Observation folding and unfolding device of underwater robot

Abstract

The utility model relates to an observation collecting and releasing device of an underwater robot, and aims to solve the problems that a storage box of the device is located on the lower end face of a ship body, a sponge used for cleaning water on the surface of the underwater robot is located on the inner side wall of the storage box, and seawater cannot flow into the storage box when the underwater robot is recycled due to the severe marine environment; the sponge storage device comprises a base, an adjusting mechanism is arranged in the base, a supporting rod is fixedly connected to the top of the adjusting mechanism, a winding motor rotates anticlockwise to drive a winding roller to rotate, and therefore a cable is wound; the underwater robot body is driven to move upwards until the underwater robot body moves to the position between one set of hollowed-out bearing frames, then the hollowed-out bearing frames are effectively driven to move towards the middle of the limiting frame through hydraulic cylinders, supporting and limiting are conveniently conducted on the underwater robot body after work, and the underwater robot body can be rapidly air-dried under the influence of ventilation of the hollowed-out bearing frames.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater robot auxiliary tools, in particular to an observation and retracting device of an underwater robot. Background Art

[0002] Underwater robots, also known as unmanned remote-controlled submersibles, are extreme operation robots that work underwater. The underwater environment is harsh and dangerous, and the diving depth of humans is limited, so underwater robots have become an important tool for developing the ocean, and the deployment and recovery of underwater robots require the help of retractable devices.

[0003] Patent No. CN216235412U discloses a retrieval and deployment device for a shallow water observation-class underwater robot, including a hull, a side plate fixedly installed on the upper end surface of the hull, a wire roller rotatably installed between the two side plates, an output shaft of a motor fixedly installed inside the wire roller, a cable is arranged on the wire roller, a storage box is fixedly installed on the lower end surface of the hull, a robot body is arranged inside the storage box; sponges are fixedly installed on the inner side wall of the storage box near the upper end, a push plate is arranged near the top of the storage box, the outer side of the push plate is in close contact with the outer surface of the sponge, push rods are fixedly installed on the upper end surface of the push plate near both sides, the push rods are slidably installed on the outer wall of the storage box, and a support plate is fixedly installed on the top surface of the storage box, which can process moisture on the robot body, reduce damage to the robot body, and improve the performance of the device.

[0004] However, the above-mentioned retracting and deploying device of a shallow water observation-level underwater robot still has the following shortcomings:

[0005] The storage box of the above-mentioned device is located at the lower end face of the hull, and the sponge used to clean the moisture on the surface of the underwater robot is located on the inner wall of the storage box. Due to the harsh marine environment, it is difficult to ensure that seawater will not flow into the storage box when recovering the underwater robot. Therefore, there are limitations in the use of the sponge inside the storage box. In view of this, we propose an observation and retracting device for an underwater robot. Utility Model Content

[0006] The purpose of the utility model is to overcome the deficiencies of the prior art, meet actual needs, and provide an observation and retrieval device for an underwater robot to solve the technical problem that the storage box of the above-mentioned device is located at the lower end surface of the hull, and the sponge for cleaning the moisture on the surface of the underwater robot is located on the inner wall of the storage box. Due to the harsh marine environment, it is difficult to ensure that seawater will not flow into the storage box when recovering the underwater robot. Therefore, there are limitations on the use of the sponge inside the storage box.

[0007] In order to achieve the purpose of the utility model, the technical solution adopted by the utility model is: designing an observation and retracting device of an underwater robot, including a base, an adjusting mechanism is arranged inside the base, a support rod is fixedly connected to the top of the adjusting mechanism, and the support rod is horizontally connected to the retracting mechanism at the bottom;

[0008] The retracting and releasing mechanism includes a limit frame, which is fixed to the horizontal bottom of the support rod, a winding roller is arranged on the upper part of the limit frame, the end of the winding roller is connected to a winding motor, a fixing frame is arranged outside the winding motor, a cable is wound around the surface of the winding roller, the lower end of the cable is connected to the underwater robot body, a group of hollow supporting frames are symmetrically arranged on both sides of the underwater robot body, a hydraulic cylinder is connected to the surface of the hollow supporting frame, and a clamping block is fixed to the top of the hollow supporting frame.

[0009] Preferably, the limiting frame and the support rod are integrally formed, and the limiting frame is hollow and convex.

[0010] Preferably, the winding motor forms a rotating structure through a winding roller and a cable, and the winding motor is engaged inside the fixing frame.

[0011] Preferably, the hollow supporting frame forms a clamping structure with the limiting frame through a clamping block, and the hollow supporting frame forms a telescopic structure with the limiting frame through a hydraulic cylinder.

[0012] Preferably, the adjustment mechanism comprises a screw rod, the screw rod is mounted inside the base, the end of the screw rod is connected to a driving motor, a support frame is provided outside the driving motor, and a movable block is sleeved on the surface of the screw rod.

[0013] Preferably, the screw rod and the movable block are threadedly connected, and the movable block is matched and engaged inside the base.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] 1. The utility model uses a hydraulic cylinder to effectively drive the hollow supporting frame to move toward the side of the limit frame, so that the hollow supporting frame is separated from the underwater robot body, and then the winding motor rotates clockwise to drive the winding roller to rotate, thereby releasing the cable, so that the underwater robot body at the lower end of the cable is thrown into the sea for observation. After the observation is completed, the winding motor rotates counterclockwise to drive the winding roller to rotate, thereby winding up the cable, driving the underwater robot body to move upward until it moves between a group of hollow supporting frames, and then the hydraulic cylinder effectively drives the hollow supporting frame to move toward the middle of the limit frame, so as to support and limit the underwater robot body after work. Due to the ventilation of the hollow supporting frame itself, the underwater robot body can be quickly air-dried.

[0016] 2. In the utility model, the driving motor effectively drives the screw to rotate, thereby driving the movable block on the surface of the screw to translate. When the movable block moves to the leftmost side, the upper retractable mechanism is in a suspended state, which can effectively avoid the underwater robot body from scratching the hull when it is deployed. After the work is completed, the driving motor drives the screw to rotate to move the movable block to the right, so that the center of gravity of the retractable mechanism is located on the hull, thereby improving the placement stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the cross-sectional structure of the base of the utility model;

[0019] Figure 3 It is a schematic diagram of a partial three-dimensional structure of the utility model;

[0020] Figure 4 It is a schematic diagram of the partial disassembled structure of the utility model;

[0021] In the figure: 1. base; 2. adjustment mechanism; 3. support rod; 4. retractable mechanism;

[0022] 201, screw rod; 202, driving motor; 203, supporting frame; 204, movable block;

[0023] 401, limit frame; 402, winding roller; 403, winding motor; 404, fixed frame; 405, cable; 406, underwater robot body; 407, hollow supporting frame; 408, hydraulic cylinder; 409, clamping block. DETAILED DESCRIPTION

[0024] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0025] An observation and retracting device for an underwater robot, see Figures 1 to 4 , comprising a base 1, an adjusting mechanism 2 is provided inside the base 1, a support rod 3 is fixedly connected to the top of the adjusting mechanism 2, and a retracting mechanism 4 is horizontally connected to the bottom of the support rod 3;

[0026] The retracting mechanism 4 includes a limit frame 401, which is fixed to the horizontal bottom of the support rod 3, wherein the limit frame 401 and the support rod 3 are integrally formed, the limit frame 401 is hollow and convex, a winding roller 402 is arranged above the limit frame 401, a winding motor 403 is connected to the end of the winding roller 402, a fixing frame 404 is arranged outside the winding motor 403, a cable 405 is wound around the surface of the winding roller 402, and further, the winding motor 403 forms a rotating structure with the winding roller 402 and the cable 405. The winding motor 403 is engaged inside the fixed frame 404, the lower end of the cable 405 is connected to the underwater robot body 406, and a group of hollow supporting frames 407 are symmetrically arranged on both sides of the underwater robot body 406. The surface of the hollow supporting frame 407 is connected to the hydraulic cylinder 408, and the top of the hollow supporting frame 407 is fixedly connected to a clamping block 409. Furthermore, the hollow supporting frame 407 forms a clamping structure with the limit frame 401 through the clamping block 409, and the hollow supporting frame 407 forms a telescopic structure with the limit frame 401 through the hydraulic cylinder 408. The utility model effectively drives the hollow supporting frame 407 to move to the side of the limiting frame 401 through the hydraulic cylinder 408, so that the hollow supporting frame 407 is separated from the underwater robot body 406, and then the winding motor 403 rotates clockwise to drive the winding roller 402 to rotate, thereby releasing the cable 405, so that the underwater robot body 406 at the lower end of the cable 405 is thrown into the sea for observation. After the observation is completed, the winding motor 403 rotates counterclockwise to drive the winding roller 402 to rotate, thereby winding the cable 405, driving the underwater robot body 406 to move upward until it moves between a group of hollow supporting frames 407, and then the hydraulic cylinder 408 effectively drives the hollow supporting frame 407 to move to the middle of the limiting frame 401, so as to support and limit the underwater robot body 406 after work. Under the influence of the ventilation of the hollow supporting frame 407 itself, the underwater robot body 406 can be quickly air-dried.

[0027] It is worth noting that the adjustment mechanism 2 includes a screw rod 201, which is mounted inside the base 1, and a drive motor 202 is connected to the end of the screw rod 201. A support frame 203 is provided outside the drive motor 202, and a movable block 204 is sleeved on the surface of the screw rod 201, wherein the screw rod 201 and the movable block 204 are threadedly connected, and the movable block 204 is matched and snapped into the inside of the base 1. In the utility model, the drive motor 202 effectively drives the screw rod 201 to rotate, thereby driving the movable block 204 on the surface of the screw rod 201 to translate. When the movable block 204 moves to the leftmost side, the upper retracting mechanism 4 is in a suspended state, which can effectively avoid the underwater robot body 406 from scratching the hull when it is released. After the work is completed, the drive motor 202 drives the screw rod 201 to rotate so that the movable block 204 moves to the right, so that the center of gravity of the retracting mechanism 4 is located on the hull, thereby improving the placement stability.

[0028] Working principle: The device is installed as a whole on the side of the hull surface through the base 1, and then the screw 201 is driven to rotate by the driving motor 202, thereby driving the movable block 204 on the surface of the screw 201 to translate. When the movable block 204 moves to the leftmost side, the upper retracting mechanism 4 is in a suspended state, which can avoid the underwater robot body 406 from scratching the hull when it is deployed. Then, the hollow supporting frame 407 is driven by the hydraulic cylinder 408 to move to the side of the limit frame 401, so that the hollow supporting frame 407 is separated from the underwater robot body 406, and then the winding motor 403 is rotated clockwise to drive the winding roller 402 to rotate, thereby releasing the cable 405, so that the underwater robot body at the lower end of the cable 405 is released. 406 is put into the sea for observation. After the observation, the winding motor 403 rotates counterclockwise to drive the winding roller 402 to rotate, thereby winding the cable 405, driving the underwater robot body 406 to move upward until it moves between a group of hollow supporting frames 407, and then the hollow supporting frames 407 are driven by the hydraulic cylinder 408 to move to the middle of the limiting frame 401, so as to support and limit the underwater robot body 406 after work. At the same time, affected by the ventilation of the hollow supporting frames 407 themselves, the underwater robot body 406 can be quickly air-dried, and finally the screw 201 is driven by the driving motor 202 to rotate to move the movable block 204 to the right, so that the center of gravity of the retractable mechanism 4 is located on the hull, thereby improving the placement stability.

[0029] The embodiments of the present invention disclose preferred embodiments, but are not limited thereto. A person skilled in the art can easily understand the spirit of the present invention based on the above embodiments and make different extensions and changes. However, as long as they do not deviate from the spirit of the present invention, they are all within the protection scope of the present invention.

Claims

1. An observation and retracting device for an underwater robot, comprising a base (1), characterized in that: An adjusting mechanism (2) is provided inside the base (1); a support rod (3) is fixedly connected to the top of the adjusting mechanism (2); and a retracting mechanism (4) is horizontally connected to the bottom of the support rod (3); The retracting and releasing mechanism (4) comprises a limit frame (401), the limit frame (401) is fixed to the horizontal bottom of the support rod (3), a winding roller (402) is arranged on the upper part of the limit frame (401), the end of the winding roller (402) is connected to a winding motor (403), a fixing frame (404) is arranged outside the winding motor (403), a cable (405) is wound around the surface of the winding roller (402), the lower end of the cable (405) is connected to an underwater robot body (406), a group of hollow support frames (407) are symmetrically arranged on both sides of the underwater robot body (406), the surface of the hollow support frame (407) is connected to a hydraulic cylinder (408), and a clamping block (409) is fixed to the top of the hollow support frame (407).

2. The observation and retracting device of the underwater robot according to claim 1, characterized in that: The limiting frame (401) and the support rod (3) are integrally formed, and the limiting frame (401) is hollow and convex.

3. The observation and retracting device of the underwater robot according to claim 1, characterized in that: The winding motor (403) forms a rotating structure through the winding roller (402) and the cable (405), and the winding motor (403) is engaged inside the fixing frame (404).

4. The observation and retracting device of the underwater robot according to claim 1, characterized in that: The hollow support frame (407) forms a clamping structure with the limiting frame (401) through a clamping block (409), and the hollow support frame (407) forms a telescopic structure with the limiting frame (401) through a hydraulic cylinder (408).

5. The observation and retracting device of the underwater robot according to claim 1, characterized in that: The adjusting mechanism (2) comprises a screw rod (201), the screw rod (201) is mounted inside the base (1), the end of the screw rod (201) is connected to a driving motor (202), a supporting frame (203) is arranged outside the driving motor (202), and a movable block (204) is sleeved on the surface of the screw rod (201).

6. The observation and retracting device of the underwater robot according to claim 5, characterized in that: The screw rod (201) and the movable block (204) are threadedly connected, and the movable block (204) is matched and snap-fitted into the interior of the base (1).

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