Internal skeleton structure of robot control cabin

Abstract

The invention discloses an internal skeleton structure of a robot control cabin. The power module framework comprises a first transverse framework, a second transverse framework and power module framework connecting plates, the first transverse framework and the second transverse framework are arranged in parallel, the power module framework connecting plates are spliced between the first transverse framework and the second transverse framework, and the power module framework connecting plates comprise a first longitudinal connecting plate, a second longitudinal connecting plate, a motor driving module plate and a power module plate. The control module framework comprises a third transverse framework, a fourth transverse framework and a control module framework connecting plate, wherein the third transverse framework and the fourth transverse framework are arranged in parallel, and the control module framework connecting plate is spliced between the third transverse framework and the fourth transverse framework. The control module framework connecting plate comprises a third longitudinal connecting plate, a second longitudinal connecting plate and two motor driving module plates. The invention has the advantages that the modules are connected with the control cabin wall through the arc-shaped bulges on the connecting plates, and water cooling is utilized for heat dissipation; the internal framework of the whole control cabinet can be pulled out of the control cabinet only by unscrewing the screws, so that maintenance and component disassembly and assembly are facilitated; modules on the connecting plate can be replaced, the application scenes are multiple, and the range is wide.

Description

Technical Field

[0001] The invention relates to an underwater robot, in particular to an internal skeleton structure of a robot control cabin. Background Art

[0002] An underwater robot is a robot system that can perform various tasks in an underwater environment. It is very suitable for marine search, investigation, identification and salvage operations. Compared with manned submersibles, it has the advantages of safety (unmanned), simple structure, light weight, small size and low cost. With the increasing demand for robot operation functions, more and more modules are installed in its control cabin. Therefore, it is necessary to design a more reasonable internal skeleton structure of the robot control cabin so that the control cabin can maintain a small size while its internal components meet the requirements of heat dissipation, positioning, electromagnetic shielding, etc. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an internal skeleton structure of a robot control cabin which is simple in structure, compact, low in cost, safe and reliable.

[0004] In order to solve the above technical problems, the internal skeleton structure of the robot control cabin of the present invention includes a power module skeleton and a control module skeleton connected to each other, the power module skeleton includes a parallel transverse skeleton one, a transverse skeleton two and a power module skeleton connecting plate spliced ​​therebetween, the power module skeleton connecting plate includes a longitudinal connecting plate one, a longitudinal connecting plate two, a motor drive module plate and a power module plate, the control module skeleton includes a parallel transverse skeleton three, a transverse skeleton four and a control module skeleton connecting plate spliced ​​therebetween, the control module skeleton connecting plate includes a longitudinal connecting plate three, a longitudinal connecting plate two and two motor drive module plates.

[0005] Each frame connecting plate is a rectangular plate, each transverse frame is a circular plate with a through hole in the middle, and a groove matching the cross-sectional shape of each frame connecting plate is opened on the circumference of the circular plate, so that the outer surfaces of each frame connecting plate and each transverse frame match after splicing.

[0006] The outer sides of the motor drive module board and the power module board are designed with arc-shaped protrusions with the same diameter as each transverse frame.

[0007] A partition is arranged between the power module skeleton and the control module skeleton. The partition is a circular plate with the same diameter as each transverse skeleton and a circular hole in the center. Grooves are respectively opened on the outer sides of transverse skeleton one and transverse skeleton four, and connecting strip one and connecting strip two are installed in the grooves. Studs are used to pass through connecting strip one, the central circular hole of the partition and connecting strip two, and anti-loosening nuts are installed at both ends of the studs to connect and fix the power module skeleton and the control module skeleton.

[0008] The partition is provided with a plurality of power module positioning holes and control module positioning holes, the second transverse frame is provided with protrusions matching the power module positioning holes, and the third transverse frame is provided with protrusions matching the control module positioning holes.

[0009] After each frame connecting plate and each transverse frame are spliced, screws are used to fix them from the outside to the inside, and the transverse frame one and the transverse frame four are installed with screws from the inside to the outside.

[0010] The core control board is installed on the longitudinal connecting board one, the inertial navigation module is installed on the longitudinal connecting board two, the step-down module is installed on the longitudinal connecting board three, the motor driving module is installed on the motor driving module board, and the power module is installed on the power module board.

[0011] An electromagnetic shielding protective cover is installed on the power module.

[0012] The material of each transverse frame is plastic.

[0013] The motor drive module board and the power module board are made of aluminum alloy.

[0014] The advantages of the present invention are: the power module skeleton and the control module skeleton are integrated into one, with a simple and compact structure; the module is connected to the control cabin wall through the arc-shaped protrusion on the connecting plate, and water cooling is used for heat dissipation, with good heat dissipation effect; the entire internal skeleton of the control cabin can be pulled out from the control cabin by simply loosening the screws from the inside to the outside, which is convenient for maintenance and disassembly and assembly of components; the module on the connecting plate can be replaced according to specific functional requirements, and it is applicable to many scenarios and a wide range. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A perspective view of the present invention; Figure 2 It is a front view of the present invention; Figure 3 It is the AA cross-sectional view of the present invention; Figure 4 A top view of the present invention; Figure 5 It is the BB cross-sectional view of the present invention; Figure 6 It is a left side view of the present invention; Figure 7 Schematic diagram of the separator of the present invention. DETAILED DESCRIPTION

[0016] The internal skeleton structure of the robot control cabin of the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0017] As shown in the figure, the internal skeleton structure of the robot control cabin of the present invention includes a power module skeleton 1 and a control module skeleton 2 that are connected to each other. The power module skeleton 1 includes a parallel transverse skeleton 1 3, a transverse skeleton 1 4 and a power module skeleton connecting plate spliced ​​therebetween. The power module skeleton connecting plate includes a longitudinal connecting plate 1 5, a longitudinal connecting plate 2 6, a motor drive module board 7 and a power module board 8. The control module skeleton 2 includes a parallel transverse skeleton 3 9, a transverse skeleton 4 10 and a control module skeleton connecting plate spliced ​​therebetween. The control module skeleton connecting plate includes a longitudinal connecting plate 3 11, a longitudinal connecting plate 4 12 and two motor drive module boards 7.

[0018] Each frame connection plate is a rectangular plate, each transverse frame is a circular plate with a diameter slightly smaller than the inner diameter of the control cabin and a through hole in the middle, the through hole is used to install cables, and a groove matching the cross-sectional shape of each frame connection plate is opened on the circumference of the circular plate, so that the outer surfaces of each frame connection plate and each transverse frame match after splicing. After splicing, each frame connection plate and each transverse frame are fixed from the outside to the inside with screws, and transverse frame 1 3 and transverse frame 4 10 are installed with screws from the inside to the outside to realize the positioning of the frame in the control cabin cylinder.

[0019] The core control board is installed on the longitudinal connecting plate 1 5, the inertial navigation module or other control modules are installed on the longitudinal connecting plate 2 6, the buck module 20 is installed on the longitudinal connecting plate 3 11, the motor driving module 21 is installed on the motor driving module board 7, and the power module 22 is installed on the power module board 8. An electromagnetic shielding protective cover is installed on the power module 22. Due to the directional requirements of the inertial navigation module, it is necessary to set a groove or a line mark on any longitudinal connecting plate, and the line is extended to the outside of the control cabin during installation, and it is consistent with the robot coordinate system for positioning and installation. Due to the heat dissipation requirements, the outer side of the motor driving module board 7 and the power module board 8 is designed with an arc-shaped protrusion with the same diameter as each transverse skeleton. The arc-shaped protrusion can connect the module to the control cabin wall, so that the heat generated by the motor driving module 21 and the power module 22 during operation is conducted to the control cabin wall through the motor driving module board 7, thereby using water cooling to dissipate heat. The material of each transverse skeleton is plastic. The material of the motor driving module board 7 and the power module board 8 is aluminum alloy.

[0020] A partition 13 is provided between the power module skeleton 1 and the control module skeleton 2. The partition 13 is a circular plate with the same diameter as each transverse skeleton and a circular hole in the center. The partition 13 is provided with a plurality of power module positioning holes 18 and control module positioning holes 19. The transverse skeleton 14 is provided with convex points matching the power module positioning holes 18, and the transverse skeleton 39 is provided with convex points matching the control module positioning holes 19. Through the cooperation of the convex points and the positioning holes, the positioning between the control module skeleton 2 and the power module skeleton 1 can be achieved. The transverse skeleton 13 and the transverse skeleton 4 10 are respectively provided with grooves on the outside, and the connecting strip 14 and the connecting strip 2 15 are installed in the grooves. The stud 16 is used to pass through the connecting strip 14, the central circular hole of the partition 13 and the connecting strip 2 15, and the anti-loosening nuts 17 are installed at both ends of the stud 16 to connect and fix the power module skeleton 1 and the control module skeleton 2.

[0021] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. An internal skeleton structure of a robot control cabin, characterized in that: The invention comprises a power module skeleton (1) and a control module skeleton (2) which are connected to each other. The power module skeleton (1) comprises a transverse skeleton one (3) and a transverse skeleton two (4) which are arranged in parallel, and a power module skeleton connecting plate spliced ​​therebetween. The power module skeleton connecting plate comprises a longitudinal connecting plate one (5), a longitudinal connecting plate two (6), a motor drive module plate (7) and a power module plate (8). The control module skeleton (2) comprises a transverse skeleton three (9) and a transverse skeleton four (10) which are arranged in parallel, and a control module skeleton connecting plate spliced ​​therebetween. The control module skeleton connecting plate comprises a longitudinal connecting plate three (11), a longitudinal connecting plate four (12) and two motor drive module plates (7).

2. The internal skeleton structure of the robot control cabin according to claim 1, characterized in that: Each frame connecting plate is a rectangular plate, each transverse frame is a circular plate with a through hole in the middle, and a groove matching the cross-sectional shape of each frame connecting plate is opened on the circumference of the circular plate, so that the outer surfaces of each frame connecting plate and each transverse frame match after splicing.

3. The internal skeleton structure of the robot control cabin according to claim 2, characterized in that: The outer sides of the motor drive module board (7) and the power module board (8) are designed with arc-shaped protrusions with the same diameter as the transverse frames.

4. The internal skeleton structure of the robot control cabin according to claim 3, characterized in that: A partition (13) for positioning is arranged between the power module skeleton (1) and the control module skeleton (2). The partition (13) is a circular plate with the same diameter as each transverse skeleton and a circular hole in the center. The outer sides of the transverse skeleton one (3) and the transverse skeleton four (10) are respectively provided with grooves, and connecting strip one (14) and connecting strip two (15) are installed in the grooves. A stud (16) is used to pass through the connecting strip one (14), the central circular hole of the partition (13) and the connecting strip two (15), and anti-loosening nuts (17) are installed at both ends of the stud (16) to connect and fix the power module skeleton (1) and the control module skeleton (2).

5. The internal skeleton structure of the robot control cabin according to claim 4, characterized in that: The partition plate (13) is provided with a plurality of power module positioning holes (18) and control module positioning holes (19); the second transverse frame (4) is provided with protrusions matching the power module positioning holes (18); and the third transverse frame (9) is provided with protrusions matching the control module positioning holes (19).

6. The internal skeleton structure of the robot control cabin according to any one of claims 1 to 5, characterized in that: After the frame connection plates and the transverse frames are spliced, they are fixed from the outside to the inside using screws, and the transverse frame one (3) and the transverse frame four (10) are installed with screws from the inside to the outside.

7. The internal skeleton structure of the robot control cabin according to claim 6, characterized in that: The longitudinal connecting plate 1 (5) is mounted with a core control board, the longitudinal connecting plate 2 (6) is mounted with an inertial navigation module, the longitudinal connecting plate 3 (11) is mounted with a step-down module (20), the motor driving module board (7) is mounted with a motor driving module (21), and the power module board (8) is mounted with a power module (22).

8. The internal skeleton structure of the robot control cabin according to claim 7, characterized in that: An electromagnetic shielding protective cover is installed on the power module (22).

9. The internal skeleton structure of the robot control cabin according to claim 8, characterized in that: The material of each transverse frame is plastic.

10. The internal skeleton structure of the robot control cabin according to claim 9, characterized in that: The motor drive module board (7) and the power module board (8) are made of aluminum alloy.

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