Underwater robot hoisting device
By combining the design of the column, rotating arm and traction mechanism, the problem of deployment and recovery difficulties caused by the large size and heavy weight of the underwater robot is solved, and the underwater robot can be conveniently hoisted and operated.
Patent Information
- Application Number
- CN202423197905.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-24
- Publication Date
- 2025-10-31
- Estimated Expiration
- 2034-12-24
AI Technical Summary
Underwater robots are large and heavy due to the addition of more sensors and equipment, making them difficult to deploy and retrieve.
The system uses components such as columns, rotating arms, rotating parts, and traction mechanisms to fix the underwater robot with a traction rope. The rotating arm and traction drive are used to lift and lower the robot. The design of guide wheels and line guides ensures the stable release and retrieval of the rope.
It enables convenient deployment and retrieval of underwater robots, reduces the difficulty of manual operation, and improves operational efficiency.
Smart Images
Figure CN223496042U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of underwater robots, and in particular to an underwater robot hoisting device. Background Technology
[0002] An underwater robot is an intelligent underwater submersible characterized by high technology intensity and strong system integration. The development of underwater robots is a process of continuously adapting to the challenges of complex environments, technological advancements, and changing application needs.
[0003] Currently, as underwater robots continue to adapt to complex environments, and with the increase in application demands and technological advancements, underwater robots need to be equipped with more sensors, robotic arms, sonar, and other devices to meet the needs of complex underwater operations.
[0004] Regarding the technologies mentioned above, underwater robots need to be equipped with more sensors, robotic arms, sonar, and other equipment to meet the complex needs of underwater operations. This results in underwater robots requiring a larger size and greater weight. Furthermore, the distance and height difference between the operating shore and the water surface typically make manual deployment and retrieval of underwater robots difficult. Utility Model Content
[0005] To facilitate the deployment and retrieval of underwater robots, this application provides an underwater robot hoisting device.
[0006] The underwater robot hoisting device provided in this application adopts the following technical solution:
[0007] An underwater robot hoisting device includes:
[0008] Columns;
[0009] A rotating assembly includes a rotating arm and a rotating component. The rotating arm is rotatably connected to the column. One end of the rotating component is mounted on the rotating arm, and the other end abuts against the column, so that the rotating component drives the rotating arm to rotate around the column.
[0010] The traction mechanism includes a mounting frame, a traction roller, a traction drive component, a guide wheel, and a traction rope. The mounting frame is mounted on the rotating arm. The traction roller is rotatably connected to the mounting frame. The traction drive component is mounted on one side of the traction roller and is used to drive the traction roller to rotate. The guide wheel is mounted on the rotating arm. One end of the traction rope is wound around the traction roller, and the other end is wound around the guide wheel.
[0011] By adopting the above technical solution, the underwater robot is fixed by a traction rope. Then, the traction drive component is driven to control the traction roller to wind up the traction rope. Under the guidance of the guide wheel, the traction rope is wound up on the traction roller. After the underwater robot rises, the rotating component drives the rotating arm to rotate, so that the underwater robot moves to the water surface. Then, the traction drive component is driven to control the traction roller to unwind the traction rope, so that the underwater robot enters the water to work.
[0012] By utilizing the cooperation of columns, rotating arms, rotating parts, mounting frames, traction rollers, traction drive components, guide wheels, and traction ropes, the underwater robot can be lifted and lowered, thus facilitating its deployment and retrieval.
[0013] Optionally, the rotating component includes a rotating motor, a driving wheel, and a fixed wheel. The rotating motor is fixedly connected to the rotating arm, the driving wheel is coaxially fixedly connected to the rotating motor, and the fixed wheel is coaxially fixedly connected to the column, with the driving wheel and the fixed wheel abutting against each other.
[0014] By adopting the above technical solution, when it is necessary to rotate the rotating arm, the drive wheel is driven to rotate by a rotating motor. Since the drive wheel abuts against the fixed wheel, the drive wheel rotates around the axis of the fixed wheel due to friction between the drive wheel and the fixed wheel, thereby driving the rotating arm to rotate around the axis of the fixed wheel.
[0015] Optionally, the rotating component further includes a driven wheel, which is rotatably connected to the rotating arm, and the driven wheel and the driving wheel are symmetrically arranged about the axis of the column.
[0016] By adopting the above technical solution, the driven wheel and the driving wheel are abutted against the two sides of the fixed wheel, making the rotating arm more stable when rotating.
[0017] Optionally, the rotating arm includes a boom and a counterweight arm, the boom and the counterweight arm being located on both sides of the column, and the mounting bracket being mounted on the counterweight arm.
[0018] By adopting the above technical solution, the boom and counterweight are installed on both sides of the column, so that the mounting frame can balance the weight of the underwater robot being lifted by the boom.
[0019] Optionally, a lifting trolley is slidably connected to the boom, the bottom of the lifting trolley is rotatably connected to the guide wheel, and the traction rope is wound around the guide wheel.
[0020] By adopting the above technical solution, the lifting trolley allows the lifting position of the traction rope to move on the boom, making it easier to deploy and retrieve the underwater robot.
[0021] Optionally, the hoisting trolley includes a sliding frame, a sliding motor, a transmission gear, a sliding gear, and a sliding wheel. The sliding frame is slidably connected to the boom, the guide wheel is rotatably connected to the sliding frame, the sliding motor is mounted on the sliding frame, the transmission gear is coaxially and fixedly connected to the output shaft of the sliding motor, the sliding gear is rotatably connected to the sliding frame and meshes with the transmission gear, and the sliding wheel is coaxially and fixedly connected to the sliding gear and abuts against the sliding frame.
[0022] By adopting the above technical solution, when it is necessary to adjust the position of the sliding frame, the sliding motor drives the transmission gear to rotate, the transmission gear rotates to adjust the sliding gear, the sliding gear rotates to drive the sliding wheel to roll on the boom, and the friction between the sliding wheel and the boom drives the sliding frame to move on the boom, thereby driving the hoisting trolley to adjust the distance between it and the column.
[0023] Optionally, a guide member is installed on the mounting frame, and the traction rope is threaded through the guide member. The guide member is used to evenly wind the traction rope around the traction roller.
[0024] By adopting the above technical solution, the installation of the guide piece makes it easier to neatly store the traction rope.
[0025] Optionally, the guiding component includes a fixed rod, a rotating rod, a guiding block, and a guiding motor. The fixed rod and the rotating rod are arranged in parallel, and the fixed rod is parallel to the axis of the traction roller. The fixed rod is fixedly connected to the mounting frame, and the rotating rod is rotatably connected to the mounting frame. The rotating rod is a reciprocating lead screw. One end of the guiding block is slidably connected to the fixed rod, and the other end is threadedly connected to the rotating rod. The traction rope is threaded through the guiding block. The guiding motor is fixedly connected to the mounting frame, and the output shaft of the guiding motor is coaxially fixedly connected to the rotating rod.
[0026] By adopting the above technical solution, when the traction rope is being stored, the traction motor drives the rotating rod to rotate, and the rotation of the rotating rod causes the traction block to reciprocate along the length of the fixed rod, thereby evenly storing the traction rope.
[0027] Optionally, four rolling rollers are rotatably connected to the traction block, and the four rolling rollers are arranged around the traction rope on the traction roller.
[0028] By adopting the above technical solution, the setting of the rolling roller makes the traction rope pass through the guide block more smoothly.
[0029] Optionally, multiple guide wheels are provided along the length of the rotating arm. Each guide wheel includes a main wheel and an auxiliary wheel. Both the main wheel and the auxiliary wheel have grooves, and the main wheel and the auxiliary wheel are tangent to each other. The grooves allow the traction rope to pass through.
[0030] By adopting the above technical solution, the main wheel and auxiliary wheel are configured to clamp the traction rope, preventing the traction rope from detaching from the guide wheel's track.
[0031] In summary, this application includes at least one of the following beneficial technical effects:
[0032] The underwater robot is lifted and lowered by the cooperation of the column, rotating arm, rotating parts, mounting frame, traction roller, traction drive, guide wheel and traction rope, so as to facilitate the deployment and recovery of the underwater robot.
[0033] Through the cooperation of the column, rotating arm, rotating motor, driving wheel and fixed wheel, the rotating motor drives the driving wheel to rotate around the axis of the fixed wheel under the friction between the driving wheel and the fixed wheel, thereby driving the rotating arm to rotate;
[0034] By coordinating the boom, sliding frame, sliding motor, transmission gear, sliding gear, and sliding wheel, the friction between the sliding wheel and the boom drives the sliding frame to move on the boom, thereby achieving the effect of driving the lifting trolley to adjust the distance between itself and the column. Attached Figure Description
[0035] Figure 1 This is a schematic diagram of the structure of an underwater robot hoisting device according to an embodiment of this application.
[0036] Figure 2 yes Figure 1 Enlarged view of point A in the middle.
[0037] Figure 3 This is a schematic diagram of the structure of the hoisting gantry in the embodiments of this application.
[0038] Figure 4 This is a schematic diagram of the traction mechanism in the embodiments of this application.
[0039] Explanation of reference numerals in the attached figures:
[0040] 1. Column; 2. Rotating assembly; 21. Rotating arm; 211. Boom; 212. Counterweight arm; 22. Rotating component; 221. Rotating motor; 222. Driving wheel; 223. Fixed wheel; 224. Driven wheel; 3. Traction mechanism; 31. Mounting frame; 32. Traction roller; 33. Traction drive component; 34. Guide wheel; 341. Main wheel; 342. Auxiliary wheel; 35. Traction rope; 4. Lifting trolley; 41. Sliding frame; 42. Sliding motor; 43. Transmission gear; 44. Sliding gear; 45. Sliding wheel; 5. Line guiding component; 51. Fixed rod; 52. Rotating rod; 53. Line guiding block; 54. Line guiding motor; 6. Rolling roller. Detailed Implementation
[0041] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.
[0042] This application discloses an underwater robot hoisting device.
[0043] Reference Figure 1 An underwater robot hoisting device includes a column 1, a rotating assembly 2, and a traction mechanism 3. The rotating assembly 2 includes a rotating arm 21 and a rotating component 22. The rotating arm 21 is rotatably connected to the column 1. One end of the rotating component 22 is mounted on the rotating arm 21, and the other end abuts against the column 1. The traction mechanism 3 includes a mounting frame 31, a traction roller 32, a traction drive component 33, a guide wheel 34, and a traction rope 35. The mounting frame 31 is mounted on the rotating arm 21. The traction roller 32 is rotatably connected to the mounting frame 31. The traction drive component 33 is mounted on one side of the traction roller 32 and is used to drive the traction roller 32 to rotate. The guide wheel 34 is mounted on the rotating arm 21. One end of the traction rope 35 is wound around the traction roller 32, and the other end is wound around the guide wheel 34. The underwater robot is secured using a traction rope 35, and then the traction drive unit 33 controls the traction roller 32 to wind and unwind the traction rope 35, thereby lifting and lowering the underwater robot, which facilitates its deployment and retrieval.
[0044] Reference Figure 2 The rotating component 22 includes a rotating motor 221, a drive wheel 222, and a fixed wheel 223. The rotating motor 221 is fixedly connected to the rotating arm 21, and the drive wheel 222 is coaxially fixedly connected to the rotating motor 221. In this embodiment, there are two drive wheels 222, which are located on the same side of the column 1. The fixed wheel 223 is coaxially fixedly connected to the column 1, and both drive wheels 222 abut against the fixed wheel 223. The arrangement of two drive wheels 222 makes the contact area between the drive wheel 222 and the fixed wheel 223 larger, thereby making the transmission between the drive wheel 222 and the fixed wheel 223 more stable.
[0045] When it is necessary to rotate the rotating arm 21, the rotating motor 221 drives the drive wheel 222 to rotate. Since the drive wheel 222 abuts against the fixed wheel 223, the drive wheel 222 rotates around the axis of the fixed wheel 223 due to friction between the drive wheel 222 and the fixed wheel 223, thereby driving the rotating arm 21 to rotate around the axis of the fixed wheel 223.
[0046] The rotating component 22 also includes driven wheels 224, and two driven wheels 224 are provided. The two driven wheels 224 are rotatably connected to the rotating arm 21, and the driven wheels 224 and the driving wheel 222 are symmetrically arranged about the axis of the column 1. By having the driven wheels 224 and the driving wheel 222 abut against the two sides of the fixed wheel 223, the rotating arm 21 is more stable when rotating.
[0047] Reference Figure 1 The rotating arm 21 includes a boom 211 and a counterweight arm 212, which are located on both sides of the column 1. A lifting trolley 4 is slidably connected to the boom 211, and a mounting frame 31 is mounted on the counterweight arm 212. By mounting the boom 211 and the counterweight arm 212 on both sides of the column 1, the mounting frame 31 and the lifting trolley 4 can be balanced against each other, reducing the tilt of the center of gravity towards the boom 211, thus facilitating the lifting of the underwater robot by the boom 211.
[0048] Reference Figure 3 The bottom of the lifting trolley 4 is rotatably connected to the guide wheel 34, and the traction rope 35 is wound around the guide wheel 34. The setting of the lifting trolley 4 allows the lifting position of the traction rope 35 to move on the boom 211, which makes it easier to deploy and retrieve the underwater robot.
[0049] The hoisting trolley 4 includes a sliding frame 41, a sliding motor 42, a transmission gear 43, a sliding gear 44, and a sliding wheel 45. The sliding frame 41 is slidably connected to the boom 211, and the guide wheel 34 is rotatably connected to the sliding frame 41. The sliding motor 42 is mounted on the sliding frame 41. The transmission gear 43 is coaxially and fixedly connected to the output shaft of the sliding motor 42. The sliding gear 44 is rotatably connected to the sliding frame 41, and the transmission gear 43 meshes with the sliding gear 44. The sliding wheel 45 is coaxially and fixedly connected to the sliding gear 44, and the sliding wheel 45 abuts against the sliding frame 41.
[0050] When the position of the sliding frame 41 needs to be adjusted, the sliding motor 42 drives the transmission gear 43 to rotate. The rotation of the transmission gear 43 causes the sliding gear 44 to rotate. The rotation of the sliding gear 44 drives the sliding wheel 45 to roll on the boom 211. The friction between the sliding wheel 45 and the boom 211 drives the sliding frame 41 to move on the boom 211, thereby driving the hoisting trolley 4 to adjust the distance between itself and the column 1.
[0051] Multiple guide wheels 34 are provided along the length of the rotating arm 21. The arrangement of multiple guide wheels 34 allows the traction rope 35 to be smoothly wound and unwound according to the positions of the guide wheels 34.
[0052] Each guide wheel 34 includes a main wheel 341 and an auxiliary wheel 342. Both the main wheel 341 and the auxiliary wheel 342 have grooves, and the main wheel 341 and the auxiliary wheel 342 are tangent to each other. The grooves allow the traction rope 35 to pass through, that is, the grooves on the main wheel 341 and the auxiliary wheel 342 clamp the traction rope 35. The arrangement of the main wheel 341 and the auxiliary wheel 342 clamps the traction rope 35, preventing the traction rope 35 from leaving the track of the guide wheel 34.
[0053] Reference Figure 4 A guide wire 5 is mounted on the mounting frame 31. In this embodiment, the guide wire 5 includes a fixed rod 51, a rotating rod 52, a guide wire block 53, and a guide wire motor 54. The fixed rod 51 and the rotating rod 52 are arranged in parallel, and the fixed rod 51 is parallel to the axis of the traction roller 32. The fixed rod 51 is fixedly connected to the mounting frame 31, and the rotating rod 52 is rotatably connected to the mounting frame 31. The rotating rod 52 is a reciprocating lead screw. One end of the guide wire block 53 is slidably connected to the fixed rod 51, and the other end is threadedly connected to the rotating rod 52. The traction rope 35 is threaded through the guide wire block 53. The guide wire motor 54 is fixedly connected to the mounting frame 31, and the output shaft of the guide wire motor 54 is coaxially fixedly connected to the rotating rod 52. By threading the traction rope 35 through the guide wire 5, the guide wire 5 facilitates the even winding of the traction rope 35 around the traction roller 32.
[0054] When the traction rope 35 is being retracted, the traction motor 54 drives the rotating rod 52 to rotate. The rotation of the rotating rod 52 causes the traction block 53 to reciprocate along the length of the fixed rod 51, thereby evenly retracting the traction rope 35.
[0055] In an optional embodiment, four rolling rollers 6 are rotatably connected to the line-strapping block 53. The four rolling rollers 6 are divided into upper and lower sides, and the axes of the upper and lower rolling rollers 6 are perpendicular to each other. The four rolling rollers 6 are arranged around the traction rope 35, that is, the traction rope 35 is located between the two upper rolling rollers 6 and between the two lower rolling rollers 6. The arrangement of the four rolling rollers 6 makes it easier for the traction rope 35 to pass through the line-strapping block 53.
[0056] The implementation principle of the underwater robot hoisting device in this application embodiment is as follows: the underwater robot is fixed by the traction rope 35, and then the traction drive 33 is driven to control the traction roller 32 to wind up. The traction rope 35 is wound onto the traction roller 32 under the guidance of the guide wheel 34, thereby stretching the underwater robot. After it rises, the rotating motor 221 drives the drive wheel 222 to rotate. The drive wheel 222 rotates around the axis of the fixed wheel 223 under the friction between the drive wheel 222 and the fixed wheel 223, controlling the rotation of the rotating arm, so that the underwater robot moves to the water surface. Then, the traction drive 33 is driven to control the traction roller 32 to unwind the traction rope 35, so that the underwater robot enters the water to work.
[0057] The underwater robot is lifted and lowered using a tow rope 35, which facilitates its deployment and retrieval.
[0058] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.
Claims
1. An underwater robot hoisting device, characterized in that, include: Column (1); The rotating assembly (2) includes a rotating arm (21) and a rotating component (22). The rotating arm (21) is rotatably connected to the column (1). One end of the rotating component (22) is mounted on the rotating arm (21), and the other end abuts against the column (1), so that the rotating component (22) drives the rotating arm (21) to rotate around the column (1). The traction mechanism (3) includes a mounting frame (31), a traction roller (32), a traction drive (33), a guide wheel (34), and a traction rope (35). The mounting frame (31) is mounted on the rotating arm (21). The traction roller (32) is rotatably connected to the mounting frame (31). The traction drive (33) is mounted on one side of the traction roller (32) and is used to drive the traction roller (32) to rotate. The guide wheel (34) is mounted on the rotating arm (21). One end of the traction rope (35) is wound around the traction roller (32), and the other end is wound around the guide wheel (34).
2. The underwater robot hoisting device according to claim 1, characterized in that: The rotating component (22) includes a rotating motor (221), a drive wheel (222), and a fixed wheel (223). The rotating motor (221) is fixedly connected to the rotating arm (21), the drive wheel (222) is coaxially fixedly connected to the rotating motor (221), and the fixed wheel (223) is coaxially fixedly connected to the column (1). The drive wheel (222) and the fixed wheel (223) abut against each other.
3. The underwater robot hoisting device according to claim 2, characterized in that: The rotating component (22) also includes a driven wheel (224), which is rotatably connected to the rotating arm (21), and the driven wheel (224) and the driving wheel (222) are symmetrically arranged about the axis of the column (1).
4. The underwater robot hoisting device according to claim 1, characterized in that: The rotating arm (21) includes a boom (211) and a counterweight arm (212), which are located on both sides of the column (1), and the mounting bracket (31) is mounted on the counterweight arm (212).
5. The underwater robot hoisting device according to claim 4, characterized in that: A lifting trolley (4) is slidably connected to the boom (211), the bottom of the lifting trolley (4) is rotatably connected to the guide wheel (34), and the traction rope (35) is wound around the guide wheel (34).
6. The underwater robot hoisting device according to claim 5, characterized in that: The hoisting trolley (4) includes a sliding frame (41), a sliding motor (42), a transmission gear (43), a sliding gear (44), and a sliding wheel (45). The sliding frame (41) is slidably connected to the boom (211), and the guide wheel (34) is rotatably connected to the sliding frame (41). The sliding motor (42) is mounted on the sliding frame (41). The transmission gear (43) is coaxially fixedly connected to the output shaft of the sliding motor (42). The sliding gear (44) is rotatably connected to the sliding frame (41), and the transmission gear (43) meshes with the sliding gear (44). The sliding wheel (45) is coaxially fixedly connected to the sliding gear (44), and the sliding wheel (45) abuts against the sliding frame (41).
7. The underwater robot hoisting device according to claim 1, characterized in that: A guide member (5) is installed on the mounting frame (31), and the traction rope (35) is threaded through the guide member (5). The guide member (5) is used to evenly wind the traction rope (35) around the traction roller (32).
8. The underwater robot hoisting device according to claim 7, characterized in that: The traction component (5) includes a fixed rod (51), a rotating rod (52), a traction block (53), and a traction motor (54). The fixed rod (51) and the rotating rod (52) are arranged in parallel, and the fixed rod (51) is parallel to the axis of the traction roller (32). The fixed rod (51) is fixedly connected to the mounting frame (31), and the rotating rod (52) is rotatably connected to the mounting frame (31). The rotating rod (52) is a reciprocating screw. One end of the traction block (53) is slidably connected to the fixed rod (51), and the other end is threadedly connected to the rotating rod (52). The traction rope (35) is threaded through the traction block (53). The traction motor (54) is fixedly connected to the mounting frame (31), and the output shaft of the traction motor (54) is coaxially fixedly connected to the rotating rod (52).
9. The underwater robot hoisting device according to claim 8, characterized in that: Four rollers (6) are rotatably connected to the guide block (53), and the four rollers (6) are arranged around the traction rope (35).
10. The underwater robot hoisting device according to claim 1, characterized in that: Multiple guide wheels (34) are provided along the length of the rotating arm (21). Each guide wheel (34) includes a main wheel (341) and an auxiliary wheel (342). The main wheel (341) and the auxiliary wheel (342) are provided with grooves, and the main wheel (341) and the auxiliary wheel (342) are tangent to each other. The grooves are for the traction rope (35) to pass through.