CN103129723B - Securing device of one man atmospheric diving apparatus - Google Patents

Securing device of one man atmospheric diving apparatus Download PDF

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Publication number
CN103129723B
CN103129723B CN201310069223.9A CN201310069223A CN103129723B CN 103129723 B CN103129723 B CN 103129723B CN 201310069223 A CN201310069223 A CN 201310069223A CN 103129723 B CN103129723 B CN 103129723B
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CN
China
Prior art keywords
oil cylinder
pin joint
sliding support
harness
unhook
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CN201310069223.9A
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Chinese (zh)
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CN103129723A (en
Inventor
韩俊
赵俊海
王帅
刘涛
Original Assignee
中国船舶重工集团公司第七○二研究所
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Priority to CN201310069223.9A priority Critical patent/CN103129723B/en
Publication of CN103129723A publication Critical patent/CN103129723A/en
Application granted granted Critical
Publication of CN103129723B publication Critical patent/CN103129723B/en

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Abstract

The invention provides a securing device of a one man atmospheric diving apparatus. The lashing device comprises a released hook, a hoisting mechanism, a horizontal swinging mechanism and a vertical rotating mechanism, wherein the hoisting mechanism comprises a mounting frame; the mounting frame is provided with a vertical screw rod; the screw rod is in threaded connection with a nut; the screw rod is connected with a transmission device on the mounting frame; the nut is fixedly connected with a sliding bracket; the sliding bracket is in sliding match with a vertical guide rail on the mounting frame; the horizontal swinging mechanism comprises swinging oil cylinders at the two sides of the released hook; the released hook is connected with a base through a rotary shaft; the swinging oil cylinders are symmetrically arranged relative to the rotary shaft; piston rods of the swinging oil cylinders are connected with the released hook; the swinging oil cylinders are arranged on the base; the base is in pin joint with a connecting rod; the connecting rod is in pin joint with the sliding bracket; the vertical rotating mechanism comprises a securing oil cylinder; the securing oil cylinder is in pin joint with the sliding bracket; a piston rod of the securing oil cylinder is in pin joint with a rotary plate; and the two ends of the rotary plate are respectively in pin joint with the sliding bracket and the base. According to the lashing device disclosed by the invention, the one man atmospheric diving apparatus in a relay station is effectively secured; and the safety protection effect on the apparatus is realized.

Description

Single normobaric diving harness be fixing apparatus

Technical field

The present invention relates to underwater working device technical field, be specifically related to be applied to the underwater working device on the underwater moving bodies such as deep-sea telerobot, single normobaric diving harness, space station, deep-sea, submarine, particularly relate to that to be applied in single one atmosphere diving system (OADS) for what fixedly enter the single normobaric diving harness of repeater station be fixing apparatus.

Background technology

Single one atmosphere diving system (OADS) primarily of single normobaric diving harness 100 (ADS), repeater station 200 (TMS) and the water surface lay recovery system 300 (LARS) three part composition, its structure as shown in Figure 1, repeater station 200 carries single normobaric diving harness 100 and lays recovery system 300 by the water surface and hang onto near setting by armoured cable 400, and the neutral cable releasing winch in repeater station 200 is laid and recovery single normobaric diving harness 100 by neutral cable 500 again.In single one atmosphere diving system (OADS), single normobaric diving harness is the underwater work system of a humanoid, can enter into some specific regions, and can complete the under-water operation of the complexity that some had previously only had diver just can complete; Repeater station (TMS) is the key device playing single normobaric diving harness transaction capabilities, the heave that the water surface lays recovery system (LARS) (surface mother ship) and the impact of swaying single normobaric diving harness (ADS) have been isolated in arranging of it, improve the anti-current ability of single normobaric diving harness (ADS), and decrease the weight of the electric components in harness as far as possible, reduce the displacement of volume of harness, thus effectively improve the underwater manoevreability of harness; The water surface lays recovery system and hangs onto near setting by armoured cable by the repeater station that carry single normobaric diving harness (ADS); After repeater station arrives setting, by the neutral cable draw off gear on repeater station, single normobaric diving harness is laid and recovery again, wherein, neutral cable is the neutral buoyancy connecting cable between repeater station and single normobaric diving harness, it is powered to single normobaric diving harness, and the sound signal of transmission video signal, sonar signal, control signal and diver and water surface communication.

After single normobaric diving harness (hereinafter referred to as " harness ") enters repeater station, be generally connected with repeater station by geared assembly, thus, harness is supported in repeater station by the point of engagement at top.Traditional this harness and the connection mode of repeater station belong to and are a bit connected, say from amechanical angle, this single-point support belongs to unstable and supports, there is following defect in single-point support: harness is laying with the process reclaimed, due to the impact of ocean current and the fugitiveness of support, harness will produce and rotate and rock, the diver be in harness will produce the bad physiological reactions such as dizzy, if external disturbance is excessive, harness also likely produces with the lower part of repeater station and collides and rub, harness is caused to damage, engagement even also may be caused to lose efficacy, and once geared assembly lost efficacy, actv. constraint will be lost between harness and repeater station, harness may fall into seawater from engage switch, thus initiation safety misadventure.

Summary of the invention

The applicant improves for above-mentioned shortcoming of the prior art, and what provide a kind of single normobaric diving harness is fixing apparatus, and it can realize effective system of the single normobaric diving harness entered in repeater station solid, plays safety guard-safeguard effect to harness.

Technical scheme of the present invention is as follows:

Single normobaric diving harness be fixing apparatus, comprise unhook, lifting mechanism, horizontal hunting mechanism and vertical rotating mechanism, wherein:

Being constructed as follows of described lifting mechanism: comprise erecting frame, erecting frame is equipped with vertical screw mandrel, screw mandrel has been threaded connection nut, and the termination of screw mandrel is connected with the driving device on erecting frame, nut and sliding support affixed, the vertical guide bearing fit on sliding support and erecting frame;

Described horizontal hunting mechanism is constructed as follows: the oscillating oil cylinder comprising unhook both sides, break off relations and be connected by turning cylinder with pedestal, oscillating oil cylinder is arranged symmetrically with about turning cylinder, the piston rod of oscillating oil cylinder is connected with unhook, oscillating oil cylinder is contained on pedestal, pedestal and connecting rod pin joint, connecting rod and sliding support pin joint;

Described vertical rotating mechanism is constructed as follows: comprising is solid oil cylinder, is pin joint above solid oil cylinder and sliding support, be the piston rod of solid oil cylinder through the groove below sliding support, and with flap pin joint, flap two ends respectively with sliding support, pedestal pin joint.

Its further technical scheme is:

Described sliding support is provided with upper supporting plate, middle support plate, lower carrier plate, and it is affixed that nut and sliding support pass through upper supporting plate; The middle support plate pin joint of connecting rod and sliding support; The solid oil cylinder of system, by upper supporting plate and sliding support pin joint, is the groove of piston rod through the lower carrier plate of sliding support of solid oil cylinder; Flap two ends respectively with lower carrier plate, pedestal pin joint.

Described driving device adopts Worm and worm-wheel gearing, and Worm and worm-wheel gearing is driven by handwheel.

Described pedestal is " ⊥ " type structure.

The solid oil cylinder of described system adopts spring reset hydraulic ram.

Described flap is triangular structure, its three bights respectively with pedestal, lower carrier plate, be the piston rod pin joint of solid oil cylinder.

The both sides of unhook termination are with groove, and the piston rod of oscillating oil cylinder is joined in the groove of unhook by the protuberance of termination.

Described upper supporting plate, middle support plate and be provided with reinforced rib between lower carrier plate and the substrate of sliding support, for three support plates described in supplemental support.

Described unhook adopts corrosion-resistant steel or high-strength aluminum alloy material, and its outer surface has the elastic coating of resistance to corrosion seawater.

The outer surface polytetrafluoroethylene of described unhook or government rubber coating.

Technique effect of the present invention:

Contemplated by the invention the various operating modes likely run in actual job process, by the design of the active control structure to unhook three direction degree of freedom, make the present invention can adapt to the work requirements of harness and different operating mode in all directions, by in three directions to the adjustment of unhook position, thus realize effective system of harness solid; Worm and gear lifting mechanism has auto-lock function, even if this makes the present invention work under severe sea situation, also without the need to providing additional restraint, simplifies the structure; The solid oil cylinder of system adopts spring reset hydraulic ram, and retracing spring wherein can ensure the auto-lock function of whole device, though in hydraulic system fails or be solid oil cylinder generation leakage of oil time, also can ensure to break off relations and hold harness tightly firmly all the time; Symmetrically arranged one design of stretching the oscillating oil cylinder that a contracting is synchronized with the movement, can ensure when harness has constant slope, also by the adjustment to unhook self-position, make to break off relations with harness be that maintenance is put and is in same longitudinal plane of symmetry in vertical direction; The present invention is effective support that the harness entered in repeater station provides another place outside engage switch; change traditional harness and repeater station to be a bit connected and the situation of single-point support; be solid effectively after harness can be made to enter repeater station; lay with removal process at repeater station; avoid the rotation of harness and rock; avoid the generation that harness and repeater station collision etc. are dangerous, thus safety guard-safeguard effect is played to harness and the diver be in harness.

Accompanying drawing explanation

Fig. 1 is the structural representation of single one atmosphere diving system (OADS), and in figure, single normobaric diving harness, just in operation, also show the assembly relation of the present invention and repeater station in figure.

Fig. 2 is structural representation of the present invention, and the unhook in figure has been adjusted to level and treated job position.

Fig. 3 is the structural representation under off working state of the present invention, and the unhook in figure is not in level and treats job position.

Fig. 4 is the birds-eye view of Fig. 2, there is shown the hunting range of unhook level.

Fig. 5 is the course of action schematic diagram that the present invention is elevated unhook.

Wherein: 1, break off relations; 101, groove; 2, erecting frame; 3, screw mandrel; 4, nut; 5, sliding support; 501, upper supporting plate; 502, middle support plate; 503, lower carrier plate; 6, pedestal; 7, turning cylinder; 8, be solid oil cylinder; 9, flap; 10, connecting rod; 11, Worm and worm-wheel gearing; 12, handwheel; 13, reinforced rib; 14, oscillating oil cylinder; 141, protuberance; 100, single normobaric diving harness; 200, repeater station; 300, the water surface lays recovery system; 400, armoured cable; 500, neutral cable; 600, be fixing apparatus.

Detailed description of the invention

Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described.

See Fig. 2, Fig. 4, the present invention includes unhook 1, lifting mechanism, horizontal hunting mechanism and vertical rotating mechanism, wherein:

Being constructed as follows of described lifting mechanism: comprise erecting frame 2, vertical screw mandrel 3 erecting frame 2 is equipped with, screw mandrel 3 has been threaded connection nut 4, the termination of screw mandrel 3 is connected with the driving device on erecting frame 2, nut 4 is affixed with sliding support 5, sliding support 5 is provided with upper supporting plate 501, middle support plate 502, lower carrier plate 503, nut 4 is affixed by upper supporting plate 501 with sliding support 5, sliding support 5 and the vertical guide bearing fit on erecting frame 2, further, described driving device adopts the Worm and worm-wheel gearing 11 with auto-lock function, Worm and worm-wheel gearing 11 is driven by handwheel 12,

Described horizontal hunting mechanism is constructed as follows: the oscillating oil cylinder 14 comprising unhook 1 both sides, unhook 1 is connected by turning cylinder 7 with pedestal 6, oscillating oil cylinder 14 is arranged symmetrically with about turning cylinder 7, the piston rod of oscillating oil cylinder 14 is connected with unhook 1, break off relations the both sides of 1 termination with groove 101, the piston rod of oscillating oil cylinder 14 joins in the groove 101 of unhook 1 by the protuberance 141 of termination, oscillating oil cylinder 14 is contained on pedestal 6, pedestal 6 and connecting rod 10 pin joint, middle support plate 502 pin joint of connecting rod 10 and sliding support 5;

Described vertical rotating mechanism is constructed as follows: comprising is solid oil cylinder 8, the solid oil cylinder 8 of system is by pin joint above upper supporting plate 501 and sliding support 5, the piston rod of the solid oil cylinder 8 of system passes the groove of the lower carrier plate 503 below sliding support 5, and with flap 9 pin joint, flap 9 two ends respectively with lower carrier plate 503 pin joint on pedestal 6, sliding support 5.

Further, described pedestal 6 is " ⊥ " type structure, and two oscillating oil cylinders 14 are contained on the horizontal plate of pedestal 6, and connecting rod 10, flap 9 are connected with the vertical plate of pedestal 6; Described flap 9 is triangular structure, its three bights respectively with pedestal 6, lower carrier plate 503, be the piston rod pin joint of solid oil cylinder 8; Reinforced rib 13 is provided with, for supplemental support three support plates between the substrate of described upper supporting plate 501, middle support plate 502 and lower carrier plate 503 and sliding support 5; The solid oil cylinder 8 of system adopts spring reset hydraulic ram; In Material selec-tion, break off relations 1 employing corrosion-resistant steel or high-strength aluminum alloy material, its outer surface polytetrafluoroethylene or government rubber or other there is the elastic coating of resistance to corrosion seawater, erecting frame 2, pedestal 6 adopt the stainless steel material of seawater corrosion resistance, and even flap 9, connecting rod 10 adopt high-strength corrosion-resisting material.

See Fig. 1, Fig. 3, illustrate in Fig. 1 that illustrated is the installation site of fixing apparatus 600 in repeater station 200, the present invention is fixed in repeater station 200, arrange face-to-face with single normobaric diving harness 100, Fig. 3 is the structural representation under off working state of the present invention, unhook 1 in figure is not in level and treats job position, but sagging placement, the location status of the unhook 1 shown in Fig. 3 is the rotine positioning state of the present invention in repeater station 200, such layout, is conducive to single normobaric diving harness 100 and space of the present invention in repeater station 200 and arranges.

Operation scheme of the present invention is as follows:

The height and position of adjustment unhook 1: when single normobaric diving harness 100 enters after in repeater station 200, harness has different height because diver's height is different, thus needing to adjust the height of unhook 1, is that maintenance is put and is in same or equivalent height with what make the height of unhook 1 and harness.Adjustment process is as follows: handwheel 12 drives worm and gear lifting mechanism 11 to move, then screw mandrel 3 is driven to rotate, nut 4 on screw mandrel 3 drives sliding support 5 affixed with it, break off relations 1 and to be solid oil cylinder 8 carry out rising or descending motion along the track of erecting frame 2, thus realize the position adjustment of unhook 1 in the vertical direction, see Fig. 5.On the other hand, because worm and gear lifting mechanism 11 has auto-lock function, so the adjustment of in the vertical direction of the present invention has auto-lock function, even if this makes the present invention work under severe sea situation, also without the need to providing additional restraint, simplify the structure.

Adjustment unhook 1 to harness be that maintenance is put and is in same vertical longitudinal plane of symmetry: after the height and position of hook 1 is adjusted to the right place, due to harness to engage with engaging mechanism later position can not completely and hook 1 be on same vertical longitudinal plane of symmetry, namely harness is not completely vertical placement, but there is constant slope, and the position adjusting harness is also inconvenient in actual motion, so need to adjust hook 1 position in the horizontal plane, be that maintenance is put and is on same vertical longitudinal plane of symmetry with what make unhook 1 and harness, what namely make the vertical profile longitudinal plane of symmetry of unhook 1 and harness is that maintenance is put and is in same longitudinal plane of symmetry in vertical direction.Adjustment process is as follows: the oil circuit of two oscillating oil cylinders 14 is connected in series, being synchronized with the movement of a contracting is stretched by two oscillating oil cylinders 14 1, unhook 1 is driven to swing back and forth in horizontal surface around turning cylinder 7, see Fig. 4, the camera that the rotational angle of hook 1 can be carried by harness is observed, also can carry out controlled reset by loading position sensor or angular transducer, the rotational angle range of hook 1 as shown by the arrows in Figure 4.

Breaking off relations 1 is be fixedly mounted with tool: when hook 1 be rocked to harness be after maintenance is put and is in same vertical longitudinal plane of symmetry, the piston rod of the solid oil cylinder 8 of system is protruding under the effect of hydraulic oil, under the effect of flap 9, hook 1 upwards closes up, when unhook 1 be upwards raised up to closely block harness be maintenance put time, close oil circuit, now, " crotch " position of harness is blocked in unhook 1 tightly, and what namely complete harness is solid operation.Simultaneously, owing to being that solid oil cylinder 8 adopts spring reset hydraulic ram, harness transfer or in removal process, even if occur that hydraulic work system is malfunctioning or be that oil leakage phenomenon occurs solid oil cylinder 8, retracing spring in the solid oil cylinder 8 of system can make to be that the piston rod of solid oil cylinder 8 remains at the location status holding harness tightly, so can realize auto-lock function of the present invention.

Contemplated by the invention the various operating modes likely run in actual job process, by the design of the active control structure to unhook 1 three direction degree of freedom, make the present invention can adapt to the work requirements of harness and different operating mode in all directions, by in three directions to the adjustment of unhook 1 position, finally realize effective system of harness solid.

More than describing is explanation of the invention, and be not the restriction to invention, limited range of the present invention, see claim, within protection scope of the present invention, can do any type of amendment.

Claims (10)

1. single normobaric diving harness is fixing apparatus, it is characterized in that: comprise unhook (1), lifting mechanism, horizontal hunting mechanism and vertical rotating mechanism, wherein:
Being constructed as follows of described lifting mechanism: comprise erecting frame (2), vertical screw mandrel (3) erecting frame (2) is equipped with, screw mandrel (3) has been threaded connection nut (4), the upper end of screw mandrel (3) is connected with the driving device on erecting frame (2), nut (4) is affixed with sliding support (5), sliding support (5) and the vertical guide bearing fit on erecting frame (2);
Described horizontal hunting mechanism is constructed as follows: the oscillating oil cylinder (14) comprising unhook (1) both sides, unhook (1) is connected by turning cylinder (7) with pedestal (6), oscillating oil cylinder (14) is arranged symmetrically with about turning cylinder (7), the piston rod of oscillating oil cylinder (14) is connected with unhook (1), oscillating oil cylinder (14) is contained on pedestal (6), pedestal (6) and connecting rod (10) pin joint, connecting rod (10) and sliding support (5) pin joint;
Described vertical rotating mechanism is constructed as follows: comprising is solid oil cylinder (8), the solid oil cylinder (8) of system and sliding support (5) top pin joint, the piston rod of the solid oil cylinder (8) of system is through the groove below sliding support (5), and with flap (9) pin joint, flap (9) two ends respectively with sliding support (5), pedestal (6) pin joint.
2. by single normobaric diving harness according to claim 1 is fixing apparatus, it is characterized in that: described sliding support (5) is provided with upper supporting plate (501), middle support plate (502), lower carrier plate (503), nut (4) is affixed by upper supporting plate (501) with sliding support (5); Middle support plate (502) pin joint of connecting rod (10) and sliding support (5); The solid oil cylinder (8) of system, by upper supporting plate (501) and sliding support (5) pin joint, is the groove of piston rod through the lower carrier plate (503) of sliding support (5) of solid oil cylinder (8); Flap (9) two ends respectively with lower carrier plate (503), pedestal (6) pin joint.
3. by single normobaric diving harness according to claim 2 is fixing apparatus, it is characterized in that: described driving device adopts Worm and worm-wheel gearing (11), and Worm and worm-wheel gearing (11) is driven by handwheel (12).
4. by single normobaric diving harness according to claim 2 is fixing apparatus, it is characterized in that: described pedestal (6) is " ⊥ " type structure.
5. by single normobaric diving harness according to claim 2 is fixing apparatus, it is characterized in that: the solid oil cylinder (8) of described system adopts spring reset hydraulic ram.
6. by single normobaric diving harness according to claim 2 is fixing apparatus, it is characterized in that: described flap (9) is triangular structure, its three bights respectively with pedestal (6), lower carrier plate (503), be the piston rod pin joint of solid oil cylinder (8).
7. by single normobaric diving harness according to claim 2 is fixing apparatus, it is characterized in that: the both sides of (1) termination of breaking off relations are with groove (101), and the piston rod of oscillating oil cylinder (14) is joined in the groove (101) of unhook (1) by the protuberance (141) of termination.
8. by the single normobaric diving harness described in any one of claim 2 to 4 claim is fixing apparatus, it is characterized in that: between the substrate of described upper supporting plate (501), middle support plate (502) and lower carrier plate (503) and sliding support (5), be provided with reinforced rib (13), for three support plates described in supplemental support.
9. by single normobaric diving harness according to claim 2 is fixing apparatus, it is characterized in that: described unhook (1) adopts corrosion-resistant steel or high-strength aluminum alloy material, and its outer surface has the elastic coating of resistance to corrosion seawater.
10. by single normobaric diving harness according to claim 9 is fixing apparatus, it is characterized in that: the outer surface polytetrafluoroethylene of described unhook (1) or government rubber coating.
CN201310069223.9A 2013-03-05 2013-03-05 Securing device of one man atmospheric diving apparatus CN103129723B (en)

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Application Number Priority Date Filing Date Title
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CN103129723B true CN103129723B (en) 2015-07-08

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103466061B (en) * 2013-09-06 2015-08-12 中国船舶重工集团公司第七○二研究所 Body structure that normobaric diving harness humanoid is withstand voltage
CN103466060B (en) * 2013-09-06 2015-09-30 中国船舶重工集团公司第七○二研究所 Automatically de-cable swingable formula towing hook

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JPH10305798A (en) * 1997-05-02 1998-11-17 Mitsubishi Heavy Ind Ltd Underwater fitting frame and lifting device
CN1539605A (en) * 2003-04-23 2004-10-27 中国科学院沈阳自动化研究所 Structured self locking type interlocking device
CN2923515Y (en) * 2006-05-26 2007-07-18 中国科学院沈阳自动化研究所 On-water automatic butt-joint interlinking device
CN101332866A (en) * 2008-08-05 2008-12-31 中国舰船研究设计中心 General laying-out and recovering system for submersible
CN101508333A (en) * 2009-03-13 2009-08-19 武汉海王机电工程技术公司 Mechanical automatic butt-joint releasing device
CN101633400A (en) * 2009-08-18 2010-01-27 中国船舶重工集团公司第七〇二研究所 Engaging mechanism for hoisting cable underwater robot
CN101804855A (en) * 2010-03-30 2010-08-18 中国船舶重工集团公司第七〇二研究所 Underwater guide capture device of remote-operated vehicle
CN101941515A (en) * 2009-07-08 2011-01-12 中国科学院沈阳自动化研究所 Locking mechanism

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1132710A (en) * 1995-04-05 1996-10-09 中国科学院沈阳自动化研究所 Underwater recovery system for autonomous diving device
JPH10305798A (en) * 1997-05-02 1998-11-17 Mitsubishi Heavy Ind Ltd Underwater fitting frame and lifting device
CN1539605A (en) * 2003-04-23 2004-10-27 中国科学院沈阳自动化研究所 Structured self locking type interlocking device
CN2923515Y (en) * 2006-05-26 2007-07-18 中国科学院沈阳自动化研究所 On-water automatic butt-joint interlinking device
CN101332866A (en) * 2008-08-05 2008-12-31 中国舰船研究设计中心 General laying-out and recovering system for submersible
CN101508333A (en) * 2009-03-13 2009-08-19 武汉海王机电工程技术公司 Mechanical automatic butt-joint releasing device
CN101941515A (en) * 2009-07-08 2011-01-12 中国科学院沈阳自动化研究所 Locking mechanism
CN101633400A (en) * 2009-08-18 2010-01-27 中国船舶重工集团公司第七〇二研究所 Engaging mechanism for hoisting cable underwater robot
CN101804855A (en) * 2010-03-30 2010-08-18 中国船舶重工集团公司第七〇二研究所 Underwater guide capture device of remote-operated vehicle

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