Transportation device for underwater robot

Abstract

The utility model discloses a transportation device for an underwater robot, and particularly relates to the technical field of transportation equipment, the transportation device comprises a box body mechanism, the top of the box body mechanism is fixedly connected with a first loading and transporting mechanism, and the upper side of the left end of the first loading and transporting mechanism is fixedly connected with a second loading and transporting mechanism. When the transportation device for the underwater robot is used, a box body mechanism and a first loading and transporting mechanism are fixed, a third electric controller controls electric telescopic rods so that the two electric telescopic rods can be stretched, the distance between a loading and transporting table and the ground can be reduced through stretching, and the transportation efficiency is improved. Then the robot is remotely controlled to move to the top of the loading and transporting table, the height of the loading and transporting table is flush with the lower end face of the shell through retraction of an electric telescopic rod, then the robot is controlled to move into the box mechanism, and the loading and transporting table can be lifted through retraction of the electric telescopic rod; and then the second loading and transporting mechanism is moved to the upper end of the box body mechanism through the first loading and transporting mechanism.

Description

Technical Field

[0001] This utility model relates to the field of transportation equipment technology, and in particular to a transportation device for underwater robots. Background Technology

[0002] With the development of science and technology and the progress of society, underwater robots, also known as unmanned remotely operated vehicles, are a type of robot that works in extreme underwater environments. 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.

[0003] When underwater robots operate, they can retrieve and transport underwater debris using transport devices. However, installing and securing the robots can be quite troublesome.

[0004] Chinese patent document publication number CN213413869U discloses a transportation device for an educational underwater robot, including a first plate. Two hydraulic cylinders are symmetrically fixedly connected to the upper surface of the first plate. The output ends of the two hydraulic cylinders are fixedly connected to a first connecting plate. A first housing is fixedly connected to one side of the two first connecting plates. Two limiting blocks are symmetrically fixedly connected to the inner sidewall of the first housing. A first handle is fixedly connected to the front surface of the second plate. Through the combination of the first housing, the first hydraulic cylinders, the first connecting plate, the first handle, and the second plate, the robot can be conveniently transported. The first hydraulic cylinders can adjust the first housing to the height of the plane where the robot is located, and then the second plate can push the robot into the interior of the first housing, thus facilitating the loading and unloading of the robot. The above patent has a simple structure, is easy for staff to operate, and is suitable for promotion.

[0005] In some existing technologies, there are many structures that require manual operation when placing the robot inside the transport device, which makes the operation quite troublesome. Utility Model Content

[0006] The main objective of this invention is to provide a transport device for underwater robots, which can effectively solve the problem that in some existing technologies, there are many structures that require manual operation when placing the robot inside the transport device, resulting in cumbersome operation during use.

[0007] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0008] A transport device for an underwater robot includes a box-shaped structure. A first transport mechanism is fixedly connected to the top of the box-shaped structure. A second transport mechanism is fixedly connected to the upper left side of the first transport mechanism. A sliding door mechanism is fixedly connected to the left end of the box-shaped structure. A limit mechanism is fixedly connected to the inner surface of the box-shaped structure.

[0009] Preferably, the housing mechanism includes an outer shell, a drive system device is fixedly connected to the bottom of the outer shell, and a movable wheel is rotatably connected to each of the four corners of the drive system device.

[0010] Preferably, the top of the outer shell is symmetrically and fixedly connected with two movable rail seats. The inner surfaces of the two movable rail seats are rotatably connected with drive threaded shafts. The outer surfaces of the two drive threaded shafts are threadedly connected with movable seats. The top of the two movable seats is fixedly connected with a fixing rod. The right ends of the two drive threaded shafts penetrate the right side of the inner surface of the movable rail seats. The right ends of the two drive threaded shafts are rotatably connected with drive motors. The opposite sides of the two drive motors are electrically connected to a controller.

[0011] Preferably, a mounting base is fixedly connected to the left side of the upper end of each of the two fixed rods, and a groove is provided on the inner surface of each of the two mounting bases. An electric controller is fixedly connected to the opposite surfaces of the two mounting bases. An electric telescopic rod is fixedly connected to the bottom of each of the two mounting bases, and a loading platform is fixedly connected to the bottom of the two electric telescopic rods.

[0012] Preferably, the sliding door mechanism includes a second movable rail base, a second drive threaded shaft rotatably connected to the inner surface of the second movable rail base, a second movable seat threadedly connected to the outer surface of the second drive threaded shaft, a door panel fixedly connected to the right side of the lower end of the outer surface of the second movable seat, the rear end of the second drive threaded shaft penetrating through the inner surface of the rear end of the second movable rail base, a second drive motor rotatably connected to the rear end of the second drive threaded shaft, and a second controller electrically connected to the right side of the second drive motor.

[0013] Preferably, the upper end of the inner surface of the outer shell is symmetrically and fixedly connected with movable rail seats three, the inner surfaces of the two movable rail seats three are rotatably connected with bidirectional threaded rods, the outer surfaces of the two bidirectional threaded rods are symmetrically threaded with movable seats three, the bottom of the four movable seats three are fixedly connected with limit plates, the rear ends of the two bidirectional threaded rods penetrate through the inner surface of the rear end of the outer shell, the rear ends of the two bidirectional threaded rods are rotatably connected with drive motor three, and the opposite sides of the two drive motor three are electrically connected with controller four.

[0014] Preferably, scanners are provided on opposite sides of the two movable rails, and a control sensor is electrically connected to the rear end of the scanner. The tops of both the scanner and the control sensor are fixedly connected to the upper end of the inner wall of the housing.

[0015] Preferably, the outer surfaces of drive motor one, drive motor two, and drive motor three are all fixedly connected to an external waterproof mounting box.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. In the implementation of this utility model, by setting up a second loading mechanism, it is not convenient to install the underwater robot during transportation. Therefore, by controlling the electric telescopic rod through the third electric controller, the distance between the loading platform and the ground can be reduced. Then, the robot can be remotely controlled to move to the top of the loading platform, thereby achieving the effect of moving the robot into the interior of the box mechanism. The overall operation is simple and convenient.

[0018] 2. In the implementation of this utility model, by setting up a sliding door mechanism, the controller two controls the drive motor two, so that the drive motor two can drive the drive threaded shaft two and the moving seat two to make a threaded rotation connection, thereby achieving the displacement effect at the door panel. When operating underwater, the automatic door panel helps to provide a flexible loading and unloading solution.

[0019] 3. In the implementation of this utility model, by setting a limiting mechanism, scanning and positioning the robot with a scanner, analyzing the signals through control sensors and transmitting them to the controller, and moving the robot in relative or opposite directions between the two limiting plates, the limiting plates can effectively limit and fix the robot inside the box mechanism. This prevents the robot from moving due to the rocking of the ship, the action of waves or other external forces during transportation. The limiting mechanism can prevent the robot from colliding with the internal wall of the box mechanism, reduce vibration and potential damage, and help protect the important internal components of the robot from damage during transportation. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the second loading mechanism of this utility model;

[0022] Figure 3 This is a partial cross-sectional structural schematic diagram of the loading mechanism of this utility model;

[0023] Figure 4 This is a partial cross-sectional view of the sliding door mechanism of this utility model;

[0024] Figure 5 This is a partial cross-sectional view of the box mechanism of this utility model;

[0025] Figure 6 For the present utility model Figure 5 A magnified structural diagram at point A.

[0026] In the diagram: 1. Box body mechanism; 101. Outer shell; 102. Drive system device; 103. Casters; 2. Loading mechanism one; 201. Moving rail base one; 202. Drive threaded shaft one; 203. Moving seat one; 204. Fixed rod; 205. Drive motor one; 206. Controller one; 3. Sliding door mechanism; 301. Moving rail base two; 302. Drive threaded shaft two; 303. Moving seat two; 304. Door panel; 305. Drive motor II; 306. Controller II; 4. Loading Mechanism II; 401. Mounting Base; 402. Groove; 403. Electric Controller III; 404. Electric Telescopic Rod; 405. Loading Platform; 5. Limiting Mechanism; 501. Moving Rail III; 502. Bidirectional Threaded Rod; 503. Moving Base III; 504. Drive Motor III; 505. Controller IV; 506. Scanner; 507. Control Sensor; 508. Limiting Plate; 6. External Waterproof Mounting Box. Detailed Implementation

[0027] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0028] like Figure 1-6 As shown, a transport device for an underwater robot includes a box mechanism 1, a loading mechanism 2 fixedly connected to the top of the box mechanism 1, a loading mechanism 4 fixedly connected to the upper left side of the loading mechanism 2, a sliding door mechanism 3 fixedly connected to the left end of the box mechanism 1, and a limit mechanism 5 fixedly connected to the inner surface of the box mechanism 1.

[0029] In this embodiment, the container mechanism 1 and the loading mechanism 2 are fixed during implementation. The electric controller 3 403 controls the electric telescopic rods 404, causing them to extend. This extension reduces the distance between the loading platform 405 and the ground. Then, the robot is remotely controlled to move to the top of the loading platform 405. By retracting the electric telescopic rods 404, the height of the loading platform 405 is made flush with the lower end of the outer shell 101. The robot is then controlled to move into the interior of the container mechanism 1. By retracting the electric telescopic rods 404, the loading platform 405 is raised. Then, the loading mechanism 2 4 is moved to the top of the container mechanism 1 via the structure of the loading mechanism 2. By setting the sliding door mechanism 3, the controller 2 306 controls the second drive motor 305, enabling the second drive motor 305 to drive the second drive threaded shaft 302 to rotate and connect with the second movable seat 303, thereby achieving the displacement effect at the door panel 304. The scanner 506 scans and positions the robot, and the control sensor 507 analyzes the signal and transmits it to the fourth controller 505. The fourth controller 505 controls the third drive motor 504, enabling the third drive motor 504 to drive the bidirectional threaded rod 502 to rotate and connect with the third movable seat 503. By moving the two limit plates 508 in relative or opposite directions, the limit plates 508 can limit and fix the robot inside the box mechanism 1.

[0030] Further reference Figure 1 and Figure 5 In this embodiment, the housing mechanism 1 includes a housing 101, and a drive system device 102 is fixedly connected to the bottom of the housing 101. Each of the four corners of the drive system device 102 is rotatably connected to a movable wheel 103.

[0031] Further reference Figure 2 and Figure 3 In this embodiment, the top of the outer shell 101 is symmetrically and fixedly connected with movable rail seats 201. The inner surfaces of the two movable rail seats 201 are rotatably connected with drive threaded shafts 202. The outer surfaces of the two drive threaded shafts 202 are threadedly connected with movable seats 203. The top of the two movable seats 203 is fixedly connected with a fixing rod 204. The right ends of the two drive threaded shafts 202 penetrate through the right side of the inner surface of the movable rail seats 201. The right ends of the two drive threaded shafts 202 are rotatably connected with drive motors 205. The opposite sides of the two drive motors 205 are electrically connected to a controller 206.

[0032] Further reference Figure 2In this embodiment, mounting bases 401 are fixedly connected to the left side of the upper end of the two fixed rods 204. Grooves 402 are provided on the inner surface of the two mounting bases 401. Electric controllers 403 are fixedly connected to the opposite surfaces of the two mounting bases 401. Electric telescopic rods 404 are fixedly connected to the bottom of the two mounting bases 401. Loading platform 405 is fixedly connected to the bottom of the two electric telescopic rods 404.

[0033] Specifically, by setting up a loading platform 405, the electric controller 403 controls the electric telescopic rods 404 to extend the two electric telescopic rods 404. By extending the rods, the distance between the loading platform 405 and the ground can be reduced. Then, the robot is remotely controlled to move to the top of the loading platform 405. By retracting the electric telescopic rods 404, the height of the loading platform 405 is made flush with the lower end of the outer shell 101. Then, the robot is controlled to move into the interior of the box mechanism 1. By retracting the electric telescopic rods 404, the loading platform 405 can be raised. Then, the loading mechanism 2 is moved to the upper end of the box mechanism 1 through the structure of loading mechanism 2. The overall operation is simple and convenient.

[0034] Further reference Figure 4 In this embodiment, the sliding door mechanism 3 includes a second movable rail base 301, a second drive threaded shaft 302 rotatably connected to the inner surface of the second movable rail base 301, a second movable seat 303 threadedly connected to the outer surface of the second drive threaded shaft 302, a door panel 304 fixedly connected to the right side of the lower end of the outer surface of the second movable seat 303, the rear end of the second drive threaded shaft 302 penetrating through the inner surface of the rear end of the second movable rail base 301, a second drive motor 305 rotatably connected to the rear end of the second drive threaded shaft 302, and a second controller 306 electrically connected to the right side of the second drive motor 305.

[0035] Specifically, controller 2 306 controls drive motor 2 305, so that drive motor 2 305 can drive drive threaded shaft 2 302 to rotate and connect with moving seat 2 303, thereby achieving displacement effect at door panel 304. When operating underwater, automatic door panel helps to provide flexible loading and unloading solutions.

[0036] Further reference Figure 5 and Figure 6In this embodiment, movable rail bases 501 are symmetrically fixedly connected to the upper end of the inner surface of the outer shell 101. Two bidirectional threaded rods 502 are rotatably connected to the inner surfaces of the two movable rail bases 501. Movable seats 503 are symmetrically threaded to the outer surfaces of the two bidirectional threaded rods 502. Limiting plates 508 are fixedly connected to the bottom of the four movable seats 503. The rear ends of the two bidirectional threaded rods 502 penetrate the inner surface of the rear end of the outer shell 101. Drive motors 504 are rotatably connected to the rear ends of the two bidirectional threaded rods 502. Controllers 505 are electrically connected to the opposite sides of the two drive motors 504. Scanners 506 are provided on the opposite sides of the two movable rail bases 501. Control sensors 507 are electrically connected to the rear end of the scanners 506. The tops of the scanners 506 and control sensors 507 are fixedly connected to the upper end of the inner wall of the outer shell 101.

[0037] Specifically, the robot is scanned and positioned by scanner 506, the signal is analyzed by control sensor 507 and transmitted to controller 505. Controller 505 controls drive motor 504, which drives the bidirectional threaded rod 502 to rotate and connect with the movable seat 503. By moving relative to or in opposite directions between the two limiting plates 508, the limiting plates 508 can limit and fix the robot inside the box mechanism 1. This prevents the robot from moving due to the rocking of the ship, waves or other external forces during transportation. The limiting mechanism 5 can prevent the robot from colliding with the internal wall of the box mechanism 1, reduce vibration and potential damage, and help protect important internal components of the robot from damage during transportation.

[0038] Further reference Figure 1 , Figure 2 , Figure 4 and Figure 6 In this embodiment, the outer surfaces of drive motor 1 205, drive motor 2 305 and drive motor 3 504 are all fixedly connected to an external waterproof mounting box 6.

[0039] The controllers 1 (206), 2 (306), and 3 (505) in this solution can be existing controllers that can be matched with drive motors 1 (205), 2 (305), and 3 (504), and can control the rotation speed of the motors. The electric controller 3 in this solution can be an existing electric push rod controller of model KZ-05, which can provide control over the extension and retraction of the electric telescopic rod 404. Since it is a very mature product in the prior art, it will not be described in detail in this application.

[0040] It should be noted that the specific installation method of the drive motor, the circuit connection method, and the control method used in this utility model are all conventional designs, and will not be described in detail here.

[0041] The working principle of this utility model is as follows: In use, the box mechanism 1 and the loading mechanism 2 are fixed together. The electric controller 3 403 controls the electric telescopic rods 404, causing the two electric telescopic rods 404 to extend. By extending, the distance between the loading platform 405 and the ground can be reduced. Then, the robot is remotely controlled to move to the top of the loading platform 405. By retracting the electric telescopic rods 404, the height of the loading platform 405 is made flush with the lower end face of the outer shell 101. Then, the robot is controlled to move into the interior of the box mechanism 1. By retracting the electric telescopic rods 404, the loading platform 405 is raised. Then, the loading mechanism 2 4 is moved to the upper end of the box mechanism 1 through the structure of the loading mechanism 2. By setting the sliding door mechanism 3, the control... Controller 2 306 controls drive motor 2 305, enabling drive motor 2 305 to drive drive threaded shaft 2 302 to rotate and connect with moving seat 2 303, thereby achieving displacement at door panel 304. Scanner 506 scans and positions the robot, and control sensor 507 analyzes the signal and transmits it to controller 4 505. Controller 4 505 controls drive motor 3 504, enabling drive motor 3 504 to drive bidirectional threaded rod 502 to rotate and connect with moving seat 3 503. By moving relative or opposite directions between the two limiting plates 508, the limiting plates 508 can limit and fix the robot inside the box mechanism 1.

[0042] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A transport device for an underwater robot, comprising a housing mechanism (1), characterized in that: The top of the box mechanism (1) is fixedly connected to a first loading mechanism (2), the upper left side of the first loading mechanism (2) is fixedly connected to a second loading mechanism (4), the left end of the box mechanism (1) is fixedly connected to a sliding door mechanism (3), and the inner surface of the box mechanism (1) is fixedly connected to a limit mechanism (5).

2. The underwater robot transport device according to claim 1, characterized in that: The housing mechanism (1) includes a housing (101), and a drive system device (102) is fixedly connected to the bottom of the housing (101). Each of the four corners of the drive system device (102) is rotatably connected to a moving wheel (103).

3. The underwater robot transport device according to claim 2, characterized in that: The top of the outer shell (101) is symmetrically fixed with two movable rail seats (201). The inner surfaces of the two movable rail seats (201) are rotatably connected with drive threaded shafts (202). The outer surfaces of the two drive threaded shafts (202) are threaded with movable seats (203). The top of the two movable seats (203) is fixedly connected with a fixing rod (204). The right ends of the two drive threaded shafts (202) pass through the right side of the inner surface of the movable rail seats (201). The right ends of the two drive threaded shafts (202) are rotatably connected with drive motors (205). The opposite sides of the two drive motors (205) are electrically connected to a controller (206).

4. The underwater robot transport device according to claim 3, characterized in that: Mounting bases (401) are fixedly connected to the left side of the upper end of the two fixed rods (204). Grooves (402) are provided on the inner surface of the two mounting bases (401). Electric controllers (403) are fixedly connected to the opposite sides of the two mounting bases (401). Electric telescopic rods (404) are fixedly connected to the bottom of the two mounting bases (401). Loading platforms (405) are fixedly connected to the bottom of the two electric telescopic rods (404).

5. The underwater robot transport device according to claim 3, characterized in that: The sliding door mechanism (3) includes a second movable rail base (301), a second drive threaded shaft (302) is rotatably connected to the inner surface of the second movable rail base (301), a second movable seat (303) is threadedly connected to the outer surface of the second drive threaded shaft (302), a door panel (304) is fixedly connected to the right side of the lower end of the outer surface of the second movable seat (303), the rear end of the second drive threaded shaft (302) passes through the inner surface of the rear end of the second movable rail base (301), a second drive motor (305) is rotatably connected to the rear end of the second drive threaded shaft (302), and a second controller (306) is electrically connected to the right side of the second drive motor (305).

6. The underwater robot transport device according to claim 5, characterized in that: The upper end of the inner surface of the outer shell (101) is symmetrically and fixedly connected with a movable rail base three (501). The inner surfaces of the two movable rail base three (501) are rotatably connected with a bidirectional threaded rod (502). The outer surfaces of the two bidirectional threaded rods (502) are symmetrically threaded with a movable seat three (503). The bottom of the four movable seats three (503) are fixedly connected with a limit plate (508). The rear ends of the two bidirectional threaded rods (502) penetrate the inner surface of the rear end of the outer shell (101). The rear ends of the two bidirectional threaded rods (502) are rotatably connected with a drive motor three (504). The opposite sides of the two drive motors three (504) are electrically connected with a controller four (505).

7. A transport device for an underwater robot according to claim 6, characterized in that: A scanner (506) is provided on the opposite side of the two movable rail bases (501). The rear end of the scanner (506) is electrically connected to a control sensor (507). The tops of the scanner (506) and the control sensor (507) are fixedly connected to the upper end of the inner wall of the housing (101).

8. A transport device for an underwater robot according to claim 6, characterized in that: The outer surfaces of the drive motor one (205), drive motor two (305) and drive motor three (504) are all fixedly connected to an external waterproof mounting box (6).

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