CN103183113B

CN103183113B - Underwater robot recovery system and recovery method thereof

Info

Publication number: CN103183113B
Application number: CN201110446205.9A
Authority: CN
Inventors: 郑荣; 徐会希; 刘健; 林扬; 王雷; 武建国
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2011-12-28
Filing date: 2011-12-28
Publication date: 2015-06-10
Anticipated expiration: 2031-12-28
Also published as: CN103183113A

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 under-water robot field, specifically a kind of under-water robot recovery system and recovery method thereof.

Background technology

Along with the change of marine resources development and coast defence situation, the marine utilization region constantly expands, and constantly to deep-sea, off-lying sea extends, scientific worker starts the investigation and application being devoted to under-water robot.

At present, existing a lot of different types of under-water robot is applied to multiple industry fields such as military maritime technology, marine science and technology investigation, sea floor exploration, pipeline maintenance, oil field prospecting.But owing to being subject to the impact of marine stormy waves, it is a global difficult problem that under-water robot reclaims, and operation process is more difficult always.Current recovery mainly contains two kinds of modes: one adopts floating drydock type and lifting table to carry out underwater mating to reclaim operation, although the impact of stormy waves can be reduced, but need special support lash ship, and special lash ship cost and operating costs costliness, be not suitable for present status in China; Another kind reclaims with lash ship lifting on the water surface, generally all needs staff to take motor boat and complete and the docking of recovering mechanism near under-water robot; This mode of operation is comparatively large by Lidar Equation, easily occurs the situation of device damage and personnel's injury when sea situation difference.Therefore need a kind of economic failure-free recovery method to make unmanned lower lash ship reclaim under-water robot and become possibility.

Summary of the invention

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

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

Recovery system of the present invention comprises lash ship, crane, docking lifting appliance, draw gear and automatic line throwing appliance, wherein crane and draw gear are arranged on lash ship respectively, described docking lifting appliance hanging, on crane, is docked with under-water robot in robot removal process under water; The back of described under-water robot and bow are separately installed with automatic line throwing appliance, the cable that the automatic line throwing appliance being positioned at back ejects passes described docking lifting appliance, is controlled by the staff on described lash ship, and the hauling rope that the automatic line throwing appliance being positioned at bow ejects reclaims by dragging for rope device and is connected with described draw gear.

Wherein: described docking lifting appliance comprises framework, synchronising (connecting) rod, clamping device, guide wire, suspension rod, frapping line and guide rope, its middle frame is connected with the crane on described lash ship by steel rope, described framework is provided with three fixed pulleys, connection pipe is provided with in the bottom of framework, the clamping device being positioned at framework both sides is articulated with the two ends of this connection pipe respectively, and the top of two clamping devices is connected by described synchronising (connecting) rod; The two ends of described synchronising (connecting) rod are all connected with one end of frapping line, and the other end of this frapping line is passed by framework, walk around the fixed pulley being positioned at both sides is controlled by the staff on lash ship; Described guide wire and suspension rod are coaxially arranged on the connection pipe of framework, guide wire is positioned at the top of suspension rod, one end of described guide rope is connected in the flap seat on under-water robot, the other end is successively through suspension rod, guide wire and framework, walk around and be positioned at middle fixed pulley, controlled by the staff on lash ship; Described suspension rod is provided with the docking mechanism docked with the flap seat on described under-water robot near the position of lower end; Described docking mechanism comprises driving lever, pin and retracing spring, suspension rod is symmetrical near the both sides of lower end position, on axial cross section has driving lever by pin-hinges, described guide rope passes by between two driving levers, and the upper end of described two driving levers is connected with described suspension rod respectively by retracing spring; The internal via shape playing flap seat on described under-water robot is corresponding with described driving lever, and described docking lifting appliance is in deployment state, and each driving lever is all provided with T-shaped handle, and on described T-shaped handle, there is the rope that breaks off relations in system;

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 below described frame roof respectively, and the sense of motion along synchronising (connecting) rod on described position-limited rack 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, structure identical end handgrip, the two ends of the connection pipe on two end handgrips and described framework are hinged, one end of each end handgrip is all hinged with one end of connecting rod, the other end of each end handgrip is bare terminal, and the other end and the described synchronising (connecting) rod of two connecting rods are hinged; Extension spring is provided with between hinged place at two connecting rod other ends and the end handgrip in outside; The inner side that described two end handgrips are relative is 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 under-water robot profile; The outside of the bare terminal of each end handgrip is all enclosed with 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 arranged on 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 under-water robot bow is installed ejects, and the other end is connected with described hydraulic wireline winch through draft arm; One end of described revolution straight beam is connected with the swing type mechanism be arranged on casing, the other end and described draft arm hinged, described telescopic hydraulic cylinder is arranged on draft arm, drives draft arm to stretch, and described pitching hydraulic actuating cylinder is arranged on revolution straight beam, and mouth and the draft arm of pitching hydraulic actuating cylinder are hinged; Be provided with as hydraulic wireline winch, swing type mechanism, pitching hydraulic actuating cylinder and telescopic hydraulic cylinder provide the Hydraulic Station of power in casing; 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 is affixed through this buffer gear, the assembly pulley on draft arm and the rope on described hydraulic wireline winch; Described buffer gear comprises hauling rope guide ring, guide ring fixed mount, recoil spring and attaching parts, wherein hauling rope guide ring is arranged on guide ring fixed mount, described guide ring fixed mount is arranged on one end of recoil spring, and the other end of described recoil spring is connected with draft arm by attaching parts;

Described draft arm is inserted in the secondary crossbeam in this one-level crossbeam with comprising one-level crossbeam and relative sliding, one end of described telescopic hydraulic cylinder is hinged on one-level crossbeam, the other end is hinged on secondary crossbeam, one end of described pitching hydraulic actuating cylinder is arranged on revolution straight beam, the other end and described one-level crossbeam hinged, described I and II crossbeam realizes pitch freedom under the driving of pitching hydraulic actuating cylinder; The corner of described one-level crossbeam inside is all provided with slide rail, and secondary crossbeam reciprocatingly slides under the driving of telescopic hydraulic cylinder along described slide rail versus primary crossbeam, realizes flexible degree of freedom; Be respectively equipped with intermediate pulley and rear head sheave above the two ends of described one-level crossbeam, secondary crossbeam is positioned at above the one end outside one-level crossbeam and is provided with front head sheave, described traction cable successively through front head sheave, intermediate pulley and after head sheave; 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 arranged in described casing, provides power by described Hydraulic Station, the mouth of this rotary fluid motor is connected with driving gear, described passive swiveling gear to be arranged on casing by axis of revolution assembly, with described driving gear engaged transmission, one end of described revolution straight beam is connected with axis of revolution assembly, is realized the revolution degree of freedom of described draft arm by the driving of rotary fluid motor; Described axis of revolution assembly comprises straight beam adaptor, axis of revolution, upper ball cover, bearing, bearing seat and lower ball cover, its bottom bracket is arranged on casing upper surface, one end of described axis of revolution is arranged in bearing seat by bearing, the other end is connected by straight beam adaptor one end with described revolution straight beam, and described passive swiveling gear is arranged on 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 end, axis of revolution one end is provided with bearing pre-tightened and draws lid, and this bearing pre-tightened is drawn between lid and described tapered roller bearing internal ring and strained by stretching screw; Described casing is provided with gearbox cover, and described driving gear and passive swiveling gear are all 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 arranged on the back pressure shell of under-water robot by O type rubber seal rings for seal, described firer's propelling unit is installed on the base, push rod is provided with in the middle of the bottom surface in storage rope chamber, the lower end of this push rod is by storing up the bottom surface in rope chamber to downward-extension, the push rod that storage rope chamber is arranged by its lower end is connected with the angle of rake firer's propeller cap of firer, the upper end in storage rope chamber is provided with end cap, the bottom surface, storage rope chamber of described push rod side has the preformed hole passed for described high-strength cable, described high-strength cable is the guide rope be connected with docking lifting appliance, and one end of high-strength cable is connected on the back pressure shell of under-water robot, and the other end through the preformed hole on described base, storage rope chamber, is connected with described end cap successively, the described thrust release of storing up rope chamber and interior accommodating high-strength cable and end cap thereof and being produced by firer's propelling unit, the part that described high-strength cable is arranged in storage rope chamber is wound around by rope winder, and the other end being wound around the high-strength cable of rope winder described in backed off after random is fixed on end cap by cable fix screw, described high-strength cable by being spirally wound on rope winder one deck from the bottom to top, is more oppositely from top to bottom wound around, successively uniform winding repeatedly, the top of described base is groove, extends to form the cylinder of hollow in the middle part of groove downwards, and the sidewall of described groove has the first through hole passed for high-strength cable, the angle of rake one end of described firer is arranged on the bottom surface of described groove, the other end inserts in the cylinder of described hollow, have the second through hole supplying the housing inner cable of under-water robot to pass 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, on the bow pressure shell of wherein floor installation robot under water, described firer's propelling unit is installed on the base, push rod is provided with in the middle of the bottom surface in storage rope chamber, the lower end of this push rod is by storing up the bottom surface in rope chamber to downward-extension, the push rod that storage rope chamber is arranged by its lower end is connected with the angle of rake firer's propeller cap of firer, the upper end in storage rope chamber is provided with end cap, the bottom surface, storage rope chamber of described push rod side has the preformed hole passed for described high-strength cable, described high-strength cable is the hauling rope be connected with draw gear, and one end of high-strength cable is connected on the bow pressure shell of under-water robot, and the other end through the preformed hole on described base, storage rope chamber, is connected with described end cap successively, the described thrust release of storing up rope chamber and interior accommodating height rope cable and end cap thereof and being produced by firer's propelling unit, the part that described high-strength cable is arranged in storage rope chamber is wound around by rope winder, and the other end being wound around the high-strength cable of rope winder described in backed off after random is fixed on end cap by cable fix screw, described high-strength cable by being spirally wound on rope winder one deck from the bottom to top, is more oppositely from top to bottom wound around, successively uniform winding repeatedly, the top of described base is groove, extends to form the cylinder of hollow in the middle part of groove downwards, and the sidewall of described groove has the first through hole passed for high-strength cable, the angle of rake one end of described firer is arranged on the bottom surface of described groove, the other end inserts in the cylinder of described hollow, have the second through hole supplying the watertight cable of under-water robot to pass 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 terminates, the automatic line throwing appliance that staff makes under-water robot bow install by guidance command ejects, hauling rope ejects in the lump along with this automatic line throwing appliance, uses to drag for after hauling rope is regained by rope device to be connected with described draw gear; Under-water robot is driven by lash ship and navigates by water on sea, again the automatic line throwing appliance that under-water robot back is installed is dished out by guidance command, guide rope ejects in the lump along with this automatic line throwing appliance, and described docking lifting appliance is realized and the docking and clamping of under-water robot by guide rope under crane drives; Staff controls only swinging in lifting removal process by frapping line.

Advantage of the present invention and good effect are:

1. conceptual design is reasonable, simple and reliable for structure.The present invention draws on the basis of the danger taking into full account marine operation and complexity, and the end cap of automatic line throwing appliance has positive buoyancy, and under-water robot can not be made to sink; Employing hauling rope pulls under-water robot navigation and the synchronous way reclaimed can reduce the impact that sea situation causes recovery operation to greatest extent; Docking lifting appliance is safe and reliable with docking of a flap seat; Two frapping lines and the clamping device docked in lifting appliance can be good at the protection carried out under-water robot in lifting process.

2. be easy to use, do not have particular/special requirement to lash ship, cost is low.Be arranged on the automatic line throwing appliance on 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 docking lifting appliance rational in infrastructure, be convenient to install on lash ship fixing.Particular/special requirement is not had to crane, need not special lash ship, equipment package cost is lower.

3. compatible good, same set of system can be realized and under-water robot is laid and reclaims.The design of docking lifting appliance has taken into account the requirement laid, and need not increase new installation can complete smoothly when laying.

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

Accompanying drawing explanation

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

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

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

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

Fig. 5 is the integral structure schematic diagram that lifting appliance is docked in the present invention;

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

Fig. 7 A to be Fig. 5 middle hanger with under-water robot rise one of workflow diagram that flap seat docks;

Fig. 7 B to be Fig. 5 middle hanger with under-water robot rise workflow diagram two that flap seat docks;

Fig. 7 C to be Fig. 5 middle hanger with under-water robot rise workflow diagram three that flap seat docks;

Fig. 7 D is the structural representation that when laying under-water robot in Fig. 5, suspension rod and under-water robot play flap seat;

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

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

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

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

Figure 12 is the structural representation that the present invention is arranged on the automatic line throwing appliance of under-water robot back pressure shell;

Figure 13 is the structural representation that the present invention is arranged on the automatic line throwing appliance of under-water robot bow pressure shell;

Figure 14 A is that in automatic line throwing appliance, high-strength cable is wrapped in one of schematic diagram on rope winder;

Figure 14 B is that in automatic line throwing appliance, high-strength cable is wrapped in the schematic diagram two on rope winder;

Figure 14 C is that in automatic line throwing appliance, high-strength cable is wrapped in the schematic diagram three on rope winder;

Wherein: 1 is lash ship, 2 is crane,

3 is docking 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 is guide rope, 312 is extension spring, and 313 is end handgrip, and 314 is backing block, and 315 is protection leather bag, 316 is driving lever, and 317 is pin, and 318 is retracing spring, 319 is T-shaped handle, and 320 is connection pipe, and 321 is connecting rod;

4 is under-water robot,

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

6 is hauling rope,

7 is automatic line throwing appliance, and 701 is end cap, and 702 is 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 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 back pressure shell, 713 is housing inner cable, and 714 is preformed hole, and 715 is bow pressure shell;

8 for dragging for rope device.

Detailed description of the invention

Below in conjunction with accompanying drawing, the invention will be further described.

As shown in Figure 4, recovery system of the present invention comprises lash ship 1, crane 2, docking lifting appliance 3, draw gear 5 and automatic line throwing appliance 7, wherein crane 2 and draw gear 5 are arranged on lash ship 1 respectively, described docking lifting appliance 3 is hung on crane 2, docks under water in robot 4 removal process with under-water robot 4; Recovery system of the present invention has two automatic line throwing appliances 7, and one of them is arranged on above the center of gravity of under-water robot 4 back, and the cable that this automatic line throwing appliance 7 ejects passes described docking lifting appliance 3, controlled by the staff on described lash ship 1; Another automatic line throwing appliance 7 is arranged on the bow of under-water robot 4, and the hauling rope 6 that this automatic line throwing appliance 7 ejects reclaims by dragging for rope device 8 and is connected with described draw gear 5.Under water on robot 4, be also provided with above the center of gravity of back one there is sufficient intensity play flap seat 309, for dock lifting appliance 3 and docks, and complete single-point and lift by crane.

As shown in Figure 5, docking 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 guide rope 311, the two ends at its middle frame 303 top are connected with the crane 2 on lash ship 1 respectively by steel rope 301, be provided with three fixed pulleys 302 at the upper surface of framework 303 head slab, the lower surface of framework 303 head slab is respectively equipped with a stop gear 305 near end, two ends.The bottom of framework 303 is provided with connection pipe 320, clamping device 306 is hinged with respectively at the two ends of this connection pipe 320, the top of two clamping devices 306 is connected by described synchronising (connecting) rod 304, this synchronising (connecting) rod 304 is passed by two stop gears 305, is limited make perpendicular movement within it by stop gear 305; Synchronising (connecting) rod 304 is all connected with one end of frapping line 310 near the position of end, two ends, the other end of two frapping lines 310 is passed by the guide hole on framework 303 head slab, walk around respectively be positioned at the left and right sides fixed pulley 302, controlled by the staff on lash ship 1, be responsible for only swinging and promptly under-water robot 4.Described guide wire 307 and suspension rod 308 are coaxially fixed in the middle part of connection pipe 320, guide wire 307 is positioned at the top of suspension rod 308, one end of guide rope 311 is fixed in the flap seat 309 on under-water robot 4, the other end is successively through suspension rod 308, guide wire 307, after being passed by the guide hole on framework 303 head slab, walk around again and be positioned at middle fixed pulley 302, controlled by the staff on lash ship 1, be responsible for guiding docking lifting appliance 3 and playing docking of flap seat 309.Suspension rod 308 is provided with the docking mechanism docked with the flap seat 309 on under-water robot 4 near the position of lower end, as shown in Fig. 7 A ~ 7D, this docking mechanism comprises driving lever 316, pin 317 and retracing spring 318, suspension rod 308 is symmetrical near the both sides of lower end position, on axial cross section is hinged with driving lever 316 by pin 317, driving lever 316 freely can rotate around pin 317, described guide rope 311 passes by between two driving levers 316, and the upper end of two driving levers 316 is connected with suspension rod 308 respectively by retracing spring 318; The endoporus playing flap seat 309 on under-water robot 4 is stepped hole, and the shape of endoporus is corresponding with driving lever 316; When docking lifting appliance 3 and being in deployment state, each driving lever 316 is all provided with T-shaped handle 319, described T-shaped handle 319 inserts driving lever 316 by the mounting hole that suspension rod 308 is offered, and is have the rope that breaks off relations on T-shaped handle 319; When carrying out the laying of under-water robot 4, T-shaped handle 319 throws off docking mechanism in order to the long-range driving lever 316 that pulls open.

Stop gear 305 is position-limited rack, and position-limited rack is provided with bar-shaped trough along the sense of motion of 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, structure identical end handgrip 313, carries out safety precaution for firmly grasping under-water robot 4 and only swings; Connection pipe 320 bottom the middle part of two end handgrips 313 and described framework 303 is hinged, one end of each end handgrip 313 is all hinged with one end of connecting rod 321, the other end of each end handgrip 313 is bare terminal, and the other end and the described synchronising (connecting) rod 304 of two connecting rods 321 are hinged; Extension spring 312 is provided with between hinged place at two connecting rod 321 other ends and the end handgrip 313 in outside, this extension spring 312 makes end handgrip 313 be in normally open, when docking mechanism docks successfully, driving synchronising (connecting) rod 304 to move by staff by frapping line 310 makes two end handgrips 313 close, hold robot tightly, play and anti-swayly only swing effect.Each end handgrip 313 with connection pipe 320 hinged place above inner side be equipped with backing block 314, after holding under-water robot 4 tightly, make end handgrip 313 stop tightening up, prevent all one's effort from dragging frapping line 310 and make end handgrip 313 tension, 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 under-water robot profile; The outside of the bare terminal of each end handgrip 313 is all enclosed with protection leather bag 315, when preventing from reclaiming operation and under-water robot 4 collide and damage under-water robot 4.

The principle of work of docking lifting appliance 3 is:

As shown in Figure 5, before use docking lifting appliance 3 reclaims under-water robot 4, first frapping line 310 one end is fixed on synchronising (connecting) rod 304, the other end through framework 303 head slab guide hole, respectively by two, left and right fixed pulley 302, controlled by staff; Suspension rod 308 is assembled into the recovery pattern shown in Fig. 7 A, does not namely use T-shaped handle 319.

When reclaiming operation, the guide rope 311 risen in flap seat 309 of under-water robot 4 is salvaged after to lash ship 1, guide rope 311 is penetrated bottom suspension rod 308, control along guide wire 307 in staff's hand by middle fixed pulley 302, in whole removal process, staff drag tight guide rope 311 guide docking lifting appliance 3 along guide rope 311 complete with under-water robot 4 play the docking of flap seat 309; Docking lifting appliance 3 is hung on the crane 2 of lash ship 1 by steel rope 301, until under-water robot 4 being drawn after near lash ship 1, crane 2 rises, docking lifting appliance 3 is driven to move to above under-water robot 4, crane 2 drives docking lifting appliance 3 slowly to fall along guide rope 311, in the process, control frapping line 310 and make clamping device 306 all the time just to under-water robot 4; When crane 2 falls to suspension rod 308 and under-water robot 4 rises after a flap seat 309 completes and dock, crane 2 continues whereabouts one segment distance, now use frapping line 310 controlling party 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 position-limited rack, synchronising (connecting) rod 304 drives two ends totally four connecting rods 321, make two pairs of end handgrips 313 inwardly clamped closed, hold under-water robot 4 tightly, play and anti-swayly only swing effect; Finally, crane 2 rises, and uses docking lifting appliance 3 to reclaim under-water robot 4, in the process, tightly drags frapping line 310 and causes recovery difficult to strengthen with acutely waving of under-water robot 4 under preventing severe sea condition.

Suspension rod 308 with play the docking operation of flap seat 309 as figs. 7 a to 7 c, as Fig. 7 A when suspension rod 308 does not dock with the flap seat 309 on under-water robot 4; Along with crane 2 falls, suspension rod 308 has contacted flap seat 309 under guide rope 311 guides, under gravity, driving lever 316 bottom is limited by the endoporus playing flap seat 309, driving lever 316 is rotated around pin 317, and the retracing spring 318 on driving lever 316 top is stretched, as shown in Figure 7 B; Crane 2 continues to fall, and owing to playing the internal via shape change of flap seat 309, driving lever 316 does contrarotation around pin 317 under the pulling force effect of retracing spring 318, makes driving lever 316 bottom enter flap seat 309 completely; Crane 2 continues to fall, because the lower end head of suspension rod 308 makes suspension rod 308 can not continue to decline with the restriction playing flap seat 309 endoporus, as seen in figure 7 c; Crane 2 rises afterwards, and driving lever 316 lifts by crane plane and the load plane contact playing flap seat 309 inside, under-water robot 4 of slinging.

When carrying out deployment, its process is contrary with recovery operation.First suspension rod 308 is docked with the flap seat 309 that rises on under-water robot 4, T-shaped handle 319 is arranged on driving lever 316, and be two ropes that break off relations respectively, note now not using guide rope 311; After under-water robot 4 is hung out lash ship 1, slowly fall to sea, use frapping line 310 to carry out the protection laid in process in the process; After under-water robot 4 is drop to sea, crane 2 continues whereabouts one segment distance, then drag tight two ropes that break off relations makes driving lever 316 rotate around pin 317 under the effect of T-shaped handle 319 simultaneously, now rise crane 2, because driving lever 316 bottom is retracted in suspension rod 308, suspension rod 308 rises under crane 2 drives, and has departed from flap seat 309, docking lifting appliance 3 is separated with under-water robot 4, and what complete under-water robot 4 lays work.

As Fig. 8, shown in Fig. 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 there is revolution, pitching, the draft arm of flexible three degree of freedom, wherein casing 503 is arranged on lash ship 1 by firm banking 501, firm banking 501 welds with the deck of lash ship 1 in advance, then the whole draw gear comprising casing 503 is connected by bolt with firm banking 501, make draw gear 5 achieve failure-free with lash ship 1 to be like this connected, in the safety reducing to improve in the change situation of lash ship 1 in distraction procedure as far as possible.Casing 503 is provided with guidance panel 512, for the control button of each actuating unit of concentrated arrangement draw gear 5, is arranged with corresponding balancing boom device at guidance panel 512, controls motion and the stopping of each degree of freedom by controlling each relevant valve body; The guidance panel 512 of draw gear 5 is prior art.Hydraulic wireline winch 522 is arranged in casing 503, and the assembly pulley of the traction cable 511 that the hauling rope 6 ejected with under-water robot 4 bow is connected on draft arm is connected with described hydraulic wireline winch 522.

One end of revolution straight beam 507 is connected with the swing type mechanism be arranged on 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, the corner of one-level crossbeam 508 inside is all provided with slide rail, be inserted in this one-level crossbeam 508 secondary crossbeam 510 relative sliding, 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 one-level crossbeam 508, the other end is hinged on secondary crossbeam 510, and telescopic hydraulic cylinder 509, one-level crossbeam 508 and secondary crossbeam 510 are parallel to each other, telescopic hydraulic cylinder 509 directly drives secondary crossbeam 510 at one-level crossbeam 8 internal slide, the flexible degree of freedom realizing draft arm.One end of pitching hydraulic actuating cylinder 506 is arranged on revolution straight beam 507, the other end and described one-level crossbeam 508 hinged, tilt to be connected between pitching hydraulic actuating cylinder 506 with one-level crossbeam 508, described I and II crossbeam 508,510 under the driving of pitching hydraulic actuating cylinder 506, by the fore and aft motion of pitching hydraulic actuating cylinder 506 make this conversion of motion be draft arm luffing, realize the pitch freedom of draft arm.

As shown in Figure 10, buffer gear 502 is provided with at the head of secondary crossbeam 510, for cushioning because wave is to the impact strength of under-water robot 4 in distraction procedure, reducing and buffering primary structure member and the stress that bears of cable, improving the safety and reliability of 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 one end of recoil spring 525, the other end of described recoil spring 525 welds with attaching parts 526, affixed by screw by attaching parts 526 and secondary crossbeam 510.

One-level crossbeam 508 and secondary crossbeam 510 being provided with three fixed pulleys, for guiding the motion of traction cable 511, thus facilitating hydraulic wireline winch 522 to the folding and unfolding of traction cable 511; Intermediate pulley 514 and rear head sheave 515 is respectively equipped with above the two ends of one-level crossbeam 508, secondary crossbeam 510 is positioned at above the one end outside one-level crossbeam 508 and is provided with front head sheave 513, described traction cable 511 is through the hauling rope guide ring 523 of buffer gear 502 head, then successively through front head sheave 513, intermediate pulley 514 and after head sheave 515, affixed with the rope on hydraulic wireline winch 522 again, traction cable 511 is 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 arranged in described casing 503, the mouth of this rotary fluid motor 519 is connected with driving gear 518, described passive swiveling gear 517 to be arranged on casing 503 by axis of revolution assembly 520, with described driving gear 518 engaged transmission, one end of described revolution straight beam 507 is connected with axis of revolution assembly 520, is realized 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 lid 534, stretching screw 535 and lower ball cover 536, its bottom bracket 532 is fixed on 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 arranged in 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 one end of described revolution straight beam 507 by straight beam adaptor 528, passive swiveling gear 517 is arranged on 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.End, axis of revolution 529 one end is provided with bearing pre-tightened and draws lid 534, this bearing pre-tightened is drawn between lid 534 and described tapered roller bearing 533 inner ring and is strained by stretching screw 535, for providing the predetermincd tension between thrust force aligning bearing 531 and tapered roller bearing 533 and axis of revolution 529 being carried out axial restraint.Casing 503 is provided with gearbox cover 505, described driving gear 518 and passive swiveling gear 517 are all positioned at this gearbox cover 505.The revolution of draft arm needs to overcome the wave force that the resistance of under-water robot distraction procedure and wave cause.Draw gear 5 adopts larger passive swiveling gear 517 to drive draft arm, can effectively reduce Driving Torque needed for rotary fluid motor 519 and reduce rotative speed.

Be provided with as hydraulic wireline winch 522, rotary fluid motor 519, pitching hydraulic actuating cylinder 506 and telescopic hydraulic cylinder 509 provide the Hydraulic Station 521 of power in casing 503, Hydraulic Station 521, in order to provide the hydraulic power source of each HM Hydraulic Motor and hydraulic actuating cylinder, is the primary source power of each actuating unit.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 controlling draft arm, the length of traction cable 511 is adjusted by hydraulic wireline winch 522, control under-water robot 4 relatively and the position of lash ship 1, navigate by water to set the speed of a ship or plane sync pulling realized under-water robot 4 by lash ship 1, by controlling the flexible distance adjusted between under-water robot 4 and lash ship 1 of draft arm, the direction of draft arm to under-water robot 4 tractive force is adjusted by regulating the pitching of draft arm, tractive force is tried one's best and plane-parallel, to adapt to different lash ship 1 side board height, by the distance between hydraulic control winch 522 folding and unfolding traction cable 511 adjustable under-water robot 4 and draw gear 5, thus adjustment under-water robot 4 is in the position of lash ship 1 side board, to carry out follow-up recovery butt-joint operation.

The principle of work of draw gear 5 is:

Ejected the hauling rope 6 of a band buoyant material after under-water robot 4 mission task completes from bow by remote control, hauling rope 6 is salvaged back lash ship 1 by dragging for rope device 8 by the staff of lash ship 1, draft arm is made to forward to parallel with lash ship 1 side board and make secondary crossbeam 510 be in retracted mode by telescopic hydraulic cylinder 509 by guidance panel 512 upper rotary button, the hauling rope 6 ejected by under-water robot 4 bow is through the hauling rope guide ring 523 of buffer gear head, then the traction cable 511 on the hauling rope 6 of under-water robot 4 bow ejection and draw gear 5 is interconnected, revolution straight beam 507 is driven to rotate by rotary fluid motor 519, drive draft arm, draft arm is made to stretch to the outer side board of lash ship 1, the lateral distance between under-water robot 4 and lash ship 1 is adjusted by the stroke controlling telescopic hydraulic cylinder 509, the direction of draft arm to under-water robot 4 tractive force is controlled by the stroke controlling pitching hydraulic actuating cylinder 506, the distance between under-water robot 4 and draft arm head is adjusted finally by hydraulic control winch 522, with the needs coordinating under-water robot 4 subsequent recovery to dock and lift by crane.

The revolution of draft arm is by following process implementation: rotary fluid motor 519 rotarily drives driving gear 518 and rotates; Driving gear 518 drives passive swiveling gear 517 to rotate; Because passive swiveling gear 517 is connected by key with axis of revolution 529, therefore the revolution of passive swiveling gear 517 can drive axis of revolution 529 to turn round together; The rotation of axis of revolution 529 has then driven the revolution of straight beam adaptor 528; Straight beam adaptor 528 and revolution straight beam 507 are by Flange joint, therefore the revolution of straight beam adaptor 528 drives the revolution of revolution straight beam 507 and directly driven the gyroscopic movement of whole draft arm.

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

Telescopic hydraulic cylinder 509 is installed between one-level crossbeam 508 and secondary crossbeam 510, and telescopic hydraulic cylinder 509 is parallel with two crossbeams, two ends respectively with one-level crossbeam 508 and secondary crossbeam 510 by being articulated and connected.Slide rail is installed in the corner of one-level crossbeam 508 inside, 510, secondary crossbeam can at one-level crossbeam 508 internal slide, therefore when secondary crossbeam 510 being driven 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 realizes being connected by fixed pin shaft 516 with revolution straight beam 507, therefore can mutually rotate between one-level crossbeam 508 and revolution straight beam 507, just drive the luffing of one-level crossbeam 508 when pitching hydraulic actuating cylinder 506 does fore and aft motion, and make draft arm achieve luffing.

The hauling rope 6 that under-water robot 4 bow ejects connects through the traction cable 511 after hauling rope guide ring 523 and on hydraulic wireline winch 522, then cable is placed on the assembly pulley be made up of front head sheave 513, intermediate pulley 514 and rear head sheave 515, is carried out the guiding of cable folding and unfolding process by assembly pulley.Traction cable 511 one end on hydraulic wireline winch 522 is connected mutually with hydraulic wireline winch 522 capstan winch, the hauling rope 6 that the other end and under-water robot 4 bow eject connects, when rotating with direction initialization under the drive of hydraulic wireline winch 522 capstan winch in HM Hydraulic Motor, cable is wrapped on capstan winch, to shorten the distance between under-water robot 4 and draft arm; Otherwise, when winch rotates in the opposite direction, loosen cable, the distance between under-water robot 4 and draft arm increased; Control the folding and unfolding of drawing cable by the hand of rotation of hydraulic control winch 522, thus control the distance between under-water robot 4 and draft arm.

Casing upper surface 504 is installed gearbox cover 505, driving gear 518 and passive swiveling gear 517 entirety are covered, reduce dust and water smoke etc. to the impact of gear, also improve the safety of system cloud gray model.

Draw gear head has installed buffer gear 502, when under-water robot 4 runs into the interference of wave and the wave force under water robot 4 produced backward in distraction procedure, and the transient pull produced on hauling rope to the back lower place, this tractive force can make recoil spring 525 to back lower place distortion, thus the impulsive force caused due to wave reducing hauling rope 511 bears.When aircraft is through after wave, wave force reduces, and recoil spring 525 resiles.

Reclaim lash ship 1 and draw under-water robot 4 by draw gear 5, make its synchronized in the same way navigation with lash ship 1 on the water surface, then carry out recovery operation in this case.So just effectively can overcome the impact that stormy waves reclaims under-water robot 4, reduce the difficulty of under-water robot 4 and the docking of docking lifting appliance 3, reduce the risk reclaiming operation process.

As shown in figure 12, the automatic line throwing appliance 7 at 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 arranged on the back pressure shell 712 of under-water robot 4 by the sealing of O type rubber seal 8, the top of base 706 is groove, extend to form the cylinder of hollow in the middle part of groove downwards, the sidewall of described groove has the first through hole passed for high-strength cable 709; Described firer's propelling unit 705 is arranged on this base 706, one end of firer's propelling unit 705 is arranged on the bottom surface of described groove, the other end inserts in the cylinder of described hollow, have the second through hole supplying the housing inner cable 713 of under-water robot 4 to pass 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 is connected with firer's propelling unit 705, and upper end is provided with end cap 701; Storage rope chamber 702 be the hollow circuit cylinder of upper end open, in the middle of the bottom surface in storage rope chamber 702, be provided with push rod 703, the lower end of this push rod 703 by store up the bottom surface in chamber 702 of restricting to downward-extension, be plugged on firer's propeller cap 704 of described firer's propelling unit 705; The bottom surface, storage rope chamber 702 of described push rod 703 side has the preformed hole 714 passed for described high-strength cable 709.End cap 701 adopts buoyant material, and can swim on the water surface after automatic line throwing appliance 7 is dished out and wait for that staff salvages, buoyant material is the material that density is less than 1, for commercial products, purchase in Qingdao Haiyang chemical research institute, model is buoyant material SBM-050, standard: Q/HHY221-2005.Storage rope chamber 702 polytetrafluoroethylmaterial material that adopts friction coefficient little, high-strength cable 709 and store up the friction drag of restricting between the inwall of chamber 702 when can reduce shooting rope; The diameter of high-strength cable 709 is 8mm, and breaking force is not less than 6t.

High-strength cable 709 is the guide rope be connected with docking lifting appliance 3, one end is connected on the back pressure shell 712 of underwater 4, the other end through the preformed hole 714 on the first through hole on described base 706, storage rope chamber 702, is connected with described end cap 701 successively; The described thrust release of storing up rope chamber 702 and interior accommodating high-strength cable 709 and end cap 701 thereof and being produced by firer's propelling unit 705.The part that high-strength cable 709 is arranged in storage rope chamber 702 is wound around by rope winder 711, and rope-winding method is: high-strength cable 709 is spirally wound on rope winder 711 last layer first from bottom to up, is then oppositely wound around from top to bottom, so repeatedly, and final all uniform winding; After winding, the other end of high-strength cable 709 is fixed on end cap 701 by cable fix screw 707, exits rope winder 711, end cap 701 is fixed in the top in storage rope chamber 702 with screw.

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

As shown in figure 13, the automatic line throwing appliance 7 of 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 arranged on the bow pressure shell 715 of under-water robot 4, the top of base 706 is groove, extend to form the cylinder of hollow in the middle part of groove downwards, the sidewall of described groove has the first through hole passed for high-strength cable 709; Described firer's propelling unit 705 is arranged on this base 706, one end of firer's propelling unit 705 is arranged on the bottom surface of described groove, the other end inserts in the cylinder of described hollow, have the second through hole supplying the watertight cable 710 of under-water robot 4 to pass 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.

High-strength cable 709 is the hauling rope 6 be connected with draw gear 5, and one end is connected on the bow pressure shell 715 of underwater 4, and the other end through the preformed hole 714 on the first through hole on described base 706, storage rope chamber 702, is connected with described end cap 701 successively; The described thrust release of storing up rope chamber 702 and interior accommodating high-strength cable 709 and end cap 701 thereof and being produced by firer's propelling unit 705.The part that high-strength cable 709 is arranged in storage rope chamber 702 is wound around by rope winder 711, and rope-winding method is: high-strength cable 709 is spirally wound on rope winder 711 last layer first from bottom to up, is then oppositely wound around from top to bottom, so repeatedly, and final all uniform winding; After winding, the other end of high-strength cable 709 is fixed on end cap 701 by cable fix screw 707, exits rope winder 711, end cap 701 is fixed in the top in storage rope chamber 702 with screw.

As shown in figure 13, the automatic line throwing appliance 7 of under-water robot 4 bow is arranged on outside the bow pressure shell 715 of under-water robot by base 706, without the need to O type rubber seal 708, all the other mounting meanss are identical with on the back pressure shell 712 being arranged on under-water robot 4; The input end of firer's propelling unit 705 is connected with under-water robot 4 by watertight cable 710.

Principle of work of the present invention is:

As shown in figure 12, when automatic line throwing appliance 7 is arranged on the back pressure shell 712 of under-water robot 4, for guiding docking lifting appliance 3 to dock, after first firer's propelling unit 705 and firer's propeller cap 704 being assembled, be fixed on base 706.The input end of firer's propelling unit 705 and housing inner cable 713 are connected, again base 706 is fixed on the back pressure shell 712 of under-water robot 4, O type rubber seal 708 will be added between firer's propelling unit 705 and base 706 and between base 706 and back pressure shell 712 and make encapsulation process.Following with push rod 703 connect firer's propeller cap 704 by storage rope chamber 702 be arranged on base 706, after on the back pressure shell 712 high-strength cable 709 and one end being fastened on under-water robot 4, the other end passes from base 706 and passes storage rope chamber 02, by the such as method shown in Figure 14 A ~ Figure 14 C, high-strength cable 709 is wrapped on rope winder 711, the end of high-strength cable 709 and cable fix screw 707 fastening after, high-strength cable 709 exited rope winder 711 and puts into storage rope chamber 702, cover end cap 701 and be screwed.When staff's remote control send signal automatic line throwing appliance is worked time, because firer's propeller cap 704 and storage rope chamber 702 are pushed to rapidly in the air by the thrust of the instantaneous generation of firer's propelling unit 705, because one end is fastened on 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 designed, can ensure that high-strength cable 709 is all extracted out from inner by order.Afterwards because storage rope chamber 702 and end cap 701 are positive buoyancy, it is across the sea floating, waits for that staff reclaims.

As shown in figure 13, when automatic line throwing appliance 7 be arranged on the bow pressure shell 715 of under-water robot 4 outer, for reclaiming traction time, without the need to mounting O-shaped rubber seal 708, be connected with watertight cable 710 by the input end of firer's propelling unit 705, all the other structures are identical with described in the back pressure shell being arranged on under-water robot.

As shown in Figure 14 A ~ Figure 14 C, the winding method of high-strength cable 709 on rope winder 711 is: first high-strength cable 709 is spirally wound on rope winder 711 last layer from the bottom to top, as shown in Figure 14 A; Then be oppositely wound around from top to bottom, as shown in Figure 14B; So repeatedly, final all uniform winding, as shown in Figure 14 C.To predetermincd tension be applied when noticing that high-strength cable is wound around, cable is wound around closely strong.

Recovery method of the present invention is:

After under-water robot 4 mission terminates, the automatic line throwing appliance 7 that staff makes under-water robot 4 bow install by guidance command ejects, hauling rope 6 ejects in the lump along with this automatic line throwing appliance 7, uses to drag for after hauling rope 6 is regained by rope device 8 to be connected with described draw gear 5; Under-water robot 4 is driven by lash ship 1 and navigates by water on sea, again the automatic line throwing appliance 7 that under-water robot 4 back is installed is dished out by guidance command, guide rope 311 ejects in the lump along with this automatic line throwing appliance 7, and described docking lifting appliance 3 is realized and the docking and clamping of under-water robot 4 by guide rope 311 under crane 2 drives; Staff controls only swinging in lifting removal process by frapping line 310.Be specially:

After under-water robot 4 mission terminates floating, first staff finds its particular location by positioning means, lash ship 1 approaching under-water robot 4 periphery 100m scope, staff sends instruction by remote control, the hauling rope 6 being positioned at bow is ejected by automatic line throwing appliance 7, now automatically line throwing appliance 7 ejects part and drives hauling rope 6 across the sea floating, and lash ship 1 uses to its approaching and by staff and drags for rope device 8 and salvage on lash ship 1 by hauling rope 6, as shown in Figure 1.

After hauling rope 6 and draw gear 5 being connected, the draft arm of draw gear 5 is stretched out ship side, and lash ship 1 drags under-water robot 4 and slowly navigates by water.Control lash ship 1 have set angle to travel against the wind, so on the quarter can some region stormy waves less, be conducive to reclaim.Open the hydraulic wireline winch 522 of draw gear 5, slowly strain by traction cable 511 and under-water robot 4 and lash ship 1 are synchronously navigated by water side by side, maintenance 2 ~ 3 saves left and right speed, and now under-water robot 4 affects will greatly reduce by sea situation.Started the automatic line throwing appliance 7 at under-water robot 4 back again by remote control order, ejected by guide rope 311, staff's use is dragged for rope device 8 and is salvaged by guide rope 311 on lash ship 1, as shown in Figure 2.

By guide rope 311 through docking lifting appliance 3, and control in staff's hand; The frapping line 310 of the hand-held docking lifting appliance 3 of another two staff is awaited orders; Move to the top of under-water robot 4 after being sling by docking lifting appliance 3 with crane 2, and slowly fall under guide rope 311 guides, as shown in Figure 3.

In docking lifting appliance 3 dropping process, staff controls frapping line 310 and makes docking lifting appliance 3 keep rational relative position with under-water robot 4 all the time, when docking the effect due to gravity when lifting appliance 3 falls under-water robot 4 back, docking lifting appliance 3 completes with a flap seat 309 and docks, and now staff is completed by control frapping line 310 and protects the clamping of under-water robot 4; 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

1. a under-water robot recovery system, it is characterized in that: comprise lash ship (1), crane (2), docking lifting appliance (3), draw gear (5) and automatic line throwing appliance (7), wherein crane (2) and draw gear (5) are arranged on lash ship (1) respectively, described docking lifting appliance (3) hanging, on crane (2), is docked 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), the cable that the automatic line throwing appliance (7) being positioned at back ejects is through described docking lifting appliance (3), by the staff's control on described lash ship (1), and the hauling rope (6) that the automatic line throwing appliance (7) being positioned at bow ejects reclaims by dragging for rope device (8) and is connected with described draw gear (5).

2. by under-water robot recovery system according to claim 1, it is characterized in that: described docking lifting appliance (3) comprises framework (303), synchronising (connecting) rod (304), clamping device (306), guide wire (307), suspension rod (308), frapping line (310) and guide rope (311), its middle frame (303) is connected with the crane (2) on described lash ship (1) by steel rope (301), described framework (303) is provided with three fixed pulleys (302), connection pipe (320) is provided with in the bottom of framework (303), the clamping device (306) being positioned at framework (303) both sides is articulated with the two ends of this connection pipe (320) respectively, the top of two clamping devices (306) is connected by described synchronising (connecting) rod (304), the two ends of described synchronising (connecting) rod (304) are all connected with one end of frapping line (310), and the other end of this frapping line (310) is passed by framework (303), walk around the fixed pulley (302) being positioned at both sides is controlled by the staff on lash ship (1), described guide wire (307) and suspension rod (308) are coaxially arranged on the connection pipe (320) of framework (303), guide wire (307) is positioned at the top of suspension rod (308), one end of described guide rope (311) is connected in the flap seat (309) on under-water robot (4), the other end is successively through suspension rod (308), guide wire (307) and framework (303), walk around and be positioned at middle fixed pulley (302), controlled by the staff on lash ship (1), described suspension rod (308) is provided with the docking mechanism docked with the flap seat (309) on described under-water robot (4) near the position of lower end, described docking mechanism comprises driving lever (316), pin (317) and retracing spring (318), suspension rod (308) is symmetrical near the both sides of lower end position, on axial cross section is hinged with driving lever (316) by pin (317), described guide rope (311) passes by between two driving levers (316), and the upper end of described two driving levers (316) is connected with described suspension rod (308) respectively by retracing spring (318), the internal via shape playing flap seat (309) on described under-water robot (4) is corresponding with described driving lever (316), described docking lifting appliance (3) is in deployment state, each driving lever (316) is all provided with T-shaped handle (319), there is the rope that breaks off relations in the upper system of described T-shaped handle (319).

3. by under-water robot recovery system according to claim 2, it is characterized in that: described framework (303) is provided with stop gear (305), 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 below described framework (303) top respectively, described position-limited rack is provided with bar-shaped trough along the sense of motion of synchronising (connecting) rod (304), and described synchronising (connecting) rod (304) is passed by the bar-shaped trough on two position-limited racks successively.

4. by under-water robot recovery system according to claim 2, it is characterized in that: described clamping device (306) comprises two shapes, structure identical end handgrip (313), two end handgrips (313) are hinged with the two ends of the connection pipe (320) on described framework (303), one end of each end handgrip (313) is all hinged with one end of connecting rod (321), the other end of each end handgrip (313) is bare terminal, and the other end and the described synchronising (connecting) rod (304) of two connecting rods (321) are hinged; Extension spring (312) is provided with between the hinged place of two connecting rod (321) other ends and the end handgrip (313) being positioned at outside; The relative inner side of described two end handgrips (313) 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 under-water robot profile; The outside of the bare terminal of each end handgrip (313) is all enclosed with protection leather bag (315).

5. by under-water robot recovery system according to 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 there is revolution, pitching, the draft arm of flexible three degree of freedom, wherein casing (503) is arranged on 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, the other end is connected with described hydraulic wireline winch (522) through draft arm, one end of described revolution straight beam (507) is connected with the swing type mechanism be arranged on casing (503), the other end and described draft arm hinged, described telescopic hydraulic cylinder (509) is arranged on draft arm, drives draft arm to stretch, described pitching hydraulic actuating cylinder (506) is arranged in revolution straight beam (507), and mouth and the draft arm of pitching hydraulic actuating cylinder (506) are hinged, be provided with as hydraulic wireline winch (522), swing type mechanism, pitching hydraulic actuating cylinder (506) and telescopic hydraulic cylinder (509) provide the Hydraulic Station (521) of power in casing (503), 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) is affixed through this buffer gear (502), the assembly pulley on draft arm and the rope on described hydraulic wireline winch (522), 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 arranged on guide ring fixed mount (524), described guide ring fixed mount (524) is arranged on one 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 under-water robot recovery system according to claim 5, it is characterized in that: described draft arm is inserted in the secondary crossbeam (510) in this one-level crossbeam (508) with comprising one-level crossbeam (508) and relative sliding, one end of described telescopic hydraulic cylinder (509) is hinged on one-level crossbeam (508), the other end is hinged on secondary crossbeam (510), one end of described pitching hydraulic actuating cylinder (506) is arranged in revolution straight beam (507), the other end and described one-level crossbeam (508) hinged, described one, secondary crossbeam (508, 510) under the driving of pitching hydraulic actuating cylinder (506), pitch freedom is realized, the corner that described one-level crossbeam (508) is inner is all provided with slide rail, secondary crossbeam (510) reciprocatingly slides under the driving of telescopic hydraulic cylinder (509) along described slide rail versus primary crossbeam (508), realizes flexible degree of freedom, intermediate pulley (514) and rear head sheave (515) is respectively equipped with above the two ends of described one-level crossbeam (508), secondary crossbeam (510) is positioned at above one-level crossbeam (508) one end outward and is provided with front head sheave (513), described traction cable (511) successively through front head sheave (513), intermediate pulley (514) and after head sheave (515), described telescopic hydraulic cylinder (509), one-level crossbeam (508) and secondary crossbeam (510) are parallel to each other.

7. by under-water robot recovery system according to 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 arranged in described casing (503), power is provided 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 arranged on casing (503) by axis of revolution assembly (520), with described driving gear (518) engaged transmission, one end of described revolution straight beam (507) is connected with axis of revolution assembly (520), the revolution degree of freedom of described draft arm is realized 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 arranged on casing upper surface (504), one end of described axis of revolution (529) is arranged in bearing seat (532) by bearing, the other end is connected by straight beam adaptor (528) one end with described revolution straight beam (507), and described passive swiveling gear (517) is arranged on 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) end, one end is provided with bearing pre-tightened and draws lid (534), and this bearing pre-tightened is drawn between lid (534) and described tapered roller bearing (533) inner ring and strained by stretching screw (535), described casing (503) is provided with gearbox cover (505), described driving gear (518) and passive swiveling gear (517) are all positioned at this gearbox cover (505).

8. by under-water robot recovery system according to 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 arranged on the back pressure shell (712) of under-water robot (4) by O type rubber seal (8) sealing, described firer's propelling unit (705) is arranged on this base (706), push rod (703) is provided with in the middle of the bottom surface of storage rope chamber (702), the lower end of this push rod (703) is by storing up the bottom surface of rope chamber (2) to downward-extension, the push rod (703) that storage rope chamber (702) is arranged by its lower end is connected with firer's propeller cap (704) of firer's propelling unit (705), the upper end of storage rope chamber (702) is provided with end cap (701), storage rope chamber (702) bottom surface of described push rod (703) side has the preformed hole (714) passed for described high-strength cable (709), described high-strength cable (709) is the guide rope be connected with docking 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 through the preformed hole (714) in described base (706), storage rope chamber (702), is connected with described end cap (701) successively, the described thrust release of storing up rope chamber (702) and interior accommodating high-strength cable (709) and end cap (701) thereof and being produced by firer's propelling unit (705), the part that described high-strength cable (709) is arranged in storage rope chamber (702) is wound around by rope winder (711), and the other end being wound around the high-strength cable (709) of rope winder (711) described in backed off after random is fixed on end cap (701) by cable fix screw (707), described high-strength cable (709) by being spirally wound on rope winder (711) one deck from the bottom to top, is more oppositely from top to bottom wound around, successively uniform winding repeatedly, the top of described base (706) is groove, extends to form the cylinder of hollow in the middle part of groove downwards, and the sidewall of described groove has the first through hole passed for high-strength cable (709), one end of described firer's propelling unit (705) is arranged on the bottom surface of described groove, the other end inserts in the cylinder of described hollow, have the second through hole supplying the housing inner cable (713) of under-water robot (4) to pass 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 under-water robot recovery system according to 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 arranged on the bow pressure shell (715) of under-water robot (4), described firer's propelling unit (705) is arranged on this base (706), push rod (703) is provided with in the middle of the bottom surface of storage rope chamber (702), the lower end of this push rod (703) is by storing up the bottom surface of rope chamber (702) to downward-extension, the push rod (703) that storage rope chamber (702) is arranged by its lower end is connected with firer's propeller cap (704) of firer's propelling unit (705), the upper end of storage rope chamber (702) is provided with end cap (701), storage rope chamber (702) bottom surface of described push rod (703) side has the preformed hole (714) passed for described high-strength cable (709), described high-strength cable (709) is the hauling rope (6) be connected 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 through the preformed hole (714) in described base (706), storage rope chamber (702), is connected with described end cap (701) successively, the described thrust release of storing up rope chamber (702) and interior accommodating height rope cable (709) and end cap (701) thereof and being produced by firer's propelling unit (705), the part that described high-strength cable (709) is arranged in storage rope chamber (702) is wound around by rope winder (711), and the other end being wound around the high-strength cable (709) of rope winder (711) described in backed off after random is fixed on end cap (701) by cable fix screw (707), described high-strength cable (709) by being spirally wound on rope winder (711) one deck from the bottom to top, is more oppositely from top to bottom wound around, successively uniform winding repeatedly, the top of described base (706) is groove, extends to form the cylinder of hollow in the middle part of groove downwards, and the sidewall of described groove has the first through hole passed for high-strength cable (709), one end of described firer's propelling unit (705) is arranged on the bottom surface of described groove, the other end inserts in the cylinder of described hollow, have the second through hole supplying the watertight cable (710) of under-water robot (4) to pass 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. the recovery method by the under-water robot recovery system described in the arbitrary claim of claim 1 to 9, it is characterized in that: after described under-water robot (4) mission terminates, the automatic line throwing appliance (7) that staff makes under-water robot (4) bow install by guidance command ejects, hauling rope (6) ejects in the lump along with this automatic line throwing appliance (7), uses to drag for after hauling rope (6) is regained by rope device (8) to be connected with described draw gear (5); Under-water robot (4) is driven by lash ship (1) and navigates by water on sea, again the automatic line throwing appliance (7) that under-water robot (4) back is installed is dished out by guidance command, guide rope (311) ejects in the lump along with this automatic line throwing appliance (7), and described docking lifting appliance (3) is realized and the docking and clamping of under-water robot (4) by guide rope (311) under crane (2) drives; Staff controls only swinging in lifting removal process by frapping line (310).