CN217348186U - Underwater robot hangs puts recovery unit - Google Patents
Underwater robot hangs puts recovery unit Download PDFInfo
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- CN217348186U CN217348186U CN202221332734.6U CN202221332734U CN217348186U CN 217348186 U CN217348186 U CN 217348186U CN 202221332734 U CN202221332734 U CN 202221332734U CN 217348186 U CN217348186 U CN 217348186U
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- hinged
- underwater robot
- movable arm
- frame body
- push rod
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Abstract
The utility model relates to the field of underwater robots, in particular to a lifting and recovering device of an underwater robot, which comprises a frame body and a lifting disc, wherein a lifting lug is arranged at the top of the frame body, a plurality of sets of operation components are uniformly distributed on the circumference of the bottom of the frame body, each operation component comprises a horizontal rotating mechanism, a rotating end of the horizontal rotating mechanism is provided with a stretching mechanism, and a stretching end of the stretching mechanism is hinged with an electromagnet; the lifting disc is arranged on the underwater robot and is used for being attracted with the electromagnet; the utility model has the advantages that: the position of the electromagnet is adjusted through the horizontal rotary mechanism and the stretching mechanism, so that the electromagnet can be closely adsorbed with a hanging scaffold at the top of the underwater robot, and the hanging and recovering functions are realized.
Description
Technical Field
The utility model relates to an underwater robot field especially relates to an underwater robot hangs puts recovery unit.
Background
The underwater robot is an important tool for human exploration of ocean and underwater construction, but the underwater robot generally cannot automatically finish launching action, and needs to depend on a hoisting and recovering device to carry out hoisting and recovering operations. Most of the existing hoisting and recovering devices adopt a mechanical buckling type, and also adopt a folding type, a grabbing type, a pulling type and the like.
The mechanical buckle type lifting recovery device principle is through the adjustment of elasticity or slip stopper position, make underwater robot lift by crane the end and realize the card die and the action of releasing and then realize lifting and retrieving the operation to underwater robot in lifting recovery device, but there is the drawback in the mechanical type, it just needs the card to go into completely when elasticity or slip stopper and underwater robot lift by crane the end cooperation and just can realize safe operation in the draw-in groove, in case block the stopper card and go into the draw-in groove because the butt joint is not smooth or the foreign matter, will have the risk that takes place to fall when lifting or retrieving the operation.
The folding type and the grabbing type are relatively low in risk, but a special folding mechanism matched with the mother ship or a special grabbing mechanism matched with the mother ship is needed, the complexity is increased, meanwhile, the operation difficulty is higher when folding or grabbing operation is carried out due to the fact that the uncertain resistance in water is large, and once folding or grabbing errors occur, collision among equipment can be caused.
The dragging type is that the underwater robot uses a dragging cable, the robot is directly hoisted into water or recovered through the outboard suspension arm, the scheme is simple in structure, but the requirement on the dragging cable is high, in addition, the cable is dragged along with the robot moving underwater, risks of scraping, cutting, extruding and the like exist, once the cable section is damaged, the structural strength is influenced, and the risk of falling can occur during the hoisting or recovery operation of the underwater robot
The electromagnet is also used as a mechanical buckle type trigger after being subjected to waterproof treatment, but no underwater robot hoisting and recovering device directly using the electromagnet as a hoisting device exists at present.
Based on this, the present disclosure is thus directed.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an with main core cell of electro-magnet, adjustable size
The underwater robot is used for hoisting and recovering the device.
In order to realize the purpose, the technical scheme of the utility model is as follows:
a lifting lug is arranged at the top of the frame body, a plurality of sets of operation components are uniformly distributed on the circumference of the bottom of the frame body, each operation component comprises a horizontal rotating mechanism, a rotating end of the horizontal rotating mechanism is provided with an extending mechanism, and an extending end of the extending mechanism is hinged with an electromagnet; the lifting disc is installed on the underwater robot and used for being attracted with the electromagnet.
Further, horizontal rotation mechanism includes revolving bed and gyration push rod, revolving bed and support body bottom are articulated and can be in the horizontal gyration on support body bottom plane, the one end of gyration push rod is articulated with the support body, and the other end is articulated with revolving bed.
Furthermore, the stretching mechanism comprises a connecting rod, a movable arm, a connecting rod push rod and a movable arm push rod, one end of the movable arm is hinged with the rotary seat, the other end of the movable arm can be far away from or close to the frame body through rotation, one end of the movable arm push rod is hinged with the rotary seat, and the other end of the movable arm push rod is hinged with the movable arm; the middle part of the connecting rod is hinged with the other end of the movable arm, one end of the connecting rod is hinged with the electromagnet, the electromagnet can be close to or far away from the movable arm through the rotation of the connecting rod, one end of the connecting rod push rod is hinged with the movable arm, and the other end of the connecting rod push rod is hinged with the other end of the connecting rod.
Further, the operation components are at least three sets.
Furthermore, the frame body is cylindrical cage-shaped.
Furthermore, an underwater robot power supply device and/or a cable shaft are installed in the frame body.
The utility model has the advantages that: the position of the electromagnet is adjusted through the horizontal rotary mechanism and the stretching mechanism, so that the electromagnet can be closely adsorbed with a hanging scaffold at the top of the underwater robot, and the hanging and recovering functions are realized.
Drawings
FIG. 1 is a schematic diagram of a three-dimensional structure of the underwater robot hoisting and recovering device in an embodiment when the underwater robot hoisting and recovering device is folded;
FIG. 2 is a schematic three-dimensional construction of a hoisting platform according to an embodiment;
FIG. 3 is a schematic three-dimensional structure of the underwater robot hoisting and recovering device in the embodiment during operation;
description of the reference symbols
The frame body 1, double-deck mounting base 11, connecting rod 2, mount pad three 21, mount pad four 22, mount pad five 23, swing arm 3, otic placode three 31, otic placode four 32, mount pad one 33, mount pad two 34, electro-magnet 4, gyration seat 5, otic placode 51, pin joint one 52, pin joint two 53, otic placode two 54, connecting rod push rod 6, swing arm push rod 7, gyration push rod 8, lift by crane dish 9.
Detailed Description
The present invention will be described in further detail with reference to examples.
The embodiment provides a hoisting and recovering device for an underwater robot, which comprises a frame body 1 and a hoisting plate 9, wherein a lifting lug is arranged at the top of the frame body 1, a plurality of sets of operation components are uniformly distributed on the circumference of the bottom of the frame body 1, each operation component comprises a horizontal rotating mechanism, a rotating end of each horizontal rotating mechanism is provided with an extending mechanism, and an extending end of each extending mechanism is hinged with an electromagnet 4; the hoisting platform 9 is arranged on the underwater robot and is used for being attracted with the electromagnet 4. The number of the hoisting platforms 9 on the underwater robot corresponds to the number of the electromagnets 4 for hoisting and recovering the device.
In this embodiment, the bottom of support body 1 upwards is fixed with eight double-deck mounting base 11 in the circumference, and every two sets of double-deck mounting base 11 adjacent connect one set of operation subassembly. The following is a detailed description of two adjacent double-deck mounting bases 11 and a set of task modules.
The horizontal slewing mechanism comprises a slewing seat 5 and a slewing push rod 8, a lug plate I51 is arranged on the end side of the slewing seat 5 close to the frame body 1, a hinge point I52 and a hinge point II 53 are arranged at one end far away from the frame body 1, a lug plate II 54 is arranged on the side portion of the slewing seat 5, the lug plate I51 of the slewing seat 5 is hinged to one of the double-layer mounting bases 11, the cylinder end of the slewing push rod 8 is hinged to the other double-layer mounting base 11, the telescopic end of the slewing push rod 8 is hinged to the lug plate II 54, and under the action of the slewing push rod 8, the slewing seat 5 can slew on the bottom plane of the frame body 1.
The stretching mechanism comprises a connecting rod 2, a movable arm 3, a connecting rod push rod 6 and a movable arm push rod 7, wherein two ends of the movable arm 3 are respectively provided with a third lug plate 31 and a fourth lug plate 32, the middle part of the movable arm 3 is provided with a first mounting seat 33, the movable arm 3 is positioned between the first mounting seat 33 and the fourth lug plate 32 and is provided with a second mounting seat 34, the third lug plate 31 of the movable arm 3 is hinged with a first hinge point 52 of the rotary seat 5, the fourth lug plate 32 of the movable arm 3 can be far away from or close to the frame body 1 through rotation, the cylinder end of the movable arm push rod 7 is hinged with a second hinge point 53 of the rotary seat 5, and the telescopic end is hinged with the second mounting seat 34 of the movable arm 3. The upper end, the middle part and the lower end of the connecting rod 2 are respectively provided with a mounting seat III 21, a mounting seat IV 22 and a mounting seat V23, the mounting seat IV 22 of the connecting rod 2 is hinged with an ear plate IV 32 of the movable arm 3, the mounting seat V23 of the connecting rod 2 is hinged with the electromagnet 4, and the electromagnet 4 can be close to or far away from the movable arm 3 through the rotation of the connecting rod 2. Preferably, the hinge point of the electromagnet 4 is arranged at the center of the top of the electromagnet, and due to the hinged connection, the adsorption surface of the electromagnet 4 is always downward under the action of self weight or adsorption force. The cylinder body end of the connecting rod push rod 6 is hinged with the first mounting seat 33 of the movable arm 3, and the telescopic end of the connecting rod push rod is hinged with the third mounting seat 21 of the connecting rod 2.
Under the action of the rotary seat 5, the rotary push rod 8, the connecting rod 2, the movable arm 3, the connecting rod push rod 6 and the movable arm push rod 7, the position of the electromagnet 4 can be adjusted. When the underwater robot is used, a group of operation components are adjusted to a proper position and the electromagnet 4 is started through adjustment, so that the electromagnet 4 is tightly adsorbed with the hoisting platform 9 on the underwater robot body; then, adjusting other groups of operation components according to actual conditions to enable the rest electromagnets 4 to be tightly adsorbed with the corresponding hoisting discs 9; and after all the electromagnets 4 and the lifting disc 9 are firmly adsorbed, lifting the whole set of equipment to realize the lifting and recovering functions of the robot.
Preferably, the frame body 1 of the present embodiment is designed into a cylindrical cage shape, and underwater robot power supply equipment and a cable shaft for communication can be installed in the cage body.
The above-described embodiments are merely illustrative of the principles of the present invention and are not intended to limit the scope of the invention, which is defined by the claims.
Claims (6)
1. The utility model provides an underwater robot hangs puts recovery unit which characterized in that: the lifting device comprises a frame body and a lifting disc, wherein a lifting lug is arranged at the top of the frame body, a plurality of sets of operation components are uniformly distributed on the circumference of the bottom of the frame body, each operation component comprises a horizontal rotating mechanism, a rotating end of each horizontal rotating mechanism is provided with an extending mechanism, and an extending end of each extending mechanism is hinged with an electromagnet; the lifting disc is installed on the underwater robot and used for being attracted with the electromagnet.
2. The underwater robot lifting and recovering device of claim 1, wherein: the horizontal rotation mechanism comprises a rotation seat and a rotation push rod, the rotation seat is hinged to the bottom of the frame body and can horizontally rotate on the plane of the bottom of the frame body, one end of the rotation push rod is hinged to the frame body, and the other end of the rotation push rod is hinged to the rotation seat.
3. The underwater robot lifting and recovering device of claim 2, wherein: the stretching mechanism comprises a connecting rod, a movable arm, a connecting rod push rod and a movable arm push rod, one end of the movable arm is hinged with the rotary seat, the other end of the movable arm can be far away from or close to the frame body through rotation, one end of the movable arm push rod is hinged with the rotary seat, and the other end of the movable arm push rod is hinged with the movable arm; the middle part of the connecting rod is hinged with the other end of the movable arm, one end of the connecting rod is hinged with the electromagnet, the electromagnet can be close to or far away from the movable arm through the rotation of the connecting rod, one end of the connecting rod push rod is hinged with the movable arm, and the other end of the connecting rod push rod is hinged with the other end of the connecting rod.
4. The underwater robot lifting and recovering device of claim 1, wherein: at least three sets of operation components are provided.
5. The underwater robot lifting and recovering device of claim 1, wherein: the frame body is cylindrical cage shape.
6. The underwater robot lifting and recovering device of claim 5, wherein: an underwater robot power supply device and/or a cable shaft are/is installed in the frame body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221332734.6U CN217348186U (en) | 2022-05-26 | 2022-05-26 | Underwater robot hangs puts recovery unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221332734.6U CN217348186U (en) | 2022-05-26 | 2022-05-26 | Underwater robot hangs puts recovery unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217348186U true CN217348186U (en) | 2022-09-02 |
Family
ID=83016115
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221332734.6U Active CN217348186U (en) | 2022-05-26 | 2022-05-26 | Underwater robot hangs puts recovery unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217348186U (en) |
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2022
- 2022-05-26 CN CN202221332734.6U patent/CN217348186U/en active Active
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