CN103183111B - A kind of underwater robot recovery traction apparatus - Google Patents
A kind of underwater robot recovery traction apparatus Download PDFInfo
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- CN103183111B CN103183111B CN201110445845.8A CN201110445845A CN103183111B CN 103183111 B CN103183111 B CN 103183111B CN 201110445845 A CN201110445845 A CN 201110445845A CN 103183111 B CN103183111 B CN 103183111B
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- hydraulic cylinder
- draft arm
- underwater robot
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- gear
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Abstract
The invention belongs to underwater robot and reclaim field, specifically a kind of underwater robot recovery traction apparatus, including hydraulic wireline winch, casing, revolution straight beam, slew gear, pitching hydraulic cylinder, telescopic hydraulic cylinder and have revolution, pitching, the draft arm of flexible three degree of freedom, wherein casing is arranged on lash ship, hydraulic wireline winch is positioned at casing, and the traction cable being connected with underwater robot is connected with hydraulic wireline winch through draft arm；One end of revolution straight beam is connected with the slew gear being arranged on casing, the other end is hinged with draft arm, telescopic hydraulic cylinder is arranged on draft arm, drives draft arm to stretch, and pitching hydraulic cylinder is arranged on revolution straight beam, and the outfan of pitching hydraulic cylinder is hinged with draft arm；The Hydraulic Station that power is provided it is provided with into hydraulic wireline winch, slew gear, pitching hydraulic cylinder and telescopic hydraulic cylinder in casing.The present invention has the advantages such as simple and reliable for structure, multiple functional, easily operated.
Description
Technical field
The invention belongs to underwater robot and reclaim field, specifically a kind of underwater robot returns
Receipts traction apparatus.
Background technology
Underwater robot is a kind of underwater platform relying on the self-contained energy independently to navigate by water.
Owing to being affected by marine stormy waves, underwater robot reclaims an always relatively difficult work
Industry process.At present, reclaim underwater robot and mainly use dink to be dragged near lash ship,
Then the method being carried out on pneumatic boat by staff linking up with, this adds increased when high sea situation
The danger reclaimed.
Summary of the invention
In order to solve underwater robot reclaim in operation process affected by sea situation, dangerous high asking
Topic, it is an object of the invention to provide a kind of underwater robot recovery traction apparatus.This traction
Device can reduce the impact that underwater robot is reclaimed by stormy waves, does not descends Water Sproading for realizing personnel
Connect underwater robot to create conditions.
It is an object of the invention to be achieved through the following technical solutions:
The present invention include hydraulic wireline winch, casing, revolution straight beam, slew gear, pitching hydraulic cylinder,
Telescopic hydraulic cylinder and there is revolution, pitching, the draft arm of flexible three degree of freedom, wherein casing
Being arranged on lash ship, described hydraulic wireline winch is positioned at casing, the traction being connected with underwater robot
Cable is connected with described hydraulic wireline winch through draft arm；One end of described revolution straight beam be arranged on
Slew gear on casing connects, and the other end is hinged with described draft arm, described telescopic hydraulic cylinder
Being arranged on draft arm, drive draft arm to stretch, described pitching hydraulic cylinder is arranged on revolution straight beam
On, the outfan of pitching hydraulic cylinder is hinged with draft arm；Be provided with in casing into hydraulic wireline winch,
Slew gear, pitching hydraulic cylinder and telescopic hydraulic cylinder provide the Hydraulic Station of power.
Wherein: one end of described draft arm is hinged with the other end of revolution straight beam, draft arm is another
One end is provided with buffer gear；Described traction cable is through this buffer gear, on draft arm
Assembly pulley is affixed with the rope on described hydraulic wireline winch；Described buffer gear includes that pull rope guides
Ring, guide ring fixed mount, buffer spring and connector, wherein pull rope guide ring is arranged on and leads
Drawing on ring fixed mount, described guide ring fixed mount is arranged on one end of buffer spring, described buffering
The other end of spring is connected with draft arm by connector；Described draft arm include one-level crossbeam and
The two grades of crossbeams being relatively inserted in slidably in this one-level crossbeam, one end hinge of described telescopic hydraulic cylinder
Being connected on one-level crossbeam, the other end is hinged on two grades of crossbeams, one end of described pitching hydraulic cylinder
Being arranged on revolution straight beam, the other end is hinged with described one-level crossbeam, described I and II crossbeam
Pitch freedom is realized under the driving of pitching hydraulic cylinder；On corner within described one-level crossbeam
Be mounted on rail plate, two grades of crossbeams along described rail plate versus primary crossbeam at flexible liquid
Reciprocatingly slide under the driving of cylinder pressure, it is achieved flexible degree of freedom；Above the two ends of described one-level crossbeam
Being respectively equipped with intermediate pulley and rear head sheave, two grades of crossbeams are positioned at above the one end outside one-level crossbeam
Being provided with front head sheave, it is sliding that described traction cable sequentially passes through front head sheave, intermediate pulley and rear end
Wheel；Described telescopic hydraulic cylinder, one-level crossbeam and two grades of crossbeams are parallel to each other；Described slew gear
Including rotary fluid motor, gyroaxis assembly, driving gear and passive swiveling gear, wherein return
Rotating hydraulic motor is arranged in described casing, is provided power, this revolution hydraulic pressure by described Hydraulic Station
The outfan of motor connects has driving gear, described passive swiveling gear to be pacified by gyroaxis assembly
It is contained on casing and described driving gear engaged transmission, one end of described revolution straight beam and revolution
Shaft assembly is connected, and realizes the revolution of described draft arm freely by the driving of rotary fluid motor
Degree；Described gyroaxis assembly includes straight beam adaptor, gyroaxis, upper ball cover, bearing, axle
Bearing and lower ball cover, its bottom bracket is arranged on casing upper surface, the one of described gyroaxis
End is arranged in bearing block by bearing, and the other end is by straight beam adaptor and described revolution straight beam
One end be connected, described passive swiveling gear is arranged on gyroaxis；Described bearing block upper
Under be respectively arranged at two ends with upper ball cover and lower ball cover；One end of described gyroaxis is separately installed with
Thrust force aligning bearing and taper roll bearing, end, gyroaxis one end is provided with bearing pre-tightened and draws
Lid, this bearing pre-tightened is drawn and is drawn by stretching screw between lid and described tapered roller bearing internal ring
Tightly；Gearbox cover, described driving gear and the passive equal position of swiveling gear are installed on described casing
In this gearbox cover.
Advantages of the present invention with good effect is:
1. the draft arm of the present invention has revolution, pitching and flexible three degree of freedom, reclaims mother
Ship can draw underwater robot by the present invention so that it is boat the most synchronized with lash ship on the water surface
OK, carry out the most in this case reclaiming operation.Thus can be efficiently against stormy waves to water
The impact that lower robot reclaims, reduces underwater robot and the difficulty of boom hoisting docking, reduces
Reclaim the risk of operation process.
2. the present invention is provided with buffer gear at draft arm head, can buffer in distraction procedure
Due to the wave impact strength to underwater robot, what reduction primary structure member and cable were born should
Power, improves the safety and reliability of distraction procedure.
3. the present invention is provided with three fixed pulleys on draft arm, for guiding the fortune of pull rope
Dynamic, thus facilitate the hydraulic wireline winch folding and unfolding to traction cable.
4. the slew gear of the present invention uses bigger passive swiveling gear to drive draft arm to rotate,
Can effectively reduce rotary fluid motor required output torque and reduce rotary speed.
5. present configuration is simple and reliable, multiple functional, it is easy to operation.
Accompanying drawing explanation
Fig. 1 is one of perspective view of the present invention；
Fig. 2 is that the two of perspective view of the present invention (is removed on the right side of gearbox cover and casing
Wall)；
Fig. 3 is the structural representation of buffer gear of the present invention；
Fig. 4 is the structural representation of slew gear of the present invention；
Wherein: 1 is firm banking, 2 is buffer gear, and 3 is casing, and 4 is casing upper surface,
5 is gearbox cover, and 6 is pitching hydraulic cylinder, and 7 is revolution straight beam, and 8 is one-level crossbeam, and 9 are
Telescopic hydraulic cylinder, 10 is two grades of crossbeams, and 11 is traction cable, and 12 is guidance panel, and 13 are
Front head sheave, 14 is intermediate pulley, and 15 is rear head sheave, and 16 is fixed pin shaft, and 17 is quilt
Dynamic swiveling gear, 18 is driving gear, and 19 is rotary fluid motor, and 20 is gyroaxis assembly,
21 is Hydraulic Station, and 22 is hydraulic wireline winch, and 23 is pull rope guide ring, and 24 fix for guide ring
Frame, 25 is buffer spring, and 26 is connector, and 27 is fixing bolt, and 28 is straight beam adaptor,
29 is gyroaxis, and 30 is upper ball cover, and 31 is thrust force aligning bearing, and 32 is bearing block, 33
For taper roll bearing, 34 draw lid for bearing pre-tightened, and 35 is stretching screw, and 36 is lower bearing
Lid.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, the present invention include firm banking 1, buffer gear 2, casing 3,
Pitching hydraulic cylinder 6, revolution straight beam 7, slew gear, telescopic hydraulic cylinder 9, hydraulic wireline winch 22
And there is revolution, pitching, the draft arm of flexible three degree of freedom, wherein casing 3 is by fixing
Base 1 is arranged on lash ship, and firm banking 1 welds with lash ship deck in advance, then will include
Casing 3 is connected by bolt with firm banking 1 in interior whole traction apparatus, so makes
The traction apparatus of the present invention and lash ship achieve connection reliably, change lash ship reducing as far as possible
The safety in distraction procedure is improve in the case of Dong.Guidance panel 12 it is provided with on casing 3,
For concentrating the control knob disposing each actuator of the present invention, arrange for 12 times at guidance panel
Have and control components and parts accordingly, by control each relevant valve body control the motion of each degree of freedom with
Stop；The guidance panel 12 of the present invention is prior art.Hydraulic wireline winch 22 is arranged on casing 3
In, the traction cable 11 assembly pulley on draft arm being connected with underwater robot is with described
Hydraulic wireline winch 22 is connected.
One end of revolution straight beam 7 is connected with the slew gear being arranged on casing 3, and the other end leads to
Cross fixed pin shaft 16 hinged with described draft arm；The draft arm of the present invention have revolution, pitching,
Flexible three degree of freedom, draft arm includes one-level crossbeam 8 and two grades of crossbeams 10, one-level crossbeam 8
Be mounted on rail plate on internal corner, two grades of crossbeams 10 be relatively inserted in slidably this one
In level crossbeam 8, can slide along rail plate in one-level crossbeam 8；One end of one-level crossbeam 8
Hinged with the other end of revolution straight beam 7 by fixed pin shaft 16, two grades of crossbeams 10 are horizontal by one-level
The other end of beam 8 inserts.One end of telescopic hydraulic cylinder 9 is hinged on one-level crossbeam 8, another
End is hinged on two grades of crossbeams 10, and telescopic hydraulic cylinder 9, one-level crossbeam 8 and two grades of horizontal strokes
Beam 10 is parallel to each other, and telescopic hydraulic cylinder 9 directly drives two grades of crossbeams 10 in one-level crossbeam 8
Portion slides, realizes the flexible degree of freedom of draft arm.One end of pitching hydraulic cylinder 6 is arranged on revolution
On straight beam 7, the other end is hinged with described one-level crossbeam 8, pitching hydraulic cylinder 6 and one-level crossbeam
Between 8 tilt connect, described I and II crossbeam 8,10 under the driving of pitching hydraulic cylinder 6,
The elevating movement that makes this conversion of motion be draft arm by the stretching motion of pitching hydraulic cylinder 6,
Realize the pitch freedom of draft arm.
As it is shown on figure 3, the head at two grades of crossbeams 10 is provided with buffer gear 2, it is used for buffering
Due to the wave impact strength to underwater robot in distraction procedure, reduce and buffer primary structure member
The stress born with cable, improves the safety and reliability of distraction procedure；This buffer gear
2 include pull rope guide ring 23, guide ring fixed mount 24, buffer spring 25 and connector 26,
Wherein pull rope guide ring 23 and guide ring fixed mount 24 are affixed by screw, and guide ring is solid
Determine frame 24 and be welded on one end of buffer spring 25, the other end of described buffer spring 25 and company
Fitting 26 welds, affixed by screw with two grades of crossbeams 10 by connector 26.
One-level crossbeam 8 and two grades of crossbeams 10 are provided with three fixed pulleys, lead for guiding
The motion of messenger cable 11, thus facilitate the hydraulic wireline winch 22 folding and unfolding to traction cable 11；One
It is respectively equipped with intermediate pulley 14 and rear head sheave 15, two grades of crossbeams above the two ends of level crossbeam 8
10 one end being positioned at outside one-level crossbeam 8 are arranged over front head sheave 13, described traction cable 11
Through the pull rope guide ring 23 of buffer gear 2 head, then in turn through front head sheave 13,
Intermediate pulley 14 and rear head sheave 15, more affixed with the rope on hydraulic wireline winch 22, traction
Cable 11 is guided by three pulleys.
As shown in Figure 4, slew gear include rotary fluid motor 19, gyroaxis assembly 20,
Driving gear 18 and passive swiveling gear 17, wherein rotary fluid motor 19 is arranged on described
In casing 3, the outfan of this rotary fluid motor 19 connects driving gear 18, described quilt
Dynamic swiveling gear 17 is arranged on casing 3 and described driving gear by gyroaxis assembly 20
18 engaged transmission, one end of described revolution straight beam 7 is connected with gyroaxis assembly 20, by returning
The driving of rotating hydraulic motor 19 realizes the revolution degree of freedom of described draft arm.Gyroaxis assembly 20
Including straight beam adaptor 28, gyroaxis 29, upper ball cover 30, thrust force aligning bearing 31, axle
Bearing 32, taper roll bearing 33, bearing pre-tightened draw lid 34, stretching screw 35 and lower axle
Holding lid 36, its bottom bracket 32 is fixed on casing upper surface 4 by screw, described revolution
One end of axle 29 is separately installed with thrust force aligning bearing 31 and taper roll bearing 33, revolution
One end of axle 29 is arranged on bearing block by thrust force aligning bearing 31 and taper roll bearing 33
In 32, the other end passes through straight beam adaptor 28 one end with described revolution straight beam 7 by fixing spiral shell
Bolt 27 is affixed, and passive swiveling gear 17 is arranged on gyroaxis 29；Described bearing block 32
It is respectively arranged at two ends with upper ball cover 30 and lower ball cover 36 up and down.End, gyroaxis 29 one end
Being provided with bearing pre-tightened and draw lid 34, this bearing pre-tightened draws lid 34 and described taper roll bearing 33
Strained by stretching screw 35 between inner ring, be used for providing thrust force aligning bearing 31 and circular cone rolling
Gyroaxis 29 is also carried out axial restraint by pretightning force between sub-bearing 33.Install on casing 3
Gearbox cover 5, described driving gear 18 and passive swiveling gear 17 is had to be respectively positioned on this gear-box
In cover 5.The revolution of draft arm needs to overcome the resistance of underwater robot distraction procedure and wave to make
The wave force become.The present invention uses bigger passive swiveling gear 17 to drive draft arm, permissible
Effectively reduce the required output torque of rotary fluid motor 19 and reduce rotary speed.
It is provided with in casing 3 as hydraulic wireline winch 22, rotary fluid motor 19, pitching hydraulic cylinder
6 and telescopic hydraulic cylinder 9 Hydraulic Station 21 of power is provided, Hydraulic Station 21 is in order to provide each hydraulic pressure
Motor and the hydraulic power source of hydraulic cylinder, for the primary source power of each actuator.Hydraulic Station uses mother
Ship power system power supply.
The present invention makes draft arm turn to outside lash ship by controlling the revolution of draft arm, passes through liquid
Pressure winch 22 adjusts the length of traction cable 11, controls underwater robot relatively and the position of lash ship
Put, realize the sync pulling to underwater robot by lash ship to set speed of a ship or plane navigation, pass through
Control the flexible distance adjusted between underwater robot and lash ship of draft arm, led by regulation
Draw the pitching of arm to adjust the draft arm direction to underwater robot pull strength so that traction overcomes
Amount and plane-parallel, to adapt to different lash ship side board height, by controlling hydraulic wireline winch
Distance between 22 folding and unfolding traction cable 11 adjustable underwater robots and traction apparatus, thus
Adjust underwater robot in the position of lash ship side board, in order to carry out follow-up recovery butt-joint operation.
The operation principle of the present invention is:
Underwater robot mission task ejects a band buoyant material by remote control from head after completing
Traction cable, traction cable 11 is salvaged back lash ship by dragging for rope device by lash ship staff；
Draft arm is made to forward to parallel with lash ship side board and pass through by guidance panel 12 upper rotary button
Telescopic hydraulic cylinder 9 makes two grades of crossbeams 10 be in retracted mode, by underwater robot head traction
Underwater robot, through the pull rope guide ring 23 of buffer gear head, is then drawn by cable
Traction cable 11 on cable and traction apparatus interconnects, and is driven by rotary fluid motor 19
Dynamic revolution straight beam 7 rotates, and drives draft arm, makes draft arm stretch to the outer side board of lash ship, by control
The stroke of telescopic hydraulic cylinder 9 processed adjusts the lateral distance between underwater robot and lash ship,
Draft arm is controlled to underwater robot pull strength by controlling the stroke of pitching hydraulic cylinder 6
Direction, finally by control hydraulic wireline winch 22 adjust underwater robot and draft arm head
Between distance, with coordinate underwater robot subsequent recovery docking and lifting needs.
The revolution of draft arm is realized by following process: rotary fluid motor 19 rotating band
Dynamic driving gear 18 rotates；Driving gear 18 then drives passive swiveling gear 17 to rotate；By
Pass through bonded in passive swiveling gear 17 and gyroaxis 29, therefore passive swiveling gear 17
Revolution can drive gyroaxis 29 to turn round together；The rotation of gyroaxis 29 has then driven straight beam switching
The revolution of part 28；Straight beam adaptor 28 and revolution straight beam 7 are by Flange joint, therefore straight beam turns
The revolution of fitting 28 drives the revolution of revolution straight beam 7 and has directly driven returning of whole draft arm
Transhipment is dynamic.
Thrust force aligning bearing 31 and taper roll bearing 33 is laid respectively bottom gyroaxis 29
Two bearings, are used for bearing the moment of flexure produced in distraction procedure and downward pressure, reduce revolution
The axle 29 friction and wear in turning course.Gyroaxis 29 bottommost is installed bearing pre-tightened and is drawn
Lid 34, bearing pre-tightened draws lid 34 stretching screw 35 and the tension of taper roll bearing 33 inner ring,
For providing the pretightning force between two bearings and gyroaxis 29 being carried out axial fixing.Two axles
Holding and be placed in bearing block 32, bearing block is fixed by screws on casing upper surface 4.?
Thrust force aligning bearing 31 is arranged above upper ball cover 30, below taper roll bearing 33
Lower ball cover 36 is installed for preventing dust or sea water from entering rotary axis system.
Telescopic hydraulic cylinder 9 is installed between one-level crossbeam 8 and two grades of crossbeams 10, and flexible
Hydraulic cylinder 9 is parallel with two crossbeams, and two ends are passed through with one-level crossbeam 8 and two grades of crossbeams 10 respectively
Hinged connection.Corner within one-level crossbeam 8 is installed rail plate, two grades of crossbeams 10
Then at one-level crossbeam 8 internal slide, therefore telescopic hydraulic cylinder 9 can be worked as under the drive of Hydraulic Station
Two grades of crossbeams 10 can be driven during stretching motion at the stretching motion of one-level crossbeam 8.
Between one-level crossbeam 8 and revolution straight beam 7, with set angle, pitching hydraulic cylinder 6 is installed,
And one-level crossbeam 8 and revolution straight beam 7 realize connecting by fixed pin shaft 16, therefore one-level crossbeam
Can mutually rotate, when pitching hydraulic cylinder 6 does stretching motion just between 8 and revolution straight beam 7
Drive the elevating movement of one-level crossbeam 8, and make draft arm achieve elevating movement.
After underwater robot head traction rope passes pull rope guide ring 23 and on hydraulic wireline winch 22
Traction cable 11 connect, then cable is placed on by front head sheave 13, intermediate pulley 14
On the assembly pulley formed with rear head sheave 15, assembly pulley carry out leading of cable folding and unfolding process
To.Traction cable 11 one end and hydraulic wireline winch 22 capstan winch on hydraulic wireline winch 22 are fixedly connected with,
The pull rope connection of the other end and underwater head part, when hydraulic wireline winch 22 capstan winch is at hydraulic pressure
Rotating with direction initialization under the drive of motor, cable is wrapped on capstan winch, to shorten underwater
Distance between people and draft arm；Otherwise, when winch rotates in opposite directions, loosen cable,
The distance between underwater robot and draft arm is made to increase；By controlling the rotation of hydraulic wireline winch 22
Turn direction and control to draw the folding and unfolding of cable, thus control between underwater robot and draft arm
Distance.
Casing upper surface 4 is installed gearbox cover 5, by driving gear 18 and passive revolution
Gear 17 entirety covers, and reduces the impact on gear such as dust and water smoke, also improves system
The safety run.
Traction apparatus head is mounted with buffer gear 2, when underwater robot is met in distraction procedure
Produce wave force backward to the interference of wave under water in robot, and produce on pull rope
The raw transient pull to the back lower place, this pull strength can make buffer spring 25 become to the back lower place
Shape, thus reduce the impulsive force caused due to wave born on pull rope 11.Work as navigation
After device passes wave, wave force reduces, and buffer spring 25 resiles.
Reclaim lash ship and can draw underwater robot by the present invention so that it is be same with lash ship on the water surface
To synchronized navigation, carry out the most in this case reclaiming operation.Thus can be efficiently against
The impact that underwater robot is reclaimed by stormy waves, reduces underwater robot and the difficulty of boom hoisting docking
Degree, reduces the risk reclaiming operation process.
Claims (8)
1. a underwater robot recovery traction apparatus, it is characterised in that: include that hydraulic pressure twists
Car (22), casing (3), revolution straight beam (7), slew gear, pitching hydraulic cylinder (6),
Telescopic hydraulic cylinder (9) and there is revolution, pitching, the draft arm of flexible three degree of freedom, its
Middle casing (3) is arranged on lash ship, and described hydraulic wireline winch (22) is positioned at casing (3),
The traction cable (11) being connected with underwater robot is through draft arm and described hydraulic wireline winch (22)
It is connected；One end of described revolution straight beam (7) is with the slew gear being arranged on casing (3) even
Connecing, the other end is hinged with described draft arm, and described telescopic hydraulic cylinder (9) is arranged on draft arm
Upper, driving draft arm stretches, and described pitching hydraulic cylinder (6) is arranged in revolution straight beam (7),
The outfan of pitching hydraulic cylinder (6) is hinged with draft arm；It is provided with as hydraulic pressure in casing (3)
Winch (22), slew gear, pitching hydraulic cylinder (6) and telescopic hydraulic cylinder (9) provide dynamic
The Hydraulic Station (21) of power；
One end of described draft arm is hinged with the other end of revolution straight beam, and the other end of draft arm sets
There is buffer gear (2)；Described traction cable (11) is through this buffer gear (2), through leading
Draw the assembly pulley on arm affixed with the rope on described hydraulic wireline winch (22)；
Described buffer gear (2) include pull rope guide ring (23), guide ring fixed mount (24),
Buffer spring (25) and connector (26), wherein pull rope guide ring (23) is arranged on and leads
Drawing on ring fixed mount (24), described guide ring fixed mount (24) is arranged on buffer spring (25)
One end, the other end of described buffer spring (25) is by connector (26) and draft arm even
Connect.
2. the underwater robot recovery traction apparatus as described in claim 1, its feature exists
In: described draft arm includes one-level crossbeam (8) and is relatively inserted in this one-level crossbeam (8) slidably
Two grades of interior crossbeams (10), one end of described telescopic hydraulic cylinder (9) is hinged on one-level crossbeam (8)
On, the other end is hinged on two grades of crossbeams (10), one end of described pitching hydraulic cylinder (6)
Being arranged in revolution straight beam (7), the other end is hinged with described one-level crossbeam (8), described one,
Two grades of crossbeams (8,10) realize pitch freedom under the driving of pitching hydraulic cylinder (6).
3. the underwater robot recovery traction apparatus as described in claim 2, its feature exists
In: it is mounted on rail plate on the corner that described one-level crossbeam (8) is internal, two grades of crossbeams
(10) along the driving in telescopic hydraulic cylinder (9) of described rail plate versus primary crossbeam (8)
Under reciprocatingly slide, it is achieved flexible degree of freedom.
4. the underwater robot recovery traction apparatus as described in claim 2, its feature exists
In: it is respectively equipped with intermediate pulley (14) and rear end above the two ends of described one-level crossbeam (8)
Pulley (15), two grades of crossbeams (10) are positioned at before one-level crossbeam (8) one end outward is arranged over
Head sheave (13), described traction cable (11) sequentially passes through front head sheave (13), centre is slided
Wheel (14) and rear head sheave (15)；Described telescopic hydraulic cylinder (9), one-level crossbeam (8) and
Two grades of crossbeams (10) are parallel to each other.
5. the underwater robot recovery traction apparatus as described in claim 1, its feature exists
Rotary fluid motor (19), gyroaxis assembly (20), actively is included in: described slew gear
Gear (18) and passive swiveling gear (17), wherein rotary fluid motor (19) is arranged on
In described casing (3), provided power, this rotary fluid motor by described Hydraulic Station (21)
(19) outfan connects driving gear (18), and described passive swiveling gear (17) is led to
Cross gyroaxis assembly (20) and be arranged on that casing (3) is upper to be nibbled with described driving gear (18)
Closing transmission, one end of described revolution straight beam (7) is connected with gyroaxis assembly (20), passes through
The driving of rotary fluid motor (19) realizes the revolution degree of freedom of described draft arm.
6. the underwater robot recovery traction apparatus as described in claim 5, its feature exists
Include straight beam adaptor (28) in: described gyroaxis assembly (20), gyroaxis (29), on
Bearing cap (30), bearing, bearing block (32) and lower ball cover (36), its bottom bracket (32)
Being arranged on casing upper surface (4), one end of described gyroaxis (29) is installed by bearing
In bearing block (32), the other end is by straight beam adaptor (28) and described revolution straight beam (7)
One end be connected, described passive swiveling gear (17) is arranged on gyroaxis (29)；Institute
That states bearing block (32) is respectively arranged at two ends with upper ball cover (30) and lower ball cover (36) up and down.
7. the underwater robot recovery traction apparatus as described in claim 6, its feature exists
In: one end of described gyroaxis (29) is separately installed with thrust force aligning bearing (31) and circular cone
Roller bearing (33), gyroaxis (29) end, one end is provided with bearing pre-tightened and draws lid (34),
This bearing pre-tightened draws between lid (34) and described taper roll bearing (33) inner ring by tension
Screw (35) is strained.
8. the underwater robot recovery traction apparatus as described in claim 5, its feature exists
In: gearbox cover (5) is installed on described casing (3), described driving gear (18) and
Passive swiveling gear (17) is respectively positioned in this gearbox cover (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110445845.8A CN103183111B (en) | 2011-12-28 | 2011-12-28 | A kind of underwater robot recovery traction apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110445845.8A CN103183111B (en) | 2011-12-28 | 2011-12-28 | A kind of underwater robot recovery traction apparatus |
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| CN103183111A CN103183111A (en) | 2013-07-03 |
| CN103183111B true CN103183111B (en) | 2016-08-17 |
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| CN201110445845.8A Expired - Fee Related CN103183111B (en) | 2011-12-28 | 2011-12-28 | A kind of underwater robot recovery traction apparatus |
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