CN221114316U - Positioning device for underwater robot - Google Patents
Positioning device for underwater robot Download PDFInfo
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- CN221114316U CN221114316U CN202323502827.6U CN202323502827U CN221114316U CN 221114316 U CN221114316 U CN 221114316U CN 202323502827 U CN202323502827 U CN 202323502827U CN 221114316 U CN221114316 U CN 221114316U
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- underwater robot
- waterproof
- positioning device
- assembly
- air bag
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- 239000000725 suspension Substances 0.000 claims abstract description 15
- 229910000831 Steel Inorganic materials 0.000 claims description 13
- 239000010959 steel Substances 0.000 claims description 13
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 21
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Abstract
The utility model belongs to the technical field of underwater robots, and particularly relates to a positioning device for an underwater robot. Through the location executive component that sets up, effectually fix a position underwater robot, through cable wire connecting rod, waterproof electromagnetic connection dead lever that sets up, be connected cable wire and underwater robot, when removing to the assigned position, observe underwater robot's position through the rotatory subassembly of making a video recording that sets up, guarantee under the safety conditions around the underwater robot, break away from waterproof electromagnetic connection dead lever and underwater robot by force, certain length cable wire is connected with positioner, and rise above the surface of water fast through the gasbag, the suspension buoy, lift turbine subassembly, send the signal to outside through cursory signal generator, position through just can acquire underwater robot on the surface of water, improve and acquire underwater robot accuracy.
Description
Technical Field
The utility model belongs to the technical field of underwater robots, and particularly relates to a positioning device for an underwater robot.
Background
The underwater robot is also called an unmanned remote-control submersible, and is an extreme operation robot working under water. The underwater environment is dangerous and the diving depth of a person is limited, so that the underwater robot has become an important tool for developing the ocean. The unmanned remote control submersible mainly comprises: the cabled remote-control submersible is divided into a submarine self-propelled type, a towing type and a crawling type on a submarine structure.
Through searching, china patent application publication No. CN217945470U discloses a positioning device for an underwater robot, which comprises a shell, when a worker needs to use the device, the device is installed on the underwater robot according to the actual situation, then the underwater robot is subjected to underwater operation, then the robot is forcibly disconnected with receiving equipment, then a standby power supply is started by the device so that the inner side of a jack at one end of a telescopic rod is extracted, a split door is jacked up by the buoyancy of the buoy, the buoy moves towards the water surface with a traction line, signals are transmitted by a buoy power supply and a buoy signal generator in the buoy, and meanwhile, the standby power supply supplies power to a main buoy signal generator and an alarm lamp.
In view of the above-mentioned related art, the device is provided with a side-by-side door, a telescopic rod and a float, and cannot effectively position the underwater robot, so that it is highly desirable to design a positioning device for the underwater robot to address these problems.
Disclosure of utility model
Aiming at the defects of the prior art, the utility model discloses a positioning device for an underwater robot.
The utility model realizes the above purpose through the following technical scheme:
The utility model provides a positioner that underwater robot used, includes the workstation, and the workstation below is provided with balance mechanism, is provided with the location executive component above the workstation.
The positioning execution part comprises an execution table arranged above the workbench, an air bag suspension assembly is arranged above the execution table, one side of the air bag suspension assembly is provided with a connection bearing table, a steel rope connecting rod is arranged above the connection bearing table, a waterproof electromagnetic connection fixing rod is arranged on the front side and the rear side of the execution table, a float signal generator is arranged on one side of the waterproof electromagnetic connection fixing rod, a waterproof communication interface is arranged on one side of the float signal generator, a waterproof box is arranged below the execution table, a rotating shaft is arranged on the inner side of the waterproof box, a camera shooting rotating assembly is arranged at one end of the rotating shaft, and a lifting turbine assembly is arranged on the front side and the rear side of the execution table.
Preferably, the balancing mechanism comprises a supporting frame arranged at the front side and the rear side below the workbench, a supporting table is arranged above the supporting frame, a first waterproof balancing box is arranged on the opposite surface of the supporting table, a moving assembly is arranged on the inner side of the first waterproof balancing box, balancing assemblies are arranged at two ends of the moving assembly, a balancer is arranged on one side of the moving assembly, and a signal sensor is arranged on one side of the balancer.
Preferably, the air bag suspension assembly comprises an air bag arranged above the execution table, and a suspension buoy is arranged on one side of the air bag. One side of the steel rope connecting rod is provided with a connecting steel rope.
Preferably, the camera shooting rotating assembly comprises a worm wheel arranged at one end of the rotating shaft, a worm is arranged at one side of the worm wheel, a rotating motor is arranged at one end of the worm, and a waterproof rotating camera is arranged at the other end of the rotating shaft.
Preferably, the moving assembly comprises a driving motor arranged on the inner side of the first waterproof balancing box, a rotary gear is arranged at the power end of the driving motor, and a rack is arranged on one side of the rotary gear.
Preferably, the balance component comprises connecting telescopic rods arranged at two ends of the moving component, and one ends of the two groups of connecting telescopic rods are provided with balance buoyancy balls.
The beneficial effects are that:
The utility model discloses a positioning device for an underwater robot, which is used for effectively positioning the underwater robot through a positioning execution part, connecting a steel cable with the underwater robot through a steel cable connecting rod and a waterproof electromagnetic connection fixing rod, observing the water through a shooting rotating assembly when the underwater robot moves to a designated position, forcibly separating the waterproof electromagnetic connection fixing rod from the underwater robot under the condition of ensuring the safety around the underwater robot, connecting a steel cable with a certain length with the positioning device, quickly lifting the positioning device above the water surface through an air bag, a suspension pontoon and a lifting turbine assembly, sending a signal to the outside through a buoy signal generator, acquiring the position of the underwater robot through the position of the positioning device on the water surface, improving the accuracy of acquiring the underwater robot, and being simple to operate and convenient to use.
Drawings
FIG. 1 is a schematic illustration of an isometric shaft configuration of the present utility model;
FIG. 2 is a schematic elevational view of the present utility model;
FIG. 3 is a first structural schematic of the present utility model;
FIG. 4 is a second schematic structural view of the present utility model;
FIG. 5 is a third structural schematic of the present utility model;
Fig. 6 is a schematic diagram of the structure at a in fig. 5.
In the figure: 1. a work table;
2. A balancing mechanism; 201. a support frame; 202. supporting a supporting table; 203. a first waterproof balancing box; 204. a moving assembly; 2041. a driving motor; 2042. a rotary gear; 2043. a rack; 205. connecting a telescopic rod; 206. balance the buoyancy ball; 207. a balancer; 208. a signal sensor;
3. Positioning an execution component; 301. an execution stage; 302. an air bag; 3021. a suspension buoy; 303. connecting a bearing table; 3031. a wire rope connecting rod; 3032. waterproof electromagnetic connection fixed rod; 304. a float signal generator; 305. a waterproof communication interface; 306. a waterproof box; 307. a rotation shaft; 308. a camera rotation assembly; 3081. a worm wheel; 3082. a worm; 3083. a rotating electric machine; 3084. waterproof rotary camera; 309. lifting the turbine assembly.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the description of the present utility model, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are based on directions or positional relationships shown in the drawings, are merely for convenience of description and simplification of description, and do not indicate or imply that the apparatus or element to be referred to must have a specific direction, be constructed and operated in the specific direction, and thus should not be construed as limiting the present utility model; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1-6, one embodiment provided by the present utility model is: the utility model provides a positioner that underwater robot used, includes workstation 1, and workstation 1 below is provided with balance mechanism 2, and workstation 1 top is provided with location executive component 3.
In this embodiment: the balancing mechanism 2 comprises a supporting frame 201 arranged on the front side and the rear side below the workbench 1, a supporting stand 202 is arranged above the supporting frame 201, a first waterproof balancing box 203 is arranged on the opposite surface of the supporting stand 202, a moving assembly 204 is arranged on the inner side of the first waterproof balancing box 203, balancing assemblies are arranged at two ends of the moving assembly 204, a balancer 207 is arranged on one side of the moving assembly 204, and a signal sensor 208 is arranged on one side of the balancer 207. The balancer 207 serves to balance the apparatus. The moving assembly 204 comprises a driving motor 2041 arranged on the inner side of the first waterproof balancing box 203, a rotating gear 2042 is arranged at the power end of the driving motor 2041, and a rack 2043 is arranged on one side of the rotating gear 2042. The balance assembly comprises connecting telescopic rods 205 arranged at two ends of the moving assembly 204, and one ends of the two groups of connecting telescopic rods 205 are provided with balance buoyancy balls 206. The counter-balance buoyancy ball 206 is used to maintain a balanced use of the device in water. The moving component 204 is used for driving the balance buoyancy ball 206 to laterally adjust the left-right distance to keep balance.
In this embodiment: the positioning execution part 3 comprises an execution table 301 arranged above the workbench 1, an air bag suspension assembly is arranged above the execution table 301 and used for floating and lifting the positioning device, a connecting bearing table 303 is arranged on one side of the air bag suspension assembly, a steel rope connecting rod 3031 is arranged above the connecting bearing table 303, waterproof electromagnetic connecting fixed rods 3032 are arranged on the front side and the rear side above the execution table 301, electromagnetic blocks are arranged inside the waterproof electromagnetic connecting fixed rods 3032, and the waterproof electromagnetic connecting fixed rods are connected with the underwater robot. The waterproof electromagnetic connection dead lever 3032 one side is provided with cursory signal generator 304, and cursory signal generator 304 one side is provided with waterproof communication interface 305, and executive desk 301 below is provided with waterproof case 306, and waterproof case 306 inboard is provided with rotation axis 307, and rotation axis 307 one end is provided with the rotatory subassembly 308 of making a video recording, and executive desk 301 top front and back side is provided with lift turbine assembly 309. The air bag suspension assembly includes an air bag 302 provided above an execution stage 301, and a suspension cylinder 3021 is provided on one side of the air bag 302. The inside compressed air tank that is equipped with of gasbag 302, the gasbag 302 bottom is equipped with the check valve, and the check valve UNICOM direction is towards the gasbag 302 outer terminal surface, is equipped with the water filling port on the gasbag 302 top, is equipped with rubber seal on the water filling port. One side of the wire rope connecting rod 3031 is provided with a connecting wire rope. The imaging rotation unit 308 includes a worm wheel 3081 provided at one end of the rotation shaft 307, a worm 3082 is provided at one side of the worm wheel 3081, a rotation motor 3083 is provided at one end of the worm 3082, and a waterproof rotation camera 3084 is provided at the other end of the rotation shaft 307. The camera rotating assembly 308 is used for carrying out camera observation on the periphery of the underwater robot in water, so that the safety of equipment is ensured. The lifting turbine assembly 309 comprises a lifting motor arranged on the front side and the rear side above the execution table 301, a lifting turbine is arranged at the power end of the lifting motor, and a protective cover is arranged on the outer side of the lifting turbine. The four groups of lifting motors are synchronous motors.
Working principle: when the underwater positioning device is used, firstly, the positioning device and the underwater robot are transported in a designated water area, the air bag 302 is filled, the underwater robot is connected with the underwater robot through the waterproof electromagnetic connection fixed rod 3032, the steel cable is connected with the steel cable connecting rod 3031, after the underwater positioning device and the underwater robot are placed in the water area to perform underwater operation, the movable component 204 is started to drive the connection telescopic rod 205 and the balance buoyancy ball 206 to adjust the positioning device, balance is kept, the balance is detected through the balancer 207, signals are adjusted and balanced through the signal sensor 208, the stability of the positioning device can be ensured, when the underwater robot is used, the positioning device is required to be lifted to the water surface after the underwater robot is used, the water is observed through the camera shooting rotating component 308, the robot is forcibly disconnected with the positioning device under the condition of ensuring the safety surrounding of the underwater robot, the waterproof electromagnetic connection fixed rod 3032 is disconnected with the underwater robot, but the steel cable connecting rod 3031 is connected with a certain distance, the positioning device is ensured not to be thoroughly separated from the positioning device due to the action of water flow, the lifting turbine component 309 is started to drive the whole device to lift, the positioning device is fully lifted, the positioning device is matched with the water cable 302 and the water cable is smoothly lifted to the water surface through the signal sensor 208, and the air bag 304 is lifted to the water surface, and the signal is smoothly floated on the water surface, and the positioning device is positioned.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present utility model, and although the present utility model has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present utility model.
Claims (6)
1. A positioner that underwater robot used, its characterized in that: the device comprises a workbench, wherein a balance mechanism is arranged below the workbench, and a positioning execution part is arranged above the workbench;
The positioning execution component comprises an execution table arranged above the workbench, an air bag suspension assembly is arranged above the execution table, a connection bearing table is arranged on one side of the air bag suspension assembly, a steel cable connecting rod is arranged above the connection bearing table, waterproof electromagnetic connection fixing rods are arranged on the front side and the rear side of the execution table, a float signal generator is arranged on one side of the waterproof electromagnetic connection fixing rods, a waterproof communication interface is arranged on one side of the float signal generator, a waterproof box is arranged below the execution table, a rotating shaft is arranged on the inner side of the waterproof box, a camera shooting rotating assembly is arranged at one end of the rotating shaft, and a lifting turbine assembly is arranged on the front side and the rear side of the execution table.
2. A positioning device for an underwater robot according to claim 1, wherein: the balancing mechanism comprises a supporting frame arranged on the front side and the rear side below the workbench, a supporting support is arranged above the supporting frame, a first waterproof balancing box is arranged on the opposite surface of the supporting support, a moving assembly is arranged on the inner side of the first waterproof balancing box, balancing assemblies are arranged at two ends of the moving assembly, a balancer is arranged on one side of the moving assembly, and a signal sensor is arranged on one side of the balancer.
3. A positioning device for an underwater robot according to claim 1, wherein: the air bag suspension assembly comprises an air bag arranged above the execution table, a suspension buoy is arranged on one side of the air bag, and a connecting steel rope is arranged on one side of the steel rope connecting rod.
4. A positioning device for an underwater robot according to claim 1, wherein: the camera shooting rotating assembly comprises a worm wheel arranged at one end of the rotating shaft, a worm is arranged on one side of the worm wheel, a rotating motor is arranged at one end of the worm, and a waterproof rotating camera is arranged at the other end of the rotating shaft.
5. A positioning device for an underwater robot according to claim 2, wherein: the movable assembly comprises a driving motor arranged on the inner side of the first waterproof balancing box, a rotary gear is arranged at the power end of the driving motor, and a rack is arranged on one side of the rotary gear.
6. A positioning device for an underwater robot according to claim 2, wherein: the balance component comprises connecting telescopic rods arranged at two ends of the moving component, and one ends of the two groups of connecting telescopic rods are provided with balance buoyancy balls.
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221114316U true CN221114316U (en) | 2024-06-11 |
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