CN103185484A - Automatic line throwing appliance for recycling underwater robots - Google Patents
Automatic line throwing appliance for recycling underwater robots Download PDFInfo
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- CN103185484A CN103185484A CN2011104458142A CN201110445814A CN103185484A CN 103185484 A CN103185484 A CN 103185484A CN 2011104458142 A CN2011104458142 A CN 2011104458142A CN 201110445814 A CN201110445814 A CN 201110445814A CN 103185484 A CN103185484 A CN 103185484A
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- underwater robot
- firer
- propeller
- automatic line
- cable
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Abstract
The invention belongs to the field of recycling underwater robots, and particularly relates to an automatic line throwing appliance for recycling underwater robots. The automatic line throwing appliance comprises an end cover, a rope storage cavity, a firer pusher, a base and a high-strength rope, wherein the base is arranged on a shell of an underwater robot, the fire pusher is arranged on the base, the lower end of the rope storage cavity is connected with the fire pusher, the end cover is arranged at the upper end of the rope storage cavity, one end of the high-strength rope is connected with the shell of the underwater robot, and the other end of the high-strength rope is connected with the end cover after penetrating through the base and the rope storage cavity in sequence; and the rope storage cavity and the high-strength rope and the end cover arranged therein are pushed out by the thrust generated by the firer pusher. The automatic line throwing appliance for recycling underwater robots has the characteristics of simpler structure, small size, capability of working under water and on water face, and the like.
Description
Technical field
The invention belongs to underwater robot and reclaim the field, specifically a kind of underwater robot reclaims and uses automatic line-throwing appliance.
Background technology
Because oceanographic condition is complicated and changeable, the recovery of underwater robot is a global difficult problem always.In order to invent a kind of safe and reliable recovery method, need a kind ofly to be applied under water, the automatic line-throwing appliance of the water surface.
The line-throwing appliance of prior art mostly is rifle or pedestal type structure, is used for land or water surface rescue, comprises the transmitter seat, robs handle, parts such as buttstrap, rifle body adapter piece, impulse flask, and adopt the working method of gas cylinder; The impelling rocket type is also arranged, but its head is heavier, emission back rocket can directly be submerged in the water.The above existing line-throwing appliance does not satisfy the miniaturization of underwater robot group parts, light-weighted instructions for use from version, volume weight aspect, and the working method of gas cylinder also is not suitable for underwater robot.Find as yet at present to be applicable to underwater robot under water, the automatic line-throwing appliance of the water surface.
Summary of the invention
In order to solve the problem that existing line-throwing appliance is not suitable for the underwater robot service condition, the object of the present invention is to provide a kind of underwater robot to reclaim and use automatic line-throwing appliance.This automatic line-throwing appliance can eject the high strength cable when robot reclaims under water automatically, can be used under water or the water surface.
The objective of the invention is to be achieved through the following technical solutions:
The present invention includes end cap, storage rope chamber, firer's propeller, base and high-strength cable, wherein base is installed on the housing of underwater robot, described firer's propeller is installed on this base, the lower end in storage rope chamber links to each other with firer's propeller, the upper end is provided with end cap, one end of described high-strength cable is connected on the housing of machine under water, and the other end passes described base, 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 propeller produces.
Wherein: described storage rope chamber is connected with the angle of rake firer's propeller cone of firer by the push rod that its lower end arranges; Described push rod is installed in the centre of storage rope bottom surface, chamber, and the lower end of push rod is extended downwards, is plugged on the angle of rake firer's propeller cone of described firer by the bottom surface in storage rope chamber; Have 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 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 hold-down 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, bottom surface at the cylinder of described hollow has second through hole that the cable in the robot passes under the water supply, and the cable in the described underwater robot is connected with the angle of rake input of firer; Described end cap adopts buoyant material, and the little polytetrafluoroethylmaterial material of coefficient of friction is adopted in storage rope chamber; The diameter of described high-strength cable is 8mm, and Fracture Force is not less than 6t; Described automatic line-throwing appliance is installed in by base on the back pressure hull of underwater robot, is tightly connected by O type rubber seal respectively between described base and the back pressure hull and between described firer's propeller and the base; The angle of rake input of described firer links to each other with the housing inner cable of underwater robot; Described automatic line-throwing appliance is installed in by base outside the bow pressure hull of underwater robot, and the angle of rake input of described firer links to each other with underwater robot by watertight cable.
Advantage of the present invention and good effect are:
1. simple and reliable for structure.Because the autonomous fully navigation of underwater robot is just higher to the reliability requirement of line-throwing appliance; The present invention is whole frame for movements, simple and practical, high-strength cable stiff end is placed on the underwater robot body, the extraction end places and launches intrinsic benefit is that cable is extracted out smoothly, reduce the probability of situations such as tiing a knot, can't eject, even and this thing happens, after the staff salvages recovery with it, also it can be smoothed out with the fingers suitablely, continue operation;
2. volume is little, and is in light weight, the space availability ratio height.The present invention adopts rope winder to twine high-strength cable, makes storage rope cavity space utilization rate reach maximization, is convenient to high-strength cable simultaneously and twines and be retracted in the storage rope chamber.
3. the little polytetrafluoroethylmaterial material of coefficient of friction is adopted in storage rope of the present invention chamber, and the frictional force in cable and storage rope chamber can not hinder cable and ejects when storage rope chamber was ejected, and had guaranteed the functional reliability of line-throwing appliance as much as possible.
4. the characteristics that equate substantially according to underwater robot gravity and buoyancy of the present invention, end cap adopts buoyant material, makes that whole line-throwing appliance is positive buoyancy, can be across the sea floating after falling when being ejected, wait personnel to be recycled to salvage.
5. be easy to install and use.Each several part of the present invention is easy for installation, and high-strength cable is easy to install, and only needs during use watertight cable and firer's propeller connected to get final product, and is convenient and swift.
6. can be under water, water surface work.The design of base of the present invention and housing seal or firer's propeller water receiving cipher telegram cable make line-throwing appliance can be under water, water surface operate as normal, can not influence the work effect
Description of drawings
Fig. 1 is installed in the structural representation of underwater robot back pressure hull for the present invention;
Fig. 2 is installed in the structural representation of underwater robot bow pressure hull for the present invention;
Fig. 3 A is wrapped in one of schematic diagram on the rope winder for the high-strength cable of the present invention;
Fig. 3 B is wrapped in two of schematic diagram on the rope winder for the high-strength cable of the present invention;
Fig. 3 C is wrapped in three of schematic diagram on the rope winder for the high-strength cable of the present invention;
Wherein: 1 is end cap, and 2 are storage rope chamber, and 3 is push rod, 4 is firer's propeller cone, and 5 is firer's propeller, and 6 is base, 7 is the cable hold-down screw, and 8 is O type rubber seal, and 9 is high-strength cable, 10 is watertight cable, 11 is rope winder, and 12 is the back pressure hull, and 13 is the housing inner cable, 14 is preformed hole, and 15 is the bow pressure hull.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
The present invention includes end cap 1, storage rope chamber 2, firer's propeller 5, base 6 and high-strength cable 9, wherein base 6 is used for being connected with the housing of underwater robot, the top of base 6 is groove, groove middle part extends to form the cylinder of hollow downwards, has first through hole that passes for high-strength cable 9 at the sidewall of described groove; Described firer's propeller 5 is installed on this base 6, one end of firer's propeller 5 is installed on the bottom surface of described groove, the other end inserts in the cylinder of described hollow, bottom surface at the cylinder of described hollow has second through hole that the cable in the robot passes under the water supply, and the cable in the described underwater robot is connected with the input of firer's propeller 5.
The lower end in storage rope chamber 2 links to each other with firer's propeller 5, and the upper end is provided with end cap 1; Storage rope chamber 2 is the hollow circuit cylinder of upper end open, is provided with push rod 3 in the middle of the bottom surface in storage rope chamber 2, and the lower end of this push rod 3 is extended downwards, is plugged on firer's propeller cone 4 of described firer's propeller 5 by the bottom surface in storage rope chamber 2; Have the preformed hole 14 that passes for described high-strength cable 9 in 2 bottom surfaces, storage rope chamber of described push rod 3 one sides.End cap 1 of the present invention adopts buoyant material, can swim in after automatic line-throwing appliance is dished out and wait on the water surface that the staff salvages, 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 coefficient of friction is adopted in storage rope chamber 2, the frictional resistance in the time of can reducing shooting rope between high-strength cable 9 and storage rope chamber 2 inwalls; The diameter of high-strength cable 9 is 8mm, and Fracture Force is not less than 6t.
One end of high-strength cable 9 is connected on the housing of machine under water, and the other end passes first through hole on the described base 6, the preformed hole 14 on the storage rope chamber 2 successively, links to each other with described end cap 1; Described storage rope chamber 2 and interior ccontaining high-strength cable 9 thereof and end cap 1 are released by the thrust that firer's propeller 5 produces.High-strength cable 9 is arranged in the part in storage rope chamber 2 by rope winder 11 windings, and rope-winding method is: high-strength cable 9 is spirally wound on rope winder 11 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 9 is fixed on the end cap 1 by cable hold-down screw 7, withdraws from rope winder 11, end cap 1 usefulness screw is fixed in the top in storage rope chamber 2.
The present invention can be installed on the back pressure hull 12 of underwater robot or is installed in outside the bow pressure hull 15 of underwater robot by base 6.As shown in Figure 1, the present invention is installed in by base 6 on the back pressure hull 12 of underwater robot, is tightly connected by O type rubber seal 8 respectively between described base 6 and the back pressure hull 12 and between described firer's propeller 5 and the base 6; Firer's propeller 5 assembles back band O type rubber seal 8 with firer's propeller cone 4 and is fixed on the base 6, and storage rope chamber 2 is connected with firer's propeller cone 4 by push rod 3; One end of high-strength cable 9 is fastened on the back pressure hull 12 of underwater robot, after storage rope chamber 2 is drawn and passed to the other end from base 6, use rope winder 11 that high-strength cable 9 is wound, after fastening with cable hold-down screw 7, withdraw from rope winder 11, and high-strength cable 9 put into storage rope chamber 2, end cap 1 and the storage chamber 2 of restricting reliably is connected.The input of firer's propeller 5 links to each other with the housing inner cable 13 of underwater robot.
As shown in Figure 2, the present invention is installed in outside the bow pressure hull 15 of underwater robot by base 6, need not O type rubber seal 8, all the other mounting means be installed in underwater robot back pressure hull on identical; The input of firer's propeller 5 links to each other with underwater robot by watertight cable 10.
Operation principle of the present invention is:
As shown in Figure 1, on the present invention is installed in the back pressure hull 12 of underwater robot, when being used for the butt joint of guiding butt joint boom hoisting, after at first firer's propeller 5 and firer's propeller cone 4 being assembled, be fixed on the base 6.Input and the housing inner cable 13 of firer's propeller 5 are connected, again base 6 is fixed on the back pressure hull 12 of underwater robot, will adds O type rubber seal 8 between firer's propeller 5 and the base 6 and between base 6 and the back pressure hull 12 and make encapsulation process.Next will store up rope chamber 2 with push rod 3 connection firer propeller cones 4 is installed on the base 6, after high-strength cable 9 and an end being fastened on the back pressure hull 12 of underwater robot, the other end passes and passes storage rope chamber 2 from base 6, with the method shown in Fig. 3 A～Fig. 3 C, high-strength cable 9 is wrapped on the rope winder 11, after the end of high-strength cable 9 and cable hold-down screw 7 are fastening, high-strength cable 9 are withdrawed from rope winder 11 and put into storage rope chamber 2, cover end cap 1 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 propeller 5 instantaneous generations is pushed firer's propeller cone 4 and storage rope chamber 2 rapidly in the air, because an end is fastened on the underwater robot, the other end can be drawn out of along the preformed hole 14 in storage rope chamber 2, under the thrust of the firer's propeller 5 that designs, can guarantee that high-strength cable 9 is internally by all extractions of order.Because storage rope chamber 2 and end cap 1 are positive buoyancy, and it is across the sea floating, wait for that the staff reclaims afterwards.
As shown in Figure 2, outside the present invention is installed in the bow pressure hull 15 of underwater robot, when being used for reclaiming traction, need not to install O type rubber seal 8, the input of firer's propeller 5 is connected with watertight cable 10 gets final product, all the other structures are described identical with the back pressure hull that is installed in underwater robot.
Shown in Fig. 3 A～Fig. 3 C, the winding method of high-strength cable 9 on rope winder 11 is: at first high-strength cable 9 is spirally wound on rope winder 11 last layers from the bottom to top, as shown in Figure 3A; Then oppositely twine from top to bottom, shown in Fig. 3 B; So repeatedly, final all uniform winding are shown in Fig. 3 C.Note will applying pretightning force when high-strength cable twines, it is closely strong that cable is twined.
Claims (10)
1. a underwater robot reclaims and uses automatic line-throwing appliance, it is characterized in that: comprise end cap (1), storage rope chamber (2), firer's propeller (5), base (6) and high-strength cable (9), wherein base (6) is installed on the housing of underwater robot, described firer's propeller (5) is installed on this base (6), the lower end in storage rope chamber (2) links to each other with firer's propeller (5), the upper end is provided with end cap (1), one end of described high-strength cable (9) is connected on the housing of underwater robot, the other end passes described base (6) successively, storage rope chamber (2) links to each other with described end cap (1); Described storage rope chamber (2) and interior ccontaining high-strength cable (9) thereof and end cap (1) are released by the thrust that firer's propeller (5) produces.
2. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance, it is characterized in that: described storage rope chamber (2) is connected with firer's propeller cone (4) of firer's propeller (5) by the push rod (3) that its lower end arranges.
3. reclaim by the described underwater robot of claim 2 and use automatic line-throwing appliance, it is characterized in that: described push rod (3) is installed in the centre of storage rope bottom surface, chamber (2), and the lower end of push rod (3) is extended downwards, is plugged on firer's propeller cone (4) of described firer's propeller (5) by the bottom surface in storage rope chamber (2); Have the preformed hole (14) that passes for described high-strength cable (9) in the bottom surface, storage rope chamber (2) of described push rod (3) one sides.
4. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance, it is characterized in that: described high-strength cable (9) is arranged in the part in storage rope chamber (2) by rope winder (11) winding, and the other end that withdraws from the high-strength cable (9) of described rope winder (11) after the winding is fixed on the end cap (1) by cable hold-down screw (7).
5. reclaim by the described underwater robot of claim 4 and use automatic line-throwing appliance, it is characterized in that: described high-strength cable (9) is by being spirally wound on rope winder (11) one deck from the bottom to top, oppositely winding from top to bottom again, uniform winding repeatedly successively.
6. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance, it is characterized in that: the top of described base (6) is groove, groove middle part extends to form the cylinder of hollow downwards, has first through hole that passes for high-strength cable (9) at the sidewall of described groove; One end of described firer's propeller (5) is installed on the bottom surface of described groove, the other end inserts in the cylinder of described hollow, bottom surface at the cylinder of described hollow has second through hole that the cable in the robot passes under the water supply, and the cable in the described underwater robot is connected with the input of firer's propeller (5).
7. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance, it is characterized in that: described end cap (1) adopts buoyant material, and the little polytetrafluoroethylmaterial material of coefficient of friction is adopted in storage rope chamber (2).
8. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance, it is characterized in that: the diameter of described high-strength cable (9) is 8mm, and Fracture Force is not less than 6t.
9. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance, it is characterized in that: described automatic line-throwing appliance is installed in by base (6) on the back pressure hull (12) of underwater robot, is tightly connected by O type rubber seal (8) respectively between described base (6) and the back pressure hull (12) and between described firer's propeller (5) and the base (6); The input of described firer's propeller (5) links to each other with the housing inner cable (13) of underwater robot.
10. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance, it is characterized in that: described automatic line-throwing appliance is installed in by base (6) outside the bow pressure hull (15) of underwater robot, and the input of described firer's propeller (5) links to each other with underwater robot by watertight cable (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201110445814.2A CN103185484B (en) | 2011-12-28 | 2011-12-28 | Automatic line throwing appliance for recycling underwater robots |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110445814.2A CN103185484B (en) | 2011-12-28 | 2011-12-28 | Automatic line throwing appliance for recycling underwater robots |
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| CN103185484A true CN103185484A (en) | 2013-07-03 |
| CN103185484B CN103185484B (en) | 2015-01-07 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104816801A (en) * | 2015-04-09 | 2015-08-05 | 哈尔滨工程大学 | AUV emergency alarm buoy |
| CN104670435B (en) * | 2013-11-30 | 2017-02-15 | 中国科学院沈阳自动化研究所 | Rope throwing appliance mechanism for recovering autonomous underwater vehicle |
| CN110435854A (en) * | 2019-07-12 | 2019-11-12 | 西北工业大学 | Pop-up Underwater Navigation recyclable device for small scale submarine navigation device model |
| CN110683022A (en) * | 2019-10-28 | 2020-01-14 | 中船华南船舶机械有限公司 | Single-rope recovery device and recovery method for armored cable deep submergence vehicle |
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| CN202403615U (en) * | 2011-12-28 | 2012-08-29 | 中国科学院沈阳自动化研究所 | Automatic line-throwing appliance for recycling underwater robots |
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| US4540390A (en) * | 1983-07-25 | 1985-09-10 | Acebee Manufacturing Co. | Method and apparatus for forming notches for gussets for expandable envelopes |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104670435B (en) * | 2013-11-30 | 2017-02-15 | 中国科学院沈阳自动化研究所 | Rope throwing appliance mechanism for recovering autonomous underwater vehicle |
| CN104816801A (en) * | 2015-04-09 | 2015-08-05 | 哈尔滨工程大学 | AUV emergency alarm buoy |
| CN110435854A (en) * | 2019-07-12 | 2019-11-12 | 西北工业大学 | Pop-up Underwater Navigation recyclable device for small scale submarine navigation device model |
| CN110683022A (en) * | 2019-10-28 | 2020-01-14 | 中船华南船舶机械有限公司 | Single-rope recovery device and recovery method for armored cable deep submergence vehicle |
| CN110683022B (en) * | 2019-10-28 | 2023-07-21 | 中船华南船舶机械有限公司 | Armored cable deep submersible vehicle single rope recycling device and recycling method |
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| CN103185484B (en) | 2015-01-07 |
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