CN221027318U

CN221027318U - Retraction device of shallow water observation-level underwater robot

Info

Publication number: CN221027318U
Application number: CN202322633561.2U
Authority: CN
Inventors: 张学军; 刘笑昆; 孙杰林
Original assignee: Weihai Duoyu Marine Technology Co ltd
Current assignee: Weihai Duoyu Marine Technology Co ltd
Priority date: 2023-09-27
Filing date: 2023-09-27
Publication date: 2024-05-28
Anticipated expiration: 2033-09-27

Abstract

The utility model discloses a retraction device of a shallow water observation level underwater robot, which belongs to the technical field of retraction devices, wherein a track rod is fixedly connected to an M-shaped support, a spring is sleeved on the track rod, a push plate is connected onto the track rod in a sliding manner, two auxiliary rods are fixedly connected onto the push plate, a clamping plate is fixedly connected onto the auxiliary rods, a first threaded rod is connected onto the clamping plate in a rotating manner, a knob is fixedly connected onto the first threaded rod, a first diagonal brace is connected onto the push plate in a rotating manner, a floating plate is connected onto the first diagonal brace in a rotating manner, a strut is connected onto the floating plate in a sliding manner, a turntable is fixedly connected onto the strut, a tooth cone is fixedly connected onto the lower end of the strut, a lifting ring is fixedly connected onto the M-shaped support, and a pontoon is fixedly connected onto the lifting ring.

Description

Retraction device of shallow water observation-level underwater robot

Technical Field

The utility model relates to the technical field of retraction devices, in particular to a retraction device of a shallow water observation-level underwater robot.

Background

In the modern society of increasingly growing science and technology, the application of the underwater robots is very wide, the application is widely applied in the fields of fishery cultivation, underwater detection, salvage and rescue, and the like, the development of the underwater robot technology enables the traditional manual shallow water operation to be gradually replaced by the robots, so that the workload is lightened for people, the functions of the underwater robots in different fields are greatly different, the sizes of the underwater robots are different, but the underwater robots have basic conditions of the underwater operation at the same time, the underwater operation tasks are better completed by the people, and the functions and the convenience of the underwater robots are widely accepted by the masses;

Although the functions of the underwater robots are very powerful, some underwater robots are laborious in throwing and recycling due to certain weight, the underwater robots are usually lifted on a ship by using a crane and thrown into water when in use, the underwater robots are difficult to be released when being put on the water surface due to binding of cables when the crane lifts the underwater robots to perform throwing operation, the problem that the underwater robots are difficult to be bound after being used is solved, the problem that the service life is influenced by paint dropping caused by scraping and rubbing of the underwater robots and ship walls due to shaking of the ship body in the lifting process, and the problem that the service life of the underwater robots is influenced by cleaning of residual water on the surface of the underwater robots after the completion of tasks is solved.

Disclosure of utility model

The utility model aims to provide a retraction device of a shallow water observation-level underwater robot, which is used for solving the following problems: aiming at the defects of the prior art, the utility model provides a shallow water observation-level underwater robot for solving the problem that the underwater robot is difficult to retract and release, solving the problem that the underwater robot is easy to directly scratch and scratch a ship body when being lifted and put in or recycled, and simultaneously solving the problem that the residual water on the surface of the underwater robot is difficult to clean after the underwater robot completes a task.

The utility model aims to solve the technical problems, and is realized by adopting the following technical scheme: the utility model provides a receive and release device of shallow water observation level underwater robot, includes receive and release mechanism, receive and release mechanism includes M shape support, fixedly connected with a plurality of track poles on the M shape support, a plurality of all overlap on the track pole and be equipped with the spring, a plurality of the track pole is divided into two sets of and sets up respectively on the inside left and right sides of M shape support, two sets of all sliding connection has the push pedal on the track pole, fixedly connected with two auxiliary rods on the push pedal, two auxiliary rods all with M shape support sliding connection, two fixedly connected with splint on the auxiliary rod, rotate on the splint and be connected with first threaded rod, first threaded rod and push pedal threaded connection, first threaded rod and M shape support sliding connection, fixedly connected with knob on the first threaded rod, rotate on the push pedal and be connected with a plurality of first diagonal stay, a plurality of rotate on the first diagonal stay and be connected with the kickplate.

Preferably, the floating plate is connected with a support in a sliding manner, the support is fixedly connected with a rotary table, the rotary table is rotationally connected with an M-shaped support, the lower end of the support is fixedly connected with a tooth cone, the M-shaped support is fixedly connected with two hanging rings, the hanging rings are fixedly connected with pontoons, the hanging rings are fixedly connected with cables, and the cables are connected with lifting mechanisms.

Preferably, the lifting mechanism comprises a base, fixedly connected with slide rail on the base, sliding connection has the slider in the slide rail, threaded connection has the second threaded rod on the slider, the second threaded rod rotates with the base to be connected, fixedly connected with first motor on the base, the power output shaft and the first threaded rod fixed connection of first motor, rotate on the slider and be connected with the second diagonal brace, fixedly connected with two swivel mounts on the base, two all rotate on the swivel mount and be connected with the lifting rod, two fixedly connected with cross axle between the lifting rod, second diagonal brace rotates with the cross axle to be connected with, two fixedly connected with fixed axles on the base, two all rotate on the fixed axle and be connected with the lifting rod, a plurality of rotate on the lifting rod and be connected with the bottom plate, be provided with on the bottom plate and hang heavy subassembly.

Preferably, the lifting and recombining part comprises a shell, a second motor is arranged in the shell and fixedly connected with the bottom plate, a wire roller is fixedly connected to a power output shaft of the second motor, a cable is wound on the wire roller, a suspension arm is fixedly connected to the shell, and the cable penetrates out of the suspension arm and is connected with the lifting ring.

Preferably, the base is internally provided with an air drying assembly, the air drying assembly comprises a third motor, a power transmission shaft is fixedly connected to a power output shaft of the third motor, the power transmission shaft is rotationally connected with the base, one end of the power transmission shaft is fixedly connected with a worm, a worm wheel is meshed with the worm, a first rotating shaft is fixedly connected to the worm wheel, the first rotating shaft is rotationally connected with the base, and a tooth cylinder is fixedly connected to the first rotating shaft.

Preferably, the power transmission shaft is fixedly connected with a first belt pulley, a second belt pulley is arranged above the first belt pulley, the first belt pulley is connected with the second belt pulley through a leather belt, the second belt pulley is fixedly connected with a second rotating shaft, the second rotating shaft is rotationally connected with the base, and fan blades are fixedly connected to the second rotating shaft.

Preferably, the base is fixedly connected with a blocking net, and the base is provided with round holes.

The beneficial effects of the utility model are as follows:

1. According to the utility model, the underwater robot is placed on the turntable of the retraction mechanism, the clamping plate is adjusted through the rotating knob to clamp the underwater robot, the retraction mechanism is submerged from below the pontoon through the pontoon in the use process, the floating plate arranged in the retraction mechanism moves under the action of buoyancy and drives the clamping plate to displace so that the underwater robot is cancelled to clamp, at the moment, the underwater robot can drive away from the retraction mechanism to perform normal operation, after the operation is completed, the retraction mechanism is lifted by the lifting recombinant, the clamping plate automatically restores the clamping state in the lifting process so that the underwater robot is readied and fixed, and as the spring is arranged on the track rod, a part of impact force of the clamped underwater robot is absorbed by the spring when collision occurs, the retraction mechanism is arranged outside the track rod to serve as protection, the probability of the underwater robot to scratch is reduced, the lifted retraction mechanism is manually assisted to be placed on the base, and at the moment, the lifting plate slides upwards under pressure so that the underwater robot is cancelled to clamp and air-dry.

2. The water left on the surface of the underwater robot is air-dried through the air-drying assembly, a part of power is transmitted to the fan blades through the belt pulley by the power transmission shaft, so that the fan blades rotate to accelerate evaporation of the water on the surface of the underwater robot, meanwhile, the power transmission shaft drives the worm to rotate and drives the tooth cylinder to rotate through the structure of the turbine worm, the tooth cylinder drives the rotary table to rotate through the support column, the underwater robot placed on the rotary table also rotates along with the rotary table, the surface of the underwater robot is uniformly affected by wind through rotation, and the water left on the surface is evaporated more comprehensively.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic view of a cross-section of a base of the present utility model;

FIG. 3 is an enlarged view of portion A of FIG. 2 in accordance with the present utility model;

FIG. 4 is a schematic diagram of a retracting mechanism according to the present utility model;

FIG. 5 is a schematic diagram of the connection structure of the floating plate and the clamping plate according to the present utility model;

FIG. 6 is a schematic view of the internal structure of the housing of the present utility model;

Fig. 7 is a schematic structural view of a turntable according to the present utility model.

Reference numerals: 1. a base; 2. a slide rail; 3. a slide block; 4. a second threaded rod; 5. a first motor; 6. a second diagonal brace; 7. a fixed shaft; 8. rotating base; 9. a lifting rod; 10. a horizontal axis; 11. a bottom plate; 12. a blocking net; 13. a round hole; 14. a housing; 15. a second motor; 16. a wire roller; 17. a cable; 18. a suspension arm; 19. a third motor; 20. a power transmission shaft; 21. a worm; 22. a worm wheel; 23. a first rotating shaft; 24. a tooth cylinder; 25. a first pulley; 26. leather strips; 27. a second pulley; 28. a second rotating shaft; 29. a fan blade; 101. an M-shaped bracket; 102. a track rod; 103. a spring; 104. a push plate; 105. an auxiliary lever; 106. a clamping plate; 107. a first threaded rod; 108. a knob; 109. a first diagonal brace; 110. a floating plate; 111. a support post; 112. a turntable; 113. tooth cone; 114. a hanging ring; 115. and a pontoon.

Detailed Description

In order that the manner in which the above recited features, objects and advantages of the present utility model are obtained, a more particular description of the utility model will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. Based on the examples in the embodiments, those skilled in the art can obtain other examples without making any inventive effort, which fall within the scope of the utility model.

Specific embodiments of the present utility model are described below with reference to the accompanying drawings.

Example 1:

As shown in fig. 1, fig. 2, and fig. 4-7, in order to realize the functions of convenient retraction and scratch prevention of the underwater robot, the retraction device of the underwater robot for shallow water observation level in this embodiment includes a retraction mechanism, the retraction mechanism includes an M-shaped bracket 101, a plurality of track rods 102 fixedly connected to the M-shaped bracket 101, springs 103 are sleeved on the plurality of track rods 102, the plurality of track rods 102 are divided into two groups and respectively arranged at left and right sides inside the M-shaped bracket 101, push plates 104 are slidably connected to the two groups of track rods 102, two auxiliary rods 105 are fixedly connected to the push plates 104, the two auxiliary rods 105 are slidably connected to the M-shaped bracket 101, clamping plates 106 are fixedly connected to the two auxiliary rods 105, a first threaded rod 107 is rotatably connected to the clamping plates 106, the first threaded rod 107 is in threaded connection with the push plates 104, a plurality of first diagonal rods 109 are rotatably connected to the first threaded rods 107, and a plurality of diagonal rods 109 are rotatably connected to the first diagonal rods 109.

The floating plate 110 is connected with a support 111 in a sliding manner, the support 111 is fixedly connected with a turntable 112, the turntable 112 is rotationally connected with the M-shaped support 101, the lower end of the support 111 is fixedly connected with a tooth cone 113, the M-shaped support 101 is fixedly connected with two hanging rings 114, the two hanging rings 114 are fixedly connected with a pontoon 115, the hanging rings 114 are fixedly connected with a cable 17, and the cable 17 is connected with a lifting mechanism.

The lifting mechanism comprises a base 1, a sliding rail 2 is fixedly connected to the base 1, a sliding block 3 is slidably connected to the sliding rail 2, a second threaded rod 4 is connected to the sliding block 3 in a threaded mode, the second threaded rod 4 is rotationally connected with the base 1, a first motor 5 is fixedly connected to the base 1, a power output shaft of the first motor 5 is fixedly connected with a first threaded rod 107, a second inclined strut 6 is rotationally connected to the sliding block 3, two swivel bases 8 are fixedly connected to the base 1, lifting rods 9 are rotationally connected to the two swivel bases 8, a transverse shaft 10 is fixedly connected between the two lifting rods 9, the second inclined strut 6 is rotationally connected with the transverse shaft 10, two fixing shafts 7 are fixedly connected to the base 1 in a rotating mode, lifting rods 9 are rotationally connected to the two fixing shafts 7, a bottom plate 11 is rotationally connected to the lifting rods 9, and a lifting assembly is arranged on the bottom plate 11.

The lifting and recombining part comprises a shell 14, a second motor 15 is arranged in the shell 14, the second motor 15 is fixedly connected with a bottom plate 11, a wire roller 16 is fixedly connected to a power output shaft of the second motor 15, a cable 17 is wound on the wire roller 16, a suspension arm 18 is fixedly connected to the shell 14, and the cable 17 penetrates out of the suspension arm 18 and is connected with a lifting ring 114.

Working principle:

The underwater robot is placed on the turntable 112, when the underwater robot is placed, the second motor 15 is started firstly, the second motor 15 drives the wire roller 16 to rotate, the wire roller 16 is wound with the cable 17, the winding and unwinding mechanism is pulled to a certain height through the rotation of the wire roller 16, the second motor 15 is closed, then the distance between the two clamping plates 106 is adjusted through rotating the two knobs 108, the underwater robot is fixed through rotating the two clamping plates 106 through rotating the knob 108, the first motor 5 is started, the first motor 5 drives the second threaded rod 4 to enable the sliding block 3 to slide in the sliding rail 2, the lifting rod 9 is driven to rotate through the second inclined supporting rod 6 in the sliding process of the sliding block 3, the bottom plate 11 is lifted and moves forwards along with the rotation of the lifting rod 9, the suspension arm 18 arranged on the bottom plate 11 is lifted and is lifted away from the base 1 along with the lifting and unwinding mechanism, the second motor 15 is started again, and the winding and unwinding mechanism is reversely put into water by the cable 17 through controlling the second motor 15.

When the retraction mechanism is put on the water surface, the retraction mechanism presses the floating plate 110 into the water, the pontoon 115 floats the retraction mechanism (the retraction mechanism is submerged from below the pontoon 115), the floating plate 110 slides upwards on the support column 111 due to own buoyancy, the push plate 104 is pushed to slide to two sides on the track rods 102 respectively by the first diagonal bracing rods 109 on two sides in the upwards sliding process of the floating plate 110, at the moment, the clamped underwater robot is released, and an operator can operate the underwater robot to drive away from the turntable 112.

When the underwater robot finishes the task, an operator controls the underwater robot to travel onto the turntable 112, when the underwater robot travels onto the turntable 112, the retracting mechanism is pulled out of the water surface by starting the second motor 15, the push plate 104 is pushed back under the action of the spring 103 when the retracting mechanism leaves the water surface, the floating plate 110 slides downwards, the push plate 104 pushes the clamping plate 106 to displace through the first threaded rod 107, at the moment, the underwater robot positioned on the turntable 112 is clamped by the clamping plate 106 to avoid the underwater robot colliding with the ship wall during recycling, and when the retracting mechanism is pulled to a proper position, the retracting device is stably placed on the base 1 by controlling the first motor 5 and based on manual assistance.

Example 2:

As shown in fig. 3, in the case where the other portions are the same as in embodiment 1, this embodiment differs from embodiment 1 in that: after the underwater robot finishes the task, the underwater robot can be subjected to air drying treatment, and the structure is as follows: the base 1 is internally provided with an air drying assembly, the air drying assembly comprises a third motor 19, a power transmission shaft 20 is fixedly connected to a power output shaft of the third motor 19, the power transmission shaft 20 is rotationally connected with the base 1, one end of the power transmission shaft 20 is fixedly connected with a worm 21, a worm wheel 22 is meshed with the worm 21, a first rotating shaft 23 is fixedly connected to the worm wheel 22, the first rotating shaft 23 is rotationally connected with the base 1, and a tooth cylinder 24 is fixedly connected to the first rotating shaft 23.

The power transmission shaft 20 is fixedly connected with a first belt pulley 25, a second belt pulley 27 is arranged above the first belt pulley 25, the first belt pulley 25 is connected with the second belt pulley 27 through a leather strap 26, the second belt pulley 27 is fixedly connected with a second rotating shaft 28, the second rotating shaft 28 is rotatably connected with the base 1, and the second rotating shaft 28 is fixedly connected with a fan blade 29.

The base 1 is fixedly connected with a blocking net 12, and a round hole 13 is formed in the base 1.

Working principle:

The retraction mechanism is lifted from water and is placed in a round hole 13 on the base 1 by manual assistance in the process of being placed on the base 1, when the retraction mechanism is placed on the base 1, the bevel gear is meshed with the gear barrel 24, the retraction mechanism has a certain weight in the process of being placed on the base plate 11, the floating plate 110 is attached to the base 1 on the bottom surface of the floating plate 110 in the placement process of the retraction mechanism, the floating plate 110 is extruded by the weight of the retraction mechanism to slide upwards on the support column 111, the push plate 104 is pushed to move towards two sides by the first diagonal brace 109 when the floating plate 110 slides upwards, so that the clamping plate 106 is canceled to clamp the underwater robot, the third motor 19 is started, the third motor 19 drives the power transmission shaft 20 to rotate, the power transmission shaft 20 drives the first belt pulley 25 to rotate, the second belt pulley 27 is driven by the leather strap 26, the second belt pulley 27 is driven to rotate by the second belt pulley, the fan blades 29 are driven to rotate, the surface moisture of the underwater robot is dried by the fan blades 29, the worm 21 is driven by the worm 21 to rotate with the worm wheel 22, the underwater robot is driven by the worm wheel 22 to rotate by the worm wheel 22, the rotary shaft 24 is driven by the worm wheel 22 to rotate the rotary shaft 24, the underwater robot is driven by the rotary shaft to rotate the underwater robot to rotate by the rotary wheel 112, and the underwater robot is driven by the rotary wheel 112 to rotate by the rotary wheel 24, and the rotary wheel is driven by the rotary drum 112.

The foregoing has shown and described the basic principles, principal features and advantages of the utility model. It will be understood by those skilled in the art that the present utility model is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present utility model, and are not intended to limit the utility model, and that various changes and modifications may be made therein without departing from the spirit and scope of the utility model as claimed. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a receive and releases device of level underwater robot is observed to shallow water, includes receive and release mechanism, its characterized in that: the folding and unfolding mechanism comprises an M-shaped support (101), a plurality of track rods (102) are fixedly connected to the M-shaped support (101), springs (103) are sleeved on the track rods (102), the track rods (102) are divided into two groups and are respectively arranged on the left side and the right side of the inside of the M-shaped support (101), push plates (104) are slidably connected to the track rods (102), two auxiliary rods (105) are fixedly connected to the push plates (104), clamping plates (106) are fixedly connected to the auxiliary rods (105) and are slidably connected to the M-shaped support (101), first threaded rods (107) are rotatably connected to the clamping plates (106), the first threaded rods (107) are in threaded connection with the push plates (104), knobs (108) are fixedly connected to the first threaded rods (107) and are slidably connected to the M-shaped support (101), and a plurality of first inclined rods (109) are rotatably connected to the first inclined rods (109).

2. The retraction device of a shallow water observation level underwater robot according to claim 1, wherein: the floating plate is characterized in that a strut (111) is connected to the floating plate (110) in a sliding mode, a turntable (112) is fixedly connected to the strut (111), the turntable (112) is rotationally connected with the M-shaped support (101), a tooth cone (113) is fixedly connected to the lower end of the strut (111), two hanging rings (114) are fixedly connected to the M-shaped support (101), a pontoon (115) is fixedly connected to the two hanging rings (114), a cable (17) is fixedly connected to the hanging rings (114), and a hoisting mechanism is connected to the cable (17).

3. The retraction device of a shallow water observation level underwater robot according to claim 2, wherein: the lifting mechanism comprises a base (1), fixedly connected with slide rail (2) on base (1), sliding connection has slider (3) in slide rail (2), threaded connection has second threaded rod (4) on slider (3), second threaded rod (4) are rotated with base (1) and are connected, fixedly connected with first motor (5) on base (1), the power take off shaft and first threaded rod (107) of first motor (5) are fixedly connected, rotate on slider (3) and be connected with second diagonal brace (6), fixedly connected with two swivel bases (8) on base (1), two all rotate on swivel bases (8) and be connected with lifting rod (9), two fixedly connected with cross axle (10) between lifting rod (9), second diagonal brace (6) are rotated with cross axle (10) and are connected, two fixed axle (7) are all rotated on base (1) and are connected with lifting rod (9), a plurality of lifting rod (9) are connected with lifting bottom plate (11) on the lifting assembly.

4. A retraction device for a shallow water observation level underwater robot according to claim 3 wherein: the lifting and recombining part comprises a shell (14), a second motor (15) is arranged in the shell (14), the second motor (15) is fixedly connected with a bottom plate (11), a wire roller (16) is fixedly connected to a power output shaft of the second motor (15), a cable (17) is wound on the wire roller (16), a lifting arm (18) is fixedly connected to the shell (14), and the cable (17) penetrates out of the lifting arm (18) and is connected with a lifting ring (114).

5. A retraction device for a shallow water observation level underwater robot according to claim 3 wherein: be provided with in base (1) and air-dry the subassembly, air-dry the subassembly and include third motor (19), fixedly connected with power transmission axle (20) on the power take off shaft of third motor (19), power transmission axle (20) rotate with base (1) and be connected, power transmission axle (20) one end fixedly connected with worm (21), the meshing has worm wheel (22) on worm (21), fixedly connected with first pivot (23) on worm wheel (22), first pivot (23) rotate with base (1) to be connected, fixedly connected with tooth section of thick bamboo (24) on first pivot (23).

6. The retraction device of a shallow water observation level underwater robot according to claim 5, wherein: the power transmission shaft (20) is fixedly connected with a first belt pulley (25), a second belt pulley (27) is arranged above the first belt pulley (25), the first belt pulley (25) is connected with the second belt pulley (27) through a leather strap (26), the second belt pulley (27) is fixedly connected with a second rotating shaft (28), the second rotating shaft (28) is rotationally connected with the base (1), and fan blades (29) are fixedly connected to the second rotating shaft (28).

7. A retraction device for a shallow water observation level underwater robot according to claim 3 wherein: the base (1) is fixedly connected with a blocking net (12), and a round hole (13) is formed in the base (1).