CN103183112A - Abutting and lifting device for recovering underwater robot - Google Patents
Abutting and lifting device for recovering underwater robot Download PDFInfo
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- CN103183112A CN103183112A CN2011104458636A CN201110445863A CN103183112A CN 103183112 A CN103183112 A CN 103183112A CN 2011104458636 A CN2011104458636 A CN 2011104458636A CN 201110445863 A CN201110445863 A CN 201110445863A CN 103183112 A CN103183112 A CN 103183112A
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Abstract
The invention belongs to the field of underwater robot recovery, and particularly relates to an abutting and lifting device for recovering an underwater robot. The device comprises a frame, a synchronous connecting bar, clamping mechanisms, trapping ropes and a guiding rope, wherein a plurality of fixed pulleys are arranged on the frame; the clamping mechanisms are respectively hinged to two sides of the frame; the tops of the two clamping mechanisms are connected by the synchronous connecting bar; each end of the synchronous connecting bar is connected with one end of a corresponding trapping rope; the other end of the trapping rope bypasses the fixed pulley and is controlled by a worker on a mother ship; a guiding tube and a suspending bar are respectively arranged on the frame; the guiding tube is positioned above the suspending bar; one end of the guiding rope is connected in a lifting seat on the underwater robot, and the other end of the guiding rope successively penetrates through the suspending bar and the guiding tube, bypasses the fixedly pulley and is controlled by the worker on the mother ship; and an abutting mechanism for abutting the lifting seat on the underwater robot is arranged on the suspending bar. The abutting and lifting device for recovering the underwater robot integrates the functions of lifting, abutting and protecting, has a pure mechanical structure and is characterized in that the device is simple and reliable in structure, and easy to operate.
Description
Technical field
The invention belongs to under-water robot and reclaim the field, specifically a kind of under-water robot reclaims with the butt joint lifting appliance.
Background technology
Because oceanographic condition is complicated and changeable, the recovery of under-water robot is a global difficult problem always.For invent a kind of do not need personnel go ashore can the reliable recovery under-water robot method, need a kind ofly can realize with the under-water robot automatic butt and have the clamping protection and only swing the derricking gear of function.
At present, Chang Yong butt joint lifting method mainly contains three kinds:
A kind of is to take advantage of motor boat near under-water robot by the staff, manually assists the lifting butt joint, and is frapping line; Because sea situation is very abominable sometimes, this manually-operated mode not only efficient is very low, and danger close, very likely the staff is damaged.
Second kind is the mechanical device that has power plant, namely drives bearing pin by the device that has hydraulic pressure, electric power or rope and realizes shirking action; The mode of this remote control not only is difficult for realizing automatic butt, and the apparatus structure complexity, and the power cable is corroded easily in briny environment or is disturbed, so reliability and the safety of work are low.
Also having a kind of is mechanical docking structure, but it does not possess defencive function, the high risk in the time of can't tackling marine operation.
Therefore developing a kind of collection lifts by crane, docks, is protected in one, adopts the automatic butt release gear of Purely mechanical structure to be necessary.
Summary of the invention
Be not suitable for the problem that under-water robot reclaims operation in order to solve existing derricking gear, the object of the present invention is to provide a kind of under-water robot to reclaim with the butt joint lifting appliance.This butt joint lifting appliance can realize when reclaiming operation that automatically playing flap seat with under-water robot dock and have clamping protection and reach and only swing function, collects and lifts by crane, docks, is protected in one, the automatic butt of employing Purely mechanical structure.
The objective of the invention is to be achieved through the following technical solutions:
The present invention includes framework, synchronising (connecting) rod, clamping device, guide wire, suspension rod, frapping line and guiding rope, its middle frame links to each other with crane on the lash ship by steel rope, a plurality of fixed pulleys are installed on the described framework, both sides at framework are hinged with clamping device respectively, and the top of two clamping devices connects by described synchronising (connecting) rod; The two ends of described synchronising (connecting) rod all are connected with an end of frapping line, and the other end of this frapping line passes, walks around described fixed pulley by framework and controlled by the staff on the lash ship; Described guide wire and suspension rod are installed on the framework respectively, guide wire is positioned at the top of suspension rod, and an end of described guiding rope is connected in rising in the flap seat on the under-water robot, and the other end passes suspension rod, guide wire and framework successively, walk around described fixed pulley, controlled by the staff on the lash ship; Described suspension rod near the position of end, lower end be provided with described under-water robot on play the docking mechanism that flap seat docks.
Wherein: described docking mechanism comprises driving lever, pin and spring, suspension rod is near the both sides of lower end end position, symmetry is hinged with driving lever by pin on axial cross section, described guiding rope is by passing between two driving levers, and the upper end of described two driving levers is connected with described suspension rod by retracing spring respectively; The interior hole shape that plays flap seat on the described under-water robot is corresponding with described driving lever, and described butt joint lifting appliance is in and lays operating condition, and T type handle all is installed on each driving lever, and described T type handle is gone up system the rope of unhook; The bottom of described framework is provided with connection pipe, and the clamping device of both sides is articulated in the two ends of this connection pipe respectively; Described guide wire and suspension rod are coaxial to be fixed on this connection pipe; Described framework is provided with stop gear, and described synchronising (connecting) rod is plugged in this stop gear; Described stop gear is position-limited rack, has two, is fixed in the both sides of described frame roof below respectively, and the sense of motion of described position-limited rack upper edge synchronising (connecting) rod is provided with bar-shaped trough, and described synchronising (connecting) rod is passed by the bar-shaped trough on two position-limited racks successively; Described fixed pulley is three, and the other end of the frapping line that is connected with the synchronising (connecting) rod two ends is walked around by the fixed pulley that is positioned at both sides, and the other end of described guiding rope is walked around by the fixed pulley in the middle of being positioned at; Described clamping device comprises two shapes, identical in structure end handgrip, two end handgrips and described framework are hinged, one end of each end handgrip is all hinged with an end of connecting rod, and the other end of each end handgrip is bare terminal, and the other end of two connecting rods and described synchronising (connecting) rod are hinged; In the hinged place of two connecting rod other ends and between the handgrip of the end in the outside, be provided with extension spring; Described two end handgrip opposed inside are respectively equipped with backing block; The bare terminal of each end handgrip is circular arc, and the bare terminal of two end handgrips forms the semicircle corresponding with the under-water robot profile; The outside of the bare terminal of each end handgrip all is enclosed with the protection leather bag.
Advantage of the present invention and good effect are:
1. integral structure of the present invention is safe and reliable, adopts Purely mechanical mechanism, has increased reliability and the safety of whole device greatly; Adopt the docking mechanism of guiding rope reasonable in design, can realize the automatic butt under the marine complicated sea situation.
2. the present invention is easy to install and use, and the lifting part adopts steel rope, can directly be connected with crane, has avoided transforming the work of crane; Adopt frapping line and guiding rope in the operation, only need the staff rationally to drag the tight rope rope and get final product, simple and reliable.
3. compatibility of the present invention is good, can realize that same set of device lays and reclaims under-water robot.
Description of drawings
Fig. 1 is integral structure scheme drawing of the present invention;
Fig. 2 is the structural representation of clamping device among Fig. 1;
Fig. 3 A plays one of workflow diagram that flap seat docks for suspension rod of the present invention and under-water robot;
Fig. 3 B plays two of workflow diagram that flap seat docks for suspension rod of the present invention and under-water robot;
Fig. 3 C plays three of workflow diagram that flap seat docks for suspension rod of the present invention and under-water robot;
Suspension rod and under-water robot played the structural representation of flap seat when Fig. 3 D laid under-water robot for the present invention;
Wherein: 1 is steel rope, and 2 is fixed pulley, and 3 is framework, and 4 is synchronising (connecting) rod; 5 is stop gear, and 6 is clamping device, and 7 is guide wire, and 8 is suspension rod; 9 has been flap seat, and 10 is frapping line, and 11 are the guiding rope, and 12 is extension spring; 13 is the end handgrip, and 14 is backing block, and 15 are the protection leather bag; 16 is driving lever, and 17 is pin, and 18 is retracing spring; 19 are T type handle, and 20 is connection pipe, and 21 is connecting rod.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
As shown in Figure 1, the present invention includes framework 3, synchronising (connecting) rod 4, stop gear 5, clamping device 6, guide wire 7, suspension rod 8, frapping line 10 and guiding rope 11, the two ends at its middle frame 3 tops link to each other with crane on the lash ship by steel rope 1 respectively, upper surface at framework 3 head slabs is equipped with a plurality of fixed pulleys 2, present embodiment is three, and the lower surface of framework 3 head slabs is respectively equipped with a stop gear 5 near the end, two ends.The bottom of framework 3 is provided with connection pipe 20, two ends at this connection pipe 20 are hinged with clamping device 6 respectively, the top of two clamping devices 6 connects by described synchronising (connecting) rod 4, and this synchronising (connecting) rod 4 is passed by two stop gears 5, is limited by stop gear 5 and makes perpendicular movement within it; Synchronising (connecting) rod 4 all is connected with an end of frapping line 10 near the position of end, two ends, the other end of two frapping lines 10 by the guide hole on framework 3 head slabs pass, walk around respectively the fixed pulley 2 that is positioned at the left and right sides, by the control of the staff on the lash ship, be responsible for only swinging and under-water robot promptly.Described guide wire 7 and the suspension rod 8 coaxial middle parts that are fixed in connection pipe 20, guide wire 7 is positioned at the top of suspension rod 8, one end of guiding rope 11 is fixed in rising in the flap seat 9 on the under-water robot, the other end passes suspension rod 8, guide wire 7 successively, after being passed by the guide hole on framework 3 head slabs, walk around the fixed pulley 2 in the middle of being positioned at again, by the control of the staff on the lash ship, be responsible for guiding butt joint lifting appliance and play docking of flap seat 9.Suspension rod 8 near the position of ends, lower end be provided with under-water robot on play the docking mechanism that flap seat 9 docks, shown in Fig. 3 A～3D, this docking mechanism comprises driving lever 16, pin 17 and spring 18, suspension rod 8 is near the both sides of lower end end positions, symmetry is hinged with driving lever 16 by pin 17 on axial cross section, driving lever 16 can freely rotate around pin 17, described guiding rope 11 is by passing between two driving levers 16, and the upper end of two driving levers 16 is connected with suspension rod 8 by retracing spring 18 respectively; The endoporus that plays flap seat 9 on the under-water robot is stepped hole, and the shape of endoporus is corresponding with driving lever 16; When the butt joint lifting appliance is in when laying operating condition, T type handle 19 all is installed on each driving lever 16, described T type handle 19 inserts driving lever 16 by the mounting hole of offering on the suspension rod 8, and is that the rope of unhook is arranged at T type handle 19; T type handle 19 is thrown off docking mechanisms in order to the long-range driving lever 16 that draws back when carrying out the laying of under-water robot.
As shown in Figure 2, clamping device 6 comprises two shapes, identical in structure end handgrip 13, and being used for promptly, under-water robot carries out safety precaution and only swings; The connection pipe 20 of the middle part of two end handgrips 13 and described framework 3 bottoms is hinged, one end of each end handgrip 13 is all hinged with an end of connecting rod 21, the other end of each end handgrip 13 is bare terminal, and the other end of two connecting rods 21 and described synchronising (connecting) rod 4 are hinged; In the hinged place of two connecting rod 21 other ends and between the end in outside handgrip 13, be provided with extension spring 12, this extension spring 12 makes end handgrip 13 be in normally open, after docking mechanism docks successfully, drive synchronising (connecting) rod 4 motions by the staff by frapping line 10 and make two end handgrip 13 closures, hold robot tightly, play the anti-sway effect of only swinging.Each end handgrip 13 with connection pipe 20 hinged places above the inboard be equipped with backing block 14, after holding robot tightly, make end handgrip 13 stop to tighten up, prevent that with all strength dragging frapping line 10 makes end handgrip 13 tensions, damages under-water robot.The bare terminal of each end handgrip 13 is circular arc, and the bare terminal of two end handgrips 13 forms the semicircle corresponding with the under-water robot profile; The outside of the bare terminal of each end handgrip 13 all is enclosed with protection leather bag 15, when preventing from reclaiming operation and the robot infringement under-water robot that bumps.
Principle of work of the present invention is:
As shown in Figure 1, before using the present invention to reclaim under-water robot, at first frapping line 10 1 ends are fixed on the synchronising (connecting) rod 4, the other end pass the guide hole of framework 3 head slabs, respectively pass through about two fixed pulleys 2, controlled by the staff; Suspension rod 8 is assembled into the recovery pattern shown in Fig. 3 A, does not namely use T type handle.
When reclaiming operation, with after the playing guiding rope 11 in the flap seat 9 and salvage to the lash ship of under-water robot, to guide rope 11 penetrates from suspension rod 8 bottoms, control in staff's hand by middle fixed pulley 2 along guide wire 7, in the whole recovery process, the staff drag tight guiding rope 11 guiding butt joint lifting appliances along guiding rope 11 finish with under-water robot play docking of flap seat 9; Hang over the butt joint lifting appliance on the crane of lash ship by steel rope 1, treat under-water robot is drawn after near the lash ship, crane rises, drive the butt joint lifting appliance and move to the under-water robot top, crane drives the butt joint lifting appliance and slowly falls along guiding rope 11, in this process, control frapping line 11 makes clamping device 6 all the time over against under-water robot; When crane fall on suspension rod 8 and the under-water robot rise a flap seat 9 finish dock after, crane continues the segment distance that falls, this moment use frapping line 10 controlling parties to, catch under-water robot, then drag tight frapping line 10, and drive synchronising (connecting) rod 4 along the bar-shaped trough upward movement on the position-limited rack, synchronising (connecting) rod 4 drives two ends totally four connecting rods 21, make two pairs of end handgrips, 13 inside clamped closed, hold under-water robot tightly, play the anti-sway effect of only swinging; At last, crane rises, and uses the butt joint lifting appliance to reclaim under-water robot, in this process, tightly drags frapping line 10 to prevent that acutely waving of under-water robot causes recovery difficult to strengthen under the severe sea condition.
When laying operation, its process is opposite with the recovery operation.At first the flap seat 9 that rises on suspension rod 8 and the under-water robot dock, T type handle 19 is installed on the driving lever 16, and be respectively two ropes that break off relations, note not using this moment guiding to restrict 11; After under-water robot hung out lash ship, slowly fall to the sea, in this process, use frapping line 10 to lay protection in the process; After under-water robot is drop to the sea, crane continues the segment distance that falls, dragging tight two ropes that break off relations then simultaneously rotates driving lever 16 around pin 17 under the effect of T type handle 19, rise crane this moment, because driving lever 16 bottoms are retracted in the suspension rod 8, suspension rod 8 rises under crane drives, and has broken away from flap seat 9, the butt joint lifting appliance is separated with under-water robot, finish the work that lays of under-water robot.
Claims (10)
1. a under-water robot reclaims with the butt joint lifting appliance, it is characterized in that: comprise framework (3), synchronising (connecting) rod (4), clamping device (6), guide wire (7), suspension rod (8), frapping line (10) and guiding rope (11), its middle frame (3) links to each other with crane on the lash ship by steel rope (1), a plurality of fixed pulleys (2) are installed on the described framework (3), be hinged with clamping device (6) respectively in the both sides of framework (3), the top of two clamping devices (6) connects by described synchronising (connecting) rod (4); The two ends of described synchronising (connecting) rod (4) all are connected with an end of frapping line (10), and the other end of this frapping line (10) passes, walks around described fixed pulley (2) by framework (3) and controlled by the staff on the lash ship; Described guide wire (7) and suspension rod (8) are installed in respectively on the framework (3), guide wire (7) is positioned at the top of suspension rod (8), one end of described guiding rope (11) is connected in rising in the flap seat (9) on the under-water robot, the other end passes suspension rod (8), guide wire (7) and framework (3) successively, walk around described fixed pulley (2), controlled by the staff on the lash ship; Described suspension rod (8) near the position of end, lower end be provided with described under-water robot on play the docking mechanism that flap seat (9) docks.
2. reclaim with the butt joint lifting appliance by the described under-water robot of claim 1, it is characterized in that: described docking mechanism comprises driving lever (16), pin (17) and spring (18), suspension rod (8) is near the both sides of lower end end position, symmetry is hinged with driving lever (16) by pin (17) on axial cross section, described guiding rope (11) is by passing between two driving levers (16), and the upper end of described two driving levers (16) is connected with described suspension rod (8) by retracing spring (18) respectively.
3. reclaim with the butt joint lifting appliance by the described under-water robot of claim 2, it is characterized in that: the interior hole shape that plays flap seat (9) on the described under-water robot is corresponding with described driving lever (16), described butt joint lifting appliance is in and lays operating condition, T type handle (19) all is installed on each driving lever (16), and described T type handle (19) is gone up system the rope of unhook.
4. reclaim with the butt joint lifting appliance by claim 1 or 2 described under-water robots, it is characterized in that: the bottom of described framework (3) is provided with connection pipe (20), and the clamping device of both sides (6) is articulated in the two ends of this connection pipe (20) respectively; Described guide wire (7) and suspension rod (8) are coaxial to be fixed on this connection pipe (20).
5. reclaim with the butt joint lifting appliance by the described under-water robot of claim 1, it is characterized in that: described framework (3) is provided with stop gear (5), and described synchronising (connecting) rod (4) is plugged in this stop gear (5).
6. reclaim with the butt joint lifting appliance by the described under-water robot of claim 5, it is characterized in that: described stop gear (5) is position-limited rack, there are two, be fixed in the both sides of below, described framework (3) top respectively, the sense of motion of described position-limited rack upper edge synchronising (connecting) rod (4) is provided with bar-shaped trough, and described synchronising (connecting) rod (4) is passed by the bar-shaped trough on two position-limited racks successively.
7. reclaim with the butt joint lifting appliance by the described under-water robot of claim 1, it is characterized in that: described fixed pulley (2) is three, the other end of the frapping line (10) that is connected with synchronising (connecting) rod (4) two ends is walked around by the fixed pulley that is positioned at both sides, and the other end of described guiding rope (11) is walked around by the fixed pulley in the middle of being positioned at.
8. reclaim with the butt joint lifting appliance by claim 1,2,5 or 6 described under-water robots, it is characterized in that: described clamping device (6) comprises two shapes, identical in structure end handgrip (13), two end handgrips (13) are hinged with described framework (3), one end of each end handgrip (13) is all hinged with an end of connecting rod (21), the other end of each end handgrip (13) is bare terminal, and the other end of two connecting rods (21) and described synchronising (connecting) rod (4) are hinged; In the hinged place of two connecting rods (21) other end and be positioned between the end handgrip (13) in the outside and be provided with extension spring (12).
9. reclaim with the butt joint lifting appliance by the described under-water robot of claim 8, it is characterized in that: described two end handgrips (13) opposed inside is respectively equipped with backing block (14).
10. reclaim with the butt joint lifting appliance by the described under-water robot of claim 8, it is characterized in that: the bare terminal of each end handgrip (13) is circular arc, and the bare terminal of two end handgrips (13) forms the semicircle corresponding with the under-water robot profile; The outside of the bare terminal of each end handgrip (13) all is enclosed with protection leather bag (15).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110445863.6A CN103183112B (en) | 2011-12-28 | 2011-12-28 | Abutting and lifting device for recovering underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110445863.6A CN103183112B (en) | 2011-12-28 | 2011-12-28 | Abutting and lifting device for recovering underwater robot |
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| CN103183112A true CN103183112A (en) | 2013-07-03 |
| CN103183112B CN103183112B (en) | 2015-06-10 |
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| CN105620676A (en) * | 2016-02-03 | 2016-06-01 | 青岛远创机器人自动化有限公司 | Unmanned surface vehicle collecting and releasing device |
| CN106275286A (en) * | 2016-08-30 | 2017-01-04 | 中国海洋大学 | Underwater glider two dimension is comprehensive to be laid retracting device and lays recovery method |
| CN106628067A (en) * | 2015-11-01 | 2017-05-10 | 上海航士海洋装备有限公司 | Rope tensioning and releasing mechanism for intelligent underwater robot |
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| CN108860460A (en) * | 2018-06-12 | 2018-11-23 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of passive cable laying floating drum relieving mechanism of optical fiber |
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