CN103183113A - Underwater robot recovery system and recovery method thereof - Google Patents

Underwater robot recovery system and recovery method thereof Download PDF

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Publication number
CN103183113A
CN103183113A CN 201110446205 CN201110446205A CN103183113A CN 103183113 A CN103183113 A CN 103183113A CN 201110446205 CN201110446205 CN 201110446205 CN 201110446205 A CN201110446205 A CN 201110446205A CN 103183113 A CN103183113 A CN 103183113A
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CN
China
Prior art keywords
under
water robot
rope
revolution
cable
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CN 201110446205
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Chinese (zh)
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CN103183113B (en
Inventor
郑荣
徐会希
刘健
林扬
王雷
武建国
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中国科学院沈阳自动化研究所
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Priority to CN201110446205.9A priority Critical patent/CN103183113B/en
Publication of CN103183113A publication Critical patent/CN103183113A/en
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Publication of CN103183113B publication Critical patent/CN103183113B/en

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Abstract

The invention belongs to the field of underwater robots, and specifically relates to an underwater robot recovery system and a recovery method thereof. The system includes a mother ship, an underwater robot, an automatic line throwing device and a lifting seat arranged on the underwater robot, a butting lifting device and a draw gear. After the underwater robot completes the mission, a haulage rope is thrown out from the ship bow. The staff on the mother ship picks up the haulage rope through a rope picking device, and then the rope is traversed through the draw gear. The underwater robot is driven by the mother ship for navigation to overcome the effects of waves in the sea. A guidance rope is thrown by a remote control command. The butting lifting device is driven by a hoist installed on the mother ship, and falls down along the guidance rope to abut with the underwater robot and clamp. The whole recycling process is realized. The underwater robot recovery system of the present invention has the characteristics of compact structure, convenient operation, safety and reliability, small influence by the sea state, no transform to the hoist, and small requirement to the mother ship, and can achieve the laying and recovering by the same system for the underwater robot under four grade sea conditions.

Description

A kind of under-water robot recovery system and recovery method thereof

Technical field

The invention belongs to the under-water robot field, specifically a kind of under-water robot recovery system and recovery method thereof.

Background technology

Along with the variation of marine resources development and coast defence situation, the ocean utilizes the zone constantly to enlarge, and constantly to the deep-sea, off-lying sea extends, the scientific worker begins to be devoted to research and the application of under-water robot.

At present, existing a lot of different types of under-water robots are applied to a plurality of industry fields such as military maritime technology, marine science and technology investigation, sea floor exploration, pipeline maintenance, oil field prospecting.But owing to be subjected to the influence of marine stormy waves, it is a global difficult problem that under-water robot reclaims always, and operation process is difficulty relatively.Reclaim at present and mainly contain dual mode: a kind of is to adopt floating drydock type and lifting table to carry out underwater mating to reclaim operation, though can reduce the influence of stormy waves, but need special-purpose support lash ship, and special-purpose lash ship cost and operating costs costliness, be not suitable for present status in China; Another kind is to reclaim with lash ship lifting on the water surface, generally all needs the staff to take motor boat and finishes and the docking of recovering mechanism near under-water robot; It is bigger that this mode of operation is influenced by stormy waves, occurs the situation of device damage and personnel injury when the sea situation difference easily.Therefore need a kind of economic failure-free recovery method to make unmanned lash ship down reclaim under-water robot and become possibility.

Summary of the invention

In order to solve the cost height that has way of recycling now and exist, the problem that has a big risk, the object of the present invention is to provide a kind of staff to be positioned at under-water robot recovery system and the recovery method thereof that to realize safe and reliable recovery on the lash ship.

The objective of the invention is to be achieved through the following technical solutions:

Recovery system of the present invention comprises lash ship, crane, butt joint lifting appliance, draw gear and automatic line throwing appliance, wherein crane and draw gear are installed on the lash ship respectively, described butt joint lifting appliance is hung on crane, docks with under-water robot in the robot removal process under water; The back of described under-water robot and bow are separately installed with automatic line throwing appliance, be positioned at the cable that the automatic line throwing appliance at back ejects pass described butt joint lifting appliance, by the control of the staff on the described lash ship, be positioned at hauling rope that the automatic line throwing appliance of bow ejects by dragging for the rope device and reclaim and linking to each other with described draw gear.

Wherein: described butt joint lifting appliance comprises 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 described lash ship by steel rope, three fixed pulleys are installed on the described framework, bottom at framework is provided with connection pipe, the clamping device that is positioned at the framework both sides is articulated in the two ends of this connection pipe 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 the fixed pulley that is positioned at both sides by framework and controlled by the staff on the lash ship; Described guide wire and suspension rod be coaxial to be installed on the connection pipe of framework, guide wire is positioned at the top of suspension rod, one end of described guiding rope is connected in rising in the flap seat on the under-water robot, the other end passes suspension rod, guide wire and framework successively, walk around the fixed pulley in the middle of being positioned at, 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; 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;

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 clamping device comprises two shapes, identical in structure end handgrip, the two ends of the connection pipe on two end handgrips and the described framework are hinged, one end of each end handgrip is all hinged with an end of connecting rod, 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;

Described draw gear comprises hydraulic wireline winch, casing, revolution straight beam, swing type mechanism, pitching hydraulic actuating cylinder, telescopic hydraulic cylinder and has the draft arm of revolution, pitching, flexible three degree of freedom, wherein casing is installed on the lash ship, described hydraulic wireline winch is positioned at casing, one end of traction cable is connected with the hauling rope that the automatic line throwing appliance that the under-water robot bow is installed ejects, and the other end links to each other with described hydraulic wireline winch through draft arm; One end of described revolution straight beam is connected with the swing type mechanism on being installed in casing, the other end and described draft arm are hinged, described telescopic hydraulic cylinder is installed on the draft arm, the driving draft arm is flexible, and described pitching hydraulic actuating cylinder is installed on the revolution straight beam, and mouth and the draft arm of pitching hydraulic actuating cylinder are hinged; In casing, be provided with the Hydraulic Station that power is provided for hydraulic wireline winch, swing type mechanism, pitching hydraulic actuating cylinder and telescopic hydraulic cylinder; One end of described draft arm is hinged with the other end of revolution straight beam, and the other end of draft arm is provided with buffer gear; Described traction cable passes this buffer gear, affixed through assembly pulley and the rope on the described hydraulic wireline winch on the draft arm; Described buffer gear comprises hauling rope guide ring, guide ring fixed mount, recoil spring and attaching parts, wherein the hauling rope guide ring is installed on the guide ring fixed mount, described guide ring fixed mount is installed in an end of recoil spring, and the other end of described recoil spring is connected with draft arm by attaching parts;

Described draft arm comprises the one-level crossbeam and is inserted in the interior secondary crossbeam of this one-level crossbeam relatively slidably, one end of described telescopic hydraulic cylinder is hinged on the one-level crossbeam, the other end is hinged on the secondary crossbeam, one end of described pitching hydraulic actuating cylinder is installed on the revolution straight beam, the other end and described one-level crossbeam are hinged, and described I and II crossbeam is realized the pitching degree of freedom under the driving of pitching hydraulic actuating cylinder; On four jiaos of described one-level crossbeam inside slide rail is installed all, the secondary crossbeam reciprocatingly slides under the driving of telescopic hydraulic cylinder along the relative one-level crossbeam of described slide rail, realizes flexible degree of freedom; The top, two ends of described one-level crossbeam is respectively equipped with intermediate pulley and back head sheave, and the secondary crossbeam is positioned at the outer end top of one-level crossbeam and is provided with preceding head sheave, and described traction cable passes through preceding head sheave, intermediate pulley and back head sheave successively; Described telescopic hydraulic cylinder, one-level crossbeam and secondary crossbeam are parallel to each other;

Described swing type mechanism comprises rotary fluid motor, axis of revolution assembly, driving gear and passive swiveling gear, wherein rotary fluid motor is installed in the described casing, provides power by described Hydraulic Station, the mouth of this rotary fluid motor is connected with driving gear, described passive swiveling gear by the axis of revolution assembly be installed on the casing, with described driving gear engaged transmission, one end of described revolution straight beam links to each other with the axis of revolution assembly, realizes the revolution degree of freedom of described draft arm by the driving of rotary fluid motor; Described axis of revolution assembly comprises the straight beam adaptor, axis of revolution, upper ball cover, bearing, bearing seat and lower ball cover, its bottom bracket is installed on the casing upper surface, one end of described axis of revolution is installed in the bearing seat by bearing, the other end is connected with an end of described revolution straight beam by the straight beam adaptor, and described passive swiveling gear is installed on the axis of revolution; The two ends up and down of described bearing seat are respectively equipped with upper ball cover and lower ball cover; One end of described axis of revolution is separately installed with thrust force aligning bearing and tapered roller bearing, and axis of revolution one end end is equipped with bearing pre-tightened and draws lid, and this bearing pre-tightened draws between lid and the described tapered roller bearing inner ring and strains by stretching screw; On the described casing gearbox cover is installed, described driving gear and passive swiveling gear all are positioned at this gearbox cover;

The automatic line throwing appliance at described under-water robot back comprises end cap, storage rope chamber, firer's propelling unit, base and high-strength cable, wherein base is installed on the back pressure shell of under-water robot by the sealing of O type rubber seal, described firer's propelling unit is installed on this base, be provided with push rod in the middle of the bottom surface in storage rope chamber, the lower end of this push rod is extended downwards by the bottom surface in storage rope chamber, storage rope chamber links to each other with the angle of rake firer's propeller cap of firer by the push rod that its lower end arranges, the upper end in storage rope chamber is provided with end cap, has the preformed hole that passes for described high-strength cable in the bottom surface, storage rope chamber of described push rod one side; Described high-strength cable is the guiding rope that links to each other with the butt joint lifting appliance, and an end of high-strength cable is connected on the back pressure shell of under-water robot, and the other end passes the preformed hole on described base, the storage rope chamber successively, links to each other with described end cap; Described storage rope chamber and interior ccontaining high-strength cable thereof and end cap are released by the thrust that firer's propelling unit produces; Described high-strength cable is arranged in the part of storing up the rope chamber and twines by rope winder, and the other end that withdraws from the high-strength cable of described rope winder after the winding is fixed on the end cap by the cable fix screw; Described high-strength cable is by being 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 described base is groove, and groove middle part extends to form the cylinder of hollow downwards, has first through hole that passes for high-strength cable at the sidewall of described groove; The angle of rake end of described firer is installed on the bottom surface of described groove, the other end inserts in the cylinder of described hollow, have second through hole that the housing inner cable of robot under the water supply passes in the bottom surface of the cylinder of described hollow, the housing inner cable of described under-water robot is connected with the angle of rake input end of firer;

The automatic line throwing appliance of described under-water robot bow comprises end cap, storage rope chamber, firer's propelling unit, base and high-strength cable, wherein base is installed on the bow pressure shell of under-water robot, described firer's propelling unit is installed on this base, be provided with push rod in the middle of the bottom surface in storage rope chamber, the lower end of this push rod is extended downwards by the bottom surface in storage rope chamber, storage rope chamber links to each other with the angle of rake firer's propeller cap of firer by the push rod that its lower end arranges, the upper end in storage rope chamber is provided with end cap, has the preformed hole that passes for described high-strength cable in the bottom surface, storage rope chamber of described push rod one side; Described high-strength cable is the hauling rope that links to each other with draw gear, and an end of high-strength cable is connected on the bow pressure shell of under-water robot, and the other end passes the preformed hole on described base, the storage rope chamber successively, links to each other with described end cap; Described storage rope chamber and interior ccontaining height rope cable thereof and end cap are released by the thrust that firer's propelling unit produces; Described high-strength cable is arranged in the part of storing up the rope chamber and twines by rope winder, and the other end that withdraws from the high-strength cable of described rope winder after the winding is fixed on the end cap by the cable fix screw; Described high-strength cable is by being 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 described base is groove, and groove middle part extends to form the cylinder of hollow downwards, has first through hole that passes for high-strength cable at the sidewall of described groove; The angle of rake end of described firer is installed on the bottom surface of described groove, the other end inserts in the cylinder of described hollow, have second through hole that the watertight cable of robot under the water supply passes in the bottom surface of the cylinder of described hollow, the watertight cable of described under-water robot is connected with the angle of rake input end of firer.

Recovery method of the present invention is: after described under-water robot mission finishes, the staff ejects by the automatic line throwing appliance that guidance command is installed the under-water robot bow, hauling rope uses to drag for to be connected with described draw gear after the rope device is regained hauling rope along with this automatic line throwing appliance ejects in the lump; Under-water robot is driven by lash ship and navigates by water on the sea, again the automatic line throwing appliance that install at the under-water robot back is dished out by guidance command, guiding rope is along with this automatic line throwing appliance ejects in the lump, and described butt joint lifting appliance is realized and the docking and clamping of under-water robot by the guiding rope under crane drives; The staff is by only swinging in the frapping line control lifting removal process.

Advantage of the present invention and good effect are:

1. conceptual design is reasonable, and is simple and reliable for structure.The present invention draws on the basis of the danger that has taken into full account marine operation and complexity, and the end cap bodily light of line throwing appliance can not make under-water robot sink automatically; The way that adopts hauling rope to pull the under-water robot navigation and reclaim synchronously can reduce the influence that sea situation causes recovery operation to greatest extent; The butt joint lifting appliance is safe and reliable with docking of a flap seat; Two frapping lines and the clamping device that docks in the lifting appliance can be good at the protection in the under-water robot implementation lifting process.

2. be easy to use, lash ship is not had specific (special) requirements, cost is low.Be installed in the automatic line throwing appliance on the under-water robot and play the small and exquisite exquisiteness of flap seat, not high to space requirement, interface is simple.Supporting draw gear and butt joint lifting appliance are rational in infrastructure, are convenient to install and fix at lash ship.Crane there is not specific (special) requirements, need not special-purpose lash ship, the equipment package cost is lower.

3. compatible good, can realize that same set of system lays and reclaims under-water robot.The design of butt joint lifting appliance has taken into account the requirement that lays, and need not increase new installation when laying can finish smoothly.

4. applied range.The present invention not only can be applied to most of under-water robot, can also be applied to other recovery of relevant device under water.

Description of drawings

Fig. 1 is one of diagram of circuit of recovery method of the present invention;

Fig. 2 is two of the diagram of circuit of recovery method of the present invention;

Fig. 3 is three of the diagram of circuit of recovery method of the present invention;

Fig. 4 is four of the diagram of circuit of recovery method of the present invention;

Fig. 5 docks the integral structure scheme drawing of lifting appliance for the present invention;

Fig. 6 is the structural representation of clamping device among Fig. 5;

Fig. 7 A plays one of workflow diagram that flap seat docks for Fig. 5 middle hanger and under-water robot;

Fig. 7 B plays two of workflow diagram that flap seat docks for Fig. 5 middle hanger and under-water robot;

Fig. 7 C plays three of workflow diagram that flap seat docks for Fig. 5 middle hanger and under-water robot;

Fig. 7 D suspension rod and under-water robot when laying under-water robot among Fig. 5 play the structural representation of flap seat;

Fig. 8 is one of perspective view of draw gear of the present invention;

Fig. 9 is two (removing gearbox cover and casing right side wall) of the perspective view of draw gear of the present invention;

Figure 10 is the structural representation of buffer gear among Fig. 8;

Figure 11 is the structural representation of swing type mechanism among Fig. 8;

Figure 12 is installed in the structural representation of the automatic line throwing appliance of under-water robot back pressure shell for the present invention;

Figure 13 is installed in the structural representation of the automatic line throwing appliance of under-water robot bow pressure shell for the present invention;

Figure 14 A is that high-strength cable is wrapped in one of scheme drawing on the rope winder in the automatic line throwing appliance;

Figure 14 B be that high-strength cable is wrapped in scheme drawing on the rope winder in the automatic line throwing appliance two;

Figure 14 C be that high-strength cable is wrapped in scheme drawing on the rope winder in the automatic line throwing appliance three;

Wherein: 1 is lash ship, and 2 is crane,

3 are the butt joint lifting appliance, and 301 is steel rope, and 302 is fixed pulley, and 303 is framework, 304 is synchronising (connecting) rod, and 305 is stop gear, and 306 is clamping device, and 307 is guide wire, 308 is suspension rod, and 309 has been flap seat, and 310 is frapping line, and 311 are the guiding rope, 312 is extension spring, and 313 is the end handgrip, and 314 is backing block, and 315 are the protection leather bag, 316 is driving lever, and 317 is pin, and 318 is retracing spring, 319 are T type handle, and 320 is connection pipe, and 321 is connecting rod;

4 is under-water robot,

5 is draw gear, and 501 is firm banking, and 502 is buffer gear, 503 is casing, and 504 is the casing upper surface, and 505 is gearbox cover, 506 are the pitching hydraulic actuating cylinder, and 507 are the revolution straight beam, and 508 is the one-level crossbeam, 509 is telescopic hydraulic cylinder, and 510 is the secondary crossbeam, and 511 are the traction cable, 512 is guidance panel, and 513 is preceding head sheave, and 514 is intermediate pulley, 515 is the back head sheave, and 516 is fixed pin shaft, and 517 is passive swiveling gear, 518 is driving gear, and 519 is rotary fluid motor, and 520 is the axis of revolution assembly, 521 is Hydraulic Station, and 522 is hydraulic wireline winch, and 523 is the hauling rope guide ring, 524 is the guide ring fixed mount, and 525 is recoil spring, and 526 is attaching parts, 527 is bolt of rear end plate, 528 is the straight beam adaptor, and 529 is axis of revolution, and 530 is upper ball cover, 531 is the thrust force aligning bearing, 532 is bearing seat, and 533 is tapered roller bearing, and 534 draw lid for bearing pre-tightened, 535 is stretching screw, and 536 is lower ball cover;

6 is hauling rope,

7 is automatic line throwing appliance, and 701 is end cap, and 702 are storage rope chamber, 703 is push rod, and 704 is firer's propeller cap, and 705 is firer's propelling unit, 706 is base, and 707 is the cable fix screw, and 708 is O type rubber seal, 709 is high-strength cable, and 710 is watertight cable, and 711 is rope winder, 712 is the back pressure shell, 713 is the housing inner cable, and 714 is preformed hole, and 715 is the bow pressure shell;

8 for dragging for the rope device.

The specific embodiment

The invention will be further described below in conjunction with accompanying drawing.

As shown in Figure 4, recovery system of the present invention comprises lash ship 1, crane 2, butt joint lifting appliance 3, draw gear 5 and automatic line throwing appliance 7, wherein crane 2 and draw gear 5 are installed in respectively on the lash ship 1, described butt joint lifting appliance 3 is hung on crane 2, docks with under-water robot 4 in robot 4 removal process under water; Recovery system of the present invention has two automatic line throwing appliances 7, and one of them is installed in center of gravity top, under-water robot 4 back, and the cable that this automatic line throwing appliance 7 ejects passes described butt joint lifting appliance 3, controlled by the staff on the described lash ship 1; Another automatic line throwing appliance 7 is installed in the bow of under-water robot 4, and the hauling rope 6 that this automatic line throwing appliance 7 ejects is by dragging for 8 recovery of rope device and linking to each other with described draw gear 5.Under water on the robot 4, back center of gravity top also be equipped with one have a sufficient intensity play flap seat 309, be used for and dock lifting appliance 3 butt joints, and finish single-point and lift by crane.

As shown in Figure 5, butt joint lifting appliance 3 comprises framework 303, synchronising (connecting) rod 304, stop gear 305, clamping device 306, guide wire 307, suspension rod 308, frapping line 310 and guiding rope 311, the two ends at its middle frame 303 tops link to each other with crane 2 on the lash ship 1 by steel rope 301 respectively, upper surface at framework 303 head slabs is equipped with three fixed pulleys 302, and the lower surface of framework 303 head slabs is respectively equipped with a stop gear 305 near the end, two ends.The bottom of framework 303 is provided with connection pipe 320, two ends at this connection pipe 320 are hinged with clamping device 306 respectively, the top of two clamping devices 306 connects by described synchronising (connecting) rod 304, this synchronising (connecting) rod 304 is passed by two stop gears 305, is limited by stop gear 305 and makes perpendicular movement within it; Synchronising (connecting) rod 304 all is connected with an end of frapping line 310 near the position of end, two ends, the other end of two frapping lines 310 by the guide hole on framework 303 head slabs pass, walk around respectively the fixed pulley 302 that is positioned at the left and right sides, by the control of the staff on the lash ship 1, be responsible for only swinging and under-water robot 4 promptly.Described guide wire 307 and the suspension rod 308 coaxial middle parts that are fixed in connection pipe 320, guide wire 307 is positioned at the top of suspension rod 308, one end of guiding rope 311 is fixed in rising in the flap seat 309 on the under-water robot 4, the other end passes suspension rod 308, guide wire 307 successively, after being passed by the guide hole on framework 303 head slabs, walk around the fixed pulley 302 in the middle of being positioned at again, by the control of the staff on the lash ship 1, be responsible for guiding butt joint lifting appliance 3 and play docking of flap seat 309.Suspension rod 308 near the position of ends, lower end be provided with under-water robot 4 on play the docking mechanism that flap seat 309 docks, shown in Fig. 7 A~7D, this docking mechanism comprises driving lever 316, pin 317 and spring 318, suspension rod 308 is near the both sides of lower end end positions, symmetry is hinged with driving lever 316 by pin 317 on axial cross section, driving lever 316 can freely rotate around pin 317, described guiding rope 311 is by passing between two driving levers 316, and the upper end of two driving levers 316 is connected with suspension rod 308 by retracing spring 318 respectively; The endoporus that plays flap seat 309 on the under-water robot 4 is stepped hole, and the shape of endoporus is corresponding with driving lever 316; When butt joint lifting appliance 3 is in when laying operating condition, T type handle 319 all is installed on each driving lever 316, described T type handle 319 inserts driving lever 316 by the mounting hole of offering on the suspension rod 308, and is that the rope of unhook is arranged at T type handle 319; T type handle 319 is thrown off docking mechanisms in order to the long-range driving lever 316 that draws back when carrying out the laying of under-water robot 4.

Stop gear 305 is position-limited rack, is provided with bar-shaped trough at the sense of motion of position-limited rack upper edge synchronising (connecting) rod 304, and described synchronising (connecting) rod 304 is passed by the bar-shaped trough on two position-limited racks successively.

As shown in Figure 6, clamping device 306 comprises two shapes, identical in structure end handgrip 313, and being used for promptly, under-water robot 4 carries out safety precaution and only swings; The connection pipe 320 of the middle part of two end handgrips 313 and described framework 303 bottoms is hinged, one end of each end handgrip 313 is all hinged with an end of connecting rod 321, the other end of each end handgrip 313 is bare terminal, and the other end of two connecting rods 321 and described synchronising (connecting) rod 304 are hinged; In the hinged place of two connecting rod 321 other ends and between the end in outside handgrip 313, be provided with extension spring 312, this extension spring 312 makes end handgrip 313 be in normally open, after docking mechanism docks successfully, drive synchronising (connecting) rod 304 motions by the staff by frapping line 310 and make two end handgrip 313 closures, hold robot tightly, play the anti-sway effect of only swinging.Each end handgrip 313 with connection pipe 320 hinged places above the inboard be equipped with backing block 314, after holding under-water robot 4 tightly, make end handgrip 313 stop to tighten up, prevent that dragging frapping line 310 makes end handgrip 313 tensions with all strength, under-water robot 4 is damaged.The bare terminal of each end handgrip 313 is circular arc, and the bare terminal of two end handgrips 313 forms the semicircle corresponding with the under-water robot profile; The outside of the bare terminal of each end handgrip 313 all is enclosed with protection leather bag 315, bumps with under-water robot 4 when preventing from reclaiming operation and damages under-water robot 4.

The principle of work of butt joint lifting appliance 3 is:

As shown in Figure 5, before using butt joint lifting appliance 3 to reclaim under-water robot 4, at first frapping line 310 1 ends are fixed on the synchronising (connecting) rod 304, the other end pass the guide hole of framework 303 head slabs, respectively pass through about two fixed pulleys 302, controlled by the staff; Suspension rod 308 is assembled into the recovery pattern shown in Fig. 7 A, does not namely use T type handle 319.

When reclaiming operation, with after the playing guiding rope 311 in the flap seat 309 and salvage to the lash ship 1 of under-water robot 4, to guide rope 311 penetrates from suspension rod 308 bottoms, control in staff's hand by middle fixed pulley 302 along guide wire 307, in the whole recovery process, the staff drag tight guiding rope 311 guiding butt joint lifting appliances 3 along guiding rope 311 finish with under-water robot 4 play docking of flap seat 309; Hang over butt joint lifting appliance 3 on the crane 2 of lash ship 1 by steel rope 301, treat under-water robot 4 is drawn after near the lash ship 1, crane 2 rises, drive butt joint lifting appliance 3 and move to under-water robot 4 tops, crane 2 drives butt joint lifting appliance 3 and slowly falls along guiding rope 311, in this process, control frapping line 311 makes clamping device 306 all the time over against under-water robot 4; When crane 2 fall on suspension rod 308 and the under-water robot 4 rise a flap seat 309 finish dock after, crane 2 continues the segment distance that falls, this moment use frapping line 310 controlling parties to, catch under-water robot 4, then drag tight frapping line 310, and drive synchronising (connecting) rod 304 along the bar-shaped trough upward movement on the position-limited rack, synchronising (connecting) rod 304 drives two ends totally four connecting rods 321, make two pairs of end handgrips, 313 inside clamped closed, hold under-water robot 4 tightly, play the anti-sway effect of only swinging; At last, crane 2 rises, and uses butt joint lifting appliance 3 to reclaim under-water robot 4, in this process, tightly drags frapping line 310 to prevent that acutely waving of under-water robot 4 causes recovery difficult to strengthen under the severe sea condition.

Suspension rod 308 and the docking operation that plays flap seat 309 are shown in Fig. 7 A~7C, and suspension rod 308 is not when a flap seat 309 on the under-water robot 4 docks such as Fig. 7 A; Along with crane 2 falls, suspension rod 308 has contacted flap seat 309 under 311 guiding of guiding rope, under the gravity effect, the endoporus restriction of flap seat 309 is played in driving lever 316 bottoms, make driving lever 316 around pin 317 rotations, the retracing spring 318 on driving lever 316 tops is stretched, shown in Fig. 7 B; Crane 2 continues to fall, owing to play the endoporus alteration of form of flap seat 309, driving lever 316 is done contrarotation around pin 317 under the pulling force effect of retracing spring 318, make driving lever 316 bottoms enter flap seat 309 fully; Crane 2 continues to fall, because the lower end head of suspension rod 308 makes suspension rod 308 can not continue to descend with the restriction that plays flap seat 309 endoporus, shown in Fig. 7 C; Crane 2 rises afterwards, driving lever 316 lifting planes and the load plane contact that plays flap seat 309 inside, the under-water robot 4 of slinging.

When laying operation, its process is opposite with the recovery operation.At first the flap seat 309 that rises on suspension rod 308 and the under-water robot 4 dock, T type handle 319 is installed on the driving lever 316, and be respectively two ropes that break off relations, note not using this moment guiding to restrict 311; After under-water robot 4 hung out lash ship 1, slowly fall to the sea, in this process, use frapping line 310 to lay protection in the process; After under-water robot 4 is drop to the sea, crane 2 continues the segment distance that falls, dragging tight two ropes that break off relations then simultaneously rotates driving lever 316 around pin 317 under the effect of T type handle 319, rise crane 2 this moment, because driving lever 316 bottoms are retracted in the suspension rod 308, suspension rod 308 rises under crane 2 drives, and has broken away from flap seat 309, butt joint lifting appliance 3 is separated with under-water robot 4, finish the work that lays of under-water robot 4.

As Fig. 8, shown in Figure 9, draw gear 5 comprises firm banking 501, buffer gear 502, casing 503, pitching hydraulic actuating cylinder 506, revolution straight beam 507, swing type mechanism, telescopic hydraulic cylinder 509, hydraulic wireline winch 522 and have revolution, pitching, the draft arm of flexible three degree of freedom, wherein casing 503 is installed on the lash ship 1 by firm banking 501, firm banking 501 welds with the deck of lash ship 1 in advance, the whole draw gear that will comprise casing 503 then and firm banking 501 are connected by bolt, make draw gear 5 and lash ship 1 realize that failure-free is connected like this, under the change situation that as far as possible reduces lash ship 1, improved the safety in the distraction procedure.Casing 503 is provided with guidance panel 512, be used for to concentrate settles the control button of draw gear 5 each actuating unit, is arranged with corresponding control components and parts at guidance panel 512, by controlling motion that each relevant valve body controls each degree of freedom and stopping; The guidance panel 512 of draw gear 5 is prior art.Hydraulic wireline winch 522 is installed in the casing 503, and the traction cable 511 that is connected with the hauling rope 6 of under-water robot 4 bows ejection links to each other with described hydraulic wireline winch 522 through the assembly pulley on the draft arms.

One end of revolution straight beam 507 is connected with the swing type mechanism on being installed in casing 503, and the other end is hinged by fixed pin shaft 516 and described draft arm; Draft arm has revolution, pitching, flexible three degree of freedom, draft arm comprises one-level crossbeam 508 and secondary crossbeam 510, on four jiaos of one-level crossbeam 508 inside slide rail is installed all, secondary crossbeam 510 is inserted in this one-level crossbeam 508 relatively slidably, can slide along slide rail in one-level crossbeam 508; One end of one-level crossbeam 508 is hinged with the other end of revolution straight beam 507 by fixed pin shaft 516, and secondary crossbeam 510 is inserted by the other end of one-level crossbeam 508.One end of telescopic hydraulic cylinder 509 is hinged on the one-level crossbeam 508, the other end is hinged on the secondary crossbeam 510, and telescopic hydraulic cylinder 509, one-level crossbeam 508 and secondary crossbeam 510 are parallel to each other, and telescopic hydraulic cylinder 509 directly drives secondary crossbeam 510 at the flexible degree of freedom of one-level crossbeam 8 slides within, realization draft arm.One end of pitching hydraulic actuating cylinder 506 is installed on the revolution straight beam 507, the other end and described one-level crossbeam 508 are hinged, tilt to be connected between pitching hydraulic actuating cylinder 506 and the one-level crossbeam 508, described I and II crossbeam 508,510 under the driving of pitching hydraulic actuating cylinder 506, the fore and aft motion by pitching hydraulic actuating cylinder 506 make this conversion of motion be draft arm luffing, realize the pitching degree of freedom of draft arm.

As shown in figure 10, head at secondary crossbeam 510 is provided with buffer gear 502, be used for the buffering distraction procedure because wave to the impact strength of under-water robot 4, reduces and cushion the stress that primary structure member and cable bear, safety and the reliability of raising distraction procedure; This buffer gear 502 comprises hauling rope guide ring 523, guide ring fixed mount 524, recoil spring 525 and attaching parts 526, wherein hauling rope guide ring 523 is affixed by screw with guide ring fixed mount 524, and guide ring fixed mount 524 is welded on an end of recoil spring 525, the other end of described recoil spring 525 and attaching parts 526 welding, affixed by screw by attaching parts 526 and secondary crossbeam 510.

One-level crossbeam 508 and secondary crossbeam 510 are provided with three fixed pulleys, are used for the motion of guiding traction cable 511, thereby make things convenient for the folding and unfolding of 522 pairs of tractions of hydraulic wireline winch cable 511; The top, two ends of one-level crossbeam 508 is respectively equipped with intermediate pulley 514 and back head sheave 515, secondary crossbeam 510 is positioned at one-level crossbeam 508 outer end tops and is provided with preceding head sheave 513, described traction cable 511 passes the hauling rope guide ring 523 of buffer gear 502 heads, head sheave 513, intermediate pulley 514 and back head sheave 515 before passing through successively then, again with hydraulic wireline winch 522 on rope affixed, the traction cable 511 led by three pulleys.

As shown in figure 11, swing type mechanism comprises rotary fluid motor 519, axis of revolution assembly 520, driving gear 518 and passive swiveling gear 517, wherein rotary fluid motor 519 is installed in the described casing 503, the mouth of this rotary fluid motor 519 is connected with driving gear 518, described passive swiveling gear 517 by axis of revolution assembly 520 be installed on the casing 503, with described driving gear 518 engaged transmission, one end of described revolution straight beam 507 links to each other with axis of revolution assembly 520, realizes the revolution degree of freedom of described draft arm by the driving of rotary fluid motor 519.Axis of revolution assembly 520 comprises straight beam adaptor 528, axis of revolution 529, upper ball cover 530, thrust force aligning bearing 531, bearing seat 532, tapered roller bearing 533, bearing pre-tightened draws and covers 534, stretching screw 535 and lower ball cover 536, its bottom bracket 532 is fixed on the casing upper surface 504 by screw, one end of described axis of revolution 529 is separately installed with thrust force aligning bearing 531 and tapered roller bearing 533, one end of axis of revolution 529 is installed in the bearing seat 532 by thrust force aligning bearing 531 and tapered roller bearing 533, the other end is affixed by bolt of rear end plate 527 with an end of described revolution straight beam 507 by straight beam adaptor 528, and passive swiveling gear 517 is installed on the axis of revolution 529; The two ends up and down of described bearing seat 532 are respectively equipped with upper ball cover 530 and lower ball cover 536.Axis of revolution 529 1 end ends are equipped with bearing pre-tightened and draw and cover 534, this bearing pre-tightened draw cover 534 and described tapered roller bearing 533 inner rings between by stretching screw 535 tension, be used for providing the predetermincd tension between thrust force aligning bearing 531 and the tapered roller bearing 533 and axis of revolution 529 carried out axial restraint.Gearbox cover 505 is installed on the casing 503, and described driving gear 518 and passive swiveling gear 517 all are positioned at this gearbox cover 505.The revolution of draft arm need overcome the resistance of under-water robot distraction procedure and the wave force that wave causes.Draw gear 5 adopts bigger passive swiveling gear 517 to drive draft arm, can reduce rotary fluid motor 519 required output torques effectively and reduce rotative speed.

In casing 503, be provided with the Hydraulic Station 521 that power is provided for hydraulic wireline winch 522, rotary fluid motor 519, pitching hydraulic actuating cylinder 506 and telescopic hydraulic cylinder 509, Hydraulic Station 521 is the primary source power of each actuating unit in order to the hydraulic power source of each HM Hydraulic Motor and hydraulic actuating cylinder to be provided.Hydraulic Station 521 adopts the power system power supply of lash ship 1.

Draw gear 5 makes draft arm turn to the outside of lash ship 1 by the revolution of control draft arm, adjust the length of traction cable 511 by hydraulic wireline winch 522, control under-water robot 4 relatively and the position of lash ship 1, navigate by water to realize sync pulling to under-water robot 4 by lash ship 1 to set the speed of a ship or plane, stretch to adjust distance between under-water robot 4 and the lash ship 1 by the control draft arm, adjust draft arm to the direction of under-water robot 4 tractive forces by the pitching of regulating draft arm, make tractive force parallel with horizontal surface as far as possible, to adapt to different lash ships 1 side board height, can adjust distance between under-water robot 4 and the draw gear 5 by control hydraulic wireline winch 522 folding and unfoldings traction cable 511, thereby adjust under-water robot 4 in the position of lash ship 1 side board, in order to carry out follow-up recovery butt joint operation.

The principle of work of draw gear 5 is:

By the hauling rope 6 of remote control from bow ejection one band buoyant material, the staff of lash ship 1 salvaged back lash ship 1 with hauling rope 6 by dragging for rope device 8 after under-water robot 4 mission tasks were finished; Make draft arm forward to parallel with lash ship 1 side board and make secondary crossbeam 510 be in retracted mode by telescopic hydraulic cylinder 509 by revolution button on the guidance panel 512, the hauling rope 6 of under-water robot 4 bows ejection is passed the hauling rope guide ring 523 of buffer gear head, the hauling rope 6 that under-water robot 4 bows are ejected and the traction cable 511 on the draw gear 5 interconnect then, drive 507 rotations of revolution straight beam by rotary fluid motor 519, drive draft arm, make draft arm stretch to the outer side board of lash ship 1, stroke by control telescopic hydraulic cylinder 509 is adjusted lateral distance between under-water robot 4 and the lash ship 1, stroke by control pitching hydraulic actuating cylinder 506 is controlled draft arm to the direction of under-water robot 4 tractive forces, adjust distance between under-water robot 4 and the draft arm head by control hydraulic wireline winch 522 at last, to cooperate the needs of the butt joint of under-water robot 4 subsequent recovery and lifting.

The revolution of draft arm realizes by following process: rotary fluid motor 519 rotations drive driving gear 518 rotations; 518 of driving gears drive passive swiveling gear 517 rotations; Because passive swiveling gear 517 and axis of revolution 529 are connected by key, turn round together so the revolution of passive swiveling gear 517 can drive axis of revolution 529; The rotation of axis of revolution 529 has then driven the revolution of straight beam adaptor 528; Straight beam adaptor 528 is connected by flange with revolution straight beam 507, so the revolution of straight beam adaptor 528 drives the gyroscopic movement that the revolution of revolution straight beam 507 has also directly driven whole draft arm.

Axis of revolution 529 bottoms are laid thrust force aligning bearing 531 and 533 two bearings of tapered roller bearing respectively, are used for bearing the moment of flexure that produces in the distraction procedure and downward pressure, reduce the friction and wear of axis of revolution 529 in turning course.Axis of revolution 529 bottommosts are installed bearing pre-tightened and are drawn and cover 534, and bearing pre-tightened draws and cover 534 usefulness stretching screws 535 and tapered roller bearing 533 inner rings are strained, for the predetermincd tension between the two bearings being provided and axis of revolution 529 being carried out axial fixing.Two bearings is placed in the bearing seat 532, and bearing seat is fixed on the casing upper surface 504 by screw.Upper ball cover 530 is installed above thrust force aligning bearing 531, lower ball cover 536 is installed below tapered roller bearing 533 is used for preventing that dust or seawater from entering rotary axis system.

Between one-level crossbeam 508 and secondary crossbeam 510 telescopic hydraulic cylinder 509 is installed, and telescopic hydraulic cylinder 509 is parallel with two crossbeams, two ends are connected by hinge joint with secondary crossbeam 510 with one-level crossbeam 508 respectively.At one-level crossbeam 508 inside four jiaos slide rail is installed, 510 on secondary crossbeam can be in one-level crossbeam 508 slides within, so when driving secondary crossbeam 510 at the fore and aft motion of one-level crossbeam 508 during fore and aft motion under the drive of telescopic hydraulic cylinder 509 at Hydraulic Station.

Between one-level crossbeam 508 and revolution straight beam 507, with set angle pitching hydraulic actuating cylinder 506 is installed, and one-level crossbeam 508 is realized being connected by fixed pin shaft 516 with revolution straight beam 507, so can rotate mutually between one-level crossbeam 508 and the revolution straight beam 507, when pitching hydraulic actuating cylinder 506 is done fore and aft motion, just drive the luffing of one-level crossbeam 508, and make draft arm realize luffing.

The traction cable 511 that the hauling rope 6 that under-water robot 4 bows eject passes on hauling rope guide ring 523 backs and the hydraulic wireline winch 522 connects, then cable is placed on the assembly pulley of being formed by preceding head sheave 513, intermediate pulley 514 and back head sheave 515, is carried out the guiding of cable folding and unfolding process by assembly pulley.Traction cable 511 1 ends on the hydraulic wireline winch 522 are connected mutually with hydraulic wireline winch 522 capstan winches, the hauling rope 6 that the other end and under-water robot 4 bows eject connects, under the drive of hydraulic wireline winch 522 capstan winches in HM Hydraulic Motor, rotate then with direction initialization that cable is wrapped on the capstan winch, to shorten the distance between under-water robot 4 and the draft arm; Otherwise, when rotating in the opposite direction, winch then loosens cable, and the distance between under-water robot 4 and the draft arm is increased; Control the folding and unfolding of traction cable by the hand of rotation of control hydraulic wireline winch 522, thereby control the distance between under-water robot 4 and the draft arm.

504 install gearbox cover 505 in the casing upper surface, and driving gear 518 and passive swiveling gear 517 integral body are covered, and reduce dust and water smoke etc. to the influence of gear, have also improved the safety of system's operation.

The draw gear head has been installed buffer gear 502, when under-water robot 4 in distraction procedure, run into wave interference and under water robot 4 produce backward wave force, and at the transient pull of hauling rope generation to the back lower place, this tractive force can make recoil spring 525 to back lower place distortion, thus reduce to bear on the hauling rope 511 because the impulsive force that wave causes.After aircraft was passed wave, wave force reduced, and recoil spring 525 resiles.

Recovery lash ship 1 can navigate by water it by draw gear 5 traction under-water robots 4 in the same way with speed with lash ship 1 on the water surface, reclaim operation then under this state.So just can overcome stormy waves effectively to the influence that under-water robot 4 reclaims, reduce the difficulty of under-water robot 4 and 3 butt joints of butt joint lifting appliance, reduce to reclaim the risk of operation process.

As shown in figure 12, the automatic line throwing appliance 7 at under-water robot 4 backs comprises end cap 701, storage rope chamber 702, firer's propelling unit 705, base 706 and high-strength cable 709, wherein base 706 is installed on the back pressure shell 712 of under-water robot 4 by 8 sealings of O type rubber seal, the top of base 706 is groove, groove middle part extends to form the cylinder of hollow downwards, has first through hole that passes for high-strength cable 709 at the sidewall of described groove; Described firer's propelling unit 705 is installed on this base 706, one end of firer's propelling unit 705 is installed on the bottom surface of described groove, the other end inserts in the cylinder of described hollow, have second through hole that the housing inner cable 713 of robot 4 under the water supply passes in the bottom surface of the cylinder of described hollow, the housing inner cable 713 of described under-water robot 4 is connected with the input end of firer's propelling unit 705.

The lower end in storage rope chamber 702 links to each other with firer's propelling unit 705, and the upper end is provided with end cap 701; Storage rope chamber 702 is the hollow circuit cylinder of upper end open, is provided with push rod 703 in the middle of the bottom surface in storage rope chamber 702, and the lower end of this push rod 703 is extended downwards, is plugged on firer's propeller cap 704 of described firer's propelling unit 705 by the bottom surface in storage rope chamber 702; Have the preformed hole 714 that passes for described high-strength cable 709 in 702 bottom surfaces, storage rope chamber of described push rod 703 1 sides.End cap 701 adopts buoyant materials, can swim in after automatic line throwing appliance 7 is dished out and wait on the water surface that the staff salvages, and buoyant material is density less than 1 material, be commercial product, purchase in Qingdao Haiyang chemical research institute, model is buoyant material SBM-050, standard: Q/HHY221-2005.The little polytetrafluoroethylmaterial material of friction coefficient is adopted in storage rope chamber 702, the friction drag in the time of can reducing shooting rope between high-strength cable 709 and storage rope chamber 702 inwalls; The diameter of high-strength cable 709 is 8mm, and breaking force is not less than 6t.

High-strength cable 709 is the guiding rope that links to each other with butt joint lifting appliance 3, one end is connected on the back pressure shell 712 of machine 4 under water, the other end passes first through hole on the described base 706, the preformed hole 714 on the storage rope chamber 702 successively, links to each other with described end cap 701; Described storage rope chamber 702 and interior ccontaining high-strength cable 709 thereof and end cap 701 are released by the thrust that firer's propelling unit 705 produces.High-strength cable 709 is arranged in the part in storage rope chamber 702 by rope winder 711 windings, and rope-winding method is: high-strength cable 709 is spirally wound on rope winder 711 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 709 is fixed on the end cap 701 by cable fix screw 707, withdraws from rope winder 711, end cap 701 usefulness screws are fixed in the top in storage rope chamber 702.

As shown in figure 12, the automatic line throwing appliance 7 at under-water robot 4 backs is installed in by base 706 on the back pressure shell 712 of under-water robot, is tightly connected by O type rubber seal 708 respectively between described base 706 and the back pressure shell 712 and between described firer's propelling unit 705 and the base 706.

As shown in figure 13, the automatic line throwing appliance 7 of under-water robot 4 bows comprises end cap 701, storage rope chamber 702, firer's propelling unit 705, base 706 and high-strength cable 709, wherein base 706 is installed on the bow pressure shell 715 of under-water robot 4, the top of base 706 is groove, groove middle part extends to form the cylinder of hollow downwards, has first through hole that passes for high-strength cable 709 at the sidewall of described groove; Described firer's propelling unit 705 is installed on this base 706, one end of firer's propelling unit 705 is installed on the bottom surface of described groove, the other end inserts in the cylinder of described hollow, have second through hole that the watertight cable 710 of robot 4 under the water supply passes in the bottom surface of the cylinder of described hollow, the watertight cable 710 of described under-water robot 4 is connected with the input end of firer's propelling unit 705.

The lower end in storage rope chamber 702 links to each other with firer's propelling unit 705, and the upper end is provided with end cap 701; Storage rope chamber 702 is the hollow circuit cylinder of upper end open, is provided with push rod 703 in the middle of the bottom surface in storage rope chamber 702, and the lower end of this push rod 703 is extended downwards, is plugged on firer's propeller cap 704 of described firer's propelling unit 705 by the bottom surface in storage rope chamber 702; Have the preformed hole 714 that passes for described high-strength cable 709 in 702 bottom surfaces, storage rope chamber of described push rod 703 1 sides.End cap 701 adopts buoyant materials, can swim in after automatic line throwing appliance 7 is dished out and wait on the water surface that the staff salvages, and buoyant material is density less than 1 material, be commercial product, purchase in Qingdao Haiyang chemical research institute, model is buoyant material SBM-050, standard: Q/HHY221-2005.The little polytetrafluoroethylmaterial material of friction coefficient is adopted in storage rope chamber 702, the friction drag in the time of can reducing shooting rope between high-strength cable 709 and storage rope chamber 702 inwalls; The diameter of high-strength cable 709 is 8mm, and breaking force is not less than 6t.

High-strength cable 709 is that hauling rope 6, one ends that link to each other with draw gear 5 are connected on the bow pressure shell 715 of machine 4 under water, and the other end passes first through hole on the described base 706, the preformed hole 714 on the storage rope chamber 702 successively, links to each other with described end cap 701; Described storage rope chamber 702 and interior ccontaining high-strength cable 709 thereof and end cap 701 are released by the thrust that firer's propelling unit 705 produces.High-strength cable 709 is arranged in the part in storage rope chamber 702 by rope winder 711 windings, and rope-winding method is: high-strength cable 709 is spirally wound on rope winder 711 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 709 is fixed on the end cap 701 by cable fix screw 707, withdraws from rope winder 711, end cap 701 usefulness screws are fixed in the top in storage rope chamber 702.

As shown in figure 13, the automatic line throwing appliance 7 of under-water robot 4 bows is installed in outside the bow pressure shell 715 of under-water robot by base 706, need not O type rubber seal 708, identical on all the other mounting meanss and the back pressure shell 712 that is installed in under-water robot 4; The input end of firer's propelling unit 705 links to each other with under-water robot 4 by watertight cable 710.

Principle of work of the present invention is:

As shown in figure 12, on automatic line throwing appliance 7 is installed in the back pressure shell 712 of under-water robot 4, when being used for 3 butt joints of guiding butt joint lifting appliance, after at first firer's propelling unit 705 and firer's propeller cap 704 being assembled, be fixed on the base 706.Input end and the housing inner cable 713 of firer's propelling unit 705 are connected, again base 706 is fixed on the back pressure shell 712 of under-water robot 4, will adds O type rubber seal 708 between firer's propelling unit 705 and the base 706 and between base 706 and the back pressure shell 712 and make encapsulation process.Next will store up rope chamber 702 with push rod 703 connection firer propeller caps 704 is installed on the base 706, after high-strength cable 709 and an end being fastened on the back pressure shell 712 of under-water robot 4, the other end passes and passes storage rope chamber 02 from base 706, with the method shown in Figure 14 A~Figure 14 C, high-strength cable 709 is wrapped on the rope winder 711, after the end of high-strength cable 709 and cable fix screw 707 are fastening, high-strength cable 709 withdrawed from rope winder 711 and put into storage rope chamber 702, cover end cap 701 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 propelling unit 705 instantaneous generations is pushed firer's propeller cap 704 and storage rope chamber 702 rapidly in the air, because an end is fastened on the under-water robot, the other end can be drawn out of along the preformed hole 714 in storage rope chamber 702, under the thrust of the firer's propelling unit 705 that designs, can guarantee that high-strength cable 709 is internally by all extractions of order.Because storage rope chamber 702 and end cap 701 are positive buoyancy, and it is across the sea floating, wait for that the staff reclaims afterwards.

As shown in figure 13, outside automatic line throwing appliance 7 is installed in the bow pressure shell 715 of under-water robot 4, when being used for reclaiming traction, need not to install O type rubber seal 708, the input end of firer's propelling unit 705 is connected with watertight cable 710 gets final product, all the other structures are described identical with the back pressure shell that is installed in under-water robot.

Shown in Figure 14 A~Figure 14 C, the winding method of high-strength cable 709 on rope winder 711 is: at first high-strength cable 709 is spirally wound on rope winder 711 last layers from the bottom to top, shown in Figure 14 A; Then oppositely twine from top to bottom, as shown in Figure 14B; So repeatedly, final all uniform winding are shown in Figure 14 C.Note will applying predetermincd tension when high-strength cable twines, it is closely strong that cable is twined.

Recovery method of the present invention is:

After under-water robot 4 missions finish, the staff ejects by the automatic line throwing appliance 7 that guidance command is installed under-water robot 4 bows, hauling rope 6 uses to drag for to be connected with described draw gear 5 after rope device 8 is regained hauling rope 6 along with this automatic line throwing appliance 7 ejects in the lump; Under-water robot 4 is driven by lash ship 1 and navigates by water on the sea, again the automatic line throwing appliance 7 that install at under-water robot 4 backs is dished out by guidance command, guiding rope 311 is along with this automatic line throwing appliance 7 ejects in the lump, and described butt joint lifting appliance 3 is docking and clamping by 311 realizations of guiding rope and under-water robot 4 under crane 2 drives; The staff is by only swinging in the frapping line 310 control lifting removal process.Be specially:

After under-water robot 4 missions finish come-up, the staff at first finds its particular location by positioning means, lash ship 1 approaching under-water robot 4 peripheral 100m scopes, the staff sends instruction by remote control, be positioned at the hauling rope 6 of bow by line throwing appliance 7 ejections automatically, automatically line throwing appliance 7 ejected part to drive hauling rope 6 across the sea floating this moment, and lash ship 1 uses to its approaching and by the staff and drags for rope device 8 hauling rope 6 is salvaged to lash ship 1, as shown in Figure 1.

After hauling rope 6 and draw gear 5 connected, the draft arm of draw gear 5 is stretched out ship side, lash ship 1 drags under-water robot 4 and slowly navigates by water.Control lash ship 1 has set angle to travel against the wind, and is so on the quarter can some regional stormy waves less, is conducive to reclaim.Open the hydraulic wireline winch 522 of draw gear 5, will draw cable 511 and slowly strain and make under-water robot 4 and lash ship 1 navigation synchronously side by side, keep 2~3 to save left and right sides speed, under-water robot 4 is influenced by sea situation to reduce greatly at this moment.Start the automatic line throwing appliance 7 at under-water robot 4 backs again by remote control order, will guide rope 311 and eject, the staff uses and drags for rope device 8 and will guide to restrict and 311 salvage to lash ship 1, as shown in Figure 2.

To guide rope 311 and pass butt joint lifting appliance 3, and control is in staff's hand; The frapping line 310 of two the hand-held butt joint of staff lifting appliances 3 is awaited orders in addition; To dock the top that moves to under-water robot 4 after lifting appliance 3 is sling with crane 2, and under 311 guiding of guiding rope, slowly fall, as shown in Figure 3.

The staff controls frapping line 310 and makes butt joint lifting appliance 3 keep rational relative position with under-water robot 4 all the time in butt joint lifting appliance 3 dropping process, when butt joint lifting appliance 3 when falling under-water robot 4 backs because the effect of gravity, butt joint lifting appliance 3 is finished with a flap seat 309 and is docked, and the staff finished by control frapping line 310 clamping of under-water robot 4 was protected this moment; Crane 2 rises, and under the control of frapping line 310 under-water robot 4 is hung back lash ship 1, as shown in Figure 4.

Claims (10)

1. under-water robot recovery system, it is characterized in that: comprise lash ship (1), crane (2), butt joint lifting appliance (3), draw gear (5) and automatic line throwing appliance (7), wherein crane (2) and draw gear (5) are installed in respectively on the lash ship (1), described butt joint lifting appliance (3) is hung on crane (2), docks with under-water robot (4) in robot (4) removal process under water; The back of described under-water robot (4) and bow are separately installed with automatic line throwing appliance (7), be positioned at the cable that the automatic line throwing appliance (7) at back ejects pass described butt joint lifting appliance (3), by the control of the staff on the described lash ship (1), be positioned at hauling rope (6) that the automatic line throwing appliance (7) of bow ejects by dragging for rope device (8) and reclaim and linking to each other with described draw gear (5).
2. by the described under-water robot recovery system of claim 1, it is characterized in that: described butt joint lifting appliance (3) comprises framework (303), synchronising (connecting) rod (304), clamping device (306), guide wire (307), suspension rod (308), frapping line (310) and guiding rope (311), its middle frame (303) links to each other with crane (2) on the described lash ship (1) by steel rope (301), three fixed pulleys (302) are installed on the described framework (303), be provided with connection pipe (320) in the bottom of framework (303), the clamping device (306) that is positioned at framework (303) both sides is articulated in the two ends of this connection pipe (320) respectively, and the top of two clamping devices (306) connects by described synchronising (connecting) rod (304); The two ends of described synchronising (connecting) rod (304) all are connected with an end of frapping line (310), and the other end of this frapping line (310) passes, walks around the fixed pulley (302) that is positioned at both sides by framework (303) and controlled by the staff on the lash ship (1); Described guide wire (307) and suspension rod (308) be coaxial to be installed on the connection pipe (320) of framework (303), guide wire (307) is positioned at the top of suspension rod (308), one end of described guiding rope (311) is connected in rising in the flap seat (309) on the under-water robot (4), the other end passes suspension rod (308), guide wire (307) and framework (303) successively, walk around the fixed pulley (302) in the middle of being positioned at, controlled by the staff on the lash ship (1); Described suspension rod (308) near the position of end, lower end be provided with described under-water robot (4) on play the docking mechanism that flap seat (309) docks; Described docking mechanism comprises driving lever (316), pin (317) and spring (318), suspension rod (308) is near the both sides of lower end end position, symmetry is hinged with driving lever (316) by pin (317) on axial cross section, described guiding rope (311) is by passing between two driving levers (316), and the upper end of described two driving levers (316) is connected with described suspension rod (308) by retracing spring (318) respectively; The interior hole shape that plays flap seat (309) on the described under-water robot (4) is corresponding with described driving lever (316), described butt joint lifting appliance (3) is in and lays operating condition, T type handle (319) all is installed on each driving lever (316), and described T type handle (319) is gone up system the rope of unhook.
3. by the described under-water robot recovery system of claim 2, it is characterized in that: described framework (303) is provided with stop gear (305), and described synchronising (connecting) rod (304) is plugged in this stop gear (305); Described stop gear (305) is position-limited rack, there are two, be fixed in the both sides of below, described framework (303) top respectively, the sense of motion of described position-limited rack upper edge synchronising (connecting) rod (304) is provided with bar-shaped trough, and described synchronising (connecting) rod (304) is passed by the bar-shaped trough on two position-limited racks successively.
4. by the described under-water robot recovery system of claim 2, it is characterized in that: described clamping device (306) comprises two shapes, identical in structure end handgrip (313), the two ends of the connection pipe (320) on two end handgrips (313) and the described framework (303) are hinged, one end of each end handgrip (313) is all hinged with an end of connecting rod (321), the other end of each end handgrip (313) is bare terminal, and the other end of two connecting rods (321) and described synchronising (connecting) rod (304) are hinged; In the hinged place of two connecting rods (321) other end and be positioned between the end handgrip (313) in the outside and be provided with extension spring (312); Described two end handgrips (313) opposed inside is respectively equipped with backing block (314); The bare terminal of each end handgrip (313) is circular arc, and the bare terminal of two end handgrips (313) forms the semicircle corresponding with the under-water robot profile; The outside of the bare terminal of each end handgrip (313) all is enclosed with protection leather bag (315).
5. by the described under-water robot recovery system of claim 1, it is characterized in that: described draw gear (5) comprises hydraulic wireline winch (522), casing (503), revolution straight beam (507), swing type mechanism, pitching hydraulic actuating cylinder (506), telescopic hydraulic cylinder (509) and have revolution, pitching, the draft arm of flexible three degree of freedom, wherein casing (503) is installed on the lash ship, described hydraulic wireline winch (522) is positioned at casing (503), one end of traction cable (511) is connected with the hauling rope (6) that the automatic line throwing appliance (7) that under-water robot (4) bow is installed ejects, and the other end links to each other with described hydraulic wireline winch (522) through draft arm; One end of described revolution straight beam (507) is connected with swing type mechanism on being installed in casing (503), the other end and described draft arm are hinged, described telescopic hydraulic cylinder (509) is installed on the draft arm, the driving draft arm is flexible, described pitching hydraulic actuating cylinder (506) is installed on the revolution straight beam (507), and mouth and the draft arm of pitching hydraulic actuating cylinder (506) are hinged; In casing (503), be provided with the Hydraulic Station (521) that power is provided for hydraulic wireline winch (522), swing type mechanism, pitching hydraulic actuating cylinder (506) and telescopic hydraulic cylinder (509); One end of described draft arm is hinged with the other end of revolution straight beam, and the other end of draft arm is provided with buffer gear (502); Described traction cable (511) passes this buffer gear (502), affixed through assembly pulley and the rope on the described hydraulic wireline winch (522) on the draft arm; Described buffer gear (502) comprises hauling rope guide ring (523), guide ring fixed mount (524), recoil spring (525) and attaching parts (526), wherein hauling rope guide ring (523) is installed on the guide ring fixed mount (524), described guide ring fixed mount (524) is installed in an end of recoil spring (525), and the other end of described recoil spring (525) is connected with draft arm by attaching parts (526).
6. by the described under-water robot recovery system of claim 5, it is characterized in that: described draft arm comprises one-level crossbeam (508) and is inserted in the interior secondary crossbeam (510) of this one-level crossbeam (508) relatively slidably, one end of described telescopic hydraulic cylinder (509) is hinged on the one-level crossbeam (508), the other end is hinged on the secondary crossbeam (510), one end of described pitching hydraulic actuating cylinder (506) is installed on the revolution straight beam (507), the other end and described one-level crossbeam (508) are hinged, and described one, secondary crossbeam (508,510) under the driving of pitching hydraulic actuating cylinder (506), realize the pitching degree of freedom; On four jiaos of described one-level crossbeam (508) inside slide rail is installed all, secondary crossbeam (510) reciprocatingly slides under the driving of telescopic hydraulic cylinder (509) along the relative one-level crossbeam of described slide rail (508), realizes flexible degree of freedom; The top, two ends of described one-level crossbeam (508) is respectively equipped with intermediate pulley (514) and back head sheave (515), secondary crossbeam (510) is positioned at the outer end top of one-level crossbeam (508) and is provided with preceding head sheave (513), and described traction cable (511) passes through preceding head sheave (513), intermediate pulley (514) and back head sheave (515) successively; Described telescopic hydraulic cylinder (509), one-level crossbeam (508) and secondary crossbeam (510) are parallel to each other.
7. by the described under-water robot recovery system of claim 5, it is characterized in that: described swing type mechanism comprises rotary fluid motor (519), axis of revolution assembly (520), driving gear (518) and passive swiveling gear (517), wherein rotary fluid motor (519) is installed in the described casing (503), provide power by described Hydraulic Station (521), the mouth of this rotary fluid motor (519) is connected with driving gear (518), described passive swiveling gear (517) is installed on the casing (503) by axis of revolution assembly (520), with described driving gear (518) engaged transmission, one end of described revolution straight beam (507) links to each other with axis of revolution assembly (520), realizes the revolution degree of freedom of described draft arm by the driving of rotary fluid motor (519); Described axis of revolution assembly (520) comprises straight beam adaptor (528), axis of revolution (529), upper ball cover (530), bearing, bearing seat (532) and lower ball cover (536), its bottom bracket (532) is installed on the casing upper surface (504), one end of described axis of revolution (529) is installed in the bearing seat (532) by bearing, the other end is connected by the end of straight beam adaptor (528) with described revolution straight beam (507), and described passive swiveling gear (517) is installed on the axis of revolution (529); The two ends up and down of described bearing seat (532) are respectively equipped with upper ball cover (530) and lower ball cover (536); One end of described axis of revolution (529) is separately installed with thrust force aligning bearing (531) and tapered roller bearing (533), axis of revolution (529) one end ends are equipped with bearing pre-tightened and draw lid (534), and this bearing pre-tightened draws between lid (534) and described tapered roller bearing (533) inner ring by stretching screw (535) tension; Gearbox cover (505) is installed on the described casing (503), and described driving gear (518) and passive swiveling gear (517) all are positioned at this gearbox cover (505).
8. by the described under-water robot recovery system of claim 1, it is characterized in that: the automatic line throwing appliance (7) at described under-water robot (4) back comprises end cap (701), storage rope chamber (702), firer's propelling unit (705), base (706) and high-strength cable (709), wherein base (706) is installed on the back pressure shell (712) of under-water robot (4) by the sealing of 0 type rubber seal (8), described firer's propelling unit (705) is installed on this base (706), be provided with push rod (703) in the middle of the bottom surface in storage rope chamber (702), the lower end of this push rod (703) is extended downwards by the bottom surface in storage rope chamber (2), storage rope chamber (702) links to each other with firer's propeller cap (704) of firer's propelling unit (705) by the push rod (703) that its lower end arranges, the upper end in storage rope chamber (702) is provided with end cap (701), has the preformed hole (714) that passes for described high-strength cable (709) in the bottom surface, storage rope chamber (702) of described push rod (703) one sides; Described high-strength cable (709) is the guiding rope that links to each other with butt joint lifting appliance (3), one end of high-strength cable (709) is connected on the back pressure shell (712) of under-water robot (4), the other end passes the preformed hole (714) on described base (706), the storage rope chamber (702) successively, links to each other with described end cap (701); Described storage rope chamber (702) and interior ccontaining high-strength cable (709) thereof and end cap (701) are released by the thrust that firer's propelling unit (705) produces; Described high-strength cable (709) is arranged in the part in storage rope chamber (702) by rope winder (711) winding, and the other end that withdraws from the high-strength cable (709) of described rope winder (711) after the winding is fixed on the end cap (701) by cable fix screw (707); Described high-strength cable (709) is by being spirally wound on rope winder (711) one deck from the bottom to top, oppositely from top to bottom twines, successively uniform winding repeatedly again; The top of described base (706) is groove, and groove middle part extends to form the cylinder of hollow downwards, has first through hole that passes for high-strength cable (709) at the sidewall of described groove; One end of described firer's propelling unit (705) is installed on the bottom surface of described groove, the other end inserts in the cylinder of described hollow, have second through hole that the housing inner cable (713) of robot under the water supply (4) passes in the bottom surface of the cylinder of described hollow, the housing inner cable (713) of described under-water robot (4) is connected with the input end of firer's propelling unit (705).
9. by the described under-water robot recovery system of claim 1, it is characterized in that: the automatic line throwing appliance (7) of described under-water robot (4) bow comprises end cap (701), storage rope chamber (702), firer's propelling unit (705), base (706) and high-strength cable (709), wherein base (706) is installed on the bow pressure shell (715) of under-water robot (4), described firer's propelling unit (705) is installed on this base (706), be provided with push rod (703) in the middle of the bottom surface in storage rope chamber (702), the lower end of this push rod (703) is extended downwards by the bottom surface in storage rope chamber (702), storage rope chamber (702) links to each other with firer's propeller cap (704) of firer's propelling unit (705) by the push rod (703) that its lower end arranges, the upper end in storage rope chamber (702) is provided with end cap (701), has the preformed hole (714) that passes for described high-strength cable (709) in the bottom surface, storage rope chamber (702) of described push rod (703) one sides; Described high-strength cable (709) is the hauling rope (6) that links to each other with draw gear (5), one end of high-strength cable (709) is connected on the bow pressure shell (715) of under-water robot (4), the other end passes the preformed hole (714) on described base (706), the storage rope chamber (702) successively, links to each other with described end cap (701); Described storage rope chamber (702) and interior ccontaining height rope cable (709) thereof and end cap (701) are released by the thrust that firer's propelling unit (705) produces; Described high-strength cable (709) is arranged in the part in storage rope chamber (702) by rope winder (711) winding, and the other end that withdraws from the high-strength cable (709) of described rope winder (711) after the winding is fixed on the end cap (701) by cable fix screw (707); Described high-strength cable (709) is by being spirally wound on rope winder (711) one deck from the bottom to top, oppositely from top to bottom twines, successively uniform winding repeatedly again; The top of described base (706) is groove, and groove middle part extends to form the cylinder of hollow downwards, has first through hole that passes for high-strength cable (709) at the sidewall of described groove; One end of described firer's propelling unit (705) is installed on the bottom surface of described groove, the other end inserts in the cylinder of described hollow, have second through hole that the watertight cable (710) of robot under the water supply (4) passes in the bottom surface of the cylinder of described hollow, the watertight cable (710) of described under-water robot (4) is connected with the input end of firer's propelling unit (705).
10. recovery method by the described under-water robot recovery system of the arbitrary claim of claim 1 to 9, it is characterized in that: after described under-water robot (4) mission finishes, the staff ejects by the automatic line throwing appliance (7) that guidance command is installed under-water robot (4) bow, hauling rope (6) uses to drag for to be connected with described draw gear (5) after rope device (8) is regained hauling rope (6) along with this automatic line throwing appliance (7) ejects in the lump; Under-water robot (4) is driven by lash ship (1) and navigates by water on the sea, again the automatic line throwing appliance (7) that install at under-water robot (4) back is dished out by guidance command, guiding rope (311) is along with this automatic line throwing appliance (7) ejects in the lump, and described butt joint lifting appliance (3) drives down by guiding the docking and clamping of (311) realization and under-water robot (4) of restricting at crane (2); The staff is by only swinging in frapping line (310) the control lifting removal process.
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