CN105620676B - A kind of unmanned water surface ROV draw off gear - Google Patents
A kind of unmanned water surface ROV draw off gear Download PDFInfo
- Publication number
- CN105620676B CN105620676B CN201610077273.5A CN201610077273A CN105620676B CN 105620676 B CN105620676 B CN 105620676B CN 201610077273 A CN201610077273 A CN 201610077273A CN 105620676 B CN105620676 B CN 105620676B
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- CN
- China
- Prior art keywords
- module
- rope
- loop wheel
- water surface
- wheel machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Jib Cranes (AREA)
Abstract
The present invention relates to machine automatization folding and unfolding equipment technology field, more particularly to a kind of unmanned water surface ROV draw off gear.It includes shooting rope module, loop wheel machine module and support bracket, also include the control module being connected by wire with the shooting rope module and loop wheel machine module, the shooting rope module is arranged on the side of the support bracket, the loop wheel machine module is arranged on the top of the support bracket, the upper end of the loop wheel machine module is provided with sash weight receiver, lower end is provided with taper sash weight locking device, and the shooting rope module is connected by conductor rope with the taper sash weight locking device.The present invention utilizes compressed air, is operated or is needed by the way of the cage matched with unmanned water surface ROV is lifted by the actual hook of artificial progress the need on the lash ship of cable shooting rope to unmanned water surface ROV, changing tradition.
Description
Technical field
Filled the present invention relates to machine automatization folding and unfolding equipment technology field, more particularly to a kind of unmanned water surface ROV folding and unfolding
Put.
Background technology
Although unmanned water surface ROV can independently return to lash ship at this stage, reclaimer is sufficiently complex.Traditional recovery
Mode has two kinds:Cage is reclaimed and guide tracked recovery.Cage recovery is the size of the unmanned water surface ROV reclaimed as needed
A specific cage is done, during recovery, decentralization cage is to the water surface, and unmanned water surface ROV is opened to cage, and hydraulic wireline winch will be hung
Cage is sling；Guide tracked recovery is using the hooking device carried on unmanned boat, to carrying out hook behaviour on unmanned boat under operating personnel
Make.Cage reclaims shortcoming:Need to do specific cage for specific unmanned boat, cost is high, when unmanned boat enters cage, and behaviour's ship is difficult
Degree is high, is easily damaged the underwater sound equipment of boat bottom.Guide tracked recovery shortcoming：Installing guide rail needs to carry out larger change to lash ship
Make, increase difficulty, receiving ship time needs personnel to be linked up with to unmanned boat, and difficulty is big, operation on the sea is dangerous big.
Lack on the market one kind can either Quick distributor reclaim and need not be artificial to carrying out on unmanned water surface ROV
Hook operation, to unmanned water surface aircraft construction do not cause damage draw off gear.
The content of the invention
The technical problem to be solved in the present invention is how to overcome the deficiencies in the prior art there is provided a kind of unmanned water surface ROV
Draw off gear.
The technical scheme that uses to achieve the above object of the present invention is：A kind of unmanned water surface ROV draw off gear, including
Shooting rope module, loop wheel machine module and support bracket, in addition to the control being connected by wire with the shooting rope module and loop wheel machine module
Module, the shooting rope module is arranged on the side of the support bracket, and the loop wheel machine module is arranged on the upper of the support bracket
Portion, the upper end of the loop wheel machine module is provided with sash weight receiver, and lower end is provided with taper sash weight locking device, and the shooting rope module passes through
Conductor rope is connected with the taper sash weight locking device.
Further, the loop wheel machine module also includes the rope bucket to deposit conductor rope, positioned at the side of the support bracket.
Further, the control module is used for controlling the work of shooting rope module and loop wheel machine module, positioned at the weighing bracket
Opposite side.
Further, the shooting rope module, which is provided with the projectile gun barrel of two phases side by side, the projectile gun barrel, is provided with pull rope,
The lower end for casting gun barrel is provided with mechanical OR gate, and the pull rope is connected by mechanical OR gate with the conductor rope.
Further, the lower end of the loop wheel machine module, is additionally provided with sash weight position biography on the taper sash weight locking device
Sensor.
Further, the sash weight receiver is cone.
Further, the support bracket is formed using I-steel or square tubes soldering.
The advantage of the invention is that using compressed air, by the lash ship of pull rope shooting rope to unmanned water surface ROV, changing
Someone is carried out actual hook operation or needs to be entered using the cage matched with unmanned water surface ROV the need for having become tradition
Row lifting mode, and the present invention be provided with sash weight reception device, sash weight transfer when can launch along shooting rope module with
The conductor rope that lash ship is connected is moved, and the accuracy that sash weight is connected with sash weight receiver has been significantly greatly increased.
Brief description of the drawings
Fig. 1 overall structure diagrams of the present invention.
Embodiment
A kind of unmanned water surface ROV draw off gear, including shooting rope module 1, loop wheel machine module 2 and support bracket 3, in addition to
The control module being connected by wire with the shooting rope module 1 and loop wheel machine module 2, the shooting rope module 1 is arranged on the load-bearing
The side of support 3, the loop wheel machine module 2 is arranged on the top of the support bracket 3, and the upper end of the loop wheel machine module 2, which is provided with, hangs
Hammer receiver 21 into shape, lower end is provided with taper sash weight locking device 22, and the shooting rope module 1 is locked by cable and the taper sash weight
Device 22 is connected,
The loop wheel machine module 2 also includes the rope bucket 23 to deposit conductor rope, described positioned at the side of the support bracket 3
The lower end of loop wheel machine module 2 is additionally provided with sash weight position sensor 24, for sensing whether taper sash weight 4 matches with sash weight receiver 21
In place.
The shooting rope module 1 is provided with the projectile gun barrel 11 of two phases side by side, the projectile gun barrel 11 and is provided with pull rope, institute
The lower end for casting gun barrel 11 is stated provided with mechanical OR gate 12, the pull rope is connected by mechanical OR gate 12 with the conductor rope,
Shooting rope module 1 is dished out after pull rope, and pull rope is driven by mechanical OR gate 12 and obtains conductor rope, wherein, the principle of mechanical OR gate 12
It is to use two panels connecting card, conductor rope and pull rope combination is connected in a housing, the conductor rope being connected in loop wheel machine module 2
One end is connected on two panels connecting card, and cast two pull ropes in gun barrel 11 also respectively with two panels connecting card connect
Connect, can be driven when so the projectile gun barrel 11 in two phases side by side individually casts one any pull rope and be connected to conductor rope；Lead
Messenger reaches for lifting during the loop wheel machine on the lash ship of unmanned water surface ROV by the projectile of projectile gun barrel 11, tightens up traction
Rope, to obtain conductor rope, and the conductor rope of acquisition is passed through the taper sash weight 4 being arranged on loop wheel machine；Taper sash weight 4 connects lash ship loop wheel machine
And the sash weight receiver 21 is dropped down onto along under conductor rope, sash weight position sensor 24 detects and falls on what is specified under taper sash weight 4
Behind position (sash weight receiver 21), the auto lock of taper sash weight locking device 22, and send and locked signal --- nothing can be lifted by crane
People's navigation unit by water.Designed using the projectile gun barrel 11 of two phases side by side, in use, one of them is only used, another Lyle gun
Cylinder 11 is as standby.
The sash weight receiver 21 is cone, and the support bracket 3 is welded using I-steel.
Above-described embodiment is simply to illustrate that the technical concepts and features of the present invention, the purpose is to be to allow in the art
Those of ordinary skill can understand present disclosure and implement according to this, and it is not intended to limit the scope of the present invention.It is all
It is the equivalent change or modification according to made by the essence of present invention, should all covers within the scope of the present invention.
Claims (6)
1. a kind of unmanned water surface ROV draw off gear, it is characterised in that：Including shooting rope module, loop wheel machine module and support bracket,
Also include the control module being connected by wire with the shooting rope module and loop wheel machine module, the shooting rope module is arranged on described hold
The side of weight support, the loop wheel machine module is arranged on the top of the support bracket, and the upper end of the loop wheel machine module is provided with sash weight
Receiver, lower end is provided with taper sash weight locking device, and the shooting rope module passes through conductor rope and the taper sash weight locking device phase
Connection；
The shooting rope module, which is provided with the projectile gun barrel of two phases side by side, the projectile gun barrel, is provided with pull rope, the projectile big gun
The lower end of cylinder is provided with mechanical OR gate, and the pull rope is connected by mechanical OR gate with the conductor rope.
2. a kind of unmanned water surface ROV draw off gear according to claim 1, it is characterised in that：The loop wheel machine module is also
Including the rope bucket to deposit conductor rope, positioned at the side of the support bracket.
3. a kind of unmanned water surface ROV draw off gear according to claim 1, it is characterised in that：The control module is used
To control the work of shooting rope module and loop wheel machine module, positioned at the opposite side of the support bracket.
4. a kind of unmanned water surface ROV draw off gear according to claim 1, it is characterised in that：The loop wheel machine module
Lower end, sash weight position sensor is additionally provided with the taper sash weight locking device.
5. a kind of unmanned water surface ROV draw off gear according to claim 1, it is characterised in that：The sash weight receiver
For cone.
6. a kind of unmanned water surface ROV draw off gear according to claim 1, it is characterised in that：The support bracket is adopted
Formed with I-steel or square tubes soldering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610077273.5A CN105620676B (en) | 2016-02-03 | 2016-02-03 | A kind of unmanned water surface ROV draw off gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610077273.5A CN105620676B (en) | 2016-02-03 | 2016-02-03 | A kind of unmanned water surface ROV draw off gear |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105620676A CN105620676A (en) | 2016-06-01 |
| CN105620676B true CN105620676B (en) | 2017-10-10 |
Family
ID=56036108
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610077273.5A Active CN105620676B (en) | 2016-02-03 | 2016-02-03 | A kind of unmanned water surface ROV draw off gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105620676B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106314694A (en) * | 2016-09-28 | 2017-01-11 | 青岛远创机器人自动化有限公司 | Unmanned-water-surface-aircraft recovering and deploying device |
| CN106314691A (en) * | 2016-09-28 | 2017-01-11 | 青岛远创机器人自动化有限公司 | Unmanned-water-surface-aircraft deploying and recovering method |
| CN108995769B (en) * | 2018-07-30 | 2019-08-02 | 上海大学 | A kind of casting device for unmanned boat recovery stage |
| CN110816754B (en) * | 2018-08-14 | 2024-01-23 | 中国科学院沈阳自动化研究所 | Mechanical arm type cloth-laying recovery system of underwater robot and cloth-laying recovery method thereof |
| CN114655359B (en) * | 2020-12-23 | 2023-04-07 | 中国科学院沈阳自动化研究所 | Automatic retracting device of towing load for unmanned ship |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5876494U (en) * | 1981-11-20 | 1983-05-24 | 三菱重工業株式会社 | Diving hull rescue equipment |
| CN102358434B (en) * | 2011-09-15 | 2013-10-30 | 中国科学院自动化研究所 | Recycling system for aquatic unmanned aerial vehicle |
| CN103183112B (en) * | 2011-12-28 | 2015-06-10 | 中国科学院沈阳自动化研究所 | Abutting and lifting device for recovering underwater robot |
| CN104670434B (en) * | 2013-11-30 | 2017-01-25 | 中国科学院沈阳自动化研究所 | Lifting lock mechanism used for recovery of autonomous underwater vehicle |
| CN203581349U (en) * | 2013-11-30 | 2014-05-07 | 中国科学院沈阳自动化研究所 | Recovery system of autonomous underwater vehicle |
| 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 |
| CN203996800U (en) * | 2014-06-13 | 2014-12-10 | 天津汉海环保设备有限公司 | A kind of water surface unmanned vehicles falls puts recovery system |
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2016
- 2016-02-03 CN CN201610077273.5A patent/CN105620676B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105620676A (en) | 2016-06-01 |
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