WO2021036340A1 - 一种水下机器人脐带缆安装施放回收装置 - Google Patents

一种水下机器人脐带缆安装施放回收装置 Download PDF

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Publication number
WO2021036340A1
WO2021036340A1 PCT/CN2020/089659 CN2020089659W WO2021036340A1 WO 2021036340 A1 WO2021036340 A1 WO 2021036340A1 CN 2020089659 W CN2020089659 W CN 2020089659W WO 2021036340 A1 WO2021036340 A1 WO 2021036340A1
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WO
WIPO (PCT)
Prior art keywords
umbilical cable
gear
limit block
coil
winding roller
Prior art date
Application number
PCT/CN2020/089659
Other languages
English (en)
French (fr)
Inventor
张娟娟
苏艺鑫
Original Assignee
南京涵曦月自动化科技有限公司
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Application filed by 南京涵曦月自动化科技有限公司 filed Critical 南京涵曦月自动化科技有限公司
Publication of WO2021036340A1 publication Critical patent/WO2021036340A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/40—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable
    • B65H75/42—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2205/00—Tethers
    • B63B2205/02—Tether payout means
    • B63B2205/06—Reels for tethers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
    • B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical

Definitions

  • the invention relates to the technical field of cable release and recovery of underwater robots, in particular to an underwater robot umbilical cable installation release and recovery device.
  • the purpose of the present invention is to provide an underwater robot umbilical cable installation, release and recovery device to solve the problem of installation, release and recovery of the umbilical cable of the existing robot proposed in the background art, which cannot be separated from manual participation, and is prone to entanglement of the umbilical cables. Circumstances will increase the workload of the staff.
  • an underwater robot umbilical cable installation, release and recovery device including a wire barrel, both ends of the wire barrel are provided with discs in the same body, and the inside of the wire barrel is located on the central axis
  • a stator is fixed at the position, and a winding roller that freely rotates with the spool as an axis is installed on the outside of the middle of the spool.
  • the wire barrel, the disc and the winding roller can be made of any one of polyvinyl chloride and wood, and the wire barrel and the disc are of the same material.
  • the outer wall of the stator is fixed with a plurality of coil slots uniformly arranged in a ring shape, a coil is fixed at the middle of the coil slot, and the coil is made of insulated copper wire wound in the same direction, and The two ends of the coil are connected with electrical contacts through wires, the coil and the stator are sealed with epoxy resin, and the material of the stator is the same as that of the wire barrel.
  • the two ends of the winding roller are fixedly connected with clamping blocks
  • the front view of the clamping block is T-shaped
  • the side of the two discs close to the bobbin is provided with a clamping slot matching the direction of the clamping block
  • a plurality of magnets are fixed inside the winding roller, and the plurality of magnets are uniformly ring-shaped and arranged with the same magnetic poles.
  • a sliding rod is fixed on one side of the two discs close to each other, the bottom side of the outer wall of the sliding rod is provided with threads, and the outer wall of the sliding rod is installed with a limit block that can slide on the outer wall of the sliding rod.
  • the end of the limit block close to the winding roller is movably connected with a roller through a rotating shaft, and both ends of the outer wall of the roller are provided with perforations, the perforations are meshed with gears, and the middle of the gear passes
  • the deflection axis is movably connected with the limit block.
  • the end of the deflection shaft away from the gear is fixed with a T-shaped buckle
  • the inner wall of the limit block is provided with a movable groove that matches the buckle
  • the side wall of the buckle is connected to two of the movable groove.
  • a spring is arranged between the ends, and the two ends of the spring are respectively fixed with the buckle and the movable groove.
  • the thread is engaged with a threaded bolt, and the outer walls at both ends of the threaded bolt are provided with tooth grooves, and the tooth grooves are engaged with a transmission gear, and the middle part of the transmission gear on one side away from each other is welded with a rotating shaft.
  • One end of the rotating shaft away from the transmission gear is welded to the inner wall of the limit block through a bearing.
  • a movable hole is opened in the middle of both sides of the limit block, and a telescopic rod is inserted into the movable hole.
  • the telescopic rod is located in the inner part of the limit block, and the outer wall of the movable hole is fixed with two cones. Gears, the bevel gears are matched with gears and transmission gears.
  • the magnetic field is generated by the energized coil, and the magnetic field causes the magnet to be forced and drives the winding roller to rotate, which can make the recovery of the umbilical cable of the robot more rapid and convenient.
  • the limit block can make the umbilical cable to be fully wound during recovery. Line rollers, and there will be no jamming phenomenon, reducing the workload of staff to recycle cables.
  • epoxy resin is used to seal the coil and the coil slot, which can avoid electrochemical corrosion between the two, and can also prevent the short circuit between the coil and the coil slot, so that the entire device can operate normally.
  • the sliding direction of the limit block on the sliding rod can be changed by the bevel gear, so that the umbilical cable can be wound more tightly on the winding roller, and the outer wall space of the winding roller can be fully utilized.
  • Fig. 1 is a schematic diagram of the structure of a disc according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of the internal structure of a limit block according to an embodiment of the present invention.
  • Fig. 3 is a schematic diagram of the internal structure of the wire barrel according to the embodiment of the present invention.
  • this embodiment provides an underwater robot umbilical cable installation, release and recovery device, including a wire barrel 1, two ends of the wire barrel 1 are provided with discs 2 in the same body, and the inside of the wire barrel 1 is located on the central axis A stator 3 is fixed at the position, and a winding roller 4 is installed on the outside of the middle of the bobbin 1 to rotate freely with the bobbin 1 as an axis.
  • the bobbin 1, the disc 2 and the winding roller 4 can be made of any one of polyvinyl chloride and wood, and the bobbin 1 and the disc 2 are of the same material.
  • the outer wall of the stator 3 is fixed with a plurality of coil slots 31 uniformly arranged in a ring shape.
  • a coil 32 is fixed in the middle of the coil slot 31.
  • the coil 32 is made of insulated copper wire wound in the same direction, which can make the coil 32 produce
  • the direction of the magnetic field is the same, and the two ends of the multiple coils 32 are connected with electrical contacts 33 through wires, which can make the magnetic field intensity generated by each coil 32 consistent.
  • the coil 32 and the stator 3 are sealed with epoxy resin, which can avoid the coil 32 Electrochemical corrosion occurs between the winding roller 31 and the stator 3 is made of the same material as the bobbin 1.
  • the two ends of the winding roller 4 are fixedly connected with clamping blocks 41.
  • the front view of the clamping block 41 is T-shaped, and the side of the two discs 2 close to the bobbin 1 is provided with a clamping slot 21 matching the clamping block 41.
  • a plurality of magnets 42 are fixed inside the winding roller 4, and the plurality of magnets 42 are uniformly ring-shaped and arranged with the same magnetic poles.
  • a sliding rod 22 is fixed on the side of the two discs 2 close to each other.
  • the bottom side of the outer wall of the sliding rod 22 is provided with a thread 23.
  • the outer wall of the sliding rod 22 is installed with a limit block 24 that can slide on the outer wall of the sliding rod 22.
  • One end of the limit block 24 close to the winding roller 4 is movably connected with a roller 26 through a rotating shaft 25. Both ends of the outer wall of the roller 26 are provided with tooth holes 261. The tooth holes 261 are meshed with a gear 262. The middle of the gear 262 passes through the deflection shaft. 263 is movably connected with the limit block 24.
  • a T-shaped buckle 264 is fixed at the end of the deflection shaft 263 away from the gear 262.
  • the inner wall of the limit block 24 is provided with a movable groove 241 that matches the buckle 264.
  • the side wall of the buckle 264 is at both ends of the movable groove 241.
  • a spring 242 is arranged therebetween, and two ends of the spring 242 are respectively fixed to the buckle 264 and the movable groove 241.
  • the thread 23 is engaged with a threaded bolt 231.
  • the outer walls of the two ends of the threaded bolt 231 are provided with tooth grooves 232.
  • the tooth grooves 232 are engaged with a transmission gear 233.
  • the middle part of the transmission gear 233 away from each other is welded with a rotating shaft 234.
  • the rotating shaft 234 is far away from the transmission.
  • One end of the gear 233 is welded to the inner wall of the limit block 24 through a bearing 235.
  • a movable hole 5 is opened in the middle of both sides of the limit block 24, and a telescopic rod 6 is inserted into the movable hole 5.
  • the telescopic rod 6 is located in the inner part of the limit block 24, and two conical gears 61 are fixed on the outer wall of the movable hole 5.
  • the bevel gear 61 is matched with the gear 262 and the transmission gear 233.
  • the umbilical cable of the robot is passed between the roller 26 and the limiting block 24.
  • the umbilical cable drives the bobbin 1 and the disc 2 to rotate together, and the umbilical cable
  • the umbilical cable drives the roller 26 to rotate
  • the tooth holes 261 at both ends of the roller 26 drive the gear 262 to rotate
  • the gear 262 drives the transmission gear 233 to rotate
  • the transmission gear 233 drives the screw bolt 231 to rotate by meshing with the tooth groove 232.
  • the threaded bolt 231 rotates, the threaded bolt 231 will drive the limit block 24 to move in the direction in which the threaded bolt 231 rotates as a whole.
  • the limit block 24 moves, the umbilical cable moves along with the limit block 24, and the limit block 24 It is always located directly above the position where the umbilical cable is separated from the spool 1, which can ensure that the umbilical cable and the limiting block 24 will not jam.
  • the power of the coil 32 is closed.
  • a magnetic field will be formed around the coil 32 and the stator 3.
  • the magnet 42 will receive a deflection force in the magnetic field, and the multiple magnets 42 will drive
  • the winding roller 4 rotates, and the winding roller 4 will wind the umbilical cable and give the umbilical cable a contraction force in the direction of the winding roller 4.
  • the umbilical cable drives the roller 26 to rotate and causes the stop block 24 to slide on the sliding rod 22.
  • the telescopic rod 6 outside the stop block 24 abuts against the side of the disc 2
  • the telescopic rod 6 will receive a force opposite to the movement direction of the stop block 24.
  • the telescopic rod 6 will drive the bevel gear 61 to move inside the stop block 24, and the sharp end of the bevel gear 61 will move from the gear 262
  • the side of the connection with the transmission gear 233 is inserted to separate the gear 262 from the transmission gear 233.
  • the limit block 24 will slide on the slide bar 22 in the opposite direction, and the umbilical cable will follow the limit block 24 to move together, and wrap around the winding roller 4, when the limit block 24 moves to the disc again 2, the other end of the telescopic rod 6 is pressed again, and the gear 262 and the transmission gear 233 are separated from the bevel gear 61, and the stop block 24 changes the direction of movement on one side, so that the umbilical cable can be wrapped around. Line roller 4.
  • the installation, release and recovery of the umbilical cable of the robot can be made more convenient, and the umbilical cable can be prevented from being entangled with each other, which increases the workload of the staff.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)

Abstract

一种水下机器人脐带缆安装施放回收装置，包括线筒（1），线筒（1）的两端同体设置有圆盘（2），线筒（1）的内部位于中轴处固定有定子（3），线筒（1）中部的外侧安装有以线筒（1）为轴自由转动的绕线辊（4），线筒（1）、圆盘（2）和绕线辊（4）为聚氯乙烯和木质中的任意一种材料均可，且线筒（1）与圆盘（2）为同种材料，定子（3）的外壁固定有多个呈环状均匀排列的线圈槽（31），线圈槽（31）的中部处固定有线圈（32），线圈（32）为绝缘铜丝以相同方向绕制而成，且多个线圈（32）的两端通过导线连接有电触点（33），线圈（32）与定子（3）之间采用环氧树脂密封，且定子（3）的材质与线筒（1）相同。通过以上各部件之间的配合使用，能够使得机器人脐带缆的安装施放回收更加便利，以及避免脐带缆相互缠绕，增加工作人员的工作量。

Description

一种水下机器人脐带缆安装施放回收装置 技术领域
本发明涉及水下机器人线缆施放回收技术领域，具体为一种水下机器人脐带缆安装施放回收装置。
 背景技术
现有的机器人脐带缆进行安装施放回收时，大多采用人工的方式进行脐带缆的施放回收，其过程较为繁琐，无法提升对脐带缆的安装施放回收的效率，并且在回收时，脐带缆在缠绕绕线辊时会在绕线辊的表面出现多层缠绕的情况，无法绕满绕线辊，并且会增加工作人员的工作量，不利于整个工作的高效进行。
 技术问题
本发明的目的在于提供一种水下机器人脐带缆安装施放回收装置，以解决上述背景技术中提出的现有机器人脐带缆安装施放回收较为麻烦，脱离不了人工参与，并且容易出现脐带缆相互缠绕的情况，会增加工作人员工作量的问题。
 技术解决方案
为实现上述目的，本发明提供如下技术方案：一种水下机器人脐带缆安装施放回收装置，包括线筒，所述线筒的两端同体设置有圆盘，所述线筒的内部位于中轴处固定有定子，所述线筒中部的外侧安装有以线筒为轴自由转动的绕线辊。
优选的，所述线筒、圆盘和绕线辊为聚氯乙烯和木质中的任意一种材料均可，且线筒与圆盘为同种材料。
优选的，所述定子的外壁固定有多个呈环状均匀排列的线圈槽，所述线圈槽的中部处固定有线圈，所述线圈为绝缘铜丝以相同方向绕制而成，且多个线圈的两端通过导线连接有电触点，所述线圈与定子之间采用环氧树脂密封，且定子的材质与线筒相同。
优选的，所述绕线辊的两端固定连接有卡块，所述卡块的正视图为T字型，且两个圆盘靠近线筒的一侧开设有与卡块向匹配的卡槽，所述绕线辊的内部固定有多个磁铁，多个磁铁呈环状均匀且磁极相同排列。
优选的，两个所述圆盘相靠近的一侧固定有滑杆，所述滑杆外壁的底侧开设有螺纹，所述滑杆的外壁安装有可在其外壁滑动的限位块。
优选的，所述限位块靠近绕线辊的一端通过转动轴活动连接有辊轮，所述辊轮外壁的两端开设有齿孔，所述齿孔啮合有齿轮，所述齿轮的中部通过偏转轴与限位块活动连接。
优选的，所述偏转轴远离齿轮的一端固定有T字型的卡扣，所述限位块的内壁开设有与卡扣相匹配的活动槽，所述卡扣的侧壁与活动槽的两端之间设置有弹簧，所述弹簧的两端分别与卡扣和活动槽固定。
优选的，所述螺纹卡合有螺纹栓，所述螺纹栓两端的外壁设置有齿槽，所述齿槽啮合有传动齿轮，所述传动齿轮相互远离一侧的中部焊接有旋转轴，所述旋转轴远离传动齿轮的一端通过轴承焊接在限位块的内壁。
优选的，所述限位块两侧的中部处开设有活动孔，所述活动孔的内部插接有伸缩杆，所述伸缩杆位于限位块内部的部分，其外壁固定有两个锥形齿轮，所述锥形齿轮与齿轮和传动齿轮相匹配。
优选的，其具体使用步骤为：
（A1）、使用前，将机器人的脐带缆穿过辊轮与限位块之间，在脐带缆进行伸长时，脐带缆带动线筒和圆盘一起转动，在脐带缆伸长过程中，脐带缆带动辊轮转动，辊轮两端的齿孔带动齿轮旋转，齿轮带动传动齿轮转动，传动齿轮通过与齿槽的啮合带动螺纹栓转动，当螺纹栓转动时，螺纹栓将带动限位块整体跟随螺纹栓转动的方向移动，在限位块进行移动时，脐带缆跟随限位块一起移动，并且限位块始终处于脐带缆脱离线筒位置的正上方，能够保证脐带缆与限位块之间不会产生卡死的现象；
（A2）、当脐带缆进行回收时，闭合线圈的电源，当线圈通过电流以后，会在线圈以及定子的周围形成磁场，此时的磁铁在磁场中会受到偏转力，多个磁铁带动绕线辊转动，绕线辊将对脐带缆进行缠绕，并给予脐带缆一个向着绕线辊方向的收缩的力；
（A3）、在脐带缆被绕线辊回收过程中，脐带缆带动辊轮转动，并使限位块在滑杆上滑动，当限位块外侧的伸缩杆抵在圆盘的侧壁时，伸缩杆将受到一个与限位块运动方向相反的力，此时伸缩杆将带动锥形齿轮向限位块内部运动，锥形齿轮尖锐的一端将从齿轮与传动齿轮连接处的侧面***，并使齿轮与传动齿轮分离，在齿轮与传动齿轮分离时，偏转轴远离齿轮一端的卡扣将在活动槽的内部滑动，此时的弹簧被上力，当齿轮与传动齿轮完全分离以后，锥形齿轮将取代齿轮并与传动齿轮啮合，在弹簧的作用下，齿轮与锥形齿轮以及传动齿轮啮合；
（A4）、之后限位块将以之前相反的方向在滑杆上滑动，此时的脐带缆将跟随限位块一起运动，并且缠满绕线辊，当限位块再次运动到圆盘的侧面时，伸缩杆的另一端再次被施压，并使齿轮和传动齿轮与锥形齿轮脱离，限位块在一侧地改变运动方向，使脐带缆能够缠满绕线辊。
 有益效果
1.本发明，通过通电线圈产生磁场，磁场使磁铁受力并带动绕线辊转动，能够使得机器人脐带缆的回收更加迅速便利，通过限位块能够使得脐带缆在进行回收时能够缠满绕线辊，并且不会出现卡死的现象，减少了工作人员回收线缆的工作量。
2.本发明，使用环氧树脂对线圈与线圈槽之间进行密封，既能够避免两者之间产生电化学腐蚀，又能够防止线圈与线圈槽之间短路，使整个装置可以正常运行。
3.本发明，通过锥形齿轮能够改变限位块在滑杆上滑动的方向，使脐带缆缠绕绕线辊时能够更加紧密，使绕线辊的外壁空间可以充分利用。
 附图说明
图1为本发明实施例圆盘结构示意图；
图2为本发明实施例限位块内部结构示意图；
图3为本发明实施例线筒内部结构示意图。
图中：1、线筒；2、圆盘；21、卡槽；22、滑杆；23、螺纹；231、螺纹栓；232、齿槽；233、传动齿轮；234、旋转轴；235、轴承；24、限位块；241、活动槽；242、弹簧；25、转动轴；26、辊轮；261、齿孔；262、齿轮；263、偏转轴；264、卡扣；3、定子；31、线圈槽；32、线圈；33、电触点；4、绕线辊；41、卡块；42、磁铁；5、活动孔；6、伸缩杆；61、锥形齿轮。
 本发明的实施方式
为了能够使得机器人脐带缆的安装施放回收更加便利，以及防止脐带缆相互缠绕增加工作量，特提出一种水下机器人脐带缆安装施放回收装置。下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
请参阅图1-3，本实施例提供了一种水下机器人脐带缆安装施放回收装置，包括线筒1，线筒1的两端同体设置有圆盘2，线筒1的内部位于中轴处固定有定子3，线筒1中部的外侧安装有以线筒1为轴自由转动的绕线辊4。
其中，线筒1、圆盘2和绕线辊4为聚氯乙烯和木质中的任意一种材料均可，且线筒1与圆盘2为同种材料。
定子3的外壁固定有多个呈环状均匀排列的线圈槽31，线圈槽31的中部处固定有线圈32，线圈32为绝缘铜丝以相同方向绕制而成，这样能够使得线圈32产生的磁场方向一致，且多个线圈32的两端通过导线连接有电触点33，能够使得各线圈32产生的磁场强度一致，线圈32与定子3之间采用环氧树脂密封，这样能够避免线圈32与绕线辊31之间产生电化学腐蚀，且定子3的材质与线筒1相同。
绕线辊4的两端固定连接有卡块41，卡块41的正视图为T字型，且两个圆盘2靠近线筒1的一侧开设有与卡块41向匹配的卡槽21，绕线辊4的内部固定有多个磁铁42，多个磁铁42呈环状均匀且磁极相同排列。
两个圆盘2相靠近的一侧固定有滑杆22，滑杆22外壁的底侧开设有螺纹23，滑杆22的外壁安装有可在其外壁滑动的限位块24。
限位块24靠近绕线辊4的一端通过转动轴25活动连接有辊轮26，辊轮26外壁的两端开设有齿孔261，齿孔261啮合有齿轮262，齿轮262的中部通过偏转轴263与限位块24活动连接。
偏转轴263远离齿轮262的一端固定有T字型的卡扣264，限位块24的内壁开设有与卡扣264相匹配的活动槽241，卡扣264的侧壁与活动槽241的两端之间设置有弹簧242，弹簧242的两端分别与卡扣264和活动槽241固定。
螺纹23卡合有螺纹栓231，螺纹栓231两端的外壁设置有齿槽232，齿槽232啮合有传动齿轮233，传动齿轮233相互远离一侧的中部焊接有旋转轴234，旋转轴234远离传动齿轮233的一端通过轴承235焊接在限位块24的内壁。
限位块24两侧的中部处开设有活动孔5，活动孔5的内部插接有伸缩杆6，伸缩杆6位于限位块24内部的部分，其外壁固定有两个锥形齿轮61，锥形齿轮61与齿轮262和传动齿轮233相匹配。
本实施例中，使用前，将机器人的脐带缆穿过辊轮26与限位块24之间，在脐带缆进行伸长时，脐带缆带动线筒1和圆盘2一起转动，在脐带缆伸长过程中，脐带缆带动辊轮26转动，辊轮26两端的齿孔261带动齿轮262旋转，齿轮262带动传动齿轮233转动，传动齿轮233通过与齿槽232的啮合带动螺纹栓231转动，当螺纹栓231转动时，螺纹栓231将带动限位块24整体跟随螺纹栓231转动的方向移动，在限位块24进行移动时，脐带缆跟随限位块24一起移动，并且限位块24始终处于脐带缆脱离线筒1位置的正上方，能够保证脐带缆与限位块24之间不会产生卡死的现象。
当脐带缆进行回收时，闭合线圈32的电源，当线圈32通过电流以后，会在线圈32以及定子3的周围形成磁场，此时的磁铁42在磁场中会受到偏转力，多个磁铁42带动绕线辊4转动，绕线辊4将对脐带缆进行缠绕，并给予脐带缆一个向着绕线辊4方向的收缩的力。
在脐带缆被绕线辊4回收过程中，脐带缆带动辊轮26转动，并使限位块24在滑杆22上滑动，当限位块24外侧的伸缩杆6抵在圆盘2的侧壁时，伸缩杆6将受到一个与限位块24运动方向相反的力，此时伸缩杆6将带动锥形齿轮61向限位块24内部运动，锥形齿轮61尖锐的一端将从齿轮262与传动齿轮233连接处的侧面***，并使齿轮262与传动齿轮233分离，在齿轮262与传动齿轮233分离时，偏转轴263远离齿轮262一端的卡扣264将在活动槽241的内部滑动，此时的弹簧242被上力，当齿轮262与传动齿轮233完全分离以后，锥形齿轮61将取代齿轮262并与传动齿轮233啮合，在弹簧242的作用下，齿轮262与锥形齿轮61以及传动齿轮233啮合。
之后限位块24将以之前相反的方向在滑杆22上滑动，此时的脐带缆将跟随限位块24一起运动，并且缠满绕线辊4，当限位块24再次运动到圆盘2的侧面时，伸缩杆6的另一端再次被施压，并使齿轮262和传动齿轮233与锥形齿轮61脱离，限位块24在一侧地改变运动方向，使脐带缆能够缠满绕线辊4。
通过以上各装置之间的配合使用，能够使得机器人脐带缆的安装施放回收更加便利，以及避免脐带缆相互缠绕，增加工作人员的工作量。
本发明的描述中，需要说明的是，术语“竖直”、“上”、“下”、“水平”等指示的方位或者位置关系为基于附图所示的方位或者位置关系，仅是为了便于描述本发明和简化描述，而不是指示或者暗示所指的装置或者元件必须具有特定的方位，以特定的方位构造和操作，因此不能理解为对本发明的限制。
本发明的描述中，还需要说明的是，除非另有明确的规定和限制，术语“设置”、“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接，可以是机械连接，也可以是电连接，可以是直接连接，也可以是通过中间媒介相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。

Claims (10)

  1. 一种水下机器人脐带缆安装施放回收装置，包括线筒（1），其特征在于：所述线筒（1）的两端同体设置有圆盘（2），所述线筒（1）的内部位于中轴处固定有定子（3），所述线筒（1）中部的外侧安装有以线筒（1）为轴自由转动的绕线辊（4）。
  2. 根据权利要求1所述的一种水下机器人脐带缆安装施放回收装置，其特征在于：所述线筒（1）、圆盘（2）和绕线辊（4）为聚氯乙烯和木质中的任意一种材料均可，且线筒（1）与圆盘（2）为同种材料。
  3. 根据权利要求1所述的一种水下机器人脐带缆安装施放回收装置，其特征在于：所述定子（3）的外壁固定有多个呈环状均匀排列的线圈槽（31），所述线圈槽（31）的中部处固定有线圈（32），所述线圈（32）为绝缘铜丝以相同方向绕制而成，且多个线圈（32）的两端通过导线连接有电触点（33），所述线圈（32）与定子（3）之间采用环氧树脂密封，且定子（3）的材质与线筒（1）相同。
  4. 根据权利要求1所述的一种水下机器人脐带缆安装施放回收装置，其特征在于：所述绕线辊（4）的两端固定连接有卡块（41），所述卡块（41）的正视图为T字型，且两个圆盘（2）靠近线筒（1）的一侧开设有与卡块（41）向匹配的卡槽（21），所述绕线辊（4）的内部固定有多个磁铁（42），多个磁铁（42）呈环状均匀且磁极相同排列。
  5. 根据权利要求1所述的一种水下机器人脐带缆安装施放回收装置，其特征在于：两个所述圆盘（2）相靠近的一侧固定有滑杆（22），所述滑杆（22）外壁的底侧开设有螺纹（23），所述滑杆（22）的外壁安装有可在其外壁滑动的限位块（24）。
  6. 根据权利要求5所述的一种水下机器人脐带缆安装施放回收装置，其特征在于：所述限位块（24）靠近绕线辊（4）的一端通过转动轴（25）活动连接有辊轮（26），所述辊轮（26）外壁的两端开设有齿孔（261），所述齿孔（261）啮合有齿轮（262），所述齿轮（262）的中部通过偏转轴（263）与限位块（24）活动连接。
  7. 根据权利要求1所述的一种水下机器人脐带缆安装施放回收装置，其特征在于：所述偏转轴（263）远离齿轮（262）的一端固定有T字型的卡扣（264），所述限位块（24）的内壁开设有与卡扣（264）相匹配的活动槽（241），所述卡扣（264）的侧壁与活动槽（241）的两端之间设置有弹簧（242），所述弹簧（242）的两端分别与卡扣（264）和活动槽（241）固定。
  8. 根据权利要求5所述的一种水下机器人脐带缆安装施放回收装置，其特征在于：所述螺纹（23）卡合有螺纹栓（231），所述螺纹栓（231）两端的外壁设置有齿槽（232），所述齿槽（232）啮合有传动齿轮（233），所述传动齿轮（233）相互远离一侧的中部焊接有旋转轴（234），所述旋转轴（234）远离传动齿轮（233）的一端通过轴承（235）焊接在限位块（24）的内壁。
  9. 根据权利要求5所述的一种水下机器人脐带缆安装施放回收装置，其特征在于：所述限位块（24）两侧的中部处开设有活动孔（5），所述活动孔（5）的内部插接有伸缩杆（6），所述伸缩杆（6）位于限位块（24）内部的部分，其外壁固定有两个锥形齿轮（61），所述锥形齿轮（61）与齿轮（262）和传动齿轮（233）相匹配。
  10. 根据权利要求1所述的一种水下机器人脐带缆安装施放回收装置，其具体使用步骤为：
    （A1）、使用前，将机器人的脐带缆穿过辊轮（26）与限位块（24）之间，在脐带缆进行伸长时，脐带缆带动线筒（1）和圆盘（2）一起转动，在脐带缆伸长过程中，脐带缆带动辊轮（26）转动，辊轮（26）两端的齿孔（261）带动齿轮（262）旋转，齿轮（262）带动传动齿轮（233）转动，传动齿轮（233）通过与齿槽（232）的啮合带动螺纹栓（231）转动，当螺纹栓（231）转动时，螺纹栓（231）将带动限位块（24）整体跟随螺纹栓（231）转动的方向移动，在限位块（24）进行移动时，脐带缆跟随限位块（24）一起移动，并且限位块（24）始终处于脐带缆脱离线筒（1）位置的正上方，能够保证脐带缆与限位块（24）之间不会产生卡死的现象；
    （A2）、当脐带缆进行回收时，闭合线圈（32）的电源，当线圈（32）通过电流以后，会在线圈（32）以及定子（3）的周围形成磁场，此时的磁铁（42）在磁场中会受到偏转力，多个磁铁（42）带动绕线辊（4）转动，绕线辊（4）将对脐带缆进行缠绕，并给予脐带缆一个向着绕线辊（4）方向的收缩的力；
    （A3）、在脐带缆被绕线辊（4）回收过程中，脐带缆带动辊轮（26）转动，并使限位块（24）在滑杆（22）上滑动，当限位块（24）外侧的伸缩杆（6）抵在圆盘（2）的侧壁时，伸缩杆（6）将受到一个与限位块（24）运动方向相反的力，此时伸缩杆（6）将带动锥形齿轮（61）向限位块（24）内部运动，锥形齿轮（61）尖锐的一端将从齿轮（262）与传动齿轮（233）连接处的侧面***，并使齿轮（262）与传动齿轮（233）分离，在齿轮（262）与传动齿轮（233）分离时，偏转轴（263）远离齿轮（262）一端的卡扣（264）将在活动槽（241）的内部滑动，此时的弹簧（242）被上力，当齿轮（262）与传动齿轮（233）完全分离以后，锥形齿轮（61）将取代齿轮（262）并与传动齿轮（233）啮合，在弹簧（242）的作用下，齿轮（262）与锥形齿轮（61）以及传动齿轮（233）啮合；
    （A4）、之后限位块（24）将以之前相反的方向在滑杆（22）上滑动，此时的脐带缆将跟随限位块（24）一起运动，并且缠满绕线辊（4），当限位块（24）再次运动到圆盘（2）的侧面时，伸缩杆（6）的另一端再次被施压，并使齿轮（262）和传动齿轮（233）与锥形齿轮（61）脱离，限位块（24）在一侧地改变运动方向，使脐带缆能够缠满绕线辊（4）。
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