CN108750050A - Framing component and underwater robot - Google Patents
Framing component and underwater robot Download PDFInfo
- Publication number
- CN108750050A CN108750050A CN201810731210.6A CN201810731210A CN108750050A CN 108750050 A CN108750050 A CN 108750050A CN 201810731210 A CN201810731210 A CN 201810731210A CN 108750050 A CN108750050 A CN 108750050A
- Authority
- CN
- China
- Prior art keywords
- plate
- supporting plate
- hole
- framing component
- supporting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000009432 framing Methods 0.000 title claims abstract description 24
- 229920001903 high density polyethylene Polymers 0.000 claims abstract description 10
- 239000004700 high-density polyethylene Substances 0.000 claims abstract description 10
- 238000009434 installation Methods 0.000 claims abstract description 10
- 239000000084 colloidal system Substances 0.000 claims description 4
- 230000001788 irregular Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 8
- 238000010276 construction Methods 0.000 abstract description 2
- 238000013461 design Methods 0.000 abstract description 2
- 230000005484 gravity Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005213 imbibition Methods 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 231100000252 nontoxic Toxicity 0.000 description 2
- 230000003000 nontoxic effect Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000009967 tasteless effect Effects 0.000 description 2
- 239000004411 aluminium Substances 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
- 229920005992 thermoplastic resin Polymers 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of framing components, including lateral plate structure, support board structure and cross-over configurations；The lateral plate structure includes left plate and this two blocks of side plates of right plate；Support board structure includes left supporting plate and right supporting plate this two classes supporting plate, and left supporting plate, right supporting plate are securedly mounted to left plate, on right plate respectively, the cross-over configurations connection following any group or whole group structures：Left plate and right plate；Left supporting plate and right supporting plate；Any of lateral plate structure, support board structure, cross-over configurations structure appoints multiple structures to include HDPE parts.The present invention also provides a kind of underwater robots including said frame component.Overall construction design of the present invention is reasonable, can provide sufficient installation site for the component of underwater robot under the premise of as possible using less parts, alleviates the weight of frame, saves material cost；Also ensure whole installation strength simultaneously.
Description
Technical field
The present invention relates to robot fields, and in particular, to a kind of framing component and underwater robot.
Background technology
Currently, most of artificial cuboid shapes of underwater, open type metal framework, frame then mostly use greatly aluminium section bar,
Although this frame can play maintenance, support and protective effect, cost is comparatively higher, and it is tired to process comparison
It is difficult.In addition, since underwater robot is also relatively high to the adjustment requirement of weight and center of gravity, existing underwater robot frame is usual
It is more to tie component parts, weight is big and is difficult to centre of gravity adjustment to suitable position.
Invention content
For the defects in the prior art, the object of the present invention is to provide a kind of framing component and underwater robots.
According to framing component provided by the invention, including lateral plate structure, support board structure and cross-over configurations；The side plate knot
Structure includes left plate and this two blocks of side plates of right plate；
Support board structure includes left supporting plate and this two classes supporting plate of right supporting plate, and left supporting plate, right supporting plate are securedly mounted to left side respectively
On plate, right plate, cross-over configurations connection following any group or whole group structures：
-- left plate and right plate；
-- left supporting plate and right supporting plate；
Any of lateral plate structure, support board structure, cross-over configurations structure appoints multiple structures to include HDPE parts.
Preferably, include the first supporting plate and the second supporting plate in multiple left supporting plates；Include third support in multiple right supporting plates
Plate and the 4th supporting plate；
The cross-over configurations include arc-like sheet, between the first supporting plate and third supporting plate and/or the second supporting plate and the 4th supporting plate
Between by the arc-like sheet be connected.
Preferably, two be adjacently positioned supporting plate on the same side plate is both provided on two opposite end faces
Arc groove；
Space between two arc grooves being oppositely arranged forms vertical thrust installation space.
Preferably, the cross-over configurations include bottom plate, and the both ends of bottom plate are connected directly with left plate, right plate respectively；Bottom
Kentledge hole is provided on plate；
Main lightening hole is provided on the side plate, along height extending direction, the supporting plate, bottom plate are located at main loss of weight
The both sides in hole.
Preferably, it is provided with the first plate hole on the supporting plate, the first connecting hole is provided on side plate；
Embedded nut is provided in first plate hole, the first bolt of setting penetrates rear and embedded spiral shell from the first connecting hole
Supporting plate is fixed on side plate by mother's cooperation；
It is additionally provided with colloid layer between first bolt and embedded nut.
Preferably, lamp secured adjusted hole is provided on the side plate, the lamp secured adjusted is provided with lamp mounting bracket in hole；
Preferably, it is provided with propeller mounting hole on supporting plate and/or side plate；
It is additionally provided with buoyancy cover mounting hole on the supporting plate, hand-held hole is additionally provided on side plate.
Preferably, it is additionally provided with time lightening hole on supporting plate and/or side plate, the secondary lightening hole is following any or appoints more
Kind shape：
-- it is round；
-- polygon；
-- waist-shaped hole shape；
-- ellipse；
-- irregular shape.
Preferably, the base plate configuration is H-shaped, and the second connecting hole is provided on the bottom plate.
The present invention also provides a kind of underwater robots, including above-mentioned framing component.
Compared with prior art, the present invention has following advantageous effect：
1, overall construction design of the present invention is reasonable, can be underwater robot under the premise of using less parts as possible
Component provides sufficient installation site, alleviates the weight of frame, saves material cost；Also ensure that whole installation is strong simultaneously
Degree.
2, the cost of material is low, good appearance, easy to connect by the present invention, and processing technology difficulty is low, and cost of manufacture is also corresponding
It is reduced.
3, the present invention uses high density polyethylene (HDPE) (HDPE) material, and overall structure is nontoxic, tasteless, and with good heat-resisting
Property and cold resistance, chemical stability it is good, have higher rigidity and toughness, mechanical strength is good, and water imbibition is low.
4, the density of material that the present invention uses is similar to water, for frame without in addition matching buoyant material, main screw lift energy
It is enough effectively to reduce；Structural strength is big simultaneously, and simple easy processing is corrosion-resistant.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is framing component dimensional structure diagram；
Fig. 2 is dimensional structure diagram when submersible machine part is truncated.
It is shown in figure：
Specific implementation mode
With reference to specific embodiment, the present invention is described in detail.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
In the description of the present invention, it is to be understood that, term "upper", "lower", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on ... shown in the drawings or position
Relationship is set, is merely for convenience of description of the present invention and simplification of the description, device is not indicated or implied the indicated or element is necessary
With specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
Framing component provided by the invention, including lateral plate structure 410, support board structure 420 and cross-over configurations 430；It is described
Lateral plate structure 410 includes left plate 411 and this two blocks of side plates of right plate 412；Support board structure 420 include left supporting plate and right supporting plate this
Two class supporting plates, left supporting plate, right supporting plate are securedly mounted to left plate 411, on right plate 412 respectively, and the cross-over configurations 430 connect
Any group or whole group structures below：Left plate 411 and right plate 412, left supporting plate and right supporting plate.Lateral plate structure 410, supporting plate knot
Any of structure 420, cross-over configurations 430 structure appoints multiple structures to include HDPE parts.High density polyethylene (HDPE) (HDPE) material
It is that a kind of crystallinity is high, nonpolar thermoplastic resin is nontoxic, tasteless, has good heat resistance and cold resistance, chemical stabilization
Property it is good, have higher rigidity and toughness, mechanical strength is good, and water imbibition is low.Compared to existing metal framework, weight be manufactured into
This can effectively be reduced.
Include the first supporting plate 421 and the second supporting plate 422 in multiple left supporting plates；Include third supporting plate in multiple right supporting plates
423 and the 4th supporting plate 424.As shown in Fig. 2, being provided with the first plate hole 454 on the supporting plate, the first connecting hole is provided on side plate
455, embedded nut 456 is provided in first plate hole 454, and the first bolt 461 of setting is after the first connecting hole 455 penetrates
Coordinate with embedded nut 456 and supporting plate is fixed on side plate.It is additionally provided between first bolt 461 and embedded nut 456
Colloid layer, in practical application, at the beginning of assembly, first by nut throw the first plate hole 454 among make embedded nut
456, for each supporting plate and side plate to be connected into a general frame, connected with embedded nut 456 in the first bolt 461
When connecing, a kind of anaerobism colloid is poured into embedded nut 456, can ensure not generating between supporting plate and side plate so opposite
Movement connects more secured, the stability of enhancing structure.
Two be adjacently positioned supporting plate on the same side plate is both provided with arc groove on two opposite end faces
441；Space between two arc grooves 441 being oppositely arranged forms vertical thrust installation space.It is arranged on supporting plate and/or side plate
There is propeller mounting hole 459.Installation of the propeller mounting hole 459 for the propeller of underwater robot, propeller generally comprise
Vertical pusher and horizontal propeller, vertical pusher can be securedly mounted on side plate, and be installed positioned at the vertical thrust
In space, horizontal propeller can then be mounted on the lower section of supporting plate.Buoyancy cover mounting hole 460, buoyancy are additionally provided on the supporting plate
Cover mounting hole 460 can wear fastener and buoyancy cover is fixed on supporting plate.Preferably, it is provided with lamp secured adjusted on the side plate
Hole 457 is provided with lamp mounting bracket 458 in lamp secured adjusted hole 457.Hand-held hole 461 is additionally provided on side plate.
The cross-over configurations 430 include arc-like sheet 431 and bottom plate 432, between the first supporting plate 421 and third supporting plate 423 and/
Or second be connected by the arc-like sheet 431 between supporting plate 422 and the 4th supporting plate 424.On the one hand arc-like sheet increases two sides
Connective stability between plate, on the other hand, the structures such as electronic compartment for including by underwater robot provide positioning and installation
Space.The both ends of bottom plate 432 are connected directly with left plate 411, right plate 412 respectively；Kentledge hole is provided on bottom plate 432
451, clump weight can be installed on kentledge hole 451, coordinate the control underwater robot of the buoyant mass in buoyancy cover to be integrally subject to floating
Power, convenient for underwater operation.In embodiment, 432 shape of the bottom plate is H-shaped, and the second connecting hole is provided on the bottom plate 432,
Second connecting hole is located at the middle part of H-shaped bottom plate 432, can be used for fixing the structures such as battery flat.
Main lightening hole 452 is provided on the side plate, along height extending direction, the supporting plate, bottom plate 432 are located at
The both sides of main lightening hole 452.Time lightening hole 453 is additionally provided on supporting plate and/or side plate, the secondary lightening hole 453 is following
A kind of or various shapes：Circle, polygon, waist-shaped hole shape, ellipse, irregular shape.One side of trepanning on framing component
Face is conducive to mitigate overall weight, on the other hand, the supplement of clump weight, the tying up of harness, integrally-built lifting may be implemented
And facilitate whole trim and the adjustment of center of gravity.Generally speaking, entirety weight of the present invention to framing component and underwater robot
The heart and weight have stringent control, so in terms of the plates such as side plate, supporting plate, bottom plate 432, need by many experiments and meter
It calculates, the final the number of openings for determining plank fabrication hole and position are allowed to not only meet installation requirement, but also reach center of gravity and want with weight
It asks.
In actual production, each composition plate of framing component can process original plate automatically by being programmed to lathe
Material obtains, and the plank machined needs scraping for burr of progress to cut, and ensures the flatness on surface.In addition, framing component surface passes through
Frosted processing is crossed, frosted layer is formed, there are wear-resisting, the series of advantages such as beauty.
The present invention also provides a kind of underwater robots, including above-mentioned framing component.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.In the absence of conflict, the feature in embodiments herein and embodiment can arbitrary phase
Mutually combination.
Claims (10)
1. a kind of framing component, which is characterized in that include lateral plate structure (410), support board structure (420) and cross-over configurations
(430)；The lateral plate structure (410) includes left plate (411) and this two blocks of side plates of right plate (412)；
Support board structure (420) includes left supporting plate and this two classes supporting plate of right supporting plate, and left supporting plate, right supporting plate are securedly mounted to left side respectively
On plate (411), right plate (412), cross-over configurations (430) connection following any group or whole group structures：
-- left plate (411) and right plate (412)；
-- left supporting plate and right supporting plate；
Any of lateral plate structure (410), support board structure (420), cross-over configurations (430) structure or a multiple structures include
HDPE parts.
2. framing component according to claim 1, which is characterized in that include the first supporting plate (421) in multiple left supporting plates
With the second supporting plate (422)；Include third supporting plate (423) and the 4th supporting plate (424) in multiple right supporting plates；
The cross-over configurations (430) include arc-like sheet (431), between the first supporting plate (421) and third supporting plate (423) and/or the
It is connected by the arc-like sheet (431) between two supporting plates (422) and the 4th supporting plate (424).
3. framing component according to claim 2, which is characterized in that two be adjacently positioned on the same side plate
A supporting plate is both provided with arc groove (441) on two opposite end faces；
Space between two arc grooves (441) being oppositely arranged forms vertical thrust installation space.
4. framing component according to claim 1, which is characterized in that the cross-over configurations (430) include bottom plate (432),
The both ends of bottom plate (432) are connected directly with left plate (411), right plate (412) respectively；Bottom plate is provided with kentledge on (432)
Hole (451)；
Main lightening hole (452) is provided on the side plate, along height extending direction, the supporting plate, bottom plate (432) are located at
The both sides of main lightening hole (452).
5. framing component according to claim 1, which is characterized in that be provided with the first plate hole (454), side on the supporting plate
The first connecting hole (455) is provided on plate；
It is provided with embedded nut (456) in first plate hole (454), the first bolt (461) of setting is from the first connecting hole
(455) supporting plate is fixed on side plate with embedded nut (456) cooperation after penetrating；
It is additionally provided with colloid layer between first bolt (461) and embedded nut (456).
6. framing component according to claim 1, which is characterized in that be provided with lamp secured adjusted hole on the side plate
(457), it is provided with lamp mounting bracket (458) in lamp secured adjusted hole (457).
7. framing component according to claim 1, which is characterized in that be provided with propeller on supporting plate and/or side plate and fix
Hole (459)；
It is additionally provided with buoyancy cover mounting hole (460) on the supporting plate, hand-held hole (461) is additionally provided on side plate.
8. framing component according to claim 4, which is characterized in that be additionally provided with time lightening hole on supporting plate and/or side plate
(453), the secondary lightening hole (453) is following any or various shapes：
-- it is round；
-- polygon；
-- waist-shaped hole shape；
-- ellipse；
-- irregular shape.
9. framing component according to claim 4, which is characterized in that bottom plate (432) shape is H-shaped, the bottom plate
(432) the second connecting hole is provided on.
10. a kind of underwater robot, which is characterized in that include the framing component described in any one of claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810731210.6A CN108750050A (en) | 2018-07-05 | 2018-07-05 | Framing component and underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810731210.6A CN108750050A (en) | 2018-07-05 | 2018-07-05 | Framing component and underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108750050A true CN108750050A (en) | 2018-11-06 |
Family
ID=63972212
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810731210.6A Pending CN108750050A (en) | 2018-07-05 | 2018-07-05 | Framing component and underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108750050A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110271656A (en) * | 2019-06-27 | 2019-09-24 | 青岛理工大学 | A kind of ROV underwater robot |
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| KR20160062972A (en) * | 2014-11-26 | 2016-06-03 | 한국해양과학기술원 | Underwater robot having variable stucture capable of chaging thruster configuration |
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| CN106926996A (en) * | 2017-03-09 | 2017-07-07 | 德海电子科技（上海）有限公司 | The portable small-sized underwater robot of closed shelves |
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| CN208760875U (en) * | 2018-07-05 | 2019-04-19 | 上海查湃智能科技有限公司 | Framing component and underwater robot |
-
2018
- 2018-07-05 CN CN201810731210.6A patent/CN108750050A/en active Pending
Patent Citations (5)
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| KR20160062972A (en) * | 2014-11-26 | 2016-06-03 | 한국해양과학기술원 | Underwater robot having variable stucture capable of chaging thruster configuration |
| CN106741761A (en) * | 2016-11-25 | 2017-05-31 | 浙江大学 | One kind has cameras people under cable remote-controlled water |
| CN106926996A (en) * | 2017-03-09 | 2017-07-07 | 德海电子科技（上海）有限公司 | The portable small-sized underwater robot of closed shelves |
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| CN208760875U (en) * | 2018-07-05 | 2019-04-19 | 上海查湃智能科技有限公司 | Framing component and underwater robot |
Non-Patent Citations (2)
| Title |
|---|
| "Blue Rov 2水下机器人", Retrieved from the Internet <URL:https://v.qq.com/x/page/l0308m8ouh9.html> * |
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