CN105775077A - Tethered remote-controlled underwater equipment transportation and installation robot - Google Patents
Tethered remote-controlled underwater equipment transportation and installation robot Download PDFInfo
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- CN105775077A CN105775077A CN201610130654.5A CN201610130654A CN105775077A CN 105775077 A CN105775077 A CN 105775077A CN 201610130654 A CN201610130654 A CN 201610130654A CN 105775077 A CN105775077 A CN 105775077A
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- underwater installation
- cabin
- module
- floating block
- main body
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- 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
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Jib Cranes (AREA)
Abstract
The invention relates to a tethered remote-controlled underwater equipment transportation and installation robot. The tethered remote-controlled underwater equipment transportation and installation robot comprises a main body, a centralized control module, position adjustment modules, a monitoring module, auxiliary adjustment modules and a lifting placing module. The main body is composed of a cuboid-shaped main cabin and four cuboid-shaped vertical posts. The four vertical posts are located at the four vertexes of the upper surface of the main cabin correspondingly. The main cabin is internally provided with a cuboid-shaped ballast tank. The left side surface and the right side surface of the main cabin are each connected with one set of position adjustment module. The two sets of position adjustment modules are symmetrically distributed with respect to the main body. One set of monitoring module, two sets of auxiliary adjustment modules and one set of centralized control module are connected to the bottom of the main cabin in the length direction of the bottom of the main cabin. The two sets of auxiliary adjustment modules are symmetrically distributed with respect to the main body. The centralized control module transmits light signals, electrical signals and power signals through an umbilical cable. The lifting placing module is located in the middle of the upper surface of the main cabin and is connected and fixed to the main body through a winch base. According to the tethered remote-controlled underwater equipment transportation and installation robot, underwater equipment installing is conducted by remotely controlling the robot, and thus the installing operation difficulty is greatly lowered.
Description
Technical field
The invention belongs to ocean engineering field, in particular it relates to one has the transport of cable distance type underwater installation and mounting robot.
Background technology
Underwater installation transport and mounting technique occupy fundamental position in ocean engineering.By the restriction of floating-crane lifting ability and hanger rope bearing capacity, present stage underwater installation deep water is installed and is still faced very big challenge.Along with exploring the marine site degree of depth, being continuously increased of underwater installation volume and weight, deep water install for mounting shipping, hang equipment Capability Requirement more and more higher, abroad there is operator to utilize the simple machines such as pulley, floating block, floating drum to assist to install, but still can not meet installation requirement.Additionally, being continuously increased of the depth of water also brings great challenge for the installation accuracy of present stage main flow installation method.In deep water is installed, buoyant device is utilized to assist the technical thought that underwater installation is installed increasingly mature.
CN103754340B discloses a kind of buoyancy adjustable underwater equipment auxiliary installation device and installation method, this patent assists the technical thought installed based on buoyant device, have the advantages that the transport that can be used for Different Weight underwater installation and deep water are installed, greatly reduce boats and ships loop wheel machine and hanger rope bearing capacity requirement, it is not necessary to employ large area deck boats and ships etc.；The subject matter existed be auxiliary installation device material of main part is buoyant material, relatively costly, and deepwater environment is sufficiently complex, and the process such as the accurate implantation of underwater installation and the importing of counterweight chain exists bigger problem.
Summary of the invention
For overcoming the defect of prior art, the present invention provides one to have the transport of cable distance type underwater installation and mounting robot, combination by existing key equipment and technology, it is achieved the high controllability that underwater installation is installed, to solve a underwater installation difficult problem in deep water is installed.
For achieving the above object, the present invention adopts following proposal:
There are the transport of cable distance type underwater installation and mounting robot, including: main body, centralized control module, position adjusting type modules, monitoring module, auxiliary adjustment module and hang module；Main body is made up of four cuboid-type columns on the main cabin of the cuboid-type of bottom and top, and four columns lay respectively at four drift angle places of main cabin upper surface, are provided with cuboid-type ballast tank inside main cabin；Left and right side, main cabin respectively connects one group of position adjustment block, and two groups of position adjustment block are symmetrical about main body；Main bilge portion is connected to one group of monitoring module, two groups of auxiliary adjustment modules and one group of centralized control module along its length, and wherein two groups of auxiliary adjustment modules are symmetrical about main body, and centralized control module transmits optical, electrical and power signal by umbilical cables；Hang module and be positioned at upper surface centre position, main cabin, be fixedly connected by winch base and main body.
Relative to prior art, there is advantages that
(1), carried out the installation of underwater installation by remote control robot, significantly reduce the operation easier of installation.
(2) position and the corner of underwater installation, are regulated by position adjustment block and auxiliary adjustment module, it is achieved the high controllability that underwater installation is accurately installed.
(3), transport and installation process underwater installation weight all by have cable distance type underwater installation transport and mounting robot undertake, low for boats and ships Capability Requirement.
(4), in ballast tank, inflow is controlled, it is achieved the transport of Different Weight underwater installation and installation.
(5), transport and installation process to weather condition require low, be susceptible to boisterous impact.
Accompanying drawing explanation
Fig. 1 has the transport of cable distance type underwater installation and mounting robot front elevational schematic.
Fig. 2 has the transport of cable distance type underwater installation and mounting robot schematic top plan view.
Fig. 3 has the transport of cable distance type underwater installation and mounting robot schematic side view.
Fig. 4 be Fig. 2 A-A to ladder cut open schematic diagram.
Fig. 5 be Fig. 2 B-B to partly cut open schematic diagram.
Fig. 6 be auxiliary adjustment module remove shackle process main body partly cut open schematic diagram.
nullIn figure: 1、Main body，2、Centralized control module，3、Centralized control room，4、Umbilical cables，5、Auxiliary adjustment module，6、Mechanical hand，7、Mechanical, hand-driven Force system，8、Monitoring module，9、Monitoring bar，10、CCTV camera，11、Position adjustment block，12、Propeller main frame，13、Propeller，14、Rotating shaft，15、Hang module，16、Hydraulic wireline winch，17、Winch base，18、Floating block fixes bar，19、Floating block fixes plate，20、Hanger，21、Air bleeding valve，22、Water-inflow and drain valve，23、Compressed air pump，24、Ballast tank，25、Cabin placed by compressor，26、Air compressor，27、Rubber washer，28、Underwater installation placed cavity，29、Hanger rope passage，30、Hanger rope，31、Hydraulic pressure shackle，32、Suspension ring，33、Screw，34、Underwater installation，35、Base，36、Floating block，37、Control switch，38、Start stop lever，39、Main cabin，40、Column.
Detailed description of the invention
As shown in Figures 1 to 6, there are the transport of cable distance type underwater installation and mounting robot, including: main body 1, centralized control module 2, auxiliary adjustment module 5, position adjustment block 11, hang module 15.
Main body 1 is made up of four cuboid-type columns 40 in the main cabin 39 of the cuboid-type of bottom and top, four columns 40 lay respectively at four drift angle places of main cabin 39 end face, main body 1 is symmetrical structure, and structure is about two vertically symmetrical symmetries in main cabin 39, and main body 1 adopts high strength steel to make.
Two ballast tanks 24 it are provided with in main cabin 39, ballast tank 24 closes cavity for cuboid-type, for providing the buoyancy offsetting underwater installation gravity, two ballast tanks 24 are symmetrical about main body 1, and each ballast tank 24 top is provided with three air bleeding valves 21, and bottom is provided with three water-inflow and drain valves 22, by opening and closing air bleeding valve 21 and water-inflow and drain valve 22, can controlling to enter the amount of ballast tank 24 sea water, thus reaching the effect of ballast, in each ballast tank 24, being provided with a compressed air pump 23；It is provided with two compressors in main cabin 39 and places cabin 25, compressor is placed cabin 25 and is closed cavity for cuboid-type, two compressor placement cabins 25 are adjacent with two ballast tanks 24 respectively, each compressor is placed in cabin 25 and is provided with an air compressor 26, air compressor 26 is built with compression air, air compressor 26 is connected with the compressed air pump 23 in ballast tank 24 by conduit, by the air importing ballast tank 24 in air compressor 26 and water-inflow and drain valve 22 is opened by compressed air pump 23, the amount entering ballast tank 24 sea water can be changed, thus reaching to increase robot buoyancy, make the effect that robot floats.
Each column 40 side is equipped with hanger 20, is connected with the towrope of cargo ship during for transporting；Being provided with the fixing bar 18 of six floating blocks and a fixing plate 19 of floating block between any pair column 40 in front and back, the fixing bar 18 of floating block is threaded steel stem, is fixed on main body 1 bottom cuboid end face, is arranged in order along main cabin 39 length direction；Floating block 36 is cuboid, and floating block 36 adopts solid buoyancy material to be made, and voltage endurance capability is strong；Described solid buoyancy material adopts the buoyant materials such as chemical foam composite, microsphere foamed composite or lightweight synthetic composite material, is provided with through hole and runs through upper and lower surface in the middle of floating block 36, and the fixing bar 18 of floating block is coupled fixing through the through hole on floating block 36；The fixing plate 19 of floating block is made up of one piece of base plate and two blocks of side plates, any of which side plate has three through holes, column 40 side adjacent with side plate has four row's screws 33 from top to bottom, quantity according to the floating block 36 to fix selects the screw 33 of proper height, bolt through fixing plate 19 side plate through-hole of floating block and is imported in selected screw 33, the fixing plate 19 of floating block can be fixed with nut, having six through holes on fixing plate 19 base plate of floating block, the fixing bar 18 of floating block may pass through the through hole on fixing plate 19 base plate of floating block and is fixed with nut；It is provided with the fixing bar 18 of 20 floating blocks and four fixing plates 19 of floating block between any pair column 40 in left and right, is used for fixing floating block 36 equally.
Compressor is placed and is provided with a underwater installation placed cavity 28 between cabin 25, underwater installation placed cavity 28 is cylinder shape groove, underwater installation placed cavity 28 top is provided with four cylindrical hanger rope passages 29, underwater installation placed cavity 28 inwall is provided with rubber washer 27, it is prevented that underwater installation 34 produces direct collision with robot.
Hang module 15 and be positioned at upper surface centre position, main cabin 39, hang module 15 and include 16, winch base 17 of two hydraulic wireline winch, hydraulic wireline winch 16 is fixed in main body 1 by winch base 17, each hydraulic wireline winch 16 two cylindrical hanger rope passages 29 arranged below, hydraulic wireline winch 16 is provided with hanger rope 30, and hanger rope 30 one end is provided with hydraulic pressure shackle 31, and hydraulic wireline winch 16 releases hanger rope 30, hanger rope 30, through hanger rope passage 29, is fixedly connected with the suspension ring 32 on underwater installation 34 by hydraulic pressure shackle 31.
Left and right side, main cabin 39 is respectively provided with one group of position adjustment block 11, two groups of position adjustment block 11 are symmetrical about main body, often group position adjustment block 11 includes 12, four propellers 13 of a propeller main frame, propeller main frame 12 provides power for propeller 13, propeller 13 can rotate around rotating shaft 14, thus realizing the adjustment by a small margin to robot translation and rotation displacement.
Monitoring module 8 is connected with main cabin 39 lower surface, it is positioned at middle part below the ballast tank 24 of left side, monitoring module 8 includes monitoring bar 9, CCTV camera 10, monitoring bar 9 is scalable, one end is connected with main cabin 39 lower surface, the other end is connected with CCTV camera 10, and CCTV camera 10 can rotate around junction, for monitoring the relative position of implantation stage underwater installation 34 and base 35.
Auxiliary adjustment module 5 has two groups, it is connected with main cabin 39 lower surface, it is positioned at compressor and places below cabin 25, often group auxiliary adjustment module 5 includes 6, mechanical, hand-driven Force system 7 of a mechanical hand, mechanical hand 6 is movable power set, the dismounting of fine position and robot recovery stage hydraulic pressure shackle 31 for realizing underwater installation 34, mechanical, hand-driven Force system 7 provides power for mechanical hand 6 operation.
Centralized control module 2 is connected with main cabin 39 lower surface, adjacent with right side auxiliary adjustment module 5, centralized control module 2 includes centralized control room 3, umbilical cables 4, centralized control room 3 is provided with control switch 37 and start stop lever 38, the light of all modules of robot, electricity, power signal is all by controlling switch 37 control, start stop lever 38 is telescopic rod, switch 37 is controlled by its retractility controllable, the light of all modules of robot, electricity, power signal is sent by lash ship, the start stop lever 38 in centralized control room 3 it is transferred to by umbilical cables 4, signal processing is carried out after controlling switch 37 again through start stop lever 38 regulation and control, afterwards by light, electricity and power signal are transferred to modules.
Claims (10)
1. there are the transport of cable distance type underwater installation and a mounting robot, including: main body, centralized control module, position adjusting type modules, monitoring module, auxiliary adjustment module and hang module；It is characterized in that: main body is made up of four cuboid-type columns on the main cabin of the cuboid-type of bottom and top, four columns lay respectively at four drift angle places of main cabin upper surface, are provided with cuboid-type ballast tank inside main cabin；Left and right side, main cabin respectively connects one group of position adjustment block, and two groups of position adjustment block are symmetrical about main body；Main bilge portion is connected to one group of monitoring module, two groups of auxiliary adjustment modules and one group of centralized control module along its length, and wherein two groups of auxiliary adjustment modules are symmetrical about main body, and centralized control module transmits optical, electrical and power signal by umbilical cables；Hang module and be positioned at upper surface centre position, main cabin, be fixedly connected by winch base and main body.
2. according to claim 1 have the transport of cable distance type underwater installation and mounting robot, it is characterised in that: main body is symmetrical structure, and structure is about two vertically symmetrical symmetries in main cabin, and main body adopts high strength steel to make.
3. the cable distance type underwater installation that has according to claim 1-2 transports and mounting robot, it is characterized in that: in main cabin, be provided with two ballast tanks, ballast tank is that cuboid-type closes cavity, two ballast tanks are symmetrical about main body, each ballast tank top is provided with three air bleeding valves, bottom is provided with three water-inflow and drain valves, by opening and closing air bleeding valve and water-inflow and drain valve, is provided with a compressed air pump in each ballast tank；It is provided with two compressors in main cabin and places cabin, cabin placed by compressor is that cuboid-type closes cavity, two compressor placement cabins are adjacent with two ballast tanks respectively, each compressor is placed in cabin and is provided with an air compressor, air compressor is built with compression air, and air compressor is connected with the compressed air pump in ballast tank by conduit.
4. the cable distance type underwater installation that has according to claim 1-3 transports and mounting robot, it is characterized in that: each column side is equipped with hanger, the fixing bar of six floating blocks and a fixing plate of floating block it is provided with between any pair column in front and back, the fixing bar of floating block is threaded steel stem, it is fixed on lower body part cuboid end face, is arranged in order along main cabin length direction；Floating block is cuboid, floating block adopts solid buoyancy material to be made, described solid buoyancy material adopts chemical foam composite, microsphere foamed composite or lightweight synthetic composite material, being provided with through hole in the middle of floating block and run through upper and lower surface, the fixing bar of floating block is coupled fixing through the through hole on floating block；The fixing plate of floating block is made up of one piece of base plate and two blocks of side plates, any of which side plate has three through holes, the column side adjacent with side plate has four row's screws from top to bottom, quantity according to the floating block to fix selects the screw of proper height, bolt through the fixing plate side plate through-hole of floating block and is imported in selected screw, with the nut fixing plate of fixing floating block, the fixing plate base plate of floating block having six through holes, the fixing bar of floating block may pass through the through hole on the fixing plate base plate of floating block and is fixed with nut；It is provided with the fixing bar of 20 floating blocks and four fixing plates of floating block between any pair column in left and right, is used for fixing floating block equally.
5. the cable distance type underwater installation that has according to claim 1-4 transports and mounting robot, it is characterized in that: compressor is placed and is provided with a underwater installation placed cavity between cabin, underwater installation placed cavity is cylinder shape groove, underwater installation placed cavity top is provided with four cylindrical hanger rope passages, and underwater installation placed cavity inwall is provided with rubber washer.
6. the cable distance type underwater installation that has according to claim 1-5 transports and mounting robot, it is characterized in that: hang module and be positioned at upper surface centre position, main cabin, hang two hydraulic wireline winch of module, a winch base, hydraulic wireline winch is fixed in main body by winch base, each hydraulic wireline winch two cylindrical hanger rope passages arranged below, hydraulic wireline winch is provided with hanger rope, hanger rope one end is provided with hydraulic pressure shackle, hydraulic wireline winch releases hanger rope, hanger rope, through hanger rope passage, is fixedly connected with the suspension ring on underwater installation by hydraulic pressure shackle.
7. the cable distance type underwater installation that has according to claim 1-6 transports and mounting robot, it is characterized in that: left and right side, main cabin is respectively provided with one group of position adjustment block, two groups of position adjustment block are symmetrical about main body, often group position adjustment block includes a propeller main frame, four propellers, propeller main frame provides power for propeller, propeller can rotate around rotating shaft, thus realizing the adjustment by a small margin to robot translation and rotation displacement.
8. the cable distance type underwater installation that has according to claim 1-7 transports and mounting robot, it is characterized in that: monitoring module is connected with main cabin lower surface, it is positioned at middle part below the ballast tank of left side, monitoring module includes monitoring bar, CCTV camera, monitoring bar is scalable, and one end is connected with main cabin lower surface, and the other end is connected with CCTV camera, CCTV camera can rotate around junction, for monitoring the relative position of implantation stage underwater installation and base.
9. the cable distance type underwater installation that has according to claim 1-8 transports and mounting robot, it is characterized in that: auxiliary adjustment module has two groups, it is connected with main cabin lower surface, it is positioned at compressor and places below cabin, often group auxiliary adjustment module includes a mechanical hand, a mechanical, hand-driven Force system, mechanical hand is movable power set, and for realizing the fine position of underwater installation and the dismounting of robot recovery stage hydraulic pressure shackle, mechanical, hand-driven Force system provides power for mechanical hand operation.
10. the cable distance type underwater installation that has according to claim 1-9 transports and mounting robot, it is characterized in that: centralized control module is connected with main cabin lower surface, adjacent with right side auxiliary adjustment module, centralized control module includes centralized control room, umbilical cables, centralized control room is provided with control switch and start stop lever, the light of all modules of robot, electricity, power signal is all by controlling on-off control, start stop lever is telescopic rod, switch is controlled by its retractility controllable, the light of all modules of robot, electricity, power signal is sent by lash ship, the start stop lever in centralized control room it is transferred to by umbilical cables, signal processing is carried out after controlling switch again through start stop lever regulation and control, afterwards by light, electricity and power signal are transferred to modules.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610130654.5A CN105775077B (en) | 2016-03-08 | 2016-03-08 | There is cable distance type underwater installation to transport and mounting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610130654.5A CN105775077B (en) | 2016-03-08 | 2016-03-08 | There is cable distance type underwater installation to transport and mounting robot |
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| Publication Number | Publication Date |
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| CN105775077A true CN105775077A (en) | 2016-07-20 |
| CN105775077B CN105775077B (en) | 2017-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610130654.5A Expired - Fee Related CN105775077B (en) | 2016-03-08 | 2016-03-08 | There is cable distance type underwater installation to transport and mounting robot |
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| Country | Link |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106628066A (en) * | 2016-12-28 | 2017-05-10 | 浙江省水利水电勘测设计院 | Underwater real-time detection and inspection device for pumps and gates |
| CN106741761A (en) * | 2016-11-25 | 2017-05-31 | 浙江大学 | One kind has cameras people under cable remote-controlled water |
| CN107719591A (en) * | 2017-10-09 | 2018-02-23 | 中国石油大学(华东) | Underwater installation transports and installed operation ship in place |
| CN110282101A (en) * | 2019-07-29 | 2019-09-27 | 候双芹 | A kind of underwater transport device |
| CN110733940A (en) * | 2019-10-29 | 2020-01-31 | 湖北海洋工程装备研究院有限公司 | underwater robot winding and unwinding devices |
| CN111532401A (en) * | 2020-04-27 | 2020-08-14 | 苏州方海琴科智能装备科技有限公司 | Underwater carrying device |
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| CN103482046A (en) * | 2013-09-11 | 2014-01-01 | 哈尔滨工程大学 | Power-positioning underwater docking simulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741761A (en) * | 2016-11-25 | 2017-05-31 | 浙江大学 | One kind has cameras people under cable remote-controlled water |
| CN106628066A (en) * | 2016-12-28 | 2017-05-10 | 浙江省水利水电勘测设计院 | Underwater real-time detection and inspection device for pumps and gates |
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| CN110733940A (en) * | 2019-10-29 | 2020-01-31 | 湖北海洋工程装备研究院有限公司 | underwater robot winding and unwinding devices |
| CN111532401A (en) * | 2020-04-27 | 2020-08-14 | 苏州方海琴科智能装备科技有限公司 | Underwater carrying device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105775077B (en) | 2017-07-28 |
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Granted publication date: 20170728 Termination date: 20210308 |