A compact towline mechanism for an underwater robot

Abstract

The application discloses a compact towline mechanism for an underwater robot, which comprises a mounting seat, a tail vertebra cover arranged on one side of the mounting seat, a back-off ring arranged on the other side of the mounting seat, and a back-off ring arranged on one side of the mounting seat, wherein the left and right ends of the back-off ring are threadedly connected with lifting rings, the bottom of the back-off ring is fixedly provided with a heavy lifting plate, the heavy lifting plate is threadedly connected with counterweights, and one side of the back-off ring is provided with a tail cone cap.

Description

Technical Field

[0001] This invention relates to the field of marine unmanned self-made underwater robot technology, and in particular to a compact towing cable mechanism for underwater robots. Background Technology

[0002] Unmanned self-made underwater robots are a field that has developed rapidly in recent years, with various new types of unmanned self-made underwater robots being developed and launched.

[0003] During the research and development and water testing of underwater robots, a tail cable needs to be towed at the tail to ensure safety. The common method of towing the cable is to install a protective cover or conduit around the tail propeller to secure the cable. However, in actual applications, due to the suction effect of the propeller on the surrounding water flow, the cable is very prone to entanglement when it passes around the propeller blades, which can damage the propulsion motor and sealing devices. Summary of the Invention

[0004] The purpose of this invention is to provide a compact towing cable mechanism for underwater robots, which has a simple structure, small axial dimensions, and high reliability.

[0005] To achieve the above objectives, the present invention provides a compact towing cable mechanism for an underwater robot, comprising a mounting base, a tail cone cap disposed on one side of the mounting base, and a torsion release ring disposed on the other side of the mounting base. The left and right ends of the torsion release ring are threadedly connected to lifting rings, a lifting plate is fixedly disposed at the bottom of the torsion release ring, a counterweight is threadedly connected to the lifting plate, and a tail cone cap is disposed on one side of the torsion release ring.

[0006] Preferably, the torsion ring, the tail cone cap, and the tail cone cap are all coaxial with the mounting base.

[0007] Preferably, both sides of the untwisting ring are provided with raceways, and ceramic beads are installed in the raceways.

[0008] Preferably, the mounting base is provided with a first bearing seat and a second bearing seat, the first bearing seat is connected to the torsion ring, the second bearing seat is connected to the tail cone cover, the tail cone cover is connected to a propeller hub, and the propeller hub is provided with propeller blades.

[0009] Preferably, the size of the second bearing housing is smaller than the size of the first bearing housing, and both the first bearing housing and the second bearing housing are coaxial with the mounting base.

[0010] Preferably, the first bearing housing has first limiting holes evenly distributed on it, and a first threaded hole is provided at the gap between the first limiting holes.

[0011] Preferably, the untorsion ring has a mounting hole with the same diameter as the first bearing housing, and the first bearing housing passes through the mounting hole.

[0012] Preferably, the tail cone cap is provided with a second limiting hole and a second threaded hole, the second threaded hole being in the same position and having the same diameter as the first threaded hole.

[0013] Preferably, the coccyx cover is provided with a third limiting hole and a third threaded hole, the third threaded hole being the same in position and diameter as the first threaded hole, and the third limiting hole being the same in position and diameter as the first limiting hole.

[0014] Therefore, the present invention provides a compact towing cable mechanism for underwater robots with the above-described structure, which has a simple structure, small axial dimension, and high reliability.

[0015] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of an embodiment of a compact towing cable mechanism for an underwater robot according to the present invention;

[0017] Figure 2 This is a rear view of the mounting base of an embodiment of a compact towing cable mechanism for an underwater robot according to the present invention;

[0018] Figure 3 This is a schematic diagram of the mounting base of a compact towing cable mechanism embodiment for an underwater robot according to the present invention;

[0019] Figure 4 This is a schematic diagram of the structure of a towing ring in an embodiment of a compact towing cable mechanism for an underwater robot according to the present invention;

[0020] Figure 5 This is a schematic diagram of the tail cone cover of an embodiment of a compact towing cable mechanism for an underwater robot according to the present invention;

[0021] Figure 6 This is a schematic diagram of the tail cone cap, an embodiment of a compact towing cable mechanism for an underwater robot according to the present invention.

[0022] Figure Labels

[0023] 1. Mounting base; 2. Torsion ring; 3. Lifting ring; 4. Lifting plate; 5. Tail cone cap; 6. Counterweight; 7. Raceway; 8. Ceramic ball; 9. First bearing housing; 10. Second bearing housing; 11. First limiting hole; 12. First threaded hole; 13. Mounting hole; 14. Second threaded hole; 15. Second limiting hole; 16. Tail cone cap; 17. Third limiting hole; 18. Third threaded hole. Detailed Implementation

[0024] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0026] Example

[0027] The present invention provides a compact towing cable mechanism for an underwater robot, including a mounting base 1, a tail cone cap 16 disposed on one side of the mounting base 1 and a torsion ring 2 disposed on the other side of the mounting base 1. A tail cone cap 5 is disposed on one side of the torsion ring 2. The torsion ring 2, the tail cone cap 16 and the tail cone cap 5 are all coaxial with the mounting base 1.

[0028] Mounting base 1 is provided with a first bearing seat 9 and a second bearing seat 10. The first bearing seat 9 is connected to a torsion ring 2. The torsion ring 2 has a mounting hole 13 with the same diameter as the first bearing seat 9. The first bearing seat 9 passes through the mounting hole 13, and the first bearing seat 9 and the mounting hole 13 cooperate with each other to connect mounting base 1 and torsion ring 2 together. The second bearing seat 10 is connected to a tail cone cover 16. A propeller hub is connected to the tail cone cover 16, and a propeller blade is provided on the propeller hub. Mounting base 1 is connected to the hub through the second bearing seat 10. The size of the second bearing seat 10 is smaller than that of the first bearing seat 9. The first bearing seat 9 and the second bearing seat 10 are coaxial with mounting base 1, which allows the first bearing seat 9 and the second bearing seat 10 to cooperate more tightly with other structures. The first bearing housing 9 has a first limiting hole 11 evenly distributed on it. A first threaded hole 12 is provided at the gap between the first limiting holes 11. The tail cone cap 5 is provided with a second limiting hole 15 and a second threaded hole 14. The second threaded hole 14 is the same as the first threaded hole 12 in terms of position and diameter. The tail cone cover 16 is provided with a third limiting hole 17 and a third threaded hole 18. The third threaded hole 18 is the same as the first threaded hole 12 in terms of position and diameter. The third limiting hole 17 is the same as the first limiting hole 11 in terms of position and diameter. During installation, the first bearing housing 9 passes through the mounting hole 13 on the torsion ring 2. At this time, the first limiting hole 11 and the first threaded hole 12 on the surface of the first bearing housing 9 are exposed. Then, the tail cone cap 5 is installed. Since the second threaded hole 14 on the tail cone cap 5 has the same diameter as the first threaded hole 12 on the first bearing housing 9, the second threaded hole 14 corresponds to the first threaded hole 12. Since the third threaded hole 18 on the tail cone cover 16 has the same diameter as the first threaded hole 12 on the first bearing housing 9, the third threaded hole 18 corresponds to the first threaded hole 12 on the first bearing housing 9. The third limiting hole 17 corresponds to the first limiting hole 11. By using an internal hexagon screw to pass through the second threaded hole 14 and the first threaded hole 12, the tail cone cap 5 and the torsion ring 2 are sequentially coaxially fixed on the mounting base 1. The mounting base 1 is then connected to the tail cone cover 16, and the tail cone cover 16 is connected to the propeller hub.

[0029] The torsion ring 2 has lifting rings 3 threadedly connected to both ends. A lifting plate 4 is fixedly installed at the bottom of the torsion ring 3, and a counterweight 6 is threadedly connected to the lifting plate 4. The counterweight 6 can be reinstalled according to the actual weight required. Both sides of the torsion ring 2 are provided with raceways 7, which correspond to the raceways at the bottom of the mounting base 1 and the tail cone 5, respectively. Ceramic balls 8 are installed in the raceways 7. After being assembled with screws, they form a thrust bearing structure. The lifting rings 3 can transfer the traction force of the cable to the ceramic balls 8 in the raceways 7, and then to the mounting base 1 and the hub.

[0030] When in use, the rotation of the rotor hub drives the rotor blades to rotate. Since the counterweight 6 and the un-twist ring 2 are suspended by two sets of ceramic beads 8, under the action of gravity, the counterweight 6 and the un-twist ring 2 will not rotate with the rotor blades and rotor hub, thus completing the cable un-twist function, and there will be no curling during traction.

[0031] Therefore, the present invention provides a compact towing cable mechanism for underwater robots with the above-described structure, which has a simple structure, small axial dimension, and high reliability.

Claims

1. A compact towing cable mechanism for an underwater robot, characterized in that: The device includes a mounting base, a tail cone cover disposed on one side of the mounting base, and a torsion-reducing ring and a tail cone cap disposed on the other side of the mounting base. The torsion-reducing ring, the tail cone cover, and the tail cone cap are all coaxial with the mounting base. The left and right ends of the torsion-reducing ring are threaded with lifting rings, and a lifting plate is fixedly disposed at the bottom of the torsion-reducing ring. A counterweight is threadedly connected to the lifting plate, and a tail cone cap is disposed on one side of the torsion-reducing ring. Both sides of the untorsion ring are provided with raceways, which correspond to the raceways at the bottom of the mounting base and the tail cone cap, respectively. Ceramic beads are installed in the raceways, and after assembly, they will form the structure of a thrust bearing. The mounting base is provided with a first bearing seat and a second bearing seat. The first bearing seat has a first limiting hole evenly distributed on it, and a first threaded hole is provided at the gap between the first limiting holes. The tail cone cap is provided with a second limiting hole and a second threaded hole. The second threaded hole and the first threaded hole are the same in position and diameter. The tail cone cover is provided with a third limiting hole and a third threaded hole. The third threaded hole and the first threaded hole are the same in position and diameter. The third limiting hole and the first limiting hole are the same in position and diameter. The tail cone cap and the torsion ring are sequentially and coaxially fixed to the mounting base by passing through the second threaded hole and the first threaded hole, and the mounting base is connected to the tail cone cover.

2. A compact towing cable mechanism for an underwater robot according to claim 1, characterized in that: The first bearing housing is connected to the torsion ring, the second bearing housing is connected to the tail cone cover, the tail cone cover is connected to the propeller hub, and the propeller hub is provided with propeller blades.

3. A compact towing cable mechanism for an underwater robot according to claim 2, characterized in that: The second bearing housing is smaller than the first bearing housing, and both the first and second bearing housings are coaxial with the mounting base.

4. A compact towing cable mechanism for an underwater robot according to claim 3, characterized in that: The untorsion ring has a mounting hole with the same diameter as the first bearing housing, and the first bearing housing passes through the mounting hole.

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