Underwater robot retracting and releasing device for unmanned ship

Abstract

The underwater robot winding and unwinding device for the unmanned ship comprises a top plate and a rotating plate, a rotating mechanism for driving the rotating plate to rotate is fixedly installed on the top plate, a winding and unwinding mechanism is fixedly installed on one side of the top of the rotating plate, a traction rope is arranged on the winding and unwinding mechanism in a winding mode, and the traction rope is connected with the rotating plate. A traction rope guide mechanism for limiting the traction rope is arranged on the rotating plate, and a suspension mechanism is fixedly mounted at the bottom of the traction rope. The rotating mechanism can drive the rotating plate and the suspension mechanism to move into the unmanned ship body, so that the underwater robot can be conveniently connected with the suspension mechanism, then the rotating mechanism can transfer the robot to the outside of the ship body, the winding and unwinding mechanism can unwind a traction rope, and the unmanned ship body is convenient to use. And when the pulling rope is put down, limiting can be conducted through the pulling rope guiding mechanism, and the situation that normal putting down of the underwater robot is affected due to the fact that the pulling rope swings is prevented.

Description

Technical Field

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

[0002] Unmanned vessels and underwater robots often work together to complete a range of complex tasks. Such systems can be applied in a variety of fields, including but not limited to ocean mapping, environmental monitoring, aquaculture management, infrastructure inspection and maintenance, etc.

[0003] When using an underwater robot on an unmanned ship, it usually needs to be used in conjunction with a retraction and deployment device. The retraction and deployment device needs to be used to put the underwater robot into the water to work. When using the retraction and deployment device, a traction rope needs to be used. If the traction rope swings left and right when the line is released, it is easy for the robot to shake underwater. Such shaking can easily cause the underwater robot to fail to reach the predetermined position, and the existing retraction and deployment device is not easy to operate when placing the robot. For this reason, we propose an underwater robot retraction and deployment device for an unmanned ship. Utility Model Content

[0004] The purpose of the utility model is to provide an underwater robot retracting and deploying device for an unmanned ship, so as to solve the problems raised in the background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an underwater robot retraction and deployment device for an unmanned boat, comprising a base and a rotating plate, a top plate fixedly mounted on the top of the base through multiple groups of first support columns, a rotating mechanism for driving the rotating plate to rotate fixedly mounted on the top plate, the rotating plate fixedly mounted on the top of the rotating mechanism, a retraction and unwinding mechanism fixedly mounted on one side of the top of the rotating plate, a traction rope wound around the retraction and unwinding mechanism, a traction rope guide mechanism for limiting the traction rope is provided on the rotating plate, and a suspension mechanism connected to the underwater robot is fixedly mounted on the bottom of the traction rope.

[0006] Furthermore, the rewinding and unwinding mechanism includes a first mounting plate, a rotating frame and a first drive motor, two groups of first mounting plates are fixedly installed on the top of the rotating plate, a rotating frame is rotatably connected between the two groups of first mounting plates, the traction rope is wound around the outside of the rotating frame, a first drive motor is fixedly installed on one side of the first mounting plate, and the output end of the first drive motor is fixedly connected to the rotating frame.

[0007] Furthermore, the traction rope guiding mechanism includes a second support column, a wire passing tube, an extension tube, a third support column and a guide seat. The second support column is fixedly installed on the top of the rotating plate. The wire passing tube is fixedly installed on the top of the rotating plate. Both sides of the wire passing tube are fixedly connected with an arc-shaped extension tube. The third support column is fixedly installed on one side of the rotating plate. One end of the third support column is fixedly connected to a guide seat for limiting the traction rope.

[0008] Furthermore, the suspension mechanism includes a second mounting plate, a limit seat, a hook and a support frame. The second mounting plate is fixedly installed on the bottom of the traction rope. The bottom of the second mounting plate is fixedly connected to the hook through the limit seat. The limit seat is slidably connected to the support frame. The bottom of the second mounting plate is fixedly connected to a spring located outside the wire tube, and the bottom of the spring is fixedly connected to the support frame.

[0009] Furthermore, the rotating mechanism includes a rotating seat, a rotating shaft, a first gear plate, a second drive motor and a second gear plate. The top of the top plate is rotatably mounted with a rotating shaft through the rotating seat, the top of the rotating shaft is fixedly mounted with a rotating plate, the outside of the rotating shaft is fixedly mounted with a first gear plate, the bottom of the top plate is fixedly mounted with a second drive motor, and the output end of the second drive motor is fixedly connected to a second gear plate that meshes with the first gear plate.

[0010] Furthermore, a fourth support column is fixedly installed on the top of the top plate, and the top of the fourth support column is rotatably connected to a support ball that fits with the bottom of the rotating plate.

[0011] Compared with the prior art, the present invention has the following beneficial effects: the rotating mechanism provided in the present invention can drive the rotating plate to rotate, so that the suspension mechanism can be moved into the hull of the unmanned boat, and then the underwater robot and the suspension mechanism can be conveniently connected to each other, so that the robot can be positioned, and then the rotating mechanism provided can transfer the robot to the outside of the hull, and the winding mechanism provided can release the traction rope, so as to facilitate the steps of lowering the robot, and when the traction rope is lowered, it can be limited by the traction rope guide mechanism to prevent the traction rope from swinging and affecting the normal lowering of the underwater robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the first stereoscopic structure of the utility model;

[0013] Figure 2 This is a schematic diagram of the second stereoscopic structure of the utility model;

[0014] Figure 3 This is a third perspective structural diagram of the present invention.

[0015] In the figure: 1. base; 2. first support column; 3. top plate; 4. rotating mechanism; 5. rotating plate; 6. reeling and unreeling mechanism; 7. traction rope; 8. traction rope guide mechanism; 9. suspension mechanism; 10. first mounting plate; 11. rotating frame; 12. first drive motor; 13. second support column; 14. wire tube; 15. extension tube; 16. third support column; 17. guide seat; 18. rotating seat; 19. rotating shaft; 20. first gear plate; 21. second drive motor; 22. second gear plate; 23. second mounting plate; 24. limit seat; 25. hook; 26. support frame; 27. spring; 28. fourth support column; 29. ​​support ball. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0017] See also Figure 1-Figure 3 The utility model provides a technical solution: a retractable underwater robot device for an unmanned boat, comprising a base 1 and a rotating plate 5, a top plate 3 being fixedly mounted on the top of the base 1 through multiple groups of first support columns 2, a rotating mechanism 4 for driving the rotating plate 5 to rotate being fixedly mounted on the top plate 3, the rotating plate 5 being fixedly mounted on the top of the rotating mechanism 4, a retractable and unreeling mechanism 6 being fixedly mounted on one side of the top of the rotating plate 5, a traction rope 7 being wound around the retractable and unreeling mechanism 6, a traction rope guide mechanism 8 for limiting the traction rope 7 being provided on the rotating plate 5, and a suspension mechanism 9 connected to the underwater robot being fixedly mounted on the bottom of the traction rope 7.

[0018] Among them, the rotating mechanism 4 can drive the rotating plate 5 to rotate, so that the suspension mechanism 9 is moved into the hull of the unmanned ship, and then the underwater robot and the suspension mechanism 9 are conveniently connected to each other, so that the robot can be positioned. Then the rotating mechanism 4 can transfer the robot to the outside of the hull, and the reeling mechanism 6 can release the traction rope 7, which is convenient for completing the robot lowering step. When the traction rope 7 is lowered, it can be limited by the traction rope guide mechanism 8 to prevent the traction rope 7 from swinging and affecting the normal lowering of the underwater robot.

[0019] See also Figure 1 and Figure 2The suspension mechanism 9 includes a second mounting plate 23, a limiting seat 24, a hook 25 and a support frame 26. The second mounting plate 23 is fixedly installed on the bottom of the traction rope 7. The bottom of the second mounting plate 23 is fixedly connected to the hook 25 through the limiting seat 24. The limiting seat 24 is slidably connected to the support frame 26. The bottom of the second mounting plate 23 is fixedly connected to the outside of the wire tube 14 with a spring 27, and the bottom of the spring 27 is fixedly connected to the support frame 26.

[0020] When the robot is suspended, the hook 25 is connected to the robot, and the support frame 26 is moved up and down along the limit seat 24. Then, the spring 27 can provide an extrusion force so that the support frame 26 can contact the top of the robot. In this way, the support frame 26 can be used to prevent the robot from shaking excessively during the lowering process.

[0021] See also Figure 1 、 Figure 2 and Figure 3 The rotating mechanism 4 includes a rotating base 18, a rotating shaft 19, a first gear plate 20, a second drive motor 21 and a second gear plate 22. The top of the top plate 3 is rotatably mounted with the rotating shaft 19 through the rotating base 18. The top of the rotating shaft 19 is fixedly mounted with a rotating plate 5. The outside of the rotating shaft 19 is fixedly mounted with a first gear plate 20. The bottom of the top plate 3 is fixedly mounted with a second drive motor 21. The output end of the second drive motor 21 is fixedly connected to the second gear plate 22 that meshes with the first gear plate 20.

[0022] Among them, after the robot is suspended, the second drive motor 21 is operated, and the second drive motor 21 drives the second gear plate 22 to rotate. Then the rotating second gear plate 22 can drive the first gear plate 20, the rotating shaft 19 and the rotating plate 5 engaged with it to rotate along the rotating seat 18, so that the rewinding mechanism 6, the suspension mechanism 9 and the robot can be transferred to the outside of the unmanned boat for the rewinding and unwinding steps.

[0023] See also Figure 1 and Figure 2 The rewinding and unwinding mechanism 6 includes a first mounting plate 10, a rotating frame 11 and a first drive motor 12. Two groups of first mounting plates 10 are fixedly installed on the top of the rotating plate 5. The rotating frame 11 is rotatably connected between the two groups of the first mounting plates 10. The traction rope 7 is wound around the outside of the rotating frame 11. A first drive motor 12 is fixedly installed on one side of the first mounting plate 10, and the output end of the first drive motor 12 is fixedly connected to the rotating frame 11.

[0024] After the robot moves to the outside of the unmanned boat, the first drive motor 12 drives the rotating frame 11 to rotate, so that the traction rope 7 can be lowered, and the suspension mechanism 9 and the robot are lowered below the water surface.

[0025] See also Figure 1 、 Figure 2 and Figure 3 The traction rope guiding mechanism 8 includes a second support column 13, a wire tube 14, an extension tube 15, a third support column 16 and a guide seat 17. The second support column 13 is fixedly installed on the top of the rotating plate 5. The wire tube 14 is fixedly installed on the top of the rotating plate 5. Both sides of the wire tube 14 are fixedly connected with an arc-shaped extension tube 15. A third support column 16 is fixedly installed on one side of the rotating plate 5. One end of the third support column 16 is fixedly connected to a guide seat 17 for limiting the traction rope 7.

[0026] Among them, the lowered traction rope 7 will first pass through the inside of the wire tube 14, and the traction rope 7 will be placed in the inside of the guide seat 17, so that the lowering position of the traction rope 7 can be fixed, thereby preventing the traction rope 7 from shaking when being lowered and affecting the lowering position of the robot. When the traction rope 7 is lowered and moves left and right, it can be limited by the arc-shaped extension tube 15 to prevent the traction rope 7 from being scratched and affecting the lowering process.

[0027] See also Figure 1 and Figure 3 A fourth support column 28 is fixedly installed on the top of the top plate 3, and the top of the fourth support column 28 is rotatably connected to a support ball 29 that fits with the bottom of the rotating plate 5. The fourth support column 28 and the support ball 29 can position the bottom of the rotating plate 5, so as to prevent the rotating plate 5 from deviating when rotating.

[0028] When in use, first, the rotating mechanism 4 can drive the rotating plate 5 to rotate, so that the hanging mechanism 9 moves into the hull of the unmanned boat, and then the underwater robot and the hanging mechanism 9 are conveniently connected to each other, so that the robot can be positioned, and then the rotating mechanism 4 can be transferred to the outside of the hull, and the reeling mechanism 6 can be used to release the traction rope 7, so as to complete the step of lowering the robot. When the traction rope 7 is lowered, it can be limited by the traction rope guide mechanism 8 to prevent the traction rope 7 from swinging and affecting the normal lowering of the underwater robot. When the robot is suspended, the hook 25 is connected to the robot, and the support frame 26 is moved up and down along the limit seat 24. Then, the spring 27 can provide an extrusion force so that the support frame 26 can contact the top of the robot. In this way, the support frame 26 can be used to prevent the robot from excessive shaking during the lowering process. After the robot is suspended, the second drive motor When the machine 21 is operating, the second drive motor 21 drives the second gear plate 22 to rotate, and then the rotating second gear plate 22 can drive the first gear plate 20, the rotating shaft 19 and the rotating plate 5 engaged therewith to rotate along the rotating seat 18, so that the reeling and unwinding mechanism 6, the suspension mechanism 9 and the robot can be transferred to the outside of the unmanned boat for the reeling and unwinding step. After the robot moves to the outside of the unmanned boat, the first drive motor 12 drives the rotating frame 11 to rotate, so that the traction rope 7 can be lowered, so that the suspension mechanism 9 and the robot are lowered below the water surface. The lowered traction rope 7 will first pass through the inside of the wire tube 14 and put the traction rope 7 into the inside of the guide seat 17, so that the lowering position of the traction rope 7 can be fixed, thereby preventing the traction rope 7 from shaking when being lowered and affecting the lowering position of the robot. When the traction rope 7 is lowered and moves left and right, it can be limited by the arc-shaped extension tube 15 to prevent the traction rope 7 from being scratched and affecting the lowering process.

[0029] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A device for retracting and deploying an underwater robot for an unmanned vessel, comprising a base (1) and a rotating plate (5), wherein a top plate (3) is fixedly mounted on the top of the base (1) via a plurality of first support columns (2), and characterized in that: A rotating mechanism (4) for driving the rotating plate (5) to rotate is fixedly mounted on the top plate (3); the rotating plate (5) is fixedly mounted on the top of the rotating mechanism (4); a reeling and unreeling mechanism (6) is fixedly mounted on one side of the top of the rotating plate (5); a traction rope (7) is wound around the reeling and unreeling mechanism (6); a traction rope guide mechanism (8) for limiting the traction rope (7) is provided on the rotating plate (5); and a suspension mechanism (9) connected to the underwater robot is fixedly mounted on the bottom of the traction rope (7).

2. The underwater robot retracting and deploying device for an unmanned vessel according to claim 1, characterized in that: The rewinding and unwinding mechanism (6) comprises a first mounting plate (10), a rotating frame (11) and a first drive motor (12); two groups of first mounting plates (10) are fixedly mounted on the top of the rotating plate (5); the rotating frame (11) is rotatably connected between the two groups of first mounting plates (10); the traction rope (7) is wound around the outside of the rotating frame (11); a first drive motor (12) is fixedly mounted on one side of the first mounting plate (10); and an output end of the first drive motor (12) is fixedly connected to the rotating frame (11).

3. The underwater robot retracting and deploying device for an unmanned vessel according to claim 2, characterized in that: The traction rope guide mechanism (8) comprises a second support column (13), a wire tube (14), an extension tube (15), a third support column (16) and a guide seat (17), wherein the second support column (13) is fixedly mounted on the top of the rotating plate (5), the wire tube (14) is fixedly mounted on the top of the rotating plate (5), both sides of the wire tube (14) are fixedly connected with an arc-shaped extension tube (15), one side of the rotating plate (5) is fixedly mounted with a third support column (16), and one end of the third support column (16) is fixedly connected with a guide seat (17) for limiting the traction rope (7).

4. The underwater robot retracting and deploying device for an unmanned vessel according to claim 3, characterized in that: The suspension mechanism (9) comprises a second mounting plate (23), a limiting seat (24), a hook (25) and a support frame (26); the second mounting plate (23) is fixedly mounted on the bottom of the traction rope (7); the bottom of the second mounting plate (23) is fixedly connected to the hook (25) via the limiting seat (24); the limiting seat (24) is slidably connected to the support frame (26); the bottom of the second mounting plate (23) is fixedly connected to the outside of the wire tube (14) with a spring (27); the bottom of the spring (27) is fixedly connected to the support frame (26).

5. The underwater robot retracting and deploying device for an unmanned vessel according to claim 4, characterized in that: The rotating mechanism (4) comprises a rotating seat (18), a rotating shaft (19), a first gear plate (20), a second driving motor (21) and a second gear plate (22); the top of the top plate (3) is rotatably mounted with the rotating shaft (19) through the rotating seat (18); the top of the rotating shaft (19) is fixedly mounted with a rotating plate (5); the outside of the rotating shaft (19) is fixedly mounted with the first gear plate (20); the bottom of the top plate (3) is fixedly mounted with the second driving motor (21); the output end of the second driving motor (21) is fixedly connected with the second gear plate (22) meshing with the first gear plate (20).

6. The underwater robot retracting and deploying device for an unmanned vessel according to claim 5, characterized in that: A fourth support column (28) is fixedly mounted on the top of the top plate (3), and a support ball (29) is rotatably connected to the top of the fourth support column (28) and is fitted to the bottom of the rotating plate (5).

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