CN2778493Y - Combined framework structure of underwater robot - Google Patents
Combined framework structure of underwater robot Download PDFInfo
- Publication number
- CN2778493Y CN2778493Y CN 200420063756 CN200420063756U CN2778493Y CN 2778493 Y CN2778493 Y CN 2778493Y CN 200420063756 CN200420063756 CN 200420063756 CN 200420063756 U CN200420063756 U CN 200420063756U CN 2778493 Y CN2778493 Y CN 2778493Y
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- China
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- underwater robot
- threeway
- frame structure
- jig
- fixedly installing
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Abstract
The utility model relates to a combined framework structure of an underwater robot, which is a framework (carrier) of the underwater robot for searching, detecting or salvaging underwater targets and is used for fixedly installing instruments, equipment, tools, etc. contained in the underwater robot. The utility model is composed of a basic member and various accessories. A main frame is formed by that the basic member is connected with a circular pipe, an elbow, a three-way joint and a bolt forms a cuboid. The accessories comprise a U-shaped tension device for fixedly installing a cylindrical watertight instrument cabin and a cylindrical buoyancy cabin, a double-hole axial-line parallel clamping tool used for fixedly installing a propeller, a double-hole axial-line orthogonal clamping tool used for fixedly installing an underwater camera head or acoustic array detecting energy transducer, a steerable three-hole clamping tool used for fixedly installing a compass and a doppler speed measuring sensor, a circular disc clamping tool used for fixedly installing high acoustic array detecting energy transducer or a novel clamping tool designed for fixedly installing newly added equipment. The utility model has the advantages of convenient assemblage, convenient increase and reduction, convenient equipment installation, etc. Besides, the utility model can save labor, material resources and financial resources.
Description
Technical field
A kind of combined frame structure of underwater robot is search, the skeleton (carrier) of surveying or salvage the robot of submarine target, is used for installing the contained instrument of robot, equipment and instrument etc.
Background technology
Underwater robot of a great variety can be divided into military affairs, industry, scientific investigation or exploration, lifesaving etc. by its purposes.With regard to its surface structure, two kinds of closed (also claiming streamline) and open types (also claiming frame-type) are arranged.As its name suggests, enclosed construction is that most of instrument that underwater robot is comprised, equipment packages are in a kind of fairshaped housing; And unenclosed construction is that above-mentioned device is packed in respectively on the framework (carrier) of a particular design, allows them directly to contact with water.At present, the framework of various frame-type underwater robots both domestic and external is non-removable overall structure.This underwater robot framework with fixed structure and size is generally all at certain special purpose design, if the purposes of robot changes, original framework generally all can not use, and nature will cause very big waste.And, usually need the structure of its framework and size can adapt to shape or the locational adjustment that changes the instrument, equipment or the instrument that bring because of the robot function to being used for scientific research or being in the underwater robot of advanced development.
Summary of the invention
The purpose of this utility model provides a kind of combined frame structure of underwater robot, allows the user to subtract on the basis of main frame as required also or extension; And, it is as a carrier, required cylindrical watertight instrument room, cylindrical buoyancy compartment, propeller, camera, compass, Doppler range rate measurement sensor in the robot, survey the acoustic array transducer, survey instrument, equipment such as high acoustic array transducer and can be packed in the optional position, and then form a integral body with certain specific function.Advantages such as it is easy to assembly that this combination is that frame structure has, and adds to subtract conveniently, and equipment is easy for installation.
The combined frame structure of underwater robot is made up of basic building block and various annex.Basic building block is used for assembling, enriches or the expansion main frame; Annex is used for above-mentioned instrument, equipment are packed in main frame.Basic building block comprises connection garden pipe, elbow, threeway and bolt; The diplopore axis quadrature jig that annex comprises the U-shaped take-up device that is used to install cylindrical watertight instrument room and cylindrical buoyancy compartment, be used to install the parallel jig of angle of rake diplopore axis, be used to install the underwater camera head or survey the acoustic array transducer, three holes that are used to install compass and Doppler range rate measurement sensor can turn to jig, be used to install the disk clamp of surveying high acoustic array transducer or newly add the new jig that designs fully because of installing.
The main frame that is connected pipe, elbow, threeway and bolt assembling by basic building block is a cuboid, two rectangle sides symmetrical configuration, and four summits adopt elbow to connect; The minor face of rectangle sides is for inserting the connection pipe in the elbow, and the connection pipe that long limit fuses with threeway by many and insert in the elbow at two ends is formed; The connection pipe that inserts in the corresponding threeway with many two ends couples together two rectangle sides again, constitutes the cuboid main frame.For easy to use, threeway is designed to have the middle separation structure of flange and circular hole so that as required (this needs comprise reinforce or extend framework, equipment etc. installs instruments) install additional and be fastened on and connect on the pipe.
All annexes also have and the similarly middle separation structure of threeway, so that corresponding instrument, equipment are packed on main frame or the new connection pipe that adds.For example,, can earlier the midsplit type threeway be packed on the main frame with the pipe that is connected that has cushion block in order to install cylindrical watertight instrument room or cylindrical buoyancy compartment, use then the U-shaped take-up device fastening it; In order to install propeller, also earlier with the midsplit type threeway be connected pipe and be packed on the main frame, the diplopore axis parallel jig of use with middle separation structure gets final product then; Example pushes away according to this, as long as use above-mentioned different midsplit type annex just different instruments, equipment can be installed on the preposition.Also handle like this when needing the extension framework.And a kind of new equipment is installed, only need a kind of novel midsplit type annex of design.
For all modules, can manage by electrical form, utilize Microsoft Excel respectively by purposes (as main frame composite class, instrument room fixed class etc.), function (as threeway class, connecting rod class etc.), three parts of forms of equipment making, comprising the model of module, principal character, purposes etc., and with the hyperlink of engineering drawing and part outside drawing.
The combined frame structure of underwater robot has easy to assembly, adds to subtract conveniently, and the convenient equipment installation advantage can be saved human and material resources and financial resources greatly.
Description of drawings
Fig. 1 underwater robot schematic diagram of the combined frame structure assembling of robot under water
The main frame schematic diagram of the combined frame structure of Fig. 2 underwater robot
Fig. 3 has the main frame schematic diagram of combined frame structure of the underwater robot of annex
The midsplit type threeway schematic diagram of the combined frame structure of Fig. 4 underwater robot
The U-shaped take-up device schematic diagram of the combined frame structure of Fig. 5 underwater robot
The parallel jig schematic diagram of the diplopore axis of the combined frame structure of Fig. 6 underwater robot
The diplopore axis quadrature jig schematic diagram of the combined frame structure of Fig. 7 underwater robot
Three holes of the combined frame structure of Fig. 8 underwater robot can turn to the jig schematic diagram
The disk clamp schematic diagram of the combined frame structure of Fig. 9 underwater robot
The specific embodiment
Provide preferred implementation of the present utility model below, and be illustrated in conjunction with the accompanying drawings.
The robot of search as shown in Figure 1,, detection or salvaging submarine target is equipped with cylindrical watertight instrument room 01, cylindrical buoyancy compartment 02, propeller 03, camera 04, compass 05, Doppler range rate measurement sensor 06 usually, surveys instrument and equipments such as acoustic array transducer 07, the high acoustic array transducer 08 of survey.In the frame-type underwater robot, be they to be combined into the integral body with certain specific function by framework (carrier).
As shown in Figure 3, the combined frame structure of underwater robot comprises basic building block and various annex.Basic building block is used for assembling frame; Annex is used for above-mentioned instrument, equipment are packed in framework.Basic building block comprises connection pipe 11, elbow 12, threeway 13 and bolt (not shown); The diplopore axis quadrature jig 41 that annex comprises the U-shaped take-up device 22, the parallel jig 31 of diplopore axis that is used to install propeller 03 that are used to install cylindrical watertight instrument room 01 and cylindrical buoyancy compartment 02, be used to install camera 04 or survey acoustic array transducer 07, three holes that are used to install compass 05 and Doppler range rate measurement sensor 06 can turn to jig 42 and be used to install the disk clamp 52,53 of surveying high acoustic array transducer 08.
As shown in Figure 2, the chassis body that is connected pipe 11, elbow 12, threeway 13 and the assembling of bolt (not shown) by basic building block is a cuboid, two rectangle sides symmetrical configuration, elbow 12 is placed at place, four summits, the minor face of rectangle is for inserting the connection pipe 11 in the elbow 12, and the connection pipes 11 that long limit fuses with threeway 13 by many and insert in the elbow 12 at two ends are formed; With the connection pipe 11 that inserts in the threeway 13 two rectangle sides are coupled together again, constitute cuboid.For easy to use, threeway 13 is designed to have the middle separation structure (as shown in Figure 4) of flange and circular hole so that as required (this needs comprise reinforce or extend framework, equipment etc. installs instruments) install additional and be fastened on and connect on the pipe 11.
All annexes also have and threeway 13 similar split structures, so that corresponding instrument, equipment are packed on as shown in Figure 2 the main frame or the new connection pipe 11 that adds.For example, in order to install cylindrical watertight instrument room 01 and cylindrical buoyancy compartment 02, as shown in Figure 5, can earlier midsplit type threeway 13 be packed on the main frame with the pipe 11 that is connected that has spill backing plate 221, then with comprising that the U-shaped take-up device 22 that square floor 222, double end tightening nut and screw pair 223, U-shaped card 224 are formed is fastening; In order to install propeller, also earlier with midsplit type threeway 13 be connected pipe 11 and be packed on the main frame, the use parallel jig 31 of the diplopore axis with split structure as shown in Figure 6 gets final product then; Example pushes away according to this, as long as use above-mentioned different annex just different instruments, equipment can be installed on the preposition.The extension framework is handled like this.And a kind of new equipment is installed, only need a kind of novel midsplit type annex of design.
The parallel jig 31 of diplopore axis as shown in Figure 6 has two splits that are parallel to each other, and the axis by each hole respectively is so be divided into this part matrix 311 and 312,313 3 parts of buckle closure that have flange and bolt hole.Wherein matrix 311 is used for chucking with buckle closure 312 and is connected pipe 11, and matrix 311 and buckle closure 313 are used to tighten propeller 03.
Diplopore axis quadrature jig 41 as shown in Figure 7 also has two splits that are parallel to each other, and the axis by each hole respectively is so be divided into this part matrix 411 and 412,413 3 parts of buckle closure that have flange and bolt hole.Wherein matrix 411 is used for chucking with buckle closure 412 and is connected pipe 11, and matrix 411 and buckle closure 413 are used to tighten camera 04.
Three holes as shown in Figure 8 can turn to the middle branch at jig 42 two ends and have flange and the gripping mechanism of bolt hole 422,423 is respectively applied for chucking and is connected pipe 11 and compass 05, and two spill fixture blocks 424 are housed in the quadra 421 at middle part, be used to tighten Doppler range rate measurement sensor 06.
Disk clamp as shown in Figure 9 comprises two disks 52,53 up and down, surveys high acoustic array transducer 08 and places therebetween.Wherein lower disc 53 outsides have two radially the garden handle in case by midsplit type threeway 13 clampings on adjacent connection pipe 11, the stay bolt (not drawing among the figure) that passes four open-works on the disk 52 can be tightened in the corresponding screw of lower disc 53.
Advantages such as the combined frame structure of underwater robot provided by the utility model has easy to assembly, adds to subtract conveniently, and equipment is easy for installation can be saved human and material resources and financial resources greatly.
Claims (7)
1. the combined frame structure of a underwater robot is characterized in that it comprises basic building block and various annex; Wherein, basic building block comprises connection pipe (11), elbow (12), threeway (13) and bolt; Annex comprises that U-shaped take-up device (22), the parallel jig of diplopore axis (31), diplopore axis quadrature jig (41), three holes can turn to jig (42) and disk clamp (52,53); Threeway (13) has the midsplit type structure, promptly in the plane that two axially bored lines are formed in two, all have flange on per half, process the bolt hole that connects usefulness above; All annexes also have the midsplit type structure.
2. the combined frame structure of underwater robot as claimed in claim 1, it is characterized in that the main frame by basic building block connection pipe (11), elbow (12), threeway (13) and bolt assembling is a cuboid, two rectangle sides symmetrical configuration, elbow (12) is placed at place, four summits, the minor face of rectangle sides is for inserting the connection pipe (11) in the elbow (12), and the connection pipe (11) that long limit fuses with threeway (13) by many and insert in the elbows (12) at two ends is formed; With the connection pipe (11) that inserts in the threeway (13) two rectangle sides are coupled together again, constitute cuboid.
3. the combined frame structure of underwater robot as claimed in claim 1 is characterized in that U-shaped take-up device (22) is made up of spill backing plate (221), square floor (222), double end tightening nut and screw pair (223), U-shaped card (224); Wherein, spill backing plate (221) places on the connection pipe (11), square floor (222) is fixed by bolts in the midsplit type threeway (13), and double end tightening nut that an end links to each other with U-shaped card (224) and screw pair (223) are tightened on the square floor (222) after walking around cylindrical fixation.
4. the combined frame structure of underwater robot as claimed in claim 1, it is characterized in that the parallel jig of diplopore axis (31) has two splits that are parallel to each other, pass through the axis in each hole respectively, so this part is divided into matrix (311) and three parts of buckle closure (312,313) that have flange and bolt hole.
5. the combined frame structure of underwater robot as claimed in claim 1, it is characterized in that diplopore axis quadrature jig (41) also has two splits that are parallel to each other, pass through the axis in each hole respectively, so this part is divided into matrix (411) and three parts of buckle closure (412,413) that have flange and bolt hole.
6. the combined frame structure of underwater robot as claimed in claim 1, it is characterized in that three holes can turn to the two ends of jig (42) to be respectively the middle gripping mechanism (422 that divides and have flange and bolt hole, 423), two spill fixture blocks (424) are housed in the quadra at middle part (421).
7. the combined frame structure of underwater robot as claimed in claim 1, it is characterized in that: disk clamp comprises two disks (52 up and down, 53), wherein lower disc (53) outside has two circular radial handles, and last disk (52) can be tightened in the corresponding screw of lower disc (53) by the stay bolt that passes four open-works on it.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420063756 CN2778493Y (en) | 2004-11-10 | 2004-11-10 | Combined framework structure of underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420063756 CN2778493Y (en) | 2004-11-10 | 2004-11-10 | Combined framework structure of underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2778493Y true CN2778493Y (en) | 2006-05-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200420063756 Expired - Fee Related CN2778493Y (en) | 2004-11-10 | 2004-11-10 | Combined framework structure of underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2778493Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101797968A (en) * | 2010-03-29 | 2010-08-11 | 哈尔滨工程大学 | Open-shelf underwater detecting robot mechanism |
| CN104330102A (en) * | 2014-10-11 | 2015-02-04 | 中国海洋石油总公司 | Sensor clamp for deepwater platform anchor chains |
| CN106477008A (en) * | 2016-11-25 | 2017-03-08 | 哈尔滨工程大学 | A kind of three bodies streamlined AUTONOMOUS TASK underwater robot platform |
| CN108340354A (en) * | 2018-03-19 | 2018-07-31 | 湖南擎谱数字科技有限公司 | Robot chassis structure and robot |
-
2004
- 2004-11-10 CN CN 200420063756 patent/CN2778493Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101797968A (en) * | 2010-03-29 | 2010-08-11 | 哈尔滨工程大学 | Open-shelf underwater detecting robot mechanism |
| CN104330102A (en) * | 2014-10-11 | 2015-02-04 | 中国海洋石油总公司 | Sensor clamp for deepwater platform anchor chains |
| CN104330102B (en) * | 2014-10-11 | 2016-06-22 | 中国海洋石油总公司 | A kind of clamp of sensor for deep water platform anchor chain |
| CN106477008A (en) * | 2016-11-25 | 2017-03-08 | 哈尔滨工程大学 | A kind of three bodies streamlined AUTONOMOUS TASK underwater robot platform |
| CN108340354A (en) * | 2018-03-19 | 2018-07-31 | 湖南擎谱数字科技有限公司 | Robot chassis structure and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |