A remotely controlled underwater vehicle garage door

Abstract

The application discloses a remote control underwater robot hangar door and relates to the technical field of robot hangar doors.The application comprises a door frame, a closing assembly, a reinforcing assembly, an auxiliary assembly and a sealing assembly.The closing assembly is arranged on one side of the door frame.The application is provided with the closing assembly.When the robot needs to be discharged, the driving cylinders are started, so that the two groups of driving cylinders can drive the door plate to rotate through the push-pull shaft, that is, the door plate is driven to expand to one side of the door frame, and then the door plate is driven to expand to the outside of the ship body.At this time, the second motor is started, so that the second motor drives the first bevel gear to rotate through the fourth bevel gear and the transmission rod, that is, the worm drives the worm gear to rotate, so that the guide plate is turned over to the outside of the door frame, that is, the outward turning opening effect of the hangar door is achieved, and the problem that the conventional hinged hangar door occupies a large space above the deck when being opened, resulting in compact deck layout and easy interference between the ship and other mechanical equipment is avoided.

Description

Technical Field

[0001] This invention relates to the field of hangar doors, and more specifically to a remotely controlled underwater robot hangar door. Background Technology Remotely operated underwater vehicles (ROVs) are widely used in marine resource exploration, underwater engineering construction, emergency rescue, and national defense. As a high-value, precision underwater operational equipment, ROVs typically need to be stored in dedicated hangars on ships or platforms when not in use to protect them from seawater corrosion, mechanical collisions, and harsh sea conditions. The hangar door, as a crucial access point, directly affects the robot's deployment and retrieval efficiency, the hangar's sealing and protection capabilities, and the overall safety of operations.

[0002] Currently, traditional hangar doors mostly adopt hinged side-opening or upward-opening structures. When opened, these conventional hangar doors need to rotate significantly outwards or upwards from the deck, often occupying considerable external space. For ships or offshore platforms with compact deck layouts and dense equipment, this opening method can easily interfere with the surrounding cranes, winches, railings, or other mechanical equipment, limiting the hangar's placement and operational flexibility. Furthermore, existing hangar doors often lack sufficient sealing when closed. Due to the high humidity, salt spray, and frequent wave splashes in the marine environment, poor sealing allows seawater, moisture, or dust to enter the hangar. Over time, this can easily cause corrosion or damage to electronic components, hydraulic systems, and metal structures, shortening equipment lifespan and increasing maintenance costs.

[0003] On the other hand, existing hangar doors typically only have simple opening and closing functions, lacking integrated structures for auxiliary smooth guidance, positioning, and reliable locking. During robot entry and exit, swaying of the ship or height differences between the door and the deck can easily lead to collisions, jamming, or even capsizing, affecting the safety and efficiency of deployment and recovery. Furthermore, some hangar doors lack sufficient locking force after closing, potentially leading to accidental opening or door vibration under wave impact or ship vibration, further reducing the hangar's protective reliability. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and disclose a novel remote-controlled underwater robot hangar door with a compact structure, flexible opening and closing, reliable sealing, and auxiliary guiding and reinforcement functions. The remote-controlled underwater robot hangar door provided by the present invention includes a door frame, a closing component, a reinforcement component, an auxiliary component, and a sealing component. The closing component is disposed on one side of the door frame, the reinforcement component is disposed on the side of the closing component, the auxiliary component is disposed on the other side of the door frame, and the sealing component is disposed on the auxiliary component.

[0005] Furthermore, the enclosure assembly includes a positioning post, which is fixedly sleeved on one side of the door frame. A door panel is movably sleeved on one side of the door frame. A push-pull shaft is fixedly sleeved on one side of the door panel. A first rotating shaft is fixedly sleeved on the side of the door panel. The first rotating shaft is movably sleeved inside the door frame. A drive cylinder is movably sleeved on the outside of the positioning post. The output end of the drive cylinder is movably sleeved on the outside of the push-pull shaft.

[0006] Furthermore, the reinforcement component includes a No. 1 motor, which is fixedly installed on the side of the door panel. A drive gear is fixedly sleeved on the output shaft of the No. 1 motor. A limit sleeve is fixedly connected to the side of the door panel. A rack is movably sleeved inside the limit sleeve. The rack meshes with the drive gear. A locking post is fixedly connected to the top of the rack. A locking sleeve is fixedly connected to the top of one side of the door frame. The locking sleeve is adapted to the locking post.

[0007] Furthermore, the auxiliary component includes a second rotating shaft, which is movably sleeved on the bottom of the other side of the door frame. A guide plate is fixedly sleeved on the outside of the second rotating shaft, and a worm gear is fixedly sleeved on the outside of the second rotating shaft. A worm is movably sleeved on the bottom of the door frame, and the worm meshes with the worm gear. A first helical gear is fixedly sleeved on one end of the worm. A transmission rod is movably sleeved on the bottom of one side of the door frame. A second helical gear is fixedly sleeved on one end of the transmission rod, and the second helical gear meshes with the first helical gear. A third helical gear is fixedly sleeved on the other end of the transmission rod. A second motor is fixedly installed on the bottom of one side of the door frame. A fourth helical gear is fixedly sleeved on the output shaft of the second motor, and the fourth helical gear meshes with the third helical gear.

[0008] Furthermore, the sealing assembly includes a sealing ring, which is fixedly connected to the outside of the guide plate. The sealing ring is made of rubber. A sealing groove is provided on the other side of the door frame, and the sealing groove is adapted to the sealing ring.

[0009] Furthermore, a sliding assembly is provided on the top of the guide plate. The sliding assembly includes a receiving groove, which is opened on the top of the guide plate. A sliding column is movably sleeved inside the receiving groove. There are multiple sliding columns, which are evenly distributed on the top of the guide plate.

[0010] Furthermore, a clamping assembly is provided on the top of the other side of the door frame. The clamping assembly includes a No. 3 rotating shaft, which is movably sleeved on the top of the other side of the door frame. A clamping plate is fixedly sleeved on the outside of the No. 3 rotating shaft. A No. 5 helical gear is fixedly sleeved on one end of the No. 3 rotating shaft. A No. 3 motor is fixedly installed on the top of the other side of the door frame. A No. 6 helical gear is fixedly sleeved on the output shaft of the No. 3 motor. The No. 6 helical gear meshes with the No. 5 helical gear.

[0011] Furthermore, a guide post is fixedly connected to one side of the top of the guide plate. The side of the guide post is tapered and the material of the guide post is rubber.

[0012] The beneficial effects of the present invention are as follows: (1) By setting up a sealing component and an auxiliary component, when the robot needs to leave the warehouse, the drive cylinder is activated, so that the two sets of drive cylinders can push the door panel to rotate through the push-pull shaft, that is, drive the door panel to unfold to one side of the door frame, and then drive the door panel to unfold to the outside of the ship. At this time, the No. 2 motor is activated, so that the No. 2 motor drives the No. 1 helical gear to rotate through the No. 4 helical gear and the transmission rod, that is, drive the worm wheel to rotate through the worm, thereby achieving the flipping of the guide plate to the outside of the door frame, that is, achieving the outward flipping opening effect of the hangar door, avoiding the problem that conventional hinged hangar doors occupy a large space above the deck when opening, resulting in a compact deck layout and easy interference between the ship and other mechanical equipment, thereby improving the space saving when the robot hangar door is opened and closed; (2) By setting up a sealing component, when the robot leaves ... robot can open and close the door to rotate, thereby achieving the outward flipping opening When the hangar door is closed, the guide plate can drive the sealing ring to tightly squeeze and fit inside the sealing groove, so that the sealing ring can fill the gap between the guide plate and the door frame, thereby improving the sealing performance when the guide plate is closed, that is, improving the sealing effect when the hangar door is closed, avoiding the problem of water entering the hangar and causing the robot to be corroded when the working environment of the hangar door is relatively humid, thereby improving the waterproof effect inside the robot hangar; (3) By setting the clamping component, when the hangar door is closed, the No. 3 motor is started, so that the No. 3 motor can rotate through the No. 6 helical gear, that is, through the No. 3 rotating shaft, the clamping plate is rotated, causing one end of the clamping plate to be tightly squeezed on the top of the side of the guide plate, thereby achieving the clamping and fixing effect of the guide plate, that is, improving the tight squeezing effect between the guide plate and the surface of the door frame, thereby improving the sealing effect when the hangar door is closed. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a side view of the door panel in this invention; Figure 3 This is a front view of the door panel in this invention; Figure 4 This is a side view of the door frame in this invention; Figure 5 This is a cross-sectional view of the door frame in this invention; Figure 6 This is a top view of the guide plate in this invention; Figure 7 This is a front view of the guide plate in this invention; Reference numerals: 101, Door frame; 102, Guide post; 201, Positioning post; 202, Door panel; 203, Push-pull shaft; 204, Rotating shaft No. 1; 205, Drive cylinder; 301, Motor No. 1; 302, Drive gear; 303, Limit sleeve; 304, Rack; 305, Locking post; 306, Locking sleeve; 401, Rotating shaft No. 2; 402, Guide plate; 403, Worm gear; 404. Worm gear; 405, Helical gear No. 1; 406, Transmission rod; 407, Helical gear No. 2; 408, Helical gear No. 3; 409, Motor No. 2; 410, Helical gear No. 4; 501, Sealing ring; 502, Sealing groove; 601, Receiving groove; 602, Sliding column; 701, Rotating shaft No. 3; 702, Clamping plate; 703, Helical gear No. 5; 704, Motor No. 3; 705, Helical gear No. 6. Detailed Implementation

[0014] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0015] like Figure 2-4 As shown, the present invention provides a remotely controlled underwater robot hangar door, comprising a door frame 101, a sealing assembly, a reinforcing assembly, an auxiliary assembly, and a sealing assembly. The sealing assembly is disposed on one side of the door frame 101, the reinforcing assembly is disposed on the side of the sealing assembly, the auxiliary assembly is disposed on the other side of the door frame 101, and the sealing assembly is disposed on the auxiliary assembly. The sealing assembly includes a positioning post 201, which is fixedly sleeved on one side of the door frame 101. A door panel 202 is movably sleeved on one side of the door frame 101. A push-pull shaft 203 is fixedly sleeved on one side of the door panel 202. A first rotating shaft 204 is fixedly sleeved on the side of the door panel 202 and movably sleeved inside the door frame 101. The positioning post 201... An externally movable drive cylinder 205 is attached, and the output end of the drive cylinder 205 is movably attached to the outside of the push-pull shaft 203. By setting up a closed component, when the robot needs to leave the hangar, the drive cylinder 205 is activated, so that the two sets of drive cylinders 205 can push the door panel 202 to rotate through the push-pull shaft 203, that is, drive the door panel 202 to open to one side of the door frame 101, and then drive the door panel 202 to open to the outside of the hull, so that the robot can move from the outside of the hull to the inside of the hangar. This avoids the problem that conventional hinged hangar doors occupy a large space above the deck when opening, which leads to a compact deck layout and easy interference between the ship and other mechanical equipment, thereby improving the space saving when the robot hangar door is opened and closed.

[0016] like Figure 4As shown, the reinforcement assembly includes a primary motor 301, which is fixedly mounted on the side of the door panel 202. A drive gear 302 is fixedly sleeved on the output shaft of the primary motor 301. A limit sleeve 303 is fixedly connected to the side of the door panel 202. A rack 304 is movably sleeved inside the limit sleeve 303 and meshes with the drive gear 302. A locking pin 305 is fixedly connected to the top of the rack 304. A retaining sleeve 306 is fixedly connected to the top of one side of the door frame 101. 06 is compatible with the locking post 305; by setting up a reinforcement component, when the robot moves to the point where the hangar door is closed, the first motor 301 is started, so that the first motor 301 drives the two racks 304 to move up and down through the drive gear 302, that is, it drives the two locking posts 305 to insert into the two locking sleeves 306 respectively, thereby achieving the locking and fixing effect when the door panel 202 is closed, thereby improving the further reinforcement effect when the door panel 202 is closed, and thus improving the stability when the hangar door is closed.

[0017] like Figure 1-3 and Figure 5-7 As shown, the auxiliary components include a second rotating shaft 401, which is movably sleeved on the bottom of the other side of the door frame 101. A guide plate 402 is fixedly sleeved on the outside of the second rotating shaft 401, and a worm gear 403 is fixedly sleeved on the outside of the second rotating shaft 401. A worm 404 is movably sleeved on the bottom of the door frame 101, and the worm 404 meshes with the worm gear 403. One end of the worm 404 is fixedly sleeved with a first helical gear 405. A transmission rod 406 is movably sleeved on the bottom of one side of the door frame 101. One end of the transmission rod 406 is fixedly sleeved with a second helical gear 407, which meshes with the first helical gear 405. The other end of the transmission rod 406 is fixedly sleeved with a third helical gear 408. The bottom of one side of the door frame 101 is fixedly installed with... There is a second motor 409, and a fourth helical gear 410 is fixedly sleeved on the output shaft of the second motor 409. The fourth helical gear 410 meshes with the third helical gear 408. By setting up auxiliary components, when the underwater robot finishes its work and needs to be put into the hangar, the second motor 409 is started, so that the second motor 409 drives the first helical gear 405 to rotate through the fourth helical gear 410 and the transmission rod 406. That is, the worm gear 404 drives the worm wheel 403 to rotate, thereby achieving the effect of flipping the guide plate 402. At this time, the underwater robot is moved to the top of the guide plate 402, so that the guide plate 402 can accurately guide the underwater robot to the other side of the door frame 101, thereby achieving the effect of rapid underwater robot entry into the hangar, thus improving the functionality of the hangar door when in use.

[0018] like Figure 2 and Figure 6As shown, the sealing assembly includes a sealing ring 501, which is fixedly connected to the outside of the guide plate 402. The sealing ring 501 is made of rubber. A sealing groove 502 is provided on the other side of the door frame 101, and the sealing groove 502 is adapted to the sealing ring 501. By setting the sealing assembly, when the hangar door is closed, the guide plate 402 can drive the sealing ring 501 to be tightly squeezed and fitted into the inside of the sealing groove 502, so that the sealing ring 501 can fill the gap between the guide plate 402 and the door frame 101, thereby improving the sealing performance when the guide plate 402 is closed, that is, improving the sealing effect when the hangar door is closed, avoiding the problem of water entering the hangar and causing corrosion to the robot when the working environment of the hangar door is relatively humid, thus improving the waterproof effect inside the robot hangar.

[0019] like Figure 2 and Figure 5-7 As shown, a sliding assembly is provided on the top of the guide plate 402. The sliding assembly includes a receiving groove 601, which is opened on the top of the guide plate 402. A sliding column 602 is movably sleeved inside the receiving groove 601. There are multiple sliding columns 602, which are evenly distributed on the top of the guide plate 402. By setting up the sliding assembly, when the underwater robot needs to enter the storage area, the robot on the top of the guide plate 402 is pushed, so that the multiple sliding columns 602 can support the horizontally moving robot, enabling the robot to slide quickly to the other side of the door frame 101, thereby achieving the effect of rapid robot entry into the storage area and bringing convenience to the entry and exit of the underwater robot.

[0020] like Figure 1-2 and Figure 7 As shown, a clamping assembly is provided on the top of the other side of the door frame 101. The clamping assembly includes a third rotating shaft 701, which is movably sleeved on the top of the other side of the door frame 101. A clamping plate 702 is fixedly sleeved on the outside of the third rotating shaft 701. A fifth helical gear 703 is fixedly sleeved on one end of the third rotating shaft 701. A third motor 704 is fixedly installed on the top of the other side of the door frame 101. A sixth helical gear 705 is fixedly sleeved on the output shaft of the third motor 704. The sixth helical gear 705 and the fifth helical gear... 703 meshing connection; by setting up a clamping assembly, when the hangar door is closed, the No. 3 motor 704 is started, so that the No. 3 motor 704 can rotate through the No. 6 helical gear 705, that is, through the No. 3 rotating shaft 701, the clamping plate 702 is rotated, causing one end of the clamping plate 702 to be tightly pressed against the top of the side of the guide plate 402, thereby achieving the clamping and fixing effect of the guide plate 402, that is, improving the tight pressing effect between the guide plate 402 and the surface of the door frame 101, and thus improving the sealing effect when the hangar door is closed.

[0021] like Figure 2 and Figure 7As shown, a guide column 102 is fixedly connected to one side of the top of the guide plate 402. The side of the guide column 102 is conical and made of rubber. By setting the guide column 102, when the robot needs to be put into storage, the guide column 102 can fill the gap between the guide plate 402 and the door frame 101, so that the guide column 102 can guide the horizontally moving robot. This avoids the problem of the robot being blocked by the gap between the guide plate 402 and the door frame 101 when moving horizontally, which would cause the robot to move inconveniently. This improves the convenience of underwater robot movement.

[0022] Working principle: When the robot needs to leave the hangar, the drive cylinder 205 is activated, causing the two sets of drive cylinders 205 to push the door panel 202 to rotate via the push-pull shaft 203. This causes the door panel 202 to unfold towards one side of the door frame 101, and then towards the outside of the ship, allowing the robot to move from the outside of the ship into the hangar. This avoids the problem of conventional hinged hangar doors occupying a large space above the deck when opening, which can lead to a compact deck layout and easy interference with other mechanical equipment. This improves the space-saving efficiency of the robot hangar door opening and closing. When the robot moves to the point where the hangar door is closed, the first motor 301 is activated, causing the first motor 301 to drive the two racks 304 to move up and down via the drive gear 302. The movement involves inserting the two locking pins 305 into the two locking sleeves 306, thus achieving a locking and fixing effect when the door panel 202 closes. This further strengthens the door panel 202 when closed, improving the stability of the hangar door when it closes. When the underwater robot finishes its work and needs to be stored, the second motor 409 is activated. This motor, through the fourth helical gear 410 and the transmission rod 406, drives the first helical gear 405 to rotate, which in turn drives the worm gear 404 to rotate the worm wheel 403. This achieves the flipping effect of the guide plate 402, allowing the underwater robot to be moved to the top of the guide plate 402. The guide plate 402 then precisely guides the underwater robot to the other side of the door frame 101, thus achieving the underwater robot's... The rapid robot entry into the hangar improves the functionality of the hangar door. When the hangar door closes, the guide plate 402 causes the sealing ring 501 to tightly press against the inside of the sealing groove 502, filling the gap between the guide plate 402 and the door frame 101. This improves the sealing performance of the guide plate 402 when closed, thus enhancing the sealing effect of the hangar door. This prevents water from entering the hangar and corroding the robot, which is prone to damage due to the humid working environment of the hangar. It also improves the waterproof effect inside the robot hangar. When the underwater robot needs to enter, pushing the robot on top of the guide plate 402 allows multiple sliding columns 602 to support the horizontally moving robot, facilitating its entry. The robot slides quickly to the other side of the door frame 101, achieving rapid entry into the hangar and facilitating the underwater robot's entry and exit. When the hangar door closes, motor 704 is activated, causing it to rotate via helical gear 705. This rotation, through rotating shaft 701, drives clamping plate 702 to flip, tightly pressing one end of clamping plate 702 against the top of guide plate 402. This achieves a clamping and fixing effect on guide plate 402, improving the tightness between guide plate 402 and the surface of door frame 101, thus enhancing the sealing effect when the hangar door closes. When the robot needs to enter the hangar, guide column 102 fills the gap between guide plate 402 and door frame 101.This allows the guide column 102 to guide the horizontally moving robot, avoiding the problem of the robot being obstructed by the gap between the guide plate 402 and the door frame 101 during horizontal movement, thus improving the convenience of underwater robot movement.

[0023] It should be noted that the present invention is not limited to the specific structure shown in the accompanying drawings in the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art.

Claims

1. A remotely controlled underwater robot hangar door, characterized in that, It includes a door frame, a closing component, a reinforcing component, an auxiliary component, and a sealing component. The closing component is located on one side of the door frame, the reinforcing component is located on the side of the closing component, the auxiliary component is located on the other side of the door frame, and the sealing component is located on the auxiliary component.

2. The remotely controlled underwater robot hangar door according to claim 1, characterized in that: The enclosure assembly includes a positioning post, which is fixedly sleeved on one side of the door frame. A door panel is movably sleeved on one side of the door frame. A push-pull shaft is fixedly sleeved on one side of the door panel. A first rotating shaft is fixedly sleeved on the side of the door panel. The first rotating shaft is movably sleeved inside the door frame. A drive cylinder is movably sleeved on the outside of the positioning post. The output end of the drive cylinder is movably sleeved on the outside of the push-pull shaft.

3. A remotely controlled underwater robot hangar door according to claim 2, characterized in that: The reinforcement assembly includes a No. 1 motor, which is fixedly installed on the side of the door panel. A drive gear is fixedly sleeved on the output shaft of the No. 1 motor. A limit sleeve is fixedly connected to the side of the door panel. A rack is movably sleeved inside the limit sleeve. The rack meshes with the drive gear. A locking post is fixedly connected to the top of the rack. A locking sleeve is fixedly connected to the top of one side of the door frame. The locking sleeve is adapted to the locking post.

4. A remotely controlled underwater robot hangar door according to claim 1, characterized in that: The auxiliary component includes a second rotating shaft, which is movably sleeved at the bottom of the other side of the door frame. A guide plate is fixedly sleeved on the outside of the second rotating shaft, and a worm gear is fixedly sleeved on the outside of the second rotating shaft. A worm is movably sleeved at the bottom of the door frame, and the worm meshes with the worm gear. A first helical gear is fixedly sleeved at one end of the worm. A transmission rod is movably sleeved at the bottom of one side of the door frame. A second helical gear is fixedly sleeved at one end of the transmission rod, and the second helical gear meshes with the first helical gear. A third helical gear is fixedly sleeved at the other end of the transmission rod. A second motor is fixedly installed at the bottom of one side of the door frame. A fourth helical gear is fixedly sleeved on the output shaft of the second motor, and the fourth helical gear meshes with the third helical gear.

5. A remotely controlled underwater robot hangar door according to claim 4, characterized in that: The sealing assembly includes a sealing ring, which is fixedly connected to the outside of the guide plate. The sealing ring is made of rubber. A sealing groove is provided on the other side of the door frame, and the sealing groove is adapted to the sealing ring.

6. A remotely controlled underwater robot hangar door according to claim 4, characterized in that: The top of the guide plate is provided with a sliding assembly, the sliding assembly includes a receiving groove, the receiving groove is opened on the top of the guide plate, and a sliding column is movably sleeved inside the receiving groove. There are multiple sliding columns, and the multiple sliding columns are evenly distributed on the top of the guide plate.

7. A remotely controlled underwater robot hangar door according to claim 1, characterized in that: A clamping assembly is provided on the top of the other side of the door frame. The clamping assembly includes a No. 3 rotating shaft, which is movably sleeved on the top of the other side of the door frame. A clamping plate is fixedly sleeved on the outside of the No. 3 rotating shaft. A No. 5 helical gear is fixedly sleeved on one end of the No. 3 rotating shaft. A No. 3 motor is fixedly installed on the top of the other side of the door frame. A No. 6 helical gear is fixedly sleeved on the output shaft of the No. 3 motor. The No. 6 helical gear is meshed with the No. 5 helical gear.

8. A remotely controlled underwater robot hangar door according to claim 4, characterized in that: A guide column is fixedly connected to one side of the top of the guide plate. The side of the guide column is conical and the guide column is made of rubber.

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