CN202403615U - Automatic line-throwing appliance for recycling underwater robots - Google Patents
Automatic line-throwing appliance for recycling underwater robots Download PDFInfo
- Publication number
- CN202403615U CN202403615U CN201120556043XU CN201120556043U CN202403615U CN 202403615 U CN202403615 U CN 202403615U CN 201120556043X U CN201120556043X U CN 201120556043XU CN 201120556043 U CN201120556043 U CN 201120556043U CN 202403615 U CN202403615 U CN 202403615U
- Authority
- CN
- China
- Prior art keywords
- underwater robot
- firer
- propeller
- base
- cable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Landscapes
- Emergency Lowering Means (AREA)
Abstract
The utility model belongs to the field of underwater robot recycling, and particularly relates to an automatic line-throwing appliance for recycling underwater robots, which includes an end cover, a line accommodating cavity, a firer thruster, a base and a high-intensity rope, wherein the base is installed on a casing of an underwater robot; the firer thruster is installed on the base; the lower end of the line accommodating cavity is connected with the fire thruster, and the end cover is arranged at the upper end of the line accommodating cavity; one end of the high-intensity rope is connected onto the casing of the underwater robot, and the other end of the line accommodating cavity penetrates through the base and the line accommodating cavity, so as to be connected with the end cover; and the line accommodating cavity and the high-intensity rope accommodated therein as well as the end cover are pushed out through thrust force generated by the firer thruster. The automatic line-throwing appliance for recycling underwater robots has the characteristics of simple and reliable structure, small volume, capability of working underwater and on the water surface, and the like.
Description
Technical field
The utility model belongs to underwater robot and reclaims the field, and specifically a kind of underwater robot reclaims uses automatic line-throwing appliance.
Background technology
Because oceanographic condition is complicated and changeable, the recovery of underwater robot is a global difficult problem always.For a kind of safe and reliable recovery method of utility model, need a kind ofly to be applied under water, the automatic line-throwing appliance of the water surface.
Mostly the line-throwing appliance of prior art is rifle or pedestal type structure, is used for land or water surface rescue, comprises the transmitter seat, robs handle, parts such as buttstrap, rifle body adapter piece, impulse flask, and adopt the working method of gas cylinder; The impelling rocket type is also arranged, but its head is heavier, emission back rocket can directly be submerged in the water.The above existing line-throwing appliance does not satisfy the miniaturization of underwater robot group parts, light-weighted instructions for use from version, volume weight aspect, and the working method of gas cylinder also is not suitable for underwater robot.Find as yet at present to be applicable to underwater robot under water, the automatic line-throwing appliance of the water surface.
The utility model content
In order to solve the problem that existing line-throwing appliance is not suitable for the underwater robot service condition, the purpose of the utility model is to provide a kind of underwater robot to reclaim and uses automatic line-throwing appliance.This automatic line-throwing appliance can eject the high strength cable when robot reclaims under water automatically, can be used under water or the water surface.
The purpose of the utility model realizes through following technical scheme:
The utility model comprises end cap, storage rope chamber, firer's propeller, base and high-strength cable; Wherein base is installed on the housing of underwater robot, and said firer's propeller is installed on this base, and the lower end in storage rope chamber links to each other with firer's propeller; The upper end is provided with end cap; One end of said high-strength cable is connected on the housing of machine under water, and the other end passes said base, storage rope chamber successively, links to each other with said end cap; Said storage rope chamber and in the thrust release that produces through firer's propeller of ccontaining high-strength cable and end cap.
Wherein: said storage rope chamber is connected with the angle of rake firer's propeller cone of firer through the push rod that its lower end is provided with; Said push rod is installed in the centre of storage rope bottom surface, chamber, the lower end of push rod by the bottom surface in storage rope chamber to extending below, be plugged on the angle of rake firer's propeller cone of said firer; On the storage rope bottom surface, chamber of said push rod one side, have the preformed hole that supplies said high-strength cable to pass; Said high-strength cable is arranged in the part in storage rope chamber through the rope winder winding, and the other end that withdraws from the high-strength cable of said rope winder after the winding is fixed on the end cap through the cable hold-down screw; Said high-strength cable is by be spirally wound on rope winder one deck from the bottom to top, oppositely from top to bottom twines, successively uniform winding repeatedly again; The top of said base is a groove, and the groove middle part extends to form the cylinder of hollow downwards, on the sidewall of said groove, has first through hole that supplies high-strength cable to pass; The angle of rake end of said firer is installed on the bottom surface of said groove; The other end inserts in the cylinder of said hollow; Second through hole that cable in the bottom surface of the cylinder of said hollow has the robot down of supplying water passes, the interior cable of said underwater robot is connected with the angle of rake input of firer; Said end cap adopts buoyant material, and the little polytetrafluoroethylmaterial material of coefficient of friction is adopted in storage rope chamber; The diameter of said high-strength cable is 8mm, and Fracture Force is not less than 6t; Said automatic line-throwing appliance is installed in through base on the back pressure hull of underwater robot, is tightly connected through O type rubber seal respectively between said base and the back pressure hull and between said firer's propeller and the base; The angle of rake input of said firer links to each other with the housing inner cable of underwater robot; Said automatic line-throwing appliance is installed in through base outside the bow pressure hull of underwater robot, and the angle of rake input of said firer links to each other with underwater robot through watertight cable.
Advantage of the utility model and good effect are:
1. simple and reliable for structure.Because the autonomous fully navigation of underwater robot is just higher to the reliability requirement of line-throwing appliance; The utility model is whole frame for movements, and is simple and practical, and high-strength cable stiff end is placed on the underwater robot body; The extraction end places and launches intrinsic benefit is that cable is extracted out smoothly; Reduce the probability of situations such as tiing a knot, can't eject, even and this thing happens, after the staff salvages recovery with it; Also can it be smoothed out with the fingers suitablely, continue operation;
2. volume is little, and is in light weight, and space availability ratio is high.The utility model adopts rope winder to twine high-strength cable, makes storage rope cavity space utilization rate reach maximization, is convenient to high-strength cable simultaneously and twines and be retracted in the storage rope chamber.
3. the little polytetrafluoroethylmaterial material of coefficient of friction is adopted in the storage of the utility model rope chamber, makes storage rope chamber can not hindered cable by the frictional force in At time of eject cable and storage rope chamber and ejects, and has guaranteed the functional reliability of line-throwing appliance as much as possible.
4. the characteristics that equate basically according to underwater robot gravity and buoyancy of the utility model, end cap adopts buoyant material, makes that whole line-throwing appliance is a positive buoyancy, can be across the sea floating after falling when being ejected, wait personnel to be recycled to salvage.
5. be easy to install and use.The utility model each several part is easy for installation, and high-strength cable is easy to install, and only needs during use watertight cable and firer's propeller connected to get final product, and is convenient and swift.
6. can be under water, water surface work.The design of base of the utility model and housing seal or firer's propeller water receiving cipher telegram cable make line-throwing appliance can be under water, water surface operate as normal, can not influence work
Description of drawings
Fig. 1 is installed in the structural representation of underwater robot back pressure hull for the utility model;
Fig. 2 is installed in the structural representation of underwater robot bow pressure hull for the utility model;
Fig. 3 A is that the high-strength cable of the utility model is wrapped in one of sketch map on the rope winder;
Fig. 3 B be the high-strength cable of the utility model be wrapped in sketch map on the rope winder two;
Fig. 3 C be the high-strength cable of the utility model be wrapped in sketch map on the rope winder three;
Wherein: 1 is end cap, and 2 are storage rope chamber, and 3 is push rod, and 4 is firer's propeller cone; 5 is firer's propeller, and 6 is base, and 7 is the cable hold-down screw, and 8 is O type rubber seal; 9 is high-strength cable, and 10 is watertight cable, and 11 is rope winder, and 12 is the back pressure hull; 13 is the housing inner cable, and 14 is preformed hole, and 15 is the bow pressure hull.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is done further to detail.
The utility model comprises end cap 1, storage rope chamber 2, firer's propeller 5, base 6 and high-strength cable 9; Wherein base 6 is used for being connected with the housing of underwater robot; The top of base 6 is a groove; The groove middle part extends to form the cylinder of hollow downwards, on the sidewall of said groove, has first through hole that supplies high-strength cable 9 to pass; Said firer's propeller 5 is installed on this base 6; One end of firer's propeller 5 is installed on the bottom surface of said groove; The other end inserts in the cylinder of said hollow; Second through hole that cable in the bottom surface of the cylinder of said hollow has the robot down of supplying water passes, the interior cable of said underwater robot is connected with the input of firer's propeller 5.
The lower end in storage rope chamber 2 links to each other with firer's propeller 5, and the upper end is provided with end cap 1; Storage rope chamber 2 be the hollow circuit cylinder of open upper end, in the middle of the bottom surface in storage rope chamber 2, is provided with push rod 3, and the bottom surface in chamber 2 is restricted on the firer's propeller cone 4 that extends below, is plugged in said firer's propeller 5 by storage in the lower end of this push rod 3; On storage rope 2 bottom surfaces, chamber of said push rod 3 one sides, have the preformed hole 14 that supplies said high-strength cable 9 to pass.The end cap 1 of the utility model adopts buoyant material; Can swim in after automatic line-throwing appliance is dished out and wait on the water surface that the staff salvages; Buoyant material is a density less than 1 material, is commercial product, purchases in Qingdao Haiyang chemical research institute; Model is buoyant material SBM-050, standard: Q/HHY221-2005.The little polytetrafluoroethylmaterial material of coefficient of friction is adopted in storage rope chamber 2, the frictional resistance in the time of can reducing shooting rope between high-strength cable 9 and storage rope chamber 2 inwalls; The diameter of high-strength cable 9 is 8mm, and Fracture Force is not less than 6t.
One end of high-strength cable 9 is connected on the housing of machine under water, and the other end passes first through hole on the said base 6, the preformed hole 14 on the storage rope chamber 2 successively, links to each other with said end cap 1; Said storage rope chamber 2 and in ccontaining high-strength cable 9 release through the thrust that firer's propeller 5 produces with end cap 1.High-strength cable 9 is arranged in the part in storage rope chamber 2 through rope winder 11 windings, and rope-winding method is: high-strength cable 9 is spirally wound on rope winder 11 last layers at first from bottom to up, then oppositely twine from top to bottom, so repeatedly, final all uniform winding; After the winding, the other end of high-strength cable 9 is fixed on the end cap 1 through cable hold-down screw 7, withdraws from rope winder 11, end cap 1 usefulness screw is fixed in the top in storage rope chamber 2.
The utility model can be installed on the back pressure hull 12 of underwater robot or is installed in outside the bow pressure hull 15 of underwater robot through base 6.As shown in Figure 1, the utility model is installed in through base 6 on the back pressure hull 12 of underwater robot, is tightly connected through O type rubber seal 8 respectively between said base 6 and the back pressure hull 12 and between said firer's propeller 5 and the base 6; Firer's propeller 5 assembles back band O type rubber seal 8 with firer's propeller cone 4 and is fixed on the base 6, and storage rope chamber 2 is connected with firer's propeller cone 4 through push rod 3; One end of high-strength cable 9 is fastened on the back pressure hull 12 of underwater robot; After storage rope chamber 2 is drawn and passed to the other end from base 6; Use rope winder 11 that high-strength cable 9 is wound, with cable hold-down screw 7 fastening after, withdraw from rope winder 11; And high-strength cable 9 put into storage rope chamber 2, end cap 1 and the storage chamber 2 of restricting reliably is connected.The input of firer's propeller 5 links to each other with the housing inner cable 13 of underwater robot.
As shown in Figure 2, the utility model is installed in outside the bow pressure hull 15 of underwater robot through base 6, need not O type rubber seal 8, all the other mounting means be installed in underwater robot back pressure hull on identical; The input of firer's propeller 5 links to each other with underwater robot through watertight cable 10.
The operation principle of the utility model is:
As shown in Figure 1, on the utility model is installed in the back pressure hull 12 of underwater robot, when being used for the butt joint of guiding butt joint boom hoisting, after at first firer's propeller 5 and firer's propeller cone 4 being assembled, be fixed on the base 6.The input and the housing inner cable 13 of firer's propeller 5 are connected; Again base 6 is fixed on the back pressure hull 12 of underwater robot, will adds O type rubber seal 8 between firer's propeller 5 and the base 6 and between base 6 and the back pressure hull 12 and make encapsulation process.Next will store up rope chamber 2 with push rod 3 connection firer propeller cones 4 is installed on the base 6; After high-strength cable 9 and an end being fastened on the back pressure hull 12 of underwater robot, the other end passes and passes storage rope chamber 2 from base 6, uses the method shown in Fig. 3 A～Fig. 3 C; High-strength cable 9 is wrapped on the rope winder 11; After the end of high-strength cable 9 and cable hold-down screw 7 are fastening, high-strength cable 9 is withdrawed from rope winder 11 and puts into storage rope chamber 2, cover end cap 1 and be screwed.When staff's remote control is sent signal and is made the work of automatic line-throwing appliance; Because the thrust of firer's propeller 5 instantaneous generations is pushed firer's propeller cone 4 and storage rope chamber 2 rapidly in the air; Because an end is fastened on the underwater robot; The other end can be drawn out of along the preformed hole 14 in storage rope chamber 2, under the thrust of the firer's propeller 5 that designs, can guarantee that high-strength cable 9 is internally by all extractions of order.Because storage rope chamber 2 and end cap 1 are positive buoyancy, and it is across the sea floating, wait for that the staff reclaims afterwards.
As shown in Figure 2; Outside the utility model is installed in the bow pressure hull 15 of underwater robot, when being used for reclaiming traction; Need not to install O type rubber seal 8; The input of firer's propeller 5 is connected with watertight cable 10 gets final product, all the other structures are said identical with the back pressure hull that is installed in underwater robot.
Shown in Fig. 3 A～Fig. 3 C, the winding method of high-strength cable 9 on rope winder 11 is: at first high-strength cable 9 is spirally wound on rope winder 11 last layers from the bottom to top, shown in Fig. 3 A; Then oppositely twine from top to bottom, shown in Fig. 3 B; So repeatedly, final all uniform winding are shown in Fig. 3 C.Note will applying pretightning force when high-strength cable twines, it is closely strong that cable is twined.
Claims (10)
1. a underwater robot reclaims and uses automatic line-throwing appliance; It is characterized in that: comprise end cap (1), storage rope chamber (2), firer's propeller (5), base (6) and high-strength cable (9); Wherein base (6) is installed on the housing of underwater robot, and said firer's propeller (5) is installed on this base (6), and the lower end in storage rope chamber (2) links to each other with firer's propeller (5); The upper end is provided with end cap (1); One end of said high-strength cable (9) is connected on the housing of underwater robot, and the other end passes said base (6), storage rope chamber (2) successively, links to each other with said end cap (1); Said storage rope chamber (2) and in the thrust release that produces through firer's propeller (5) of ccontaining high-strength cable (9) and end cap (1).
2. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance, it is characterized in that: said storage rope chamber (2) is connected with firer's propeller cone (4) of firer's propeller (5) through the push rod (3) that its lower end is provided with.
3. reclaim by the described underwater robot of claim 2 and use automatic line-throwing appliance; It is characterized in that: said push rod (3) is installed in the centre of storage rope bottom surface, chamber (2), the lower end of push rod (3) by the bottom surface in storage rope chamber (2) on the firer's propeller cone (4) that extends below, is plugged in said firer's propeller (5); On the storage rope bottom surface, chamber (2) of said push rod (3) one sides, have the preformed hole (14) that supplies said high-strength cable (9) to pass.
4. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance; It is characterized in that: said high-strength cable (9) is arranged in the part in storage rope chamber (2) through rope winder (11) winding, and the other end that withdraws from the high-strength cable (9) of said rope winder (11) after the winding is fixed on the end cap (1) through cable hold-down screw (7).
5. reclaim by the described underwater robot of claim 4 and use automatic line-throwing appliance, it is characterized in that: said high-strength cable (9) is by be spirally wound on rope winder (11) one deck from the bottom to top, oppositely winding from top to bottom again, uniform winding repeatedly successively.
6. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance; It is characterized in that: the top of said base (6) is a groove; The groove middle part extends to form the cylinder of hollow downwards, on the sidewall of said groove, has first through hole that supplies high-strength cable (9) to pass; One end of said firer's propeller (5) is installed on the bottom surface of said groove; The other end inserts in the cylinder of said hollow; Second through hole that cable in the bottom surface of the cylinder of said hollow has the robot down of supplying water passes, the interior cable of said underwater robot is connected with the input of firer's propeller (5).
7. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance, it is characterized in that: said end cap (1) adopts buoyant material, and the little polytetrafluoroethylmaterial material of coefficient of friction is adopted in storage rope chamber (2).
8. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance, it is characterized in that: the diameter of said high-strength cable (9) is 8mm, and Fracture Force is not less than 6t.
9. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance; It is characterized in that: said automatic line-throwing appliance is installed in through base (6) on the back pressure hull (12) of underwater robot, is tightly connected through O type rubber seal (8) respectively between said base (6) and the back pressure hull (12) and between said firer's propeller (5) and the base (6); The input of said firer's propeller (5) links to each other with the housing inner cable (13) of underwater robot.
10. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance; It is characterized in that: said automatic line-throwing appliance is installed in through base (6) outside the bow pressure hull (15) of underwater robot, and the input of said firer's propeller (5) links to each other with underwater robot through watertight cable (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120556043XU CN202403615U (en) | 2011-12-28 | 2011-12-28 | Automatic line-throwing appliance for recycling underwater robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120556043XU CN202403615U (en) | 2011-12-28 | 2011-12-28 | Automatic line-throwing appliance for recycling underwater robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202403615U true CN202403615U (en) | 2012-08-29 |
Family
ID=46701257
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201120556043XU Expired - Lifetime CN202403615U (en) | 2011-12-28 | 2011-12-28 | Automatic line-throwing appliance for recycling underwater robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202403615U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103185484A (en) * | 2011-12-28 | 2013-07-03 | 中国科学院沈阳自动化研究所 | Automatic line throwing appliance for recycling underwater robots |
-
2011
- 2011-12-28 CN CN201120556043XU patent/CN202403615U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103185484A (en) * | 2011-12-28 | 2013-07-03 | 中国科学院沈阳自动化研究所 | Automatic line throwing appliance for recycling underwater robots |
| CN103185484B (en) * | 2011-12-28 | 2015-01-07 | 中国科学院沈阳自动化研究所 | Automatic line throwing appliance for recycling underwater robots |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103183113B (en) | Underwater robot recovery system and recovery method thereof | |
| CN104670440B (en) | The recovery system of a kind of Autonomous Underwater aircraft and recovery method thereof | |
| CN201520406U (en) | Emergency surfacing device for air-bag type submersible vehicle | |
| CN203581349U (en) | Recovery system of autonomous underwater vehicle | |
| CN104443301B (en) | Sail body salvages buoy arranging device | |
| CN103185484B (en) | Automatic line throwing appliance for recycling underwater robots | |
| CN103649532A (en) | Cold water retrieval system | |
| US10604220B2 (en) | Autonomous underwater vehicle | |
| CN101885374B (en) | Cod-end structure for recovering marine returning capsule in terrible ocean environment | |
| CN103890613A (en) | Deployment of seabed device | |
| JP2011516779A (en) | System and method for deploying and recovering a wave energy converter | |
| CN202403615U (en) | Automatic line-throwing appliance for recycling underwater robots | |
| CN104670435B (en) | Rope throwing appliance mechanism for recovering autonomous underwater vehicle | |
| CN107839862A (en) | Manned underwater vehicle emergency rescue device | |
| CN201444013U (en) | Torpedo-launching equal-pressure propulsion unit of deep sea submarines | |
| CN201914434U (en) | Pneumatic throwing machine | |
| CN209382223U (en) | A kind of ship hauling device | |
| CN203581350U (en) | Line-throwing appliance mechanism for recycling autonomous underwater vehicle | |
| CN201049729Y (en) | Throw type life ring | |
| CN204250344U (en) | Boats and ships throwing type sea-anchor complemental brake system | |
| CN103991521A (en) | Method and equipment for salvaging large-size sunken ships | |
| CN103991520A (en) | Method and equipment for salvaging wrecked submarines | |
| CN210027851U (en) | Cable releasing and underwater equipment recovering and fishing device | |
| CN207985123U (en) | A kind of sail body salvaging buoy arranging device | |
| CN220905298U (en) | Seabed equipment timing floating device with rope bin |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120829 Effective date of abandoning: 20150107 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20120829 Effective date of abandoning: 20150107 |
|
| RGAV | Abandon patent right to avoid regrant |