating mechanism, the output end of the supporting platform rotating mechanism is connected with a supporting platform 5, and the supporting platform 5 is driven by the supporting platform rotating mechanism to rotate horizontally above the electric flat carriage 3.
As shown in fig. 3-5, the left and right sides of the upper surface of the supporting platform 5 are respectively provided with a jacking cylinder mounting seat 6, a jacking cylinder 7 is mounted on the jacking cylinder mounting seat 6, the upper end of the jacking cylinder 7 is provided with a ballast module supporting conformal base 8, the upper surface shape of the ballast module supporting conformal base 8 is matched with the outer side surface shape of the ballast module 4, and the jacking cylinders 7 on the left and right sides can respectively lift the ballast module 4; the two sides of the jacking cylinder mounting seat 6 are provided with transverse moving cylinders 9 which are arranged on the upper surface of the supporting platform 5 and enable the ballast module to support the shape-following base 8 to move left and right; in this embodiment, the jacking cylinder 7 and the traverse cylinder 9 are respectively connected to an external hydraulic station and are respectively controlled by an external controller to operate, and the connection mode of the jacking cylinder 7 and the traverse cylinder 9 is the prior art.
The robot outer frame 1 is placed on frame supporting seats 2, two frame supporting seats 2 are arranged in the embodiment, a ballast module 4 to be installed is placed on a ballast module supporting conformal base 8, and pose adjustment of five degrees of freedom of the ballast module 4 is achieved through an electric flat car 3, a supporting platform rotating mechanism, a transverse moving oil cylinder 9 and a jacking oil cylinder 7; the transverse moving oil cylinder 9 and the jacking oil cylinders 7 respectively realize linear adjustment in the x direction and the z direction, the electric flat carriage 3 realizes linear adjustment in the y direction, the supporting platform rotating mechanism realizes rotational freedom degree adjustment around the z axis, and the rotational freedom degree adjustment around the y axis can be realized through asynchronous adjustment of the jacking oil cylinders 7 on the two sides.
Specifically, as shown in fig. 6, the supporting platform rotating mechanism includes a thrust bearing top seat 10, a thrust bearing base 11, a motor 12, a speed reducer 13 and a transmission main shaft 14, the thrust bearing top seat 10 and the thrust bearing base 11 are correspondingly arranged on the electric flat carriage 3 up and down, the motor 12 and the speed reducer 13 are respectively and fixedly installed on the thrust bearing base 11, an output end of the motor 12 is fixedly connected with an input end of the speed reducer 13, and an output end of the speed reducer 13 is fixedly installed with a gear a 15; a thrust bearing 16 is arranged between the thrust bearing top seat 10 and the thrust bearing base 11, the thrust bearing 16 is rotatably connected with a transmission main shaft 14, the upper end of the transmission main shaft 14 is fixedly connected with the supporting platform 5, a gear B17 is arranged at the lower end of the transmission main shaft 14, and a gear B17 is meshed with a gear A15; the motor 12 drives the supporting platform 5 to horizontally rotate through the speed reducer 13, the gear A15, the gear B17 and the transmission main shaft 14 in sequence; in the embodiment, the motor 12 is controlled by an external controller, and the connection mode is the prior art.
Specifically, the thrust bearing base 11 is further provided with a guide sleeve 18, the middle part of the transmission main shaft 14 penetrates through the guide sleeve 18, and the transmission main shaft 14 can stably rotate inside the guide sleeve 18.
Specifically, as shown in fig. 3 to 5, ballast module end limiting seats 19 are provided on the ballast module support conformal base 8, respectively, and when the ballast module 4 is placed on the ballast module support conformal base 8, the left and right ends of the ballast module 4 are limited by one ballast module end limiting seat 19, respectively.
Specifically, as shown in fig. 5, 7, and 8, the support platform 5 is provided with rough positioning holes 501 at both left and right ends, the positioning rods 101 are provided at positions on the robot outer frame 1 corresponding to the rough positioning holes 501, the axial center lines of the positioning rods 101 are perpendicular to the horizontal plane, and the positioning rods 101 are inserted into the corresponding rough positioning holes 501 to perform rough positioning.
Specifically, as shown in fig. 8 and 9, the ballast modules 4 are provided with fine positioning guide holes 401 which are bilaterally symmetrical, the robot outer frame 1 is provided with fine positioning guide pins 102 at positions corresponding to the fine positioning guide holes 401, the axial center lines of the fine positioning guide pins 102 are perpendicular to the horizontal plane, and the fine positioning guide pins 102 are inserted into the fine positioning guide holes 401 to perform fine positioning.
Specifically, as shown in fig. 8 and 9, the ballast module 4 is provided with a diagonal stopper 402 at each of the left and right ends thereof, and the robot outer frame 1 is provided with an adjustment block 103 at a position corresponding to the diagonal stopper 402.
Specifically, as shown in fig. 8 and 9, the ballast module 4 is provided with a safety lock hole 403, and the robot outer frame 1 is provided with safety lock pins 104 at positions corresponding to the safety lock holes 403; the safety lock pin 104 can penetrate through the corresponding safety lock hole 403 and lock the ballast module 4 with the outer robot frame 1, and the arrangement of the safety lock pin 104 and the outer robot frame 1 adopts the prior art; when the robot is assembled, the ballast module 4 is locked with the outer frame 1 of the robot through the safety lock pin 104, so that the assembly safety is ensured; the safety latch 104 is removed after the robot assembly is complete.
The working principle is as follows:
hoisting the ballast module 4 to the ballast module support conformal base 8 using a crane and positionally defining the ballast module 4;
starting the electric flat carriage 3, and carrying out position adjustment on the electric flat carriage 3 in a wireless remote control mode; firstly, adjusting the position of the electric flat carriage 3 in the x direction to enable the electric flat carriage 3 to enter between two frame supporting seats 2; secondly, adjusting the position of the electric flat carriage 3 in the y direction to enable the electric flat carriage 3 to enter the bottom of the outer frame 1 of the robot, aligning a positioning rod 101 on the outer frame 1 of the robot through a coarse positioning hole 501 on the supporting platform 5, and completing coarse positioning of the ballast module 4;
the jacking cylinders 7 are used to slowly lift the ballast module 4, during which the positions of the fine positioning guide pins 102 and the fine positioning guide holes 401 on the ballast module 4 are observed. The installation position of the ballast module 4 is accurately adjusted in the x direction through the transverse moving oil cylinder 9, the angle of the z axis and the y axis is adjusted through the supporting platform rotating mechanism and the jacking oil cylinder 7, and when the fine positioning guide pin 102 can completely enter the fine positioning guide hole 401, the fine positioning of the ballast module 4 is completed;
the jacking cylinder 7 is used for slowly lifting the ballast module 4, the vertical distance between the inclined limit stop 402 and the adjusting block 103 is observed during the period, and when the distance between the inclined limit stop 402 and the adjusting block 103 is smaller at both ends of the ballast module 4, which is smaller than 5mm in the embodiment, the hinged hook 404 of the ballast module 4 can be ensured to be completely combined and locked with the load rejection mechanism 105; then, the ballast module 4 is limited and adjusted through an adjusting block 103 arranged on the outer frame 1 of the robot, so that the degree of freedom of the ballast module 4 is completely limited, and the installation of the ballast module 4 is completed;
after the ballast module 4 is installed, the ballast module needs to be locked by using the safety lock pin 104, so that the safety of personnel in the assembling operation of the area is ensured; before the marine robot launches, the safety lock pin 104 needs to be removed.
Claims (10)
1. The utility model provides a large-scale ballast module interfacing apparatus, including the outer frame of robot (1) that is equipped with load rejection mechanism (105) and with load rejection mechanism (105) matched with ballast module (4), its characterized in that: the robot is characterized by also comprising an electric flat carriage (3) and a frame supporting seat (2) for supporting the outer frame (1) of the robot;
a supporting platform rotating mechanism is arranged on the electric flat carriage (3), the output end of the supporting platform rotating mechanism is connected with a supporting platform (5), and the supporting platform (5) is driven by the supporting platform rotating mechanism to horizontally rotate above the electric flat carriage (3);
jacking cylinder mounting seats (6) are respectively arranged on the left side and the right side of the upper surface of the supporting platform (5), jacking cylinders (7) are mounted on the jacking cylinder mounting seats (6), ballast module supporting conformal bases (8) are arranged at the upper ends of the jacking cylinders (7), and transverse moving cylinders (9) which are mounted on the upper surface of the supporting platform (5) and enable the ballast module supporting conformal bases (8) to move left and right are arranged on the two sides of the jacking cylinder mounting seats (6);
the ballast module (4) to be installed is placed on the ballast module support conformal base (8), and posture adjustment of five degrees of freedom of the ballast module is achieved through the electric flat carriage (3), the support platform rotating mechanism, the transverse moving oil cylinder (9) and the jacking oil cylinder (7).
2. The large ballast module docking device according to claim 1, wherein: the supporting platform rotating mechanism comprises a thrust bearing top seat (10), a thrust bearing base (11), a motor (12), a speed reducer (13) and a transmission main shaft (14), wherein the thrust bearing top seat (10) and the thrust bearing base (11) are arranged on the electric flat carriage (3) in an up-and-down corresponding mode, the motor (12) and the speed reducer (13) are respectively installed on the thrust bearing base (11), the output end of the motor (12) is fixedly connected with the input end of the speed reducer (13), and the output end of the speed reducer (13) is provided with a gear A (15); a thrust bearing (16) is arranged between the thrust bearing top seat (10) and the thrust bearing base (11), the thrust bearing (16) is rotatably connected with the transmission main shaft (14), the upper end of the transmission main shaft (14) is fixedly connected with the supporting platform (5), a gear B (17) is arranged at the lower end of the transmission main shaft (14), and the gear B (17) is meshed with the gear A (15); the motor (12) drives the supporting platform (5) to horizontally rotate sequentially through the speed reducer (13), the gear A (15), the gear B (17) and the transmission main shaft (14).
3. The large ballast module docking device according to claim 2, wherein: the thrust bearing base (11) is further provided with a guide sleeve (18), and the middle of the transmission main shaft (14) penetrates through the guide sleeve (18).
4. The large ballast module docking device according to claim 1, wherein: the ballast module supports and is equipped with spacing seat of ballast module tip (19) respectively on following shape base (8), and ballast module (4) are placed when ballast module supports on following shape base (8), the left and right sides both ends of ballast module (4) are respectively by one spacing seat of ballast module tip (19) are spacing.
5. The large ballast module docking device according to claim 1, wherein: the left end and the right end of the supporting platform (5) are provided with coarse positioning holes (501), positioning rods (101) are respectively arranged at positions, corresponding to the coarse positioning holes (501), on the outer frame (1) of the robot, and the positioning rods (101) are inserted into the corresponding coarse positioning holes (501) to perform coarse positioning.
6. The large ballast module docking device according to claim 5, wherein: the axial center line of the positioning rod (101) is vertical to the horizontal plane.
7. The large ballast module docking device according to claim 1, wherein: last accurate positioning guiding hole (401) of bilateral symmetry that are equipped with of ballast module (4), on outer frame (1) of robot with the position that accurate positioning guiding hole (401) correspond is equipped with accurate positioning guide pin (102) respectively, accurate positioning guide pin (102) insert accurate positioning guiding hole (401) carry out the accurate location.
8. The large ballast module docking device according to claim 7, wherein: the axial center line of the fine positioning guide pin (102) is vertical to the horizontal plane.
9. The large ballast module docking device according to claim 1, wherein: oblique limit stops (402) are respectively arranged at the left end and the right end of the ballast module (4), and adjusting blocks (103) are respectively arranged at positions, corresponding to the oblique limit stops (402), on the outer frame (1) of the robot.
10. The large ballast module docking device according to claim 1, wherein: a safety lock hole (403) is formed in the ballast module (4), and safety lock pins (104) are respectively arranged on the outer frame (1) of the robot at positions corresponding to the safety lock hole (403); the safety lock pin (104) can penetrate through the corresponding safety lock hole (403) and lock the ballast module (4) with the outer robot frame (1).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023035559.8U CN214141418U (en) | 2020-12-16 | 2020-12-16 | Large-scale ballast module interfacing apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023035559.8U CN214141418U (en) | 2020-12-16 | 2020-12-16 | Large-scale ballast module interfacing apparatus |
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| CN214141418U true CN214141418U (en) | 2021-09-07 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112520632A (en) * | 2020-12-16 | 2021-03-19 | 广东智能无人系统研究院 | Large-scale ballast module interfacing apparatus |
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2020
- 2020-12-16 CN CN202023035559.8U patent/CN214141418U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112520632A (en) * | 2020-12-16 | 2021-03-19 | 广东智能无人系统研究院 | Large-scale ballast module interfacing apparatus |
| CN112520632B (en) * | 2020-12-16 | 2025-03-21 | 广东智能无人系统研究院 | Large ballast module docking device |
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