CN101314396B - Open type load cabin applied to underwater robot - Google Patents
Open type load cabin applied to underwater robot Download PDFInfo
- Publication number
- CN101314396B CN101314396B CN2007100998709A CN200710099870A CN101314396B CN 101314396 B CN101314396 B CN 101314396B CN 2007100998709 A CN2007100998709 A CN 2007100998709A CN 200710099870 A CN200710099870 A CN 200710099870A CN 101314396 B CN101314396 B CN 101314396B
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- hatchcover
- under
- bilge
- water robot
- open type
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Abstract
本发明一种应用于水下机器人的开放式负载舱，包括舱体和拉线驱动两个部分。舱体由左舱盖、右舱盖、舱底、关闭限位、左开启限位和右开启限位组成；拉线驱动部分包括拉线、密封螺栓、舵机和弹簧。其中，舱底包括水平底面和垂直右立面，垂直右立面固定于水下机器人上，布满小孔的左、右舱盖与舱底之间用合页和弹簧连接，形成闭合空间；闭合限位固定于舱底用于闭合时舱盖的定位，左右开启限位安装于水下机器人的外壳用于舱盖开启时的舱盖定位。拉线两端分别连接舵机和舱盖，中间穿过机器人外壳的部分用密封螺栓密封；舵机由控制电路控制。本发明结构简单，控制方便，可实现水下机器人对水中负载的运载与释放。
The invention is an open load cabin applied to an underwater robot, comprising two parts of a cabin body and a pull wire drive. The cabin body is composed of a left hatch, a right hatch, a bilge, a closing limit, a left opening limit and a right opening limit; the pull wire driving part includes a pull wire, a sealing bolt, a steering gear and a spring. Among them, the bilge includes a horizontal bottom surface and a vertical right elevation, and the vertical right elevation is fixed on the underwater robot. The left and right hatches covered with small holes are connected to the bilge with hinges and springs to form a closed space; The closing limit is fixed on the bottom of the bilge for the positioning of the hatch cover when closing, and the left and right opening limit is installed on the shell of the underwater robot for hatch positioning when the hatch is opened. The two ends of the pull wire are respectively connected to the steering gear and the hatch cover, and the part passing through the robot shell in the middle is sealed with sealing bolts; the steering gear is controlled by the control circuit. The invention has simple structure and convenient control, and can realize the carrying and releasing of underwater loads by the underwater robot.
Description
Technical field
The present invention relates to a kind of load cabin, especially relate to a kind of open type load cabin that is applied to under-water robot.
Background technology
Under-water robot is born in early 1950s.The a lot of countries in the world today are as the U.S., Britain, France, Italy, Russia, Japan, Sweden, China etc., towards oil production, seabed mineral exploration, salvage operation, duct cable lays and the application in field such as military affairs, carry out a series of research, developed polytype under-water robot.For the task under water of complexity, robot may need to load some loads, and perhaps carrying load is to somewhere release under water.The present invention utilizes the load cabin of portable cover, by backguy type of drive opening and closing hatchcover so that robot is realized above-mentioned mission requirements.
Summary of the invention
Purpose of the present invention will provide a kind of open type load cabin exactly, can be applied to delivery and the release of under-water robot to load.
In order to realize above purpose, technical solution of the present invention is:
A kind of open type load cabin that is applied to under-water robot, comprise that cabin body and backguy drive two parts, its cabin body comprises left hatchcover, right hatchcover, the bilge, the bilge comprises horizontal bottom and vertical right facade, the vertical right facade is fixed in the under-water robot shell, the left and right hatchcover and the bilge profile of wing indent are suitable, and the three forms closed space, and load lays in the realization water;
The left and right hatchcover rear end and the bilge are dynamically connected with attaching parts;
The backguy drive part comprises a backguy, two sealing members, steering wheel and two springs, is used to realize that the unlatching of left hatchcover, right hatchcover is with closed;
Two sealing members are fixed in the under-water robot shell respectively, and the backguy middle part is on steering wheel, and the outside that two sealing members are fixed in left and right hatchcover is passed at two ends respectively; Two springs lay respectively at the inboard of left and right hatchcover, and are suitable with the position of attaching parts, and two springs, one end is fixed in the madial wall of left and right hatchcover respectively, and the two spring other ends are fixed in the bilge respectively.
The described open type load cabin that is applied to under-water robot evenly is laid with a plurality of apertures on its described left and right hatchcover, with reduce open and closed process in current to the pressure of hatchcover.
The described open type load cabin that is applied to under-water robot, its also comprise closed limiting stopper, about open limiting stopper, at bilge central axis front end, suitable place is installed with closed limiting stopper with left and right hatchcover front-end edge, determines the position of hatchcover when being used for two hatchcovers closure; Left and right unlatching limiting stopper is loaded on under-water robot shell two outsides respectively, and the shift position of two hatchcover rear ends is suitable when opening with two hatchcovers, is used for determining when two hatchcovers are opened the position of hatchcover.
The described open type load cabin that is applied to under-water robot, the spring of its described two hatchcover inboards is extension spring, when needs are closed hatchcover, is used for the SELF CL hatchcover.
The described open type load cabin that is applied to under-water robot, its described attaching parts is hinge.
The described open type load cabin that is applied to under-water robot, its described sealing member comprises screw rod, nut and the rubber diaphragm of central hole after rubber diaphragm, nut are placed in the screw rod cylindrical in proper order, screw rod being bolted in the under-water robot shell, screws tight the location with nut again; The backguy two ends pass respectively robot shells, two screw rods centre hole, and two rubber diaphragms after, be fixed in the left and right hatchcover front portion outside.
The bilge of the present invention and under-water robot are connected as a single entity fixing, and left and right sides hatchcover links to each other with hinge with the bilge, form closed space, are used for the load load; Be covered with aperture on the hatchcover, reduce open and closed process in current to the pressure of hatchcover; Closed spacing hatchcover location when being fixed in the bilge and being used for closure, about open the hatchcover location of limit mounting when the shell of robot is used for hatchcover and opens.
Each backguy on the hatchcover of the left and right sides connects hatchcover and the steering wheel that is installed on robot interior, and the part of robot shells is passed in the centre, uses the screw rod of central hole, nut and rubber diaphragm sealing.Have spring to link to each other with the bilge in the hatchcover inboard, steering wheel is controlled by control circuit, and the rotation of steering wheel can be opened hatchcover.
The present invention is simple in structure, and control is convenient, can realize delivery and the release of under-water robot to load in the water.
Description of drawings
Fig. 1 is the open type load cabin structural representation that the present invention is applied to under-water robot;
Fig. 2 is a sealing member hollow bolt structural representation.
The specific embodiment
The open type load cabin that is applied to under-water robot comprises that hatchcover and backguy drive two parts, explain respectively below in conjunction with accompanying drawing 1,2.
Among Fig. 1, last figure is a front view, and figure below is a birds-eye view.The bottom of front view and the right are under-water robot, are connected and fixed with the bilge 1.Right hatchcover 2 and be covered with aperture 4 above the left hatchcover 3.Left and right sides hatchcover connection structure is identical, and their unlatching closure is carried out synchronously, is that example is introduced with right hatchcover 2 below.
By said structure, when the right hatchcover 2 of load cabin, when left hatchcover 3 need be opened, steering wheel 9 rotates, steering wheel pulling backguy 7 on the steering wheel, by hollow bolt 8, so the pulling right hatchcover 2 of captiveing joint and left hatchcover 3 with it to both sides open (position by the right side open spacing 11 and left side unlatching spacing 12 limit).When hatchcover needed closure, steering wheel 9 turned to initial position, and the pulling force in the backguy 7 reduces rapidly, and left and right sides hatchcover returns to initial position (being determined by closure spacing 10) under the pulling force of spring 6.
For the structure of hollow bolt 8 more clearly is described, provide Fig. 2.The screw rod 14 of central hole and 13 fixed seal connections of under-water robot shell, rubber diaphragm 16 is tightly connected with backguy 7, and fastening nut 15 can be realized sealing completely, can not have influence on the motion of backguy simultaneously again.
Embodiment
The cabin body comprises the bilge 1, right hatchcover 2, left hatchcover 3, the vertical right facade of the bilge 1 (comprising horizontal bottom and vertical right facade) is fixed in under-water robot shell 13, the left and right hatchcover 3,2 and the bilge 1 profile of wing indent are suitable, and the three forms closed space, and load lays in the realization water; Evenly be laid with a lot of apertures 4 on the left and right hatchcover 3,2.
Left and right hatchcover 3,2 rear ends and the bilge 1 are dynamically connected with hinge 5;
The backguy drive part comprises a backguy 7, two sealing members, steering wheel 9 and two springs 6, is used to realize that the unlatching of left hatchcover, right hatchcover 3,2 is with closed;
Two sealing members are fixed in under-water robot shell 13 respectively, and backguy 7 middle parts are on steering wheel 9, and the outside that two sealing members are fixed in left and right hatchcover 3,2 is passed at two ends respectively; Two springs 6 lay respectively at the inboard of left and right hatchcover 3,2, and are suitable with the position of hinge 5, and two springs, 6 one ends are fixed in the madial wall of left and right hatchcover 3,2 respectively, and two springs, 6 other ends are fixed in the bilge respectively.
Also be provided with closed limiting stopper 10, left and right unlatching limiting stopper 12,11, at the bilge 1 central axis front end, suitable place is installed with closed limiting stopper 10 with left and right hatchcover 3,2 front-end edges, determines the position of hatchcover when being used for two hatchcovers, 2,3 closures; Left and right unlatching limiting stopper 12,11 is loaded on 13 liang of outsides of robot shells respectively, and the shift position of two hatchcovers, 2,3 rear ends is suitable when opening with two hatchcovers 2,3, is used for determining when two hatchcovers 2,3 are opened the position of hatchcover.
See Fig. 2, sealing member hollow bolt 8 comprises screw rod 14, nut 15 and the rubber diaphragm 16 of central hole, after rubber diaphragm 16, nut 15 orders are placed in screw rod 14 cylindricals, screw rod 14 is bolted in under-water robot shell 13, screws tight the location with nut 15 again; Backguy 7 two ends pass respectively robot shells 13, two screw rods 14 centre hole, and two rubber diaphragms 16 after, be fixed in the anterior outside of left and right hatchcover 3,2.
According to the present invention illustrated structure and annexation, made an open type load cabin that is applied to under-water robot.The cabin body adopts glass-felt plastic to make, and nylon rope is used in backguy, and steering wheel adopts the RX515 of SANWA company.According to of the present invention, be installed on the under-water robot various piece is corresponding, after the sealing of rubber glue, obtain material object.
Claims (6)
1. an open type load cabin that is applied to under-water robot comprises that cabin body and backguy drive two parts, it is characterized in that,
The cabin body comprises left hatchcover, right hatchcover, the bilge, the bilge comprises horizontal bottom and vertical right facade, and the vertical right facade is fixed in the under-water robot shell, and the left and right hatchcover and the bilge profile of wing indent are suitable, the three forms closed space, and load lays in the realization water;
The left and right hatchcover rear end and the bilge are dynamically connected with attaching parts;
The backguy drive part comprises a backguy, two sealing members, steering wheel and two springs, is used to realize that the unlatching of left hatchcover, right hatchcover is with closed;
Two sealing members are fixed in the under-water robot shell respectively, and the backguy middle part is on steering wheel, and the outside that two sealing members are fixed in left and right hatchcover is passed at two ends respectively; Two springs lay respectively at the inboard of left and right hatchcover, and are suitable with the position of attaching parts, and two springs, one end is fixed in the madial wall of left and right hatchcover respectively, and the two spring other ends are fixed in the bilge respectively.
2. the open type load cabin that is applied to under-water robot as claimed in claim 1 is characterized in that, evenly is laid with a plurality of apertures on the described left and right hatchcover, with reduce open and closed process in current to the pressure of hatchcover.
3. the open type load cabin that is applied to under-water robot as claimed in claim 1, it is characterized in that, also comprise closed limiting stopper, about open limiting stopper, at bilge central axis front end, suitable place is installed with closed limiting stopper with left and right hatchcover front-end edge, determines the position of hatchcover when being used for two hatchcovers closure; Left and right unlatching limiting stopper is loaded on under-water robot shell two outsides respectively, and the shift position of two hatchcover rear ends is suitable when opening with two hatchcovers, is used for determining when two hatchcovers are opened the position of hatchcover.
4. the open type load cabin that is applied to under-water robot as claimed in claim 1 is characterized in that, the spring of described two hatchcover inboards is extension spring, when needs are closed hatchcover, is used for the SELF CL hatchcover.
5. the open type load cabin that is applied to under-water robot as claimed in claim 1 is characterized in that, described attaching parts is a hinge.
6. the open type load cabin that is applied to under-water robot as claimed in claim 1, it is characterized in that, described sealing member, the screw rod, nut and the rubber diaphragm that comprise central hole, after rubber diaphragm, nut are placed in the screw rod cylindrical in proper order, screw rod is bolted in the under-water robot shell, screws tight the location with nut again; The backguy two ends pass respectively robot shells, two screw rods centre hole, and two rubber diaphragms after, be fixed in the left and right hatchcover front portion outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007100998709A CN101314396B (en) | 2007-05-31 | 2007-05-31 | Open type load cabin applied to underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007100998709A CN101314396B (en) | 2007-05-31 | 2007-05-31 | Open type load cabin applied to underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101314396A CN101314396A (en) | 2008-12-03 |
| CN101314396B true CN101314396B (en) | 2010-07-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007100998709A Expired - Fee Related CN101314396B (en) | 2007-05-31 | 2007-05-31 | Open type load cabin applied to underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101314396B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2164607A (en) * | 1984-09-20 | 1986-03-26 | Kark Heinz Lipschutz | Improvements in or relating to submersible craft |
| US4805549A (en) * | 1985-03-11 | 1989-02-21 | Den Norske Stats Oljeselskap A.S | Device for subsea operations |
| CN1405059A (en) * | 2001-08-08 | 2003-03-26 | 黄佑德 | Manfree submarine carrying ship |
| EP1457419A1 (en) * | 2003-03-13 | 2004-09-15 | Gabler Maschinenbau GmbH | Submarine |
-
2007
- 2007-05-31 CN CN2007100998709A patent/CN101314396B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2164607A (en) * | 1984-09-20 | 1986-03-26 | Kark Heinz Lipschutz | Improvements in or relating to submersible craft |
| US4805549A (en) * | 1985-03-11 | 1989-02-21 | Den Norske Stats Oljeselskap A.S | Device for subsea operations |
| CN1405059A (en) * | 2001-08-08 | 2003-03-26 | 黄佑德 | Manfree submarine carrying ship |
| EP1457419A1 (en) * | 2003-03-13 | 2004-09-15 | Gabler Maschinenbau GmbH | Submarine |
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| Publication number | Publication date |
|---|---|
| CN101314396A (en) | 2008-12-03 |
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Granted publication date: 20100707 |