CN215554043U - Slide block balance type load rejection device and underwater robot - Google Patents
Slide block balance type load rejection device and underwater robot Download PDFInfo
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- CN215554043U CN215554043U CN202120133066.3U CN202120133066U CN215554043U CN 215554043 U CN215554043 U CN 215554043U CN 202120133066 U CN202120133066 U CN 202120133066U CN 215554043 U CN215554043 U CN 215554043U
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Abstract
The application provides a slider balanced type load rejection device and an underwater robot. The utility model provides a slider balanced type load rejection device which characterized in that includes: a motor; the worm is connected to the motor and driven by the motor to rotate forwards or reversely; the sliding block comprises a threaded hole, the sliding block is sleeved on the worm, and the sliding block moves on the worm along with the rotation of the worm; and the ejector rod is arranged on the side surface of the sliding block, moves along with the movement of the sliding block and is used for fixing or dumping the weight. According to the embodiment of the application, the carrying capacity of the underwater robot is improved by the sliding block balanced type load rejection device, and the stable posture of the underwater robot body can be kept in a dynamic load state.
Description
Technical Field
The application relates to the field of underwater exploration machines, in particular to a sliding block balanced type load rejection device and an underwater robot.
Background
The carrying capacity of the cable remote control underwater robot refers to the capacity of the body of the cable remote control underwater robot for grabbing underwater heavy objects and stably floating, the buoyancy borne by the cable remote control underwater robot in water is micro positive buoyancy or zero buoyancy, so that the weight for grabbing underwater target objects is limited by the vertical lift force of the cable remote control underwater robot, and the cable remote control underwater robot body is obviously inclined forwards after grabbing heavy objects, so that the posture is unstable, the stable floating is influenced, and particularly the light operation type underwater robot is more obvious.
The current general cable remote control underwater robot that has all uses the vertical propeller that has bigger lift to strengthen underwater object carrying capacity, however the propeller of bigger thrust means high-power, often will change original electrical unit, it is with high costs to increase the material, the current general cable remote control underwater robot that has simultaneously does not have dynamic load gesture regulatory ability, after leading to snatching the heavy object, the underwater robot body leans forward, the focus is unbalanced, influence underwater robot's steady going upward.
Therefore, on the premise of not changing the main body structure of the original cabled remote control underwater robot, a device capable of improving the underwater carrying capacity and keeping the posture of the underwater robot body stable in a dynamic load state is needed.
In this background section, the above information disclosed is only for enhancement of understanding of the background of the application and therefore it may contain prior art information that does not constitute a part of the common general knowledge of a person skilled in the art.
Disclosure of Invention
The application aims at providing a slider balanced type load rejection device, can promote underwater robot's carrying capacity, can keep the gesture of underwater robot body steady under the dynamic load state.
The application provides a slider balanced type load rejection device includes:
a motor;
the worm is connected to the motor and driven by the motor to rotate forwards or reversely;
the sliding block comprises a threaded hole, the sliding block is sleeved on the worm, and the sliding block moves on the worm along with the rotation of the worm;
and the ejector rod is arranged on the side surface of the sliding block, moves along with the movement of the sliding block and is used for fixing or dumping the weight.
According to some embodiments, the slider-balanced load rejection device further comprises a fixed bracket, the fixed bracket comprising:
a base plate positioning the slider;
a first support located at one end of the substrate;
a second support located at the other end of the substrate opposite the first support.
According to some embodiments, the first bracket includes a first positioning hole, the motor is installed at one side of the first bracket, and the worm is connected to the motor through the first positioning hole.
According to some embodiments, the second bracket comprises:
the ejector rod can enter or exit the second positioning hole along with the movement of the sliding block;
and the third positioning hole is intersected with the second positioning hole.
According to some embodiments, the weight includes a hanging rod, the hanging rod includes a fourth positioning hole, the hanging rod can enter the third positioning hole to enable the fourth positioning hole to be concentric with the second positioning hole, and the jacking rod can enter or exit the fourth positioning hole through the second positioning hole to fix or dump the weight.
According to some embodiments, the slider further comprises a through slot;
the base plate comprises a slide rail, the through groove is formed in the slide rail, and the slide block can move on the worm along the slide rail along with the rotation of the worm.
According to some embodiments, the slider and the slide rail have smooth surfaces.
The application also provides an underwater robot, includes:
a robot body;
the sliding block balanced type load rejection device is arranged on the robot body.
According to some embodiments, the underwater robot further comprises:
and the balancing floating material is arranged on the robot body and used for adjusting the gravity center of the underwater robot.
According to some embodiments, when the number of the balancing floating materials is two, the balancing floating materials are symmetrically arranged on two sides of the sliding block balanced type load rejection device.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
Fig. 1 shows a schematic structural view of an underwater robot according to some embodiments of the present application.
Fig. 2 shows a schematic structural diagram of a slider balanced type load rejection device according to an exemplary embodiment of the present application.
Fig. 3 shows a schematic structural diagram of an underwater robot according to another embodiment of the present application.
Fig. 4 shows a flow chart of the operation of an underwater robot according to further embodiments of the present application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals denote the same or similar parts in the drawings, and thus, a repetitive description thereof will be omitted.
The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the embodiments of the disclosure can be practiced without one or more of the specific details, or with other means, components, materials, devices, or the like. In such cases, well-known structures, methods, devices, implementations, materials, or operations are not shown or described in detail.
The terms "first," "second," and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
The application provides a slider balanced type load rejection device can promote underwater robot's carrying capacity, can keep underwater robot's body gesture steady under the dynamic load state.
Fig. 1 shows a schematic structural view of an underwater robot according to some embodiments of the present application.
As shown in fig. 1, according to some embodiments, the underwater robot includes a slider-balanced load rejection device 10 and a robot body 20, and the slider-balanced load rejection device 10 is mounted on the robot body 20.
Referring to fig. 1, according to some embodiments, the slide balanced load rejection device 10 includes a motor 101, a worm 103, a slide 105, a ram 107, and a fixed bracket 109. The worm 103 is connected to the motor 101 and is driven by the motor 101 to rotate in a forward direction or a reverse direction. The sliding block 105 comprises a threaded hole 10501, the sliding block 105 is sleeved on the worm 103, and the sliding block 105 moves on the worm 103 along with the rotation of the worm 103. The jack 107 is installed on a side surface of the slider 105 to move with the movement of the slider 105, for fixing or discharging the weight 30. The bracket 109 is mounted on the robot body 20.
Referring to fig. 1, according to some embodiments, the underwater robot further includes a balancing float 40, and the robot body 20 is used for installing the slider-balanced load rejection device 10, the weight 30, and the balancing float 40.
Optionally, the balancing float 40 is symmetrically disposed on both sides of the slider balance weight loader 10.
Optionally, an attitude sensor is installed on the robot body 20, and the attitude parameters of the underwater robot can be transmitted in real time.
Referring to fig. 1, according to some embodiments, the motor 101 is controlled to rotate forward to drive the worm 103 to rotate forward, so as to drive the sliding block 105 to move, and the top rod 107 also moves along with the movement of the sliding block 105 until the top rod 107 fixes the weight 30. After the robot arm has gripped an operation object firmly, the underwater robot is ready to float, at the moment, the motor 101 is controlled to rotate reversely, the motor 101 drives the worm 103 to rotate reversely to drive the sliding block 105 to move, the ejector rod 107 also moves along with the movement of the sliding block 105 until the ejector rod loads the weight 30, at the moment, the weight 30 is in a free sliding state, the weight 30 automatically falls off along with the upward floating of the underwater robot, the gravity center of the underwater robot moves along with the movement, at the moment, the motor 101 is controlled to rotate forwards or reversely according to the posture of the underwater robot, the worm 103 is driven to rotate forwards or reversely to drive the sliding block 105 to move, and the posture of the underwater robot is enabled to be stable under the action of lever force.
According to some embodiments, the underwater robot can obtain additional positive buoyancy by loading the weight 30, so that the carrying capacity of the underwater robot can be improved, and after loading the weight 30, the position of the sliding block 105 can be adjusted, so that the underwater robot can be ensured to stably ascend.
Fig. 2 shows a schematic structural diagram of a slider balanced type load rejection device according to an exemplary embodiment of the present application.
As shown in fig. 2, according to an exemplary embodiment, the slide block balanced type load rejection device includes a motor 101, a worm 103, a slide block 105, and a ram 107.
As shown in fig. 2, the worm 103 is connected to the motor 101 and is driven by the motor 101 to rotate in a forward or reverse direction. The sliding block 105 comprises a threaded hole 10501, the sliding block 105 is sleeved on the worm 103, and the sliding block 105 moves on the worm 103 along with the rotation of the worm 103. The jack 107 is installed on a side surface of the slider 105 to move with the movement of the slider 105, for fixing or discharging the weight 30.
Optionally, the motor 101 may be a remote-controlled dc motor, and the motor 101 may also be another motor satisfying a remote control function, which is not limited in this application.
Optionally, the worm 103 may be an archimedes worm, the worm may also be a normal straight profile worm or an involute worm, and the like, the threaded hole 10501 of the slider 105 is matched to drive the slider 105 to move on the worm 103, and the kind of the worm 103 is not limited in the present application.
Optionally, the top bar 107 may be a cylindrical top bar, the top bar 107 may also be a rectangular parallelepiped top bar, and the top bar 107 is used for fixing or dumping the weight 30, and the shape of the top bar 107 is not limited in the present application.
Fig. 3 shows a schematic structural diagram of an underwater robot according to another embodiment of the present application.
As shown in fig. 3, according to another embodiment, the underwater robot includes a motor 101, a worm 103, a slider 105, a jack 107, and a fixing bracket 109.
As shown in fig. 3, the worm 103 is connected to the motor 101 and is driven by the motor 101 to rotate in a forward or reverse direction. The sliding block 105 comprises a threaded hole 10501, the sliding block 105 is sleeved on the worm 103, and the sliding block 105 moves on the worm 103 along with the rotation of the worm 103. The jack 107 is installed on a side surface of the slider 105 to move with the movement of the slider 105, for fixing or discharging the weight 30.
The fixing bracket 109 includes a base plate 10901, a first bracket 10903 and a second bracket 10905, the base plate 10901 is used for positioning the slider 105, the first bracket 10903 is located at one end of the base plate 10901, and the second bracket 10905 is located at the other end of the base plate 10901.
The first bracket 10903 includes a first positioning hole 1090301, the motor 101 is mounted on one side of the first bracket 10903, the worm 103 is connected to the motor 101 through the first positioning hole 1090301, the second bracket 10905 includes a second positioning hole 1090501 and a third positioning hole 1090503, the top rod 107 can enter or exit the second positioning hole 1090501 along with the movement of the slider 105, and the third positioning hole 1090503 intersects with the second positioning hole 1090501.
The weight 30 comprises a hanging rod 301, the hanging rod 301 comprises a fourth positioning hole 30101, the hanging rod 301 can enter the third positioning hole 1090503 to make the fourth positioning hole 30101 concentric with the second positioning hole 1090501, and the top rod 107 can enter or exit the fourth positioning hole 30101 through the second positioning hole 1090501 to fix or unload the weight 30.
The slider 105 further comprises a through slot 10503, the base plate 10901 comprises a slide rail 1090101, the through slot 10503 is disposed on the slide rail 1090101, and the slider 105 can move on the worm 103 along the slide rail 1090101 with the rotation of the worm 103.
Optionally, the second positioning hole 1090501, the third positioning hole 1090503, and the fourth positioning hole 30101 may be through holes or countersunk holes, and the relative positional relationship and characteristics need to be determined, which is not limited by the application.
Optionally, the slider 105 and the sliding rail 1090101 have smooth surfaces to avoid friction from moving relative to each other to affect performance.
Fig. 4 shows a flow chart of the operation of an underwater robot according to further embodiments of the present application.
Referring to fig. 4, at S410, a slider balance type load rejection apparatus is installed.
According to another embodiment, the slider-balanced load rejection device is mounted to the robot body 20, and then the trim float 40 is mounted to the robot body 20, adjusting the center of gravity of the underwater robot to balance.
At S420, the weight is fixed.
According to another embodiment, the weight 30 is installed on the other side of the robot body 20, the hanging rod 301 of the weight 30 is inserted into the third positioning hole 1090503, the fourth positioning hole 30101 is concentric with the second positioning hole 1090501, then the motor 101 is controlled to rotate forward, the worm 103 is driven to rotate forward, the slider 105 is driven to move, the push rod 107 also moves along with the movement of the slider 105 until the push rod 107 enters the fourth positioning hole 30101, and the weight 30 is fixed.
At S430, the work is grasped.
According to another embodiment, the robot arm is controlled to grab the work object, and subsequently the underwater robot is controlled to prepare for floating.
At S440, the weight is thrown to assist in propelling the underwater robot.
According to another embodiment, after the robot arm is confirmed to grasp the work object, and the underwater robot is ready to float upwards, the slide block balanced type load rejection device is controlled to work, the motor 101 is controlled to rotate reversely, the worm 103 is driven to rotate reversely, the slide block 105 is driven to move, the ejector rod 107 also moves along with the movement of the slide block 105, until the ejector rod 107 exits the fourth positioning hole 30101, and the weight 30 is unloaded. The underwater robot obtains extra positive buoyancy, and the carrying capacity is improved.
And S450, ensuring that the underwater robot stably ascends.
According to another embodiment, after the robot arm has gripped the work object and the weight 30 has been thrown, the center of gravity of the underwater robot will move, and in order to ensure its smooth floating, the motor 101 is controlled to rotate forward or backward according to the posture of the underwater robot, so as to drive the worm 103 to rotate forward or backward, so as to drive the slider 105 to move, and under the action of the lever force, the posture of the underwater robot is stabilized, so as to ensure its smooth upward movement.
According to another embodiment of the application, the body structure of the underwater robot is not required to be changed, the carrying capacity of the underwater robot is improved through the sliding block balanced type load rejection device, the posture of the underwater robot body can be kept stable in a dynamic load state, the cost is lower than that of the traditional method, and the underwater robot is more convenient to control.
Exemplary embodiments of the present application are specifically illustrated and described above. It is to be understood that the application is not limited to the details of construction, arrangement, or method of implementation described herein; on the contrary, the intention is to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (10)
1. The utility model provides a slider balanced type load rejection device which characterized in that includes:
a motor;
the worm is connected to the motor and driven by the motor to rotate forwards or reversely;
the sliding block comprises a threaded hole, the sliding block is sleeved on the worm, and the sliding block moves on the worm along with the rotation of the worm;
and the ejector rod is arranged on the side surface of the sliding block, moves along with the movement of the sliding block and is used for fixing or dumping the weight.
2. The slider-balanced load rejection device according to claim 1, further comprising a fixed bracket, said fixed bracket comprising:
a base plate positioning the slider;
a first support located at one end of the substrate;
a second support located at the other end of the substrate opposite the first support.
3. The slider-balanced load rejection device according to claim 2, wherein said first bracket includes a first positioning hole, said motor is mounted to a side of said first bracket, and said worm is connected to said motor through said first positioning hole.
4. The slider-balanced load rejection device according to claim 2, wherein said second bracket comprises:
the ejector rod can enter or exit the second positioning hole along with the movement of the sliding block;
and the third positioning hole is intersected with the second positioning hole.
5. The slider-balanced load rejection device according to claim 4, wherein said weight comprises a hanging bar,
the hanging rod comprises a fourth positioning hole, the hanging rod can enter the third positioning hole to enable the fourth positioning hole to be concentric with the second positioning hole, and the ejector rod can enter or exit the fourth positioning hole through the second positioning hole to fix or dump the weight.
6. The slider-balanced load rejection device according to claim 2,
the sliding block also comprises a through groove;
the base plate comprises a slide rail, the through groove is formed in the slide rail, and the slide block can move on the worm along the slide rail along with the rotation of the worm.
7. The slide-balanced load rejection device according to claim 6, wherein said slide and said slide track have smooth surfaces.
8. An underwater robot, comprising:
a robot body;
the slide block balanced type load rejection device according to claims 1-7, mounted on the robot body.
9. The underwater robot of claim 8, further comprising:
and the balancing floating material is arranged on the robot body and used for adjusting the gravity center of the underwater robot.
10. The underwater robot as claimed in claim 9, wherein when the number of the balancing floats is two, the balancing floats are symmetrically installed at both sides of the slider balance type load rejection apparatus.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120133066.3U CN215554043U (en) | 2021-01-18 | 2021-01-18 | Slide block balance type load rejection device and underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120133066.3U CN215554043U (en) | 2021-01-18 | 2021-01-18 | Slide block balance type load rejection device and underwater robot |
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| CN215554043U true CN215554043U (en) | 2022-01-18 |
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| CN202120133066.3U Active CN215554043U (en) | 2021-01-18 | 2021-01-18 | Slide block balance type load rejection device and underwater robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114933000A (en) * | 2022-05-13 | 2022-08-23 | 中国船舶科学研究中心 | Underwater continuous load rejection device |
| CN116477032A (en) * | 2023-06-06 | 2023-07-25 | 博雅工道（北京）机器人科技有限公司 | Load rejection device, load rejection method and underwater equipment |
-
2021
- 2021-01-18 CN CN202120133066.3U patent/CN215554043U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114933000A (en) * | 2022-05-13 | 2022-08-23 | 中国船舶科学研究中心 | Underwater continuous load rejection device |
| CN116477032A (en) * | 2023-06-06 | 2023-07-25 | 博雅工道（北京）机器人科技有限公司 | Load rejection device, load rejection method and underwater equipment |
| CN116477032B (en) * | 2023-06-06 | 2024-02-23 | 博雅工道（北京）机器人科技有限公司 | Load rejection device, load rejection method and underwater equipment |
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