Retracting and releasing device of underwater robot

Abstract

The utility model relates to the technical field of underwater robots, and discloses an underwater robot retracting and releasing device which comprises a first fixing frame and a second fixing frame, the first fixing frame is located on the left side of the second fixing frame, and a winding frame is arranged between the first fixing frame and the second fixing frame. Sliding assemblies for assisting stabilization are symmetrically arranged on the two sides of the winding frame. According to the take-up and pay-off device of the underwater robot, by arranging an inner connecting plate, a sliding seat, a sliding rail, a linkage shaft, an outer connecting plate and a limiting plate, the winding frame is prevented from inclining and even falling off, convenience is provided for rotation of the winding frame, a rope is effectively prevented from falling off, the placing accuracy of the rope is improved, and the situation that the take-up and pay-off effect is affected by dislocation of the rope is avoided; the problems that manual rotating operation is adopted, the work amount is large, consumed time is long, meanwhile, limiting protection is not provided at the two ends of a rotating structure, a rope is prone to falling off, and the using effect is affected are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater robots, in particular to a retracting and deploying device for an underwater robot. Background Art

[0002] An underwater robot is an extreme operation robot that works underwater. It can replace humans in long-term underwater operations in highly dangerous environments, polluted environments, and waters with zero visibility. It can provide real-time video and sonar images and is widely used in oil development, marine hydrological data collection, maritime law enforcement evidence collection, scientific research, marine ranching, river and lake monitoring and other fields.

[0003] After real-time underwater monitoring, the underwater robot can be quickly retracted by installing a recovery device. The current recovery device is manually rotated, which requires a lot of work and takes a long time. At the same time, there is no limit protection at both ends of the rotating structure, and the rope is prone to fall off, affecting the use effect.

[0004] Therefore, a new type of underwater robot retraction and deployment device is proposed to solve the above problems. Utility Model Content

[0005] The purpose of the utility model is to provide a retractable device for an underwater robot to solve the problem proposed in the above-mentioned background technology that manual rotation operation is adopted, the engineering workload is large and the time consumption is long, and at the same time, no limit protection is provided at both ends of the rotating structure, and the rope is easy to fall off, affecting the use effect.

[0006] To achieve the above object, the utility model provides the following technical solutions: a retractable device for an underwater robot, comprising a first fixing frame and a second fixing frame, wherein the first fixing frame is located on the left side of the second fixing frame, a winding frame is arranged between the first fixing frame and the second fixing frame, and sliding components for auxiliary stability are symmetrically arranged on both sides of the winding frame;

[0007] The sliding assembly includes a driving motor, an internal plate, a sliding seat, a limit plate, a sliding rail, a linkage shaft and an external plate. A connecting frame is arranged inside the first fixed frame and the second fixed frame. The side wall of the connecting frame is fixedly connected with the internal plate. The side wall of the internal plate is provided with a circle of sliding rails. External plates are fixedly connected to both sides of the winding frame. Multiple groups of sliding seats are fixedly connected to the outer side of the external plate. The sliding seats are slidably connected to the outside of the sliding rails.

[0008] Preferably, a linkage shaft is fixedly connected inside the winding frame, one side of the linkage shaft is movably connected to the side wall of the connecting frame inside the second fixed frame, and the other side of the linkage shaft passes through the connecting frame inside the first fixed frame and is fixedly connected to the driving motor.

[0009] Preferably, the top and bottom ends of the inner side of the external plate are fixedly connected to a limit plate, the top end of the second fixing frame is fixedly connected to a control panel, and the interior of the connecting frame is fixedly connected to a plurality of sets of fixing rods.

[0010] Preferably, the bottom ends of the first fixed frame and the second fixed frame are fixedly connected with two sets of movable wheels, the bottoms of the outer sides of the first fixed frame and the second fixed frame are fixedly connected with connecting outer plates, and the side walls of the connecting outer plates are fixedly connected with the outer sides of the first fixed frame and the second fixed frame.

[0011] Preferably, a mounting bolt is vertically penetrated inside the connecting outer plate, and a plurality of baffles are fixedly connected to the bottom end of the connecting outer plate, the baffles are respectively located on both sides of the mounting bolt, and the thread on the inner wall of the connecting outer plate matches the thread on the outer wall of the mounting bolt.

[0012] Preferably, a knob is fixedly connected to the top of the mounting bolt, and the bottom of the mounting bolt is pointed.

[0013] Preferably, a circle of reinforcement layer is fixedly connected to the surface of the winding frame, a plurality of groups of adhesive layers are fixedly connected to the outer end of the reinforcement layer, and a circle of protective outer layer is fixedly connected to the outer end of the adhesive layer.

[0014] Preferably, a circle of moisture-proof inner layer is fixedly connected to the inner wall of the winding frame, and a sealing layer is fixedly connected to the inner wall of the moisture-proof inner layer.

[0015] Compared with the prior art, the utility model has the following beneficial effects: the retracting and releasing device of the underwater robot not only realizes the limit protection function, realizes the mobile fixing function, but also realizes the protection function;

[0016] (1) An internal plate, a sliding seat, a slide rail, a linkage shaft, an external plate and a limit plate are provided. When the linkage shaft rotates, the externally fixed winding frame is driven to rotate. No manual operation is required, which saves workload and improves the accuracy of rotation adjustment. During rotation, the sliding seat is sleeved on the outside of the slide rail, and the sliding structure is used to improve the balance force on both sides of the winding frame to prevent the winding frame from tilting or even falling off, providing a convenient force for the rotation of the winding frame. The external plate and the limit plate cooperate with each other to provide all-round limit fixation for the rope, effectively preventing the rope from falling, improving the accuracy of rope placement, and preventing the misalignment of the rope from affecting the retraction and release effect. The underwater robot can be retracted and released by flexibly adjusting the length of the rope;

[0017] (2) By providing a connecting outer plate, a baffle, mounting bolts, a knob, a support frame and moving wheels, the device can be conveniently pushed to any position for use through multiple sets of moving wheels, thereby increasing the flexibility of the device. The mounting bolts use the tip of the bottom to penetrate the inside of the connecting outer plate and move deep into the ground, providing a full range of fixing force for the entire device, avoiding position displacement of the first fixing frame and the second fixing frame during use, enhancing the stability of the structure itself, and using the baffle to effectively prevent mud from splashing outward, thereby achieving a certain shielding and protective effect;

[0018] (3) By providing a winding frame, a sealing layer, a reinforcement layer, a moisture-proof inner layer, an adhesive layer and a protective outer layer, the protective outer layer is used to provide strong protection for the surface of the winding frame, thereby effectively extending the service life of the winding frame. At the same time, the reinforcement layer is used to enhance the supporting force of the winding frame itself, thereby preventing the surface of the winding frame from collapsing after long-term use and affecting the retraction and release of the rope. The adhesive layer can be used to fix the protective outer layer and the reinforcement layer together, thereby preventing the protective outer layer from being misaligned and reducing the protective effect. The moisture-proof inner layer and the sealing layer cooperate with each other to enhance the moisture resistance and sealing of the winding frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a front view cross-sectional structural schematic diagram of the utility model;

[0020] Figure 2 It is a side view structural schematic diagram of the second fixing frame of the utility model;

[0021] Figure 3 This is a schematic diagram of the side structure of the connecting frame of the utility model;

[0022] Figure 4 It is a schematic diagram of the cross-sectional structure of the winding frame of the utility model.

[0023] In the figure: 1. moving wheel; 2. baffle; 3. connecting outer plate; 4. first fixed frame; 5. driving motor; 6. internal plate; 7. sliding seat; 8. limit plate; 9. control panel; 10. second fixed frame; 11. slide rail; 12. linkage shaft; 13. external plate; 14. winding frame; 15. supporting frame; 16. connecting frame; 17. fixing rod; 18. knob; 19. mounting bolt; 20. protective outer layer; 21. adhesive layer; 22. reinforcement layer; 23. moisture-proof inner layer; 24. sealing layer. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] Example 1: Please refer to Figure 1-4 , a retracting and releasing device of an underwater robot, comprising a first fixing frame 4 and a second fixing frame 10, wherein the first fixing frame 4 is located on the left side of the second fixing frame 10, a winding frame 14 is arranged between the first fixing frame 4 and the second fixing frame 10, and sliding components for auxiliary stability are symmetrically arranged on both sides of the winding frame 14;

[0026] The sliding assembly includes a driving motor 5, an inner plate 6, a sliding seat 7, a limit plate 8, a slide rail 11, a linkage shaft 12 and an outer plate 13. A connecting frame 16 is provided inside the first fixed frame 4 and the second fixed frame 10. The side wall of the connecting frame 16 is fixedly connected to the inner plate 6. The side wall of the inner plate 6 is provided with a circle of slide rails 11. The two sides of the winding frame 14 are fixedly connected to the outer side of the external plate 13. Multiple groups of sliding seats 7 are fixedly connected, and the sliding seats 7 are slidably connected to the outside of the slide rails 11.

[0027] The winding frame 14 is fixedly connected with a linkage shaft 12, one side of the linkage shaft 12 is movably connected to the side wall of the connecting frame 16 inside the second fixing frame 10, and the other side of the linkage shaft 12 passes through the connecting frame 16 inside the first fixing frame 4 and is fixedly connected with the driving motor 5;

[0028] The top and bottom ends of the inner side of the external plate 13 are fixedly connected to the limit plate 8, the top end of the second fixing frame 10 is fixedly connected to the control panel 9, and the inside of the connecting frame 16 is fixedly connected to multiple sets of fixing rods 17;

[0029] Specifically, Figure 1 and Figure 3 As shown, when in use, the sliding seat 7 is sleeved on the outside of the slide rail 11, and the driving motor 5 drives the linkage shaft 12 fixed on one side to rotate after running, and the winding frame 14 fixed on the outside of the linkage shaft 12 rotates accordingly, and the underwater robot is retracted and released by adjusting the length of the rope, and the rope rotates orderly between the external plate 13 and the limit plate 8 fixed on both sides of the winding frame 14.

[0030] Embodiment 2: The bottom ends of the first fixing frame 4 and the second fixing frame 10 are fixedly connected with two sets of moving wheels 1, the bottom of the outer sides of the first fixing frame 4 and the second fixing frame 10 are fixedly connected with a connecting outer plate 3, and a supporting frame 15 is fixedly connected between the side wall of the connecting outer plate 3 and the outer sides of the first fixing frame 4 and the second fixing frame 10;

[0031] A mounting bolt 19 is vertically penetrated inside the connecting outer plate 3, and a plurality of baffles 2 are fixedly connected to the bottom end of the connecting outer plate 3. The baffles 2 are respectively located on both sides of the mounting bolt 19, and the threads on the inner wall of the connecting outer plate 3 are consistent with the threads on the outer wall of the mounting bolt 19;

[0032] The top of the mounting bolt 19 is fixedly connected with a knob 18, and the bottom of the mounting bolt 19 is pointed;

[0033] Specifically, Figure 1 and Figure 2 As shown, when in use, the device is pushed to a suitable position by multiple sets of moving wheels 1, and the knobs 18 are turned in sequence to drive the mounting bolts 19 to penetrate the interior of the connecting outer plate 3 until the mounting bolts 19 move downward and rotate to the ground, thereby fixing the device in all directions.

[0034] Embodiment 3: A reinforcing layer 22 is fixedly connected to the surface of the winding frame 14, a plurality of adhesive layers 21 are fixedly connected to the outer end of the reinforcing layer 22, and a protective outer layer 20 is fixedly connected to the outer end of the adhesive layer 21;

[0035] A moisture-proof inner layer 23 is fixedly connected to the inner wall of the winding frame 14, and a sealing layer 24 is fixedly connected to the inner wall of the moisture-proof inner layer 23;

[0036] Specifically, Figure 1 and Figure 4 As shown, when in use, the protective outer layer 20 is utilized to provide strong protection to the surface of the winding frame 14, while the reinforcing layer 22 is used to enhance the supporting force of the winding frame 14 itself, the adhesive layer 21 can be used to fix the protective outer layer 20 and the reinforcing layer 22 together, and the moisture-proof inner layer 23 and the sealing layer 24 cooperate with each other to enhance the moisture-proofness and sealing of the winding frame 14.

[0037] Working principle: When the utility model is in use, the device is pushed to a suitable position through multiple sets of moving wheels 1, and the knobs 18 are turned in sequence to drive the mounting bolts 19 to penetrate the interior of the connecting outer plate 3 until the mounting bolts 19 move downward and rotate to the ground, thereby fixing the device in all directions. One end of the rope is fixed to the underwater robot, and the underwater robot is placed in water. After the driving motor 5 is running, it drives the linkage shaft 12 fixed on one side to rotate, and the winding frame 14 fixed outside the linkage shaft 12 rotates accordingly, and the underwater robot is retracted and released by adjusting the length of the rope.

[0038] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. A retractable device for an underwater robot, comprising a first fixing frame (4) and a second fixing frame (10), characterized in that: The first fixing frame (4) is located on the left side of the second fixing frame (10), a winding frame (14) is arranged between the first fixing frame (4) and the second fixing frame (10), and auxiliary stabilization sliding components are symmetrically arranged on both sides of the winding frame (14); The sliding assembly comprises a driving motor (5), an internal plate (6), a sliding seat (7), a limiting plate (8), a sliding rail (11), a linkage shaft (12) and an external plate (13); a connecting frame (16) is provided inside the first fixed frame (4) and the second fixed frame (10); the side wall of the connecting frame (16) is fixedly connected to the internal plate (6); the side wall of the internal plate (6) is provided with a circle of sliding rails (11); the two sides of the winding frame (14) are fixedly connected to the external plates (13); the outer side of the external plates (13) is fixedly connected to multiple groups of sliding seats (7); the sliding seats (7) are slidably connected to the outside of the sliding rails (11).

2. The underwater robot retracting and deploying device according to claim 1, characterized in that: A linkage shaft (12) is fixedly connected inside the winding frame (14), one side of the linkage shaft (12) is movably connected to the side wall of a connecting frame (16) inside the second fixed frame (10), and the other side of the linkage shaft (12) passes through the connecting frame (16) inside the first fixed frame (4) and is fixedly connected to a driving motor (5).

3. The underwater robot retracting and deploying device according to claim 1, characterized in that: The top and bottom ends of the inner side of the external plate (13) are fixedly connected to the limit plate (8), the top end of the second fixing frame (10) is fixedly connected to the control panel (9), and the interior of the connecting frame (16) is fixedly connected to a plurality of sets of fixing rods (17).

4. The underwater robot retracting and deploying device according to claim 1, characterized in that: The bottom ends of the first fixed frame (4) and the second fixed frame (10) are both fixedly connected to two sets of moving wheels (1); the bottoms of the outer sides of the first fixed frame (4) and the second fixed frame (10) are fixedly connected to a connecting outer plate (3); and a supporting frame (15) is fixedly connected between the side walls of the connecting outer plate (3) and the outer sides of the first fixed frame (4) and the second fixed frame (10).

5. The underwater robot retracting and deploying device according to claim 4, characterized in that: A mounting bolt (19) is vertically penetrated inside the connecting outer plate (3), and a plurality of baffles (2) are fixedly connected to the bottom end of the connecting outer plate (3), wherein the baffles (2) are respectively located on both sides of the mounting bolt (19), and the thread on the inner wall of the connecting outer plate (3) matches the thread on the outer wall of the mounting bolt (19).

6. The underwater robot retracting and deploying device according to claim 5, characterized in that: The top end of the mounting bolt (19) is fixedly connected with a knob (18), and the bottom end of the mounting bolt (19) is pointed.

7. The underwater robot retracting and deploying device according to claim 1, characterized in that: A reinforcing layer (22) is fixedly connected to the surface of the winding frame (14), a plurality of adhesive layers (21) are fixedly connected to the outer end of the reinforcing layer (22), and a protective outer layer (20) is fixedly connected to the outer end of the adhesive layer (21).

8. The underwater robot retracting and deploying device according to claim 1, characterized in that: The inner wall of the winding frame (14) is fixedly connected to a circle of moisture-proof inner layer (23), and the inner wall of the moisture-proof inner layer (23) is fixedly connected to a sealing layer (24).

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