CN116729174A - Device for automatically charging and replacing cabin body of underwater robot and working principle of device - Google Patents
Device for automatically charging and replacing cabin body of underwater robot and working principle of device Download PDFInfo
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- CN116729174A CN116729174A CN202310583026.2A CN202310583026A CN116729174A CN 116729174 A CN116729174 A CN 116729174A CN 202310583026 A CN202310583026 A CN 202310583026A CN 116729174 A CN116729174 A CN 116729174A
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- underwater robot
- charging
- circumferential array
- screw rod
- grabbing mechanism
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- 230000007246 mechanism Effects 0.000 claims description 44
- 230000033001 locomotion Effects 0.000 claims description 14
- 238000007667 floating Methods 0.000 claims description 13
- 210000001503 joint Anatomy 0.000 claims description 13
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 9
- 239000000741 silica gel Substances 0.000 claims description 9
- 229910002027 silica gel Inorganic materials 0.000 claims description 9
- 238000012937 correction Methods 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 238000013459 approach Methods 0.000 claims description 3
- 238000011900 installation process Methods 0.000 claims description 2
- 239000013589 supplement Substances 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/32—Waterborne vessels
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a device for automatically charging and replacing a cabin body of an underwater robot and a working principle thereof, and relates to the field of underwater intelligent robots. The automatic operation plugging device can realize automatic grabbing of the underwater robot from the tour to the shore, the wireless charging device operates after grabbing and fixing the robot, charging of the robot is completed, and if the robot needs to replace a module and a cabin body, the module disassembling and replacing device can be controlled to replace the underwater robot module. The invention utilizes the basic mechanical structure to combine with the motor, can drive the magnetic charging device to wirelessly charge the underwater robot, and the automatic connection device can be controlled by the rotary cradle head to rotate, so as to complete the disassembly and replacement of the cabins of the robot in different directions, and can effectively improve the energy source supplement and module replacement efficiency of the underwater robot.
Description
Technical Field
The invention relates to the field of underwater intelligent robots, in particular to a device for automatically charging and replacing a cabin body of an underwater robot and a working principle thereof.
Background
Coastal areas of a country are often the most economical, cultural developing and densely populated areas. The coastline is about three tens of thousands kilometers in total, and has 500 tens of thousands square kilometers in sea area, so that the ocean resources are rich, but the ocean resources are still a gap from the international leading level in the technical field of ocean. For modern human society; with the increasing lack of land resources and the continuous progress of exploitation technology, a great deal of oil gas resources and mineral resources are reserved in the ocean bottom, and people pay attention to the importance of the ocean.
As one of the technologies of "the important field of the thrust and break through development", the robot is required to "promote the standardization and the modularization development of the robot". As a special robot, an underwater robot is becoming an important tool for exploring ocean mystery and developing ocean resources, called an ocean crown of high technology, and gradually becomes a high point of ocean technology competition between countries.
As the most important marine equipment, the underwater robot is also an important means for developing ocean development technology, and development and research of the underwater robot in the fields of ocean engineering construction, ocean safety monitoring and the like are one of the core projects. The underwater robot is equipment for underwater application such as underwater observation, measurement, overhaul and salvage, can finish various actions such as advancing, retreating, steering, ascending, diving, hovering and sideways moving under a complex submarine environment, can accurately control the speed and the pose of a motion process, can detect and maintain submarine facilities by operating detection equipment such as a mounted camera, an illumination system, sonar, various sensors and the like on the basis of accurately finishing various motions, and can analyze and process obtained data to obtain the running condition of the submarine facilities by analysis. Statistically, in various regions of the world, hundreds of thousands of kilometers of underwater oil and gas pipelines have been laid. With the continuous development of technology and the continuous progress of society, submarine oil, gas and power pipelines and communication cable networks are continuously increased, and in order to ensure that the submarine transportation bands can safely and normally work, the pipeline networks need to be periodically detected and maintained. Therefore, it has become a common knowledge to perform inspection maintenance on underwater equipment pipelines using underwater robots.
AUV is a new generation intelligent underwater robot, and is an intelligent deep submersible developed to the third generation. The robot is a robot which is used for completing preset tasks in a complex marine environment and autonomously decides and controls the tasks under the condition of no manual real-time control by intensively applying various technologies such as artificial intelligence, detection and identification, information fusion, intelligent control, system integration and the like to the same underwater carrier. The method is developed from a simple remote control type to a monitoring type, namely, the carrier computer and the submersible body computer are used for carrying out hierarchical control, and the method can process observation information and establish an environment and internal state model. However, the problem that the energy of the underwater robot needs to be replaced frequently due to the wireless cable is also a problem to be solved in order to conveniently and rapidly supplement the energy for the underwater robot.
Disclosure of Invention
The invention aims to overcome the defects in the background art, and provides a device for automatically charging and replacing a cabin of an underwater robot and a working principle thereof, which can automatically complete the charging and cabin replacement of the underwater robot, save labor cost and improve efficiency, aiming at the problem that the underwater robot needs to be salvaged to the shore to complete the charging or cabin replacement after the endurance time is over.
The invention adopts the following technical scheme for solving the technical problems:
the device comprises a base station integral frame, a connection device with the robot, a wireless charging device and a module dismounting and replacing device; the base station is characterized in that a rotary cradle head, a magnetic suction charging device and a screw rod device are arranged on the base station integral frame, four circumferential array grabbing mechanisms are arranged on the rotary cradle head, and a disassembling grabbing device is arranged on the screw rod device.
Further, the magnetic charging device mainly comprises a gear, a rack, a magnetic charging pole and a magnetic charging head, wherein the gear and the rack are arranged on the whole frame of the base station, the magnetic charging pole is fixed on the rack, and the magnetic charging head is arranged on the magnetic charging pole.
Further, the circumference array snatchs mechanism mainly comprises extending structure, rack, gear, silica gel head, and wherein extending structure comprises four sections telescopic links, the gear cooperates with four racks altogether, the rack divide into two sets ofly, and every group contains two racks, and a set of meshing gear is first half, and a set of meshing gear is second half, and the rack top is fixed with flexible silica gel head.
Further, the screw rod device mainly comprises a screw rod frame, a screw rod and a movable floating block, wherein the screw rod frame is arranged on the side wall of the base station integral frame, and a floating sliding block capable of moving linearly along with the screw rod is arranged on the screw rod.
Further, the disassembling and grabbing device mainly comprises a telescopic device and a clamping device, the telescopic device comprises two sections of telescopic rods, and the clamping device is arranged on a second section of the two sections of telescopic rods.
The working principle of the device for automatically charging and replacing the cabin body of the underwater robot is that when the underwater robot tours into a concave connection port at the bottom end of the whole base station frame, the device is started, and the 360-degree rotation of the cradle head is used for angle correction, so that the accuracy of docking is ensured; after angle correction is completed, the circumferential array grabbing mechanism starts to work, the circumferential array grabbing mechanism moves downwards to stretch into a corresponding butt joint hole at the top of the underwater robot under the drive of the motor, after butt joint is completed, the gear of the circumferential array grabbing mechanism starts to rotate, along with the rotation of the gear, the rack of the circumferential array grabbing mechanism stretches out from the corresponding hole position at the top end of the four sections of telescopic links to prop against the inner wall of the corresponding butt joint hole of the underwater robot, after clamping is completed, the four sections of telescopic links of the circumferential array grabbing mechanism execute return motion, the underwater robot is lifted to the height of the automatic charging device, the gear of the magnetic charging device starts to rotate, the rack of the magnetic charging device is driven to do linear motion, the magnetic charging rod fixed on the rack approaches to a power supply bin of the underwater robot, and finally the magnetic charging head at the tail end of the magnetic charging rod is in butt joint with the power supply bin of the underwater robot and charges.
Further, four sections of telescopic rods of the circumferential array grabbing mechanism are properly lowered to the height position of the dismounting grabbing device, and then the screw rod rotates to drive the movable floating block to do linear reciprocating motion, so that the dismounting grabbing device fixed on the movable floating block is driven to do linear motion; when the position of the cabin body needs to be replaced, the telescopic rod starts to move, the clamping device is driven to clamp the cabin body, then the screw rod executes return to take down the cabin body, the installation process of the cabin body is the same, the circumferential array grabbing mechanism descends to the water surface after the cabin body is completed, the gear of the circumferential array grabbing mechanism rotates, the rack of the circumferential array grabbing mechanism is retracted, and the underwater robot is put into water.
Compared with the prior art, the technical scheme has the following beneficial effects:
1. according to the invention, the mechanical structure of the foundation is combined with the motor, so that the automatic connection with the underwater robot can be realized, the underwater robot can be grabbed and fixed, and after the fixation is finished, the magnetic charging device can be driven to perform wireless charging on the underwater robot;
2. if the underwater robot is required to replace the cabin body and the module, the disassembly and replacement device can be driven to disassemble the module on the side face of the machine;
3. the automatic connection device can be controlled by the rotary cradle head to rotate, and the cabin bodies in different directions of the robot are detached and replaced, so that the energy source supplementing and module replacing efficiency of the underwater robot is improved.
Drawings
FIG. 1 is a schematic view of an apparatus for automatically charging and replacing a hull of an underwater robot according to the present invention;
FIG. 2 is a schematic view of a four-section telescopic rod according to the present invention;
FIG. 3 is a schematic view of a circumferential array gripping mechanism according to the present invention;
FIG. 4 is a schematic diagram of a magnetic charging device according to the present invention;
FIG. 5 is a schematic view of a screw assembly according to the present invention;
fig. 6 is a schematic view of a detachable gripping device according to the present invention.
In the figure: 1 is a base station integral frame, 2 is a rotary cradle head, 3 is a circumferential array grabbing mechanism, 4 is a magnetic attraction charging device, 5 is a screw rod device, and 6 is a disassembly grabbing device; 301 is the top end of a four-section telescopic rod, 302 is the third section of the four-section telescopic rod, 303 is the second section of the four-section telescopic rod, 304 is the third section of the bottom end of the four-section telescopic rod, 305 is a rack of a circumferential array grabbing mechanism, 306 is a gear of the circumferential array grabbing mechanism, and 307 is a silica gel head; 401 is a gear of a magnetic charging device, 402 is a magnetic charging pole, 403 is a rack of the magnetic charging device, and 404 is a magnetic charging head; 501 is a screw rod frame, 502 is a screw rod, and 503 is a movable floating block; 601 is a first section of two telescopic links, 602 is a second section of two telescopic links, and 603 is a clamping device.
Detailed Description
In order that the invention may be readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings. This example shows a preferred embodiment of the invention, however, the invention may be embodied in many different forms and is not limited to the embodiments described in this specification. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
FIG. 1 is a schematic view of an apparatus for automatically charging and replacing a cabin of an underwater robot, comprising a base station integral frame (1), a docking apparatus with the robot, a wireless charging apparatus, and a module removal and replacement apparatus; install rotatory cloud platform (2), magnetism and inhale charging device (4) and lead screw device (5) on basic station integral frame (1), install four circumference array grabbing mechanism (3) on rotatory cloud platform (2), install dismantlement grabbing device (6) on lead screw device (5).
Fig. 4 is a schematic diagram of a magnetic charging device (4) in the invention, the magnetic charging device (4) mainly comprises a gear (401), a rack (403), a magnetic charging pole (402) and a magnetic charging head (404), wherein the gear (401) and the rack (403) of the magnetic charging device are installed on a base station integral frame (1), the magnetic charging pole (402) is fixed on the rack (403) of the magnetic charging device, and the magnetic charging head (404) is installed on the magnetic charging pole (402).
Fig. 2 and fig. 3 are respectively schematic diagrams of four sections of telescopic rods (301-304) and schematic diagrams of a circumferential array grabbing mechanism (3) in the invention, wherein the circumferential array grabbing mechanism (3) mainly comprises a telescopic structure, racks (305), gears (306) and a silica gel head (307), the telescopic structure comprises four sections of telescopic rods (301-304), the gears (306) of the circumferential array grabbing mechanism are matched with the racks (305) of the four circumferential array grabbing mechanisms, the racks (305) of the circumferential array grabbing mechanism are divided into two groups, each group comprises two racks (305), one group of the upper half parts of the meshing gears (306), one group of the lower half parts of the meshing gears (306), and the flexible silica gel head (307) is fixed at the top end of each rack (305) of the circumferential array grabbing mechanism.
Fig. 5 is a schematic diagram of a screw device (5) in the invention, the screw device (5) mainly comprises a screw frame (501), a screw (502) and a movable floating block (503), the screw frame (501) is mounted on the side wall of the base station integral frame (1), and a floating sliding block (503) capable of moving linearly along with the screw (502) is mounted on the screw (502).
Fig. 6 is a schematic diagram of a detachable grabbing device (6) in the invention, the detachable grabbing device (6) mainly comprises a telescopic device and a clamping device (603), the telescopic device comprises two sections of telescopic rods (601 and 602), and the clamping device (603) is arranged on a second section (602) of the two sections of telescopic rods.
The working principle of the device for automatically charging and replacing the cabin body of the underwater robot is that the underwater robot is firstly moved into a concave connection port at the bottom end of the base station integral frame (1), then the device is started, and the 360-degree rotation of the cradle head (2) is rotated for angle correction, so that the accuracy of butt joint is ensured; after angle correction is completed, the circumferential array grabbing mechanism (3) starts to work, four telescopic rods in the circumferential array grabbing mechanism (3) are totally arranged, the telescopic rods downwards move to extend into corresponding butt joint holes in the top of the underwater robot under the drive of a motor, after the butt joint is completed, a gear (306) of the circumferential array grabbing mechanism starts to rotate, along with the rotation of the gear (306), racks (305) of the circumferential array grabbing mechanism extend out of corresponding hole positions in the top ends (301) of the four telescopic rods to prop against the inner wall of corresponding joint holes of the underwater robot, flexible silica gel heads (307) are fixed on the top ends of the racks (305) of the circumferential array grabbing mechanism, friction force can be increased, the robot can be clamped, and coaxiality requirements of the circumferential array grabbing mechanism (3) and the joint holes of the underwater robot can be guaranteed through the flexible characteristics of the silica gel heads (307); after clamping is completed, four sections of telescopic rods (301-304) of the circumferential array grabbing mechanism (3) execute return motion, the underwater robot is lifted to the height of an automatic charging device (4), a gear (401) of the magnetic charging device starts to rotate, a rack (403) of the magnetic charging device is driven to do linear motion, a magnetic charging rod (402) fixed on the rack (403) of the magnetic charging device approaches a power supply bin of the underwater robot, and finally a magnetic charging head (404) positioned at the tail end of the magnetic charging rod (402) is in butt joint with the power supply bin of the underwater robot to charge the underwater robot.
Then the four sections of telescopic rods (301-304) of the circumferential array grabbing mechanism (3) are properly lowered to the height position of the dismounting grabbing device (6), a screw rod frame (501) in the screw rod device (5) is fixed on the inner wall of the base station integral frame (1), and then the screw rod (502) rotates to drive the movable floating block (503) to do linear reciprocating motion, so that the dismounting grabbing device (6) fixed on the movable floating block (503) is driven to do linear motion; when the position of the cabin needs to be replaced, the two telescopic rods (601 and 602) start to move, the clamping device (603) is driven to clamp the cabin, then the screw rod (502) executes return stroke to remove the cabin, the cabin is installed in the same way, the circumferential array grabbing mechanism (3) descends to the water surface after the cabin is installed, the gear (306) of the circumferential array grabbing mechanism rotates, the rack (305) of the circumferential array grabbing mechanism is retracted, and the underwater robot is put into the water.
Claims (7)
1. The utility model provides a device of automatic cabin body that charges and change of underwater robot which characterized in that: the device comprises a base station integral frame, a connection device with a robot, a wireless charging device and a module dismounting and replacing device; the base station is characterized in that a rotary cradle head, a magnetic suction charging device and a screw rod device are arranged on the base station integral frame, four circumferential array grabbing mechanisms are arranged on the rotary cradle head, and a disassembling grabbing device is arranged on the screw rod device.
2. The device for automatically charging and replacing the cabin of the underwater robot according to claim 1, wherein the magnetic charging device mainly comprises a gear, a rack, a magnetic charging pole and a magnetic charging head, wherein the gear and the rack are arranged on the whole frame of the base station, the magnetic charging pole is fixed on the rack, and the magnetic charging head is arranged on the magnetic charging pole.
3. The device for automatically charging and replacing a cabin of an underwater robot according to claim 1, wherein the circumferential array grabbing mechanism mainly comprises a telescopic structure, racks, gears and a silica gel head, wherein the telescopic structure comprises four telescopic rods, the gears are matched with four racks, the racks are divided into two groups, each group comprises two racks, an upper half part of one group of meshing gears is meshed with the upper half part of the other group of meshing gears, and a flexible silica gel head is fixed at the top end of each rack.
4. The device for automatically charging and replacing the cabin of the underwater robot according to claim 1, wherein the screw rod device mainly comprises a screw rod frame, a screw rod and a movable floating block, wherein the screw rod frame is arranged on the side wall of the base station integral frame, and a floating sliding block capable of moving linearly along with the screw rod is arranged on the screw rod.
5. The device for automatically charging and replacing a cabin of an underwater robot according to claim 1, wherein the detachable gripping device is mainly composed of a telescopic device and a clamping device, the telescopic device is composed of two sections of telescopic rods, and the clamping device is arranged on a second section of the two sections of telescopic rods.
6. The working principle of the device for automatically charging and replacing the cabin body of the underwater robot is characterized in that when the underwater robot tours into a concave connection port at the bottom end of the whole base station frame, the device is started, and the 360-degree rotation of the cradle head is used for angle correction, so that the accuracy of the butt joint is ensured; after angle correction is completed, the circumferential array grabbing mechanism starts to work, the circumferential array grabbing mechanism moves downwards to stretch into a corresponding butt joint hole at the top of the underwater robot under the drive of the motor, after butt joint is completed, the gear of the circumferential array grabbing mechanism starts to rotate, along with the rotation of the gear, the rack of the circumferential array grabbing mechanism stretches out from the corresponding hole position at the top end of the four sections of telescopic links to prop against the inner wall of the corresponding butt joint hole of the underwater robot, after clamping is completed, the four sections of telescopic links of the circumferential array grabbing mechanism execute return motion, the underwater robot is lifted to the height of the automatic charging device, the gear of the magnetic charging device starts to rotate, the rack of the magnetic charging device is driven to do linear motion, the magnetic charging rod fixed on the rack approaches to a power supply bin of the underwater robot, and finally the magnetic charging head at the tail end of the magnetic charging rod is in butt joint with the power supply bin of the underwater robot and charges.
7. The device for automatically charging and replacing a cabin of an underwater robot according to claim 6, wherein four telescopic rods of the circumferential array grabbing mechanism are adapted to descend to the height of the disassembling grabbing device, and then the screw rod rotates to drive the movable floating block to do linear reciprocating motion, so as to drive the disassembling grabbing device fixed on the movable floating block to do linear motion; when the position of the cabin body needs to be replaced, the telescopic rod starts to move, the clamping device is driven to clamp the cabin body, then the screw rod executes return to take down the cabin body, the installation process of the cabin body is the same, the circumferential array grabbing mechanism descends to the water surface after the cabin body is completed, the gear of the circumferential array grabbing mechanism rotates, the rack of the circumferential array grabbing mechanism is retracted, and the underwater robot is put into water.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310583026.2A CN116729174A (en) | 2023-05-23 | 2023-05-23 | Device for automatically charging and replacing cabin body of underwater robot and working principle of device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310583026.2A CN116729174A (en) | 2023-05-23 | 2023-05-23 | Device for automatically charging and replacing cabin body of underwater robot and working principle of device |
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| Publication Number | Publication Date |
|---|---|
| CN116729174A true CN116729174A (en) | 2023-09-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310583026.2A Pending CN116729174A (en) | 2023-05-23 | 2023-05-23 | Device for automatically charging and replacing cabin body of underwater robot and working principle of device |
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| CN (1) | CN116729174A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117244830A (en) * | 2023-11-20 | 2023-12-19 | 中国海洋大学 | Charging port cleaning structure for charging pile configuration of underwater robot |
-
2023
- 2023-05-23 CN CN202310583026.2A patent/CN116729174A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117244830A (en) * | 2023-11-20 | 2023-12-19 | 中国海洋大学 | Charging port cleaning structure for charging pile configuration of underwater robot |
| CN117244830B (en) * | 2023-11-20 | 2024-04-23 | 中国海洋大学 | Charging port cleaning structure for charging pile configuration of underwater robot |
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