CN106697235B - The A frame extension and retraction systems of underwater robot - Google Patents
The A frame extension and retraction systems of underwater robot Download PDFInfo
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- CN106697235B CN106697235B CN201510461153.0A CN201510461153A CN106697235B CN 106697235 B CN106697235 B CN 106697235B CN 201510461153 A CN201510461153 A CN 201510461153A CN 106697235 B CN106697235 B CN 106697235B
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- frame
- framves
- hydraulic cylinder
- underwater robot
- extension
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 18
- 239000012530 fluid Substances 0.000 claims description 13
- 239000007788 liquid Substances 0.000 description 6
- 239000010720 hydraulic oil Substances 0.000 description 3
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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- Underground Or Underwater Handling Of Building Materials (AREA)
Abstract
The present invention provides a kind of A frame extension and retraction systems of underwater robot comprising：Pedestal with chassis and is connected to the left frame and left side frame of the chassis both sides, winch is provided on the chassis；A framves are rotatably connected on the left frame；Hydraulic cylinder frame, it is connected between the A framves and the left frame, the hydraulic cylinder frame has shackle plate, the shackle plate is connected to one end that the A framves are connected with the left frame, hydraulic cylinder and lower hydraulic cylinder are connected on the shackle plate, the upper hydraulic cylinder is connected with the A framves, and the lower hydraulic cylinder is connected with the left frame.The A framves extension and retraction system of the underwater robot of the present invention is, it can be achieved that folding and unfolding to underwater robot, and the A framves extension and retraction system realizes that swinging in for A framves is shown by the multiple hydraulic cylinders of interconnection, and A frame hunting ranges increase, the convenient folding and unfolding to underwater robot.
Description
Technical field
The present invention is about a kind of A framves extension and retraction system, more particularly to the water applied in a kind of technical field of sea exploration
The A frame extension and retraction systems of lower robot.
Background technology
Currently, the underwater robot extension and retraction system that China uses is mostly A rack-like structures, it is mainly used for on research vessel
Underwater robot recycled and discharged.
Existing underwater robot extension and retraction system uses the integrated design of A framves and winch substantially, and A is realized by hydraulic cylinder
Frame swings in, shows two actions；The pedestal of A framves is higher than ship side, can be used in deck any position.The underwater
People's extension and retraction system has automatic row's cable function, ensures that cable arranging is closely orderly.
In the prior art, A framves by two Driven by Hydraulic Cylinder being connected on pedestal to carry out swinging arm, in the structure
In there is hydraulic pump to synchronize two hydraulic cylinders of driving to realize that swinging in for A framves is shown, the swing angle of A framves is by hydraulic pressure in the structure
The limitation of oil cylinder installation site, A framves single hydraulic cylinder is subject to when swinging in or showing pulling force and thrust is huge, be easy to cause liquid
The damage of compressing cylinder.
Therefore, it is necessary to a kind of new underwater robot extension and retraction system be provided, to overcome the above problem.
Invention content
The object of the present invention is to provide a kind of A frame extension and retraction systems of underwater robot, can realize to underwater robot
Folding and unfolding, and the A framves extension and retraction system realizes that swinging in for A framves is shown by the multiple hydraulic cylinders of interconnection, and A frame hunting ranges increase
Greatly, the convenient folding and unfolding to underwater robot.
Following technical proposal can be used to realize in the above-mentioned purpose of the present invention：
The present invention provides a kind of A frame extension and retraction systems of underwater robot comprising：
Pedestal with chassis and is connected to the left frame and left side frame of the chassis both sides, is provided on the chassis
Winch；
A framves are rotatably connected on the left frame；
Hydraulic cylinder frame is connected between the A framves and the left frame, and the hydraulic cylinder frame has shackle plate, described
Shackle plate is connected to one end that the A framves are connected with the left frame, and hydraulic cylinder and lower liquid are connected on the shackle plate
Cylinder pressure, the upper hydraulic cylinder are connected with the A framves, and the lower hydraulic cylinder is connected with the left frame.
In a preferred embodiment, the hydraulic cylinder frame there are two being connected between the A framves and the left frame, two
The hydraulic cylinder frame is located at the front and rear sides of the pedestal.
In a preferred embodiment, the A framves have upper frame and are connected to the side frame of the upper frame both sides, the left side
Frame is made of two upright bars, and two upright bars are connected to the front and rear sides of the chassis, two side frames of the A framves
Lower end is rotatablely connected with the upper end of two upright bars of the left frame respectively.
In a preferred embodiment, the upper hydraulic cylinder has upper cylinder body and the upper piston in the upper cylinder body
Bar, the shackle plate are connected to the side frame lower end of the A framves, and the upper cylinder body is connected with the shackle plate, the upper piston rod
It is connected on the side frame of the A framves.
In a preferred embodiment, the lower hydraulic cylinder has lower cylinder body and the lower piston in the lower cylinder body
Bar, the lower cylinder body are connected with the upright bar of the left frame, and the lower piston rod is connected on the shackle plate.
In a preferred embodiment, hydraulic fluid tank, the hydraulic fluid tank and the upper liquid are connected on the outside of the left side frame
Cylinder pressure, the lower hydraulic cylinder are connected.
In a preferred embodiment, hand-operated valve, the hand-operated valve and the hydraulic fluid tank phase are connected in the left side frame
Even.
In a preferred embodiment, it is connected with pulley on the upper frame of the A framves.
The characteristics of A frame extension and retraction systems of the underwater robot of the present invention and advantage are：The A frame folding and unfoldings system of the underwater robot
It unites simple in structure, operation is easy, the folding and unfolding easy to implement to underwater robot；In addition, passing through four liquid in A frame extension and retraction systems
Cylinder pressure so that A frame hunting ranges increase, the convenient folding and unfolding to underwater robot.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the three-dimensional structure diagram of the A frame extension and retraction systems of the underwater robot of the present invention.
Fig. 2 is the side view of the A frame collapse states of the A frame extension and retraction systems of the underwater robot of the present invention.
Fig. 3 is the side view of the A frame unfolded states of the A frame extension and retraction systems of the underwater robot of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The position relationship up and down of the present invention is based on for shown in Fig. 2.
As shown in Figure 1, the present invention provides a kind of A frame extension and retraction systems of underwater robot comprising pedestal 1, A framves 2 and liquid
Cylinder pressure frame 3, wherein：Pedestal 1 has chassis 11 and is connected to the left frame 12 and left side frame 13 of 11 both sides of chassis, is set on chassis 11
It is equipped with winch 4；A framves 2 are rotatably connected on left frame 12；Hydraulic cylinder frame 3 is connected between A framves 2 and left frame 12, hydraulic pressure
There is cylinder frame 3 shackle plate 33, shackle plate 33 to be connected to one end that A framves 2 are connected with left frame 12, are connected on shackle plate 33
Hydraulic cylinder 31 and lower hydraulic cylinder 32, upper hydraulic cylinder 31 are connected with A framves 2, and lower hydraulic cylinder 32 is connected with left frame 12.
Specifically, the chassis 11 of pedestal 1 is welded to each other connection by multiple shaped steel and forms a rectangular flat plate, 12 He of left frame
Left side frame 13 is connected to the left and right sides of chassis 11, to form a pedestal 1 for being substantially rectangle frame-like, winch
4 are fixedly connected on the upper surface of chassis 11, between left frame 12 and left side frame 13.Wherein, in the present invention, left frame
12 are made of two upright bars 121, and two upright bars 121 are connected to the front and rear sides of chassis 11, namely positioned at 11 left side of chassis
At former and later two end angles on side；In the present embodiment, the outside of left side frame 13 is connected with hydraulic fluid tank 5, and the upper end of left side frame 13
Equipped with hand-operated valve 6, which is connected with hydraulic fluid tank 5, is used to be turned on and off hydraulic fluid tank 5.
A framves 2 are equivalent to the head cover of pedestal 1, can be opened and closed setting on the pedestal 1.A framves 2 are substantially A-shaped, by pushing up
Frame 21 and the side frame 22 for being connected to 21 both sides of upper frame form, and are connected with connecting rod 212 on upper frame 21, pulley 211 rotationally connects
It is connected in the connecting rod 212；The lower end of two side frames 22 of A framves 2 is rotated with the upper end of two upright bars 121 of left frame 12 respectively
Connection, such as side frame 22 and upright bar 121 can be connected by hinged mode, it is not limited herein.
Hydraulic cylinder frame 3 is the device for driving A framves 2 to swing back and forth on left frame 12, is connected to A framves 2 and left side
Between frame 12, under the action of the hydraulic cylinder frame 3, A framves 2 can 12 reciprocally swinging of opposing left frame, in the shape closed or opened
State.In the present invention, there are two hydraulic cylinder framves 3, two hydraulic cylinder framves 3 to be located at pedestal for connection between A framves 2 and left frame 12
1 front and rear sides, that is, being connected between the upright bar 121 and corresponding hinged side frame 22 of 1 left side front of pedestal
One hydraulic cylinder frame 3 is connected with another between the upright bar 121 and corresponding hinged side frame 22 at 1 left side rear portion of pedestal
One hydraulic cylinder frame 3.
In the present invention, hydraulic cylinder frame 3 includes shackle plate 33 and the upper hydraulic cylinder 31 being connected on shackle plate 33 and lower liquid
Cylinder pressure 32.Hydraulic pressure to be connected between the upright bar 121 of 1 left side front of pedestal and corresponding hinged side frame 22 below
It illustrates for cylinder frame 3, is connected between the upright bar 121 and corresponding hinged side frame 22 at 1 left side rear portion of pedestal
Hydraulic cylinder frame 3 it is same, details are not described herein.Wherein, upper hydraulic cylinder 31 has upper cylinder body 311 and is located at upper cylinder body 311
Interior upper piston rod 312, shackle plate 33 are connected to 22 lower end of side frame of A framves 2, and upper cylinder body 311 is connected with shackle plate 33, upper piston
Bar 312 is connected on the side frame 22 of A framves 2.Lower hydraulic cylinder 32 has lower cylinder body 321 and the lower piston rod in lower cylinder body 321
322, lower cylinder body 321 is connected to 121 lower end of upright bar of left frame 12, and lower piston rod 322 is connected on shackle plate 33.
Hydraulic cylinder 31 is connected with hydraulic fluid tank 5 respectively with lower hydraulic cylinder 32 on this, can make hydraulic fluid tank by opening hand-operated valve 6
In the upper hydraulic cylinder 31 of hydraulic oil injection and lower hydraulic cylinder 32 in 5, to drive upper piston rod 312 and lower piston rod 322 to move.
The course of work of the A frame extension and retraction systems of the underwater robot of the present invention is as follows：Fig. 2 show 2 initial position of A framves,
A framves 2 are closed at this time.The process that A framves 2 are shown outward：By manipulating hand-operated valve 6, keep the hydraulic oil in hydraulic fluid tank 5 same
When injection two lower hydraulic cylinders 32 in, at this point, two lower hydraulic cylinders 32 lower piston rod 322 stretch out, A framves 2 are rotated certain
Angle, extreme position are that A framves 2 are perpendicular to the ground, i.e. 2 relative starting position of A framves is rotated by 90 °；And then by manipulating hand-operated valve
6, make the hydraulic oil in hydraulic fluid tank 5 while injecting in two upper hydraulic cylinders 31, at this point, the upper piston rod of two upper hydraulic cylinders 31
312 stretch out, and continue to rotate a certain angle on A framves, and final position is the surface that A framves reach supporting rack, as shown in Figure 3.At this point,
It is powered to the hydraulic system of winch 4, the rotation (counterclockwise) of hydraulic motor drives the roller rotation of winch 4, will be arranged in roller
On cable release, the cable winding on roller is on the pulley 211 of A framves 2, and the cable stretched out from pulley 211 is for connecting water
Lower robot cable is released underwater robot by the pulley 211 being connected on A framves 2, and pulley 211 has guiding role.A framves
Swing back process：Pass through fuel-displaced, the retraction of upper piston rod 312 of two upper hydraulic cylinders 31, by A framves 2 to two upper hydraulic cylinders 31
It rotates by a certain angle, continues position and be that A framves are perpendicular to the ground, at this point, again by the fuel-displaced of two lower hydraulic cylinders 32, under two
The lower piston rod 322 of hydraulic cylinder 32 bounces back, and A framves 2 are rotated to initial position, are then stopped fuel-displaced.Meanwhile being powered to winch 4,
The rotation (clockwise) of hydraulic motor drives the roller rotation of winch 4, will be arranged in cable on roller and withdraws, cable passes through cunning
Wheel 211 withdraws underwater robot.
The A frame extension and retraction systems of the underwater robot of the present invention, simple in structure, operation is easy, easy to implement to underwater
The folding and unfolding of people；In addition, passing through two hydraulic cylinder framves 3 (two upper hydraulic cylinders 31 and two lower hydraulic cylinders in A frame extension and retraction systems
32) so that 2 hunting range of A framves increases, the convenient folding and unfolding to underwater robot.
The foregoing is merely several embodiments of the present invention, and those skilled in the art is according to application documents disclosure
Various changes or modifications can be carried out without departing from the spirit and scope of the present invention to the embodiment of the present invention.
Claims (8)
1. a kind of A frame extension and retraction systems of underwater robot, which is characterized in that it includes：
Pedestal with chassis and is connected to the left frame and left side frame of the chassis both sides, winch is provided on the chassis；
A framves are rotatably connected on the left frame；
Hydraulic cylinder frame is connected between the A framves and the left frame, and the hydraulic cylinder frame has shackle plate, the lifting lug
Plate is connected to one end that the A framves are connected with the left frame, and hydraulic cylinder and lower hydraulic cylinder are connected on the shackle plate,
The upper hydraulic cylinder is connected with the A framves, and the lower hydraulic cylinder is connected with the left frame.
2. the A frame extension and retraction systems of underwater robot as described in claim 1, which is characterized in that the A framves and the left frame
Between connection there are two the hydraulic cylinder frame, two hydraulic cylinder framves are located at the front and rear sides of the pedestal.
3. the A frame extension and retraction systems of underwater robot as described in claim 1, which is characterized in that the A framves have upper frame and company
It is connected on the side frame of the upper frame both sides, the left frame is made of two upright bars, and two upright bars are connected to the bottom
The lower end of the front and rear sides of frame, two side frames of the A framves is rotatablely connected with the upper end of two upright bars of the left frame respectively.
4. the A frame extension and retraction systems of underwater robot as claimed in claim 3, which is characterized in that the upper hydraulic cylinder has upper
Cylinder body and the upper piston rod in the upper cylinder body, the shackle plate are connected to the side frame lower end of the A framves, the upper cylinder body
It is connected with the shackle plate, the upper piston rod is connected on the side frame of the A framves.
5. the A frame extension and retraction systems of underwater robot as claimed in claim 4, which is characterized in that under the lower hydraulic cylinder has
Cylinder body and the lower piston rod in the lower cylinder body, the lower cylinder body are connected with the upright bar of the left frame, the lower piston
Bar is connected on the shackle plate.
6. the A frame extension and retraction systems of underwater robot as described in claim 1, which is characterized in that connect on the outside of the left side frame
It is connected to hydraulic fluid tank, the hydraulic fluid tank is connected with the upper hydraulic cylinder, the lower hydraulic cylinder.
7. the A frame extension and retraction systems of underwater robot as claimed in claim 6, which is characterized in that be connected in the left side frame
Hand-operated valve, the hand-operated valve are connected with the hydraulic fluid tank.
8. the A frame extension and retraction systems of underwater robot as claimed in claim 3, which is characterized in that connected on the upper frame of the A framves
There is pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510461153.0A CN106697235B (en) | 2015-07-30 | 2015-07-30 | The A frame extension and retraction systems of underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510461153.0A CN106697235B (en) | 2015-07-30 | 2015-07-30 | The A frame extension and retraction systems of underwater robot |
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| CN106697235A CN106697235A (en) | 2017-05-24 |
| CN106697235B true CN106697235B (en) | 2018-10-16 |
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| CN201510461153.0A Active CN106697235B (en) | 2015-07-30 | 2015-07-30 | The A frame extension and retraction systems of underwater robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109720522A (en) * | 2018-09-29 | 2019-05-07 | 中国南方电网有限责任公司超高压输电公司广州局 | A kind of compact underwater robot draw off gear |
| CN109760791B (en) * | 2019-01-25 | 2019-09-24 | 自然资源部第一海洋研究所 | Ship water surface A rack device and its operating system suitable for ice formation |
| CN112061351B (en) * | 2020-09-21 | 2021-07-30 | 中国科学院深海科学与工程研究所 | Distributing and recovering device of double-body seabed crawler |
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| CN1132710A (en) * | 1995-04-05 | 1996-10-09 | 中国科学院沈阳自动化研究所 | Launching recovery system of autonomous submersible |
| CN101332866A (en) * | 2008-08-05 | 2008-12-31 | 中国舰船研究设计中心 | General laying-out and recovering system for submersible |
| CN103183111A (en) * | 2011-12-28 | 2013-07-03 | 中国科学院沈阳自动化研究所 | Draft gear for recovering underwater robot |
| CN104670440A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Recovery system and recovery method of autonomous underwater vehicle |
| CN204916127U (en) * | 2015-07-30 | 2015-12-30 | 国家电网公司 | A frame of underwater robot receive and releases system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101396578B1 (en) * | 2012-05-22 | 2014-05-20 | 한국해양과학기술원 | Apparatus for deployment and recovery of marinesurvey equipments for smallboat |
-
2015
- 2015-07-30 CN CN201510461153.0A patent/CN106697235B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1132710A (en) * | 1995-04-05 | 1996-10-09 | 中国科学院沈阳自动化研究所 | Launching recovery system of autonomous submersible |
| CN101332866A (en) * | 2008-08-05 | 2008-12-31 | 中国舰船研究设计中心 | General laying-out and recovering system for submersible |
| CN103183111A (en) * | 2011-12-28 | 2013-07-03 | 中国科学院沈阳自动化研究所 | Draft gear for recovering underwater robot |
| CN104670440A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Recovery system and recovery method of autonomous underwater vehicle |
| CN204916127U (en) * | 2015-07-30 | 2015-12-30 | 国家电网公司 | A frame of underwater robot receive and releases system |
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| CN106697235A (en) | 2017-05-24 |
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