CN103185484B - Automatic line throwing appliance for recycling underwater robots - Google Patents
Automatic line throwing appliance for recycling underwater robots Download PDFInfo
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- CN103185484B CN103185484B CN201110445814.2A CN201110445814A CN103185484B CN 103185484 B CN103185484 B CN 103185484B CN 201110445814 A CN201110445814 A CN 201110445814A CN 103185484 B CN103185484 B CN 103185484B
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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 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, for the rescue of the land or water surface, comprises transmitter seat, robs handle, the parts such as buttstrap, rifle body adapter piece, impulse flask, and adopts the working method of gas cylinder; Also have impelling rocket type, but its head is heavier, after launching, rocket can directly be submerged in water.The above existing line-throwing appliance does not meet the miniaturization of underwater robot group parts, light-weighted instructions for use from version, volume weight aspect, and the working method of gas cylinder is also not suitable for underwater robot.Not yet find at present to be applicable to underwater robot under water, the automatic line-throwing appliance of the water surface.
Summary of the invention
Not being suitable for the problem of underwater robot service condition in order to solve existing line-throwing appliance, the object of the present invention is to provide a kind of underwater robot to reclaim and using automatic line-throwing appliance.This automatic line-throwing appliance can automatic spring high strength cable when robot reclaims under water, can be used under water or the water surface.
The object 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, on the housing of wherein floor installation robot under water, described firer's propeller is installed on the base, the lower end in storage rope chamber is connected with firer's propeller, upper end is provided with end cap, one end of described high-strength cable is connected on the housing of underwater, and the other end through 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 propeller.
Wherein: the push rod that described storage rope chamber is arranged by its lower end is connected with the angle of rake firer's propeller cone of firer; Described push rod is arranged on the centre of storage rope bottom surface, chamber, the lower end of push rod by store up the bottom surface in rope chamber to downward-extension, be plugged on the angle of rake firer's propeller cone of described firer; The bottom surface, storage rope chamber of described push rod side has the preformed hole passed for described high-strength cable; 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 hold-down 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 in the bottom surface of the cylinder of described hollow the second through hole passed for the cable in underwater robot, the cable in described underwater robot is connected with the angle of rake input of firer; Described end cap adopts buoyant material, and storage rope chamber adopts the polytetrafluoroethylmaterial material that coefficient of friction is little; The diameter of described high-strength cable is 8mm, and Fracture Force is not less than 6t; On the back pressure hull of described automatic line-throwing appliance by floor installation robot under water, between described base with back pressure hull and described firer's propeller be connected respectively by O type rubber seal rings for seal with between base; The angle of rake input of described firer is connected with the housing inner cable of underwater robot; Outside the bow pressure hull of described automatic line-throwing appliance by floor installation robot under water, the angle of rake input of described firer is connected with underwater robot by watertight cable.
Advantage of the present invention and good effect are:
1. simple and reliable for structure.Because underwater robot completely independently navigates by water, just higher to the reliability requirement of line-throwing appliance; The present invention is whole frame for movement, simple and practical, high-strength cable stiff end is placed on underwater human body, extraction end is placed in and launches intrinsic benefit is to make cable extract out smoothly, reduce to tie a knot, cannot to eject etc. the probability of situation, even and if this thing happens, after staff is salvaged recovery, also can be smoothed out with the fingers suitable, be continued operation;
2. volume is little, lightweight, and space availability ratio is high.The present invention adopts rope winder to be wound around high-strength cable, makes storage rope cavity space utilization rate reach maximization, is convenient to high-strength cable simultaneously and is wound around and is retracted in storage rope chamber.
3. storage rope chamber of the present invention adopts the polytetrafluoroethylmaterial material that coefficient of friction is little, and when storage rope chamber is ejected, cable can not hinder cable to eject with the frictional force of storing up chamber of restricting, and ensure that the functional reliability of line-throwing appliance as much as possible.
4. the feature that the present invention is substantially equal with buoyancy according to underwater robot gravity, end cap adopt buoyant material, make whole line-throwing appliance be positive buoyancy, when be ejected fall after can be across the sea floating, 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 watertight cable and firer's propeller to connect during use, convenient and swift.
6. can under water, water surface work.The design that base of the present invention and housing seal or firer's propeller connect watertight cable make line-throwing appliance can under water, the water surface normally works, and can not affect working effect
Accompanying drawing explanation
Fig. 1 is the structural representation that the present invention is arranged on underwater robot back pressure hull;
Fig. 2 is the structural representation that the present invention is arranged on underwater robot bow pressure hull;
Fig. 3 A is one of the high-strength cable of the present invention schematic diagram of being wrapped on rope winder;
Fig. 3 B is the schematic diagram two that the high-strength cable of the present invention is wrapped on rope winder;
Fig. 3 C is the schematic diagram three that the high-strength cable of the present invention is wrapped on rope winder;
Wherein: 1 is end cap, 2 is 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 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 back pressure hull, and 13 is housing inner cable, 14 is preformed hole, and 15 is bow pressure hull.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
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 for being connected with the housing of underwater robot, the top of base 6 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 9; Described firer's propeller 5 is arranged on this base 6, one end of firer's propeller 5 is arranged on the bottom surface of described groove, the other end inserts in the cylinder of described hollow, have in the bottom surface of the cylinder of described hollow the second through hole passed for the cable in underwater robot, the cable in described underwater robot is connected with the input of firer's propeller 5.
The lower end in storage rope chamber 2 is connected with firer's propeller 5, and upper end is provided with end cap 1; Storage rope chamber 2 be the hollow circuit cylinder of upper end open, in the middle of the bottom surface in storage rope chamber 2, be provided with push rod 3, the lower end of this push rod 3 by store up the bottom surface in chamber 2 of restricting to downward-extension, be plugged on firer's propeller cone 4 of described firer's propeller 5; The bottom surface, storage rope chamber 2 of described push rod 3 side has the preformed hole 14 passed for described high-strength cable 9.End cap 1 of the present invention adopts buoyant material, can swim in after automatic line-throwing appliance is dished out on the water surface 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 2 polytetrafluoroethylmaterial material that adopts coefficient of friction little, high-strength cable 9 and store up the frictional resistance of restricting between the inwall of chamber 2 when can reduce shooting rope; 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 underwater, and the other end through the preformed hole 14 on the first through hole on described base 6, storage rope chamber 2, is connected with described end cap 1 successively; The described thrust release of storing up rope chamber 2 and interior accommodating high-strength cable 9 and end cap 1 thereof and being produced by firer's propeller 5.The part that high-strength cable 9 is arranged in storage rope chamber 2 is wound around by rope winder 11, and rope-winding method is: high-strength cable 9 is spirally wound on rope winder 11 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 9 is fixed on end cap 1 by cable hold-down screw 7, exits rope winder 11, end cap 1 is fixed in the top in storage rope chamber 2 with screw.
The present invention is arranged on the back pressure hull 12 of underwater robot by base 6 or is arranged on outside the bow pressure hull 15 of underwater robot.As shown in Figure 1, the present invention is arranged on the back pressure hull 12 of underwater robot by base 6, is tightly connected between described base 6 and back pressure hull 12 and between described firer's propeller 5 and base 6 respectively by O type rubber seal 8; Firer's propeller 5 and firer's propeller cone 4 assemble rear with o rubber seal 8 and are fixed on 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, the other end from base 6 draw and pass storage rope chamber 2 after, rope winder 11 is used to be wound by high-strength cable 9, after fastening with cable hold-down screw 7, exit rope winder 11, and high-strength cable 9 is put into storage rope chamber 2, make end cap 1 and store up chamber 2 of restricting reliably to be connected.The input of firer's propeller 5 is connected with the housing inner cable 13 of underwater robot.
As shown in Figure 2, the present invention is arranged on outside the bow pressure hull 15 of underwater robot by base 6, without the need to O type rubber seal 8, all the other mounting means be arranged on the pressure hull of underwater robot back identical; The input of firer's propeller 5 is connected with underwater robot by watertight cable 10.
Operation principle of the present invention is:
As shown in Figure 1, when the present invention is arranged on the back pressure hull 12 of underwater robot, for guiding docking boom hoisting to dock, after first firer's propeller 5 and firer's propeller cone 4 being assembled, be fixed on base 6.The input of firer's propeller 5 and housing inner cable 13 are connected, again base 6 is fixed on the back pressure hull 12 of underwater robot, O type rubber seal 8 will be added between firer's propeller 5 and base 6 and between base 6 and back pressure hull 12 and make encapsulation process.Following with push rod 3 connect firer's propeller cone 4 by storage rope chamber 2 be arranged on base 6, after on the back pressure hull 12 high-strength cable 9 and one end being fastened on underwater robot, the other end passes from base 6 and passes storage rope chamber 2, by the such as method shown in Fig. 3 A ~ Fig. 3 C, high-strength cable 9 is wrapped on rope winder 11, the end of high-strength cable 9 and cable hold-down screw 7 fastening after, high-strength cable 9 is exited rope winder 11 and put into storage rope chamber 2, cover end cap 1 and be screwed.When staff's remote control send signal automatic line-throwing appliance is worked time, because firer's propeller cone 4 and storage rope chamber 2 are pushed to rapidly in the air by the thrust of the instantaneous generation of firer's propeller 5, because one end is fastened on 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 designed, can ensure that high-strength cable 9 is all extracted out from inner by order.Afterwards because storage rope chamber 2 and end cap 1 are positive buoyancy, it is across the sea floating, waits for that staff reclaims.
As shown in Figure 2, when the present invention be arranged on the bow pressure hull 15 of underwater robot outer, for reclaiming traction time, without the need to mounting O-shaped rubber seal 8, be connected with watertight cable 10 by the input of firer's propeller 5, all the other structures are identical with described in the back pressure hull being arranged on underwater robot.
As shown in Fig. 3 A ~ Fig. 3 C, the winding method of high-strength cable 9 on rope winder 11 is: first high-strength cable 9 is spirally wound on rope winder 11 last layer from the bottom to top, as shown in Figure 3A; Then be oppositely wound around from top to bottom, as shown in Figure 3 B; So repeatedly, final all uniform winding, as shown in Figure 3 C.To pretightning force be applied when noticing that high-strength cable is wound around, cable is wound around closely strong.
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 arranged on the housing of underwater robot, described firer's propeller (5) is arranged on this base (6), the lower end of storage rope chamber (2) is connected with firer's propeller (5), 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 is successively through described base (6), storage rope chamber (2), be connected with described end cap (1), the described thrust release of storing up rope chamber (2) and interior accommodating high-strength cable (9) and end cap (1) thereof and being produced by firer's propeller (5).
2. reclaim by underwater robot according to claim 1 and use automatic line-throwing appliance, it is characterized in that: the push rod (3) that described storage rope chamber (2) is arranged by its lower end is connected with firer's propeller cone (4) of firer's propeller (5).
3. reclaim by underwater robot according to claim 2 and use automatic line-throwing appliance, it is characterized in that: described push rod (3) is arranged on the centre of storage rope chamber (2) bottom surface, the lower end of push rod (3) by store up the bottom surface of rope chamber (2) to downward-extension, be plugged on firer's propeller cone (4) of described firer's propeller (5); Storage rope chamber (2) bottom surface of described push rod (3) side has the preformed hole (14) passed for described high-strength cable (9).
4. reclaim by underwater robot according to claim 1 and use automatic line-throwing appliance, it is characterized in that: the part that described high-strength cable (9) is arranged in storage rope chamber (2) is wound around by rope winder (11), the other end being wound around the high-strength cable (9) of rope winder (11) described in backed off after random is fixed on end cap (1) by cable hold-down screw (7).
5. reclaim by underwater robot according to 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 from top to bottom be wound around again, successively uniform winding repeatedly.
6. reclaim by underwater robot according to claim 1 and use automatic line-throwing appliance, it is characterized in that: the top of described base (6) 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 (9); One end of described firer's propeller (5) is arranged on the bottom surface of described groove, the other end inserts in the cylinder of described hollow, have in the bottom surface of the cylinder of described hollow the second through hole passed for the cable in underwater robot, the cable in described underwater robot is connected with the input of firer's propeller (5).
7. reclaim by underwater robot according to claim 1 and use automatic line-throwing appliance, it is characterized in that: described end cap (1) adopts buoyant material, storage rope chamber (2) adopts the polytetrafluoroethylmaterial material that coefficient of friction is little.
8. reclaim by underwater robot according to 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 underwater robot according to claim 1 and use automatic line-throwing appliance, it is characterized in that: described automatic line-throwing appliance is arranged on the back pressure hull (12) of underwater robot by base (6), is tightly connected between described base (6) and back pressure hull (12) and between described firer's propeller (5) and base (6) respectively by O type rubber seal (8); The input of described firer's propeller (5) is connected with the housing inner cable (13) of underwater robot.
10. reclaim by underwater robot according to claim 1 and use automatic line-throwing appliance, it is characterized in that: described automatic line-throwing appliance is arranged on the bow pressure hull (15) of underwater robot outward by base (6), the input of described firer's propeller (5) is connected with underwater robot by watertight cable (10).
Priority Applications (1)
| 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 |
Applications Claiming Priority (1)
| 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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| Publication Number | Publication Date |
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| CN103185484A CN103185484A (en) | 2013-07-03 |
| CN103185484B true CN103185484B (en) | 2015-01-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201110445814.2A Active CN103185484B (en) | 2011-12-28 | 2011-12-28 | Automatic line throwing appliance for recycling underwater robots |
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Families Citing this family (4)
| 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 |
| CN110435854B (en) * | 2019-07-12 | 2021-01-05 | 西北工业大学 | Pop-up underwater positioning recovery device for small-scale underwater vehicle model |
| 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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|---|---|---|---|---|
| US4540390A (en) * | 1983-07-25 | 1985-09-10 | Acebee Manufacturing Co. | Method and apparatus for forming notches for gussets for expandable envelopes |
| US7252046B1 (en) * | 2003-12-08 | 2007-08-07 | The United States Of America As Represented By The Secretary Of The Navy | Apparatus for deploying and recovering a towed acoustic line array from an unmanned undersea vehicle |
| CN201686007U (en) * | 2010-05-27 | 2010-12-29 | 宜昌七环通讯工程有限责任公司 | Explosion type underwater release device |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3244485B1 (en) * | 2009-06-12 | 2019-09-04 | Rolls-Royce Marine North America, Inc. | Towed antenna system and method |
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2011
- 2011-12-28 CN CN201110445814.2A patent/CN103185484B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4540390A (en) * | 1983-07-25 | 1985-09-10 | Acebee Manufacturing Co. | Method and apparatus for forming notches for gussets for expandable envelopes |
| US7252046B1 (en) * | 2003-12-08 | 2007-08-07 | The United States Of America As Represented By The Secretary Of The Navy | Apparatus for deploying and recovering a towed acoustic line array from an unmanned undersea vehicle |
| CN201686007U (en) * | 2010-05-27 | 2010-12-29 | 宜昌七环通讯工程有限责任公司 | Explosion type underwater release device |
| 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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| CN103185484A (en) | 2013-07-03 |
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