Underwater robot with cable winding and unwinding functions

Abstract

The invention provides an underwater robot with a cable take-up and pay-off function, the underwater robot comprises a take-up and pay-off seat and an underwater robot main body, the underwater robot main body is connected with the take-up and pay-off seat through traction cables, the traction cables are fixedly connected to the four corners of the underwater robot main body respectively, and the other ends of the traction cables are wound in the take-up and pay-off seat; the lifting height of the underwater robot body is adjusted and the traction cable is wound and unwound by arranging the winding and unwinding base and utilizing the traction cable, the guide clamping roller also has the traction and pulling functions in the winding and unwinding process of the traction cable, the pulling force borne by the winding roller is reduced, and the pulling force borne by the winding roller is reduced in the cable winding and unwinding process. The power clamping is carried out by utilizing the guide clamping roller, the winding roller is matched to carry out winding and unwinding adjustment, the cable can be automatically wound and unwound, cable accumulation and disordered winding are avoided in the cable winding and unwinding process, and compared with a traditional repeater cable winding and unwinding mode, the cable winding and unwinding mode is more flexible and convenient.

Description

Technical Field

[0001] The present invention belongs to the field of underwater robots, and more specifically, it is an underwater robot with a cable retracting and releasing function. Background Art

[0002] An underwater robot, also known as a remotely operated underwater vehicle (ROV), is a submersible device that uses the instrument and equipment carried by itself to perform manual operations underwater. The ROV is the most widely used underwater robot in the world at present and plays an important role in fields such as ocean engineering and military. Traditional ROVs have many problems such as relatively low operation ability, poor mobility, limited number of video transmission channels and transmission distance, poor human-computer interaction ability and scalability, and cannot meet the requirements of relevant industries or departments such as the ocean and military for ROVs today.

[0003] The ROV mainly consists of three parts: a console on the water surface, a repeater underwater, and a submersible. The console is mainly used to operate the submersible and the repeater, and display information such as video and sensors through a monitor and a human-machine interface; the console and the repeater are mainly connected by a load-bearing cable through a winch, and the repeater and the submersible are connected by a non-load-bearing cable. The load-bearing cable bears the weight of the submersible and the repeater, and the non-load-bearing cable has almost zero buoyancy in water; the repeater lowers the submersible to a certain working water depth through the load-bearing cable, and the submersible detaches from the repeater. By controlling the retracting and releasing of the non-load-bearing cable on the repeater, the submersible has a certain working radius and is not affected by the heavier load-bearing cable at the same time.

[0004] However, in the prior art, due to the influence of the structure of its own device, the length of the cable between the repeater and the submersible is limited to a certain extent, which in turn affects the underwater operation range of the submersible. Moreover, the cable between the two is retracted and released by the method of retracting and releasing the cable on the repeater, and situations such as cable accumulation and entanglement often occur due to increasing the length of the cable, seriously affecting the underwater operation of the submersible.

[0005] In summary, the present invention provides an underwater robot with a cable retracting and releasing function to solve the above problems. Summary of the Invention

[0006] In order to solve the above technical problems, the present invention provides an underwater robot with a cable retracting and releasing function to solve problems such as cable accumulation and entanglement often occurring due to increasing the length of the cable in the prior art, seriously affecting the underwater operation of the submersible, etc.

[0007] An underwater robot with a cable retracting and releasing function, comprising a cable retracting and releasing seat and an underwater robot main body. The underwater robot main body is connected to the cable retracting and releasing seat through a traction cable. The traction cables are respectively fixedly connected to the four corners of the underwater robot main body. The other ends of the traction cables are wound inside the cable retracting and releasing seat. An inner groove for cable retracting and releasing is provided inside the cable retracting and releasing seat. A winding roller is rotatably connected inside the inner groove for cable retracting and releasing. A reinforcing plate is installed inside the inner groove for cable retracting and releasing. The reinforcing plate and the winding roller are respectively arranged on both sides of the inner groove for cable retracting and releasing. A wire distributor is arranged between the reinforcing plate and the winding roller. A guiding pinch roller one and a guiding pinch roller two are rotatably connected to the reinforcing plate. The wire distributor is installed inside the inner groove for cable retracting and releasing. A power shaft is vertically connected to the bottom of the guiding pinch roller two. The power shaft movably penetrates the reinforcing plate. One end of the power shaft penetrating the reinforcing plate is fixedly connected with a worm gear. A driving shaft is arranged on one side of the worm gear. Both ends of the driving shaft are respectively rotatably connected inside the inner groove for cable retracting and releasing. One end of the driving shaft movably penetrates the inner groove for cable retracting and releasing and is fixedly connected with a driven gear. A worm is sleeved on the surface of the driving shaft. A servo motor is installed on one side of the cable retracting and releasing seat. The output shaft of the servo motor is fixedly connected to the winding roller through a coupling. One end of the winding roller penetrates the inner groove for cable retracting and releasing through a gear shaft and is fixedly connected with a driving gear.

[0008] Further, an inner cavity is provided on one side of the cable retracting and releasing seat. The driving gear and the driven gear are respectively movably arranged inside the inner cavity. The driven gear and the driving gear are arranged side by side and mesh with each other. The servo motor is installed on the side of the cable retracting and releasing seat far from the inner cavity.

[0009] Further, the guiding pinch roller one and the guiding pinch roller two are respectively arranged on the top of the reinforcing plate. The guiding pinch roller one is rotatably connected to the reinforcing plate through a rotating shaft. The reinforcing plate and the wire distributor are arranged horizontally in alignment.

[0010] Further, the end of the traction cable far from the underwater robot main body sequentially passes between the guiding pinch roller one and the guiding pinch roller two, contacts the wire distributor, and is wound on the surface of the winding roller.

[0011] Further, the inner groove for cable retracting and releasing is of an open structure. The reinforcing plate is arranged at the top opening of the inner groove for cable retracting and releasing.

[0012] Further, a bearing sleeve is installed on the reinforcing plate. The power shaft passes through the bearing sleeve and is rotatably arranged with the reinforcing plate.

[0013] Further, the worm is arranged along the length direction of the driving shaft. The worm contacts and meshes with the worm gear.

[0014] Further, a protective cover is installed on the cable retracting and releasing seat. The protective cover is installed inside the inner groove for cable retracting and releasing. The protective cover covers the surface of the worm gear. The power shaft movably penetrates the surface of the protective cover.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. By setting up a retractable seat, the present invention adjusts the lifting height of the underwater robot body by using a traction cable. When the traction cable is retracted and released, by setting up a guiding pinch roller, during the process of retracting and releasing the traction cable, the guiding pinch roller also has a traction function, reducing the pulling force borne by the winding roller. During the process of retracting and releasing the cable, dynamic clamping is carried out by using the guiding pinch roller, and retracting and releasing adjustment is carried out in cooperation with the winding roller. It has the function of automatically retracting and releasing the cable, and the cable does not accumulate or become entangled during the process of retracting and releasing. Compared with the traditional cable retracting and releasing method of a repeater, the cable retracting and releasing is more flexible and convenient.

[0017] 2. By setting up a driving gear and a driven gear, when the winding roller is working, the guiding pinch roller can be started. They have the same power source. By using the meshing and linkage of a worm gear and a worm, when the servo motor is not started, the guiding pinch roller still has a self-locking function, enabling it to have a larger and wider operation range underwater, realizing a cable retracting and releasing method for large-range operations, meeting the actual use requirements, and having a wide applicable range. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a perspective view of the present invention;

[0019] Figure 2 is a perspective view of the retractable seat of the present invention;

[0020] Figure 3 is a perspective view of the retractable inner groove of the present invention;

[0021] Figure 4 is a perspective view of the winding roller of the present invention.

[0022] In the figure:

[0023] 1. Retractable seat; 2. Traction cable; 3. Underwater robot body; 4. Winding roller; 5. Reinforcing plate; 6. Protective cover; 7. Cycloconverter; 8. Guiding pinch roller 1; 9. Guiding pinch roller 2; 10. Power shaft; 11. Worm gear; 12. Driving shaft; 13. Inner cavity; 14. Driving gear; 15. Driven gear; 16. Worm; 17. Bearing sleeve; 18. Servo motor; 19. Retractable inner groove. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The following further describes in detail the embodiments of the present invention in conjunction with the drawings. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0025] Such as Figures 1 - 4As shown in the figure, the present invention provides an underwater robot with a cable retracting and releasing function, which includes a cable retracting and releasing seat 1 and an underwater robot main body 3. The underwater robot main body 3 is connected to the cable retracting and releasing seat 1 through a traction cable 2. The traction cable 2 is fixedly connected to the four corners of the underwater robot main body 3 respectively. The other end of the traction cable 2 is wound inside the cable retracting and releasing seat 1. An inner retracting and releasing groove 19 is formed inside the cable retracting and releasing seat 1. A winding roller 4 is rotatably connected inside the inner retracting and releasing groove 19. A reinforcing plate 5 is installed inside the inner retracting and releasing groove 19. The reinforcing plate 5 and the winding roller 4 are respectively arranged on both sides of the inner retracting and releasing groove 19. A wire distributor 7 is arranged between the reinforcing plate 5 and the winding roller 4. A guiding pinch roller 1 8 and a guiding pinch roller 2 9 are rotatably connected to the reinforcing plate 5. The wire distributor 7 is installed inside the inner retracting and releasing groove 19. A power shaft 10 is vertically connected to the bottom of the guiding pinch roller 2 9. The power shaft 10 movably penetrates through the reinforcing plate 5. One end of the power shaft 10 penetrating through the reinforcing plate 5 is fixedly connected with a worm gear 11. A driving shaft 12 is arranged on one side of the worm gear 11. Both ends of the driving shaft 12 are respectively rotatably connected inside the inner retracting and releasing groove 19. One end of the driving shaft 12 movably penetrates through the inner retracting and releasing groove 19 and is fixedly connected with a driven gear 15. A worm 16 is sleeved on the surface of the driving shaft 12. A servo motor 18 is installed on one side of the cable retracting and releasing seat 1. The output shaft of the servo motor 18 is fixedly connected to the winding roller 4 through a coupling. One end of the winding roller 4 penetrates through the inner retracting and releasing groove 19 through a gear shaft and is fixedly connected with a driving gear 14.

[0026] As an embodiment of the present invention, an inner cavity 13 is formed on one side of the cable retracting and releasing seat 1. The driving gear 14 and the driven gear 15 are respectively movably arranged inside the inner cavity 13. The driven gear 15 and the driving gear 14 are arranged side by side and mesh with each other. The servo motor 18 is installed on the side of the cable retracting and releasing seat 1 far away from the inner cavity 13.

[0027] As an embodiment of the present invention, the guiding pinch roller 1 8 and the guiding pinch roller 2 9 are respectively arranged on the top of the reinforcing plate 5. The guiding pinch roller 1 8 is rotatably connected to the reinforcing plate 5 through a rotating shaft. The reinforcing plate 5 and the wire distributor 7 are arranged horizontally and aligned.

[0028] As an embodiment of the present invention, one end of the traction cable 2 far away from the underwater robot main body 3 sequentially passes through between the guiding pinch roller 1 8 and the guiding pinch roller 2 9, contacts with the wire distributor 7, and is wound on the surface of the winding roller 4.

[0029] As an embodiment of the present invention, the inner retracting and releasing groove 19 is of an open structure. The reinforcing plate 5 is arranged at the top opening of the inner retracting and releasing groove 19.

[0030] As an embodiment of the present invention, a bearing sleeve 17 is installed on the reinforcing plate 5. The power shaft 10 passes through the bearing sleeve 17 and is rotatably arranged with the reinforcing plate 5.

[0031] As an implementation manner of the present invention, the worm 16 is arranged along the length direction of the drive shaft 12. The worm 16 is in contact with the worm wheel 11 and meshes with each other.

[0032] As an implementation manner of the present invention, a protective cover 6 is installed on the winding and unwinding seat 1. The protective cover 6 is installed in the winding and unwinding inner groove 19. The protective cover 6 covers the surface of the worm wheel 11, and the power shaft 10 movably penetrates through the surface of the protective cover 6.

[0033] By setting the driving gear and the driven gear in the present invention, when the wire winding roller works, the guiding pinch rollers can be started. Since the power sources of both are the same, and by using the meshing linkage of the worm wheel and the worm, when the servo motor is not started, the guiding pinch rollers still have a self-locking function, enabling them to have a larger and wider working range underwater, realizing a wire winding and unwinding method for large-range operations, meeting the actual use requirements, and having a wide applicable range.

[0034] When the underwater robot main body 3 is winding and unwinding, the servo motor 18 is started. The servo motor 18 drives the wire winding roller 4 to rotate. When the wire winding roller 4 rotates, the traction cable 2 is wound and unwound, and the servo motor 18 is used for driving the winding and unwinding.

[0035] When the servo motor 18 is driving, it drives the driving gear 14 to rotate synchronously. Since the driving gear 14 meshes with the driven gear 15, the driven gear 15 on one side rotates accordingly, driving the drive shaft 12 to rotate. The worm 16 is used to drive the worm wheel 11 to rotate. When the worm wheel 11 rotates, it drives the power shaft 10 to rotate, and then the second guiding pinch roller 9 rotates simultaneously. When the second guiding pinch roller 9 rotates, it can pull the traction cable 2 between the first guiding pinch roller 8 and the second guiding pinch roller 9. The first guiding pinch roller 8 and the second guiding pinch roller 9 provide the pulling force for the winding and unwinding of the traction cable 2, so that when the traction cable 2 is wound and unwound, it no longer relies solely on the wire winding roller 4 to pull, increasing the traction force of the traction cable 2.

[0036] The rotation direction of the servo motor 18 can be controlled to control the rotation direction of the first guiding pinch roller 8 and the second guiding pinch roller 9, so as to wind and unwind the traction cable 2.

[0037] The implementation manners of the present invention are given for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. An underwater robot with cable retracting and releasing function, comprising a cable retracting and releasing seat (1) and an underwater robot main body (3), wherein the underwater robot main body (3) is connected to the cable retracting and releasing seat (1) through a traction cable (2), and is characterized in that: The traction cable (2) is fixedly connected to the four corners of the underwater robot body (3) respectively. The other end of the traction cable (2) is wound in the winding and unwinding seat (1). An inner winding and unwinding groove (19) is formed in the winding and unwinding seat (1). A winding roller (4) is rotatably connected in the inner winding and unwinding groove (19). A reinforcing plate (5) is installed in the inner winding and unwinding groove (19). The reinforcing plate (5) and the winding roller (4) are respectively arranged on both sides of the inner winding and unwinding groove (19). A traversing device (7) is arranged between the reinforcing plate (5) and the winding roller (4). A first guiding pinch roller (8) and a second guiding pinch roller (9) are rotatably connected to the reinforcing plate (5). The traversing device (7) is installed in the inner winding and unwinding groove (19). A power shaft (10) is vertically connected to the bottom of the second guiding pinch roller (9). The power shaft (10) movably penetrates the reinforcing plate (5). One end of the power shaft (10) penetrating the reinforcing plate (5) is fixedly connected with a worm gear (11). A driving shaft (12) is arranged on one side of the worm gear (11). Both ends of the driving shaft (12) are rotatably connected in the inner winding and unwinding groove (19). One end of the driving shaft (12) movably penetrates the inner winding and unwinding groove (19) and is fixedly connected with a driven gear (15). A worm (16) is sleeved on the surface of the driving shaft (12). A servo motor (18) is installed on one side of the winding and unwinding seat (1). The output shaft of the servo motor (18) is fixedly connected to the winding roller (4) through a coupling. One end of the winding roller (4) penetrates the inner winding and unwinding groove (19) through a gear shaft and is fixedly connected with a driving gear (14).

2. The underwater robot with cable retracting and releasing function according to claim 1, wherein: An inner cavity (13) is formed on one side of the winding and unwinding seat (1). The driving gear (14) and the driven gear (15) are respectively movably arranged in the inner cavity (13). The driven gear (15) and the driving gear (14) are arranged side by side and mesh with each other. The servo motor (18) is installed on the side of the winding and unwinding seat (1) far away from the inner cavity (13).

3. The underwater robot with cable winding and unwinding function according to claim 1, characterized in that: The first guiding pinch roller (8) and the second guiding pinch roller (9) are respectively arranged on the top of the reinforcing plate (5). The first guiding pinch roller (8) is rotatably connected to the reinforcing plate (5) through a rotating shaft. The reinforcing plate (5) and the traversing device (7) are arranged horizontally and aligned with each other.

4. The underwater robot with cable retracting and paying out function as claimed in claim 1, wherein: One end of the traction cable (2) far away from the underwater robot body (3) sequentially passes between the first guiding pinch roller (8) and the second guiding pinch roller (9) and contacts the traversing device (7), and is wound on the surface of the winding roller (4).

5. The underwater robot with cable retracting and releasing function according to claim 1, characterized in that: The inner winding and unwinding groove (19) is of an open structure. The reinforcing plate (5) is arranged at the top opening of the inner winding and unwinding groove (19).

6. The underwater robot with cable retracting and releasing function as claimed in claim 1, wherein: A bearing sleeve (17) is installed on the reinforcing plate (5). The power shaft (10) passes through the bearing sleeve (17) and is rotatably arranged with the reinforcing plate (5).

7. The underwater robot with cable retracting and releasing function as described in claim 1, wherein: The worm (16) is arranged along the length direction of the driving shaft (12). The worm (16) contacts the worm gear (11) and meshes with it.

8. The underwater robot with cable retracting and releasing function according to claim 1, characterized in that: A protective cover (6) is installed on the winding and unwinding base (1). The protective cover (6) is installed in the winding and unwinding inner groove (19). The protective cover (6) covers the surface of the worm wheel (11). The power shaft (10) movably penetrates through the surface of the protective cover (6).

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