CN106275286A - Underwater glider two dimension is comprehensive to be laid retracting device and lays recovery method - Google Patents
Underwater glider two dimension is comprehensive to be laid retracting device and lays recovery method Download PDFInfo
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- CN106275286A CN106275286A CN201610768720.1A CN201610768720A CN106275286A CN 106275286 A CN106275286 A CN 106275286A CN 201610768720 A CN201610768720 A CN 201610768720A CN 106275286 A CN106275286 A CN 106275286A
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- underwater glider
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- rope
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
- B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The present invention relates to underwater glider or other under water, the recovery technology field that lays of navigation unit by water etc., being that underwater glider two dimension is comprehensive lays retracting device and lays recovery method.Corresponding purely mechanic structure include main body rack, hold tightly claw to, synchronize transverse axis, synchro-draw axle, connecting rod, spring tensioning mechanism, movable pulley drawing mechanism, claw auxiliary, let out power change.By holding claw tightly, cooperation synchronization transverse axis, synchro-draw axle, connecting rod, spring tensioning mechanism and movable pulley drawing mechanism etc. are realized underwater glider is held tightly and opened function, thus realize the simple and quick of underwater glider is laid and reclaimed.The present invention utilizes mechanical mechanism to achieve laying and reclaiming function of underwater glider, simple and ingenious structure, easy to maintenance, simple to operate, make underwater glider lay and recovery becomes extremely simple, reduce and laying the danger with removal process, solve and lay and the high cost in removal process and high risk problem.
Description
Technical field
The present invention relates to underwater glider or other profile class prismoid, tubular or bar-shaped under water, navigation unit by water
Deng the recovery technology field that lays, further relate to correspond to this set machinery lays recovery method.
Background technology
Along with marine resources development dynamics and the continuous expansion in region, currently, existing a lot of different types of underwaters
People is applied to multiple industries necks such as military marine technology, marine science and technology investigation, sea floor exploration, pipeline maintenance, oil field prospecting
Territory, such as underwater glider, AUV, ROV and unmanned boat etc..Wherein, underwater glider is a kind of novel underwater robot, by
Utilizing net buoyancy and attitude angle to adjust in it and obtain propulsive force, energy resource consumption is minimum, only disappears when adjusting net buoyancy and attitude angle
Consume a small amount of energy, and there is efficiency height, the feature of endurance big (up to thousands of kilometers).Although the navigation speed of underwater glider
Degree is relatively slow, but its manufacturing cost and maintenance cost is low, reusable and can the feature such as input in a large number, meet long-time, big
The needs that scope ocean is explored.
Owing to being rippled affected by marine stormy waves and lash ship self, underwater glider reclaims always global difficulty
Topic, operation process is relatively difficult.When laying, typically lifting appliance is coordinated to put in water by underwater glider by head-rope,
Then, after head-rope release being relaxed, staff uses the longer instruments such as bamboo pole by the head-rope on underwater glider fuselage
Peel off body, then head-rope is reclaimed.Therefore underwater glider to lay process relatively simple.But, contrary slides under water
The removal process of Xiang machine is the easiest, after underwater glider determines self-position, close by location information by lash ship
Underwater glider, then uses specific way of recycling to reclaim, and generally speaking, the mode reclaimed at present mainly has: 1. exist
Reclaim with lash ship lifting on the water surface, be typically necessary staff and take motorboat and complete near underwater robot and recovering mechanism
Docking；This operating type is relatively big by Lidar Equation, device damage and the situation of personnel's injury easily occurs when sea situation difference.②
Directly utilize sailoring personnel etc. on ship, use longer loop bar and conductor rope, until underwater glider is when ship, manually
Carry out noose operation, then use boom hoisting that underwater glider is lifted to deck.Same, this method wastes time and energy,
Affected relatively big by stormy waves, when sea situation is severe, the operation of noose becomes extremely difficult.
It addition, not only underwater glider, other similar underwater glider profile, such as class prismoid, tubular or rod
Shape under water, navigation unit by water lay and reclaim the problem equally existing above sternness.In order to reduce the cloth of underwater robot
Putting cost recovery, China currently needs a kind of economy badly and lays reliably and realize the laying of underwater robot with recovering mechanism, dock
And recovery operation.In view of this, the present inventor in the R&D process to underwater glider and other several robots, for
Of the prior art lay in removal process corresponding drawbacks described above and technical bottleneck further investigation, invent a kind of ship base lifting machine
Retracting device is laid, the most also to should the using method of covering device, it may be assumed that underwater gliding with underwater glider two dimension is comprehensive
The recovery of machine and lay method.
Summary of the invention
The technical problem to be solved in the present invention is how to overcome the deficiencies in the prior art, it is provided that a kind of underwater glider bidimensional
Spend and comprehensive lay retracting device and lay recovery method, thus realize the fast of underwater glider and other underwater robot etc.
Speed efficiently lays and reclaims.
The technical scheme that the present invention uses for achieving the above object is:
It is a kind of that underwater glider two dimension is comprehensive lays retracting device, including: main body rack, hold tightly claw to, synchronize
Transverse axis, synchro-draw axle, connecting rod, spring tensioning mechanism, movable pulley drawing mechanism, claw auxiliary, let out power change.
Described main body rack is open cage-shaped structure, has four supporting legs, is divided into two groups, often two supporting legs in group
Symmetrical setting.Every supporting leg bottom is provided with through hole one, convenient installation parts of bearings.Upper end centre bit at main body rack
The place of putting is provided with change through hole, facilitates installation to let out power change, and change through hole is inserted in the bottom letting out power change, uses nut to twist simultaneously
Tightly, anti-stopping leak power change departs from from main body rack, causes heavy sea or the damage of equipment.More importantly, described main body is propped up
At the upper end center of frame place, both sides are provided with conductor rope through hole, act as: facilitate conductor rope follow-up pulley drawing mechanism to pass, main via this
Body support frame, and be sent on ship eventually through the pulley structure on boom hoisting, workman personnel can be realized dynamic by conductor rope
The control of pulley drawing mechanism, thus reach follow-up purpose.It is additionally provided with bail on described main body rack, totally 4, respectively
It is welded on the outer wall center of four supporting legs residing for main body rack, bail can arrange pull rope, be convenient for people to by leading
Messenger realizes the traction to main body rack and break-in, it may be assumed that when the axis at underwater glider fuselage place holds claw pair tightly with arbitrary
The most not when same axis, staff can be realized the break-in holding claw pair tightly by pull rope so that adapts to underwater gliding
The direction of machine, convenient recovery.Certainly general the most in actual applications, above-mentioned in bail the most only use root pull rope to expire
Foot needs summation function.
Described claw of holding tightly, to for reaping hook clasping structure, is divided into 4 groups, and often group holds claw tightly to being symmetrical arranged, symmetrical
Hold claw tightly on same axle center for two groups.Often group is held claw tightly and is held claw tightly to for two reaping hooks, it may be assumed that claw held tightly by this reaping hook
For sickle shaped, and often two reaping hooks in group are held claw center deviation top (straight line portion) tightly and are provided with through hole two, convenient connect with
Step transverse axis；Often two reaping hooks in group are held claw upper end tightly and are also provided with through hole two, convenient connection synchro-draw axle.
Described hold tightly claw on be additionally provided with limited block, often group is two pieces, and for upper limit position block and lower position block, two is spacing
Block is oppositely arranged, totally four groups, and the position of setting is: hold claw centering tightly in often group, and upper limit position block is mounted on often group and holds tightly
The right side reaping hook at place is held tightly the lower end on the center deviation top (straight line portion) of claw by claw, contrary, and lower position block is installed
It is arranged on often group and holds the upper end that the left side reaping hook at place is held tightly the center deviation top (straight line portion) of claw by claw, and the upper limit tightly
Position block and lower position block are when close (during Guan Bi), and the bottom of upper limit position block and the upper end of lower position block are at same axis
On, effect is: by upper limit position block and the position-limiting action of lower position block, even if the stretching action of tensioning spring, often group holds card tightly
Two reaping hooks of pawl centering are held claw tightly and still will not be separated the biggest.
Described synchronization transverse axis consist of two transverse axis, two square crossings are placed, inside two end faces of every transverse axis
Being provided with bearing one, described bearing one is fixed in the through hole that claw held tightly by corresponding reaping hook so that claw held tightly by reaping hook
And synchronize can relatively rotate between bearing.Optical axis right angle fixed block is used to connect between two transverse axis in described synchronization transverse axis
And rigidly fix so that two synchronize transverse axis is relatively fixed.
Described synchro-draw axle is similar with synchronizing transverse axis, is made up of two tensile axis equally, and two square crossings are placed, often
Propping up and be provided with bearing two equally inside two end faces of tensile axis, described bearing two is fixed on the logical of corresponding claw auxiliary
Kong Zhong so that can relatively rotate between synchro-draw axle and claw auxiliary.
Same, two in described synchro-draw axle are drawn the fixed block connection of use optical axis right angle rigidity between Divine Land solid
Fixed so that two synchro-draw axles are relatively fixed；Further, fixed block upper end, described optical axis right angle also headspace and through hole, convenient
Mechanism in movable pulley drawing mechanism connects and fixing.
Described connecting rod is similar to Tong Bu transverse axis and synchro-draw axle, totally 4, often group two, totally 2 groups.Except for the difference that, described
The putting position often organized in connecting rod is different from synchronization transverse axis and synchro-draw axle, and the often group connecting rod in the connecting rod at this is parallel putting
Putting, the two ends of every connecting rod are provided with bearing three, and described bearing three is mounted and fixed in the bottom of described claw auxiliary
In through hole three, effect is: connecting rod can be realized relative to holding claw tightly to rotating by bearing two structure.It should be understood that
The interconnection function of described connecting rod also includes being connected holding claw pair tightly with claw auxiliary concentric, final realize holding tightly claw pair with
The rotary action of the relative connecting rod of claw auxiliary.
Described spring tensioning mechanism Main Function is to realize synchronizing the tension between transverse axis and synchro-draw axle, bag
Include: tensioning spring, upper hook, lower draw-bar.Upper hook and lower draw-bar act as realizing the fixation of tensioning spring, Qi Zhongshang
Hook upper end is fixed on the bottom of optical axis right angle fixed block, and lower draw-bar bottom is fixed on the upper end of optical axis right angle fixed block
Portion.The acting as of tensioning spring in mechanism: when synchronizing between transverse axis and synchro-draw axle in addition to action of gravity without other
What force object time (not stressing without the conductor rope on underwater glider, movable pulley drawing mechanism), it is achieved to relative synchronization transverse axis with
Tensioning function between synchro-draw axle, by synchronizing transverse axis, the effect of claw auxiliary, finally realizes each holding claw centering tightly
Two reaping hooks hold claw tightly and be separated from each other maximum spacing place, facilitate underwater glider to enter into and hold claw centering tightly.
Described movable pulley drawing mechanism includes: upper head sheave, lower end pulleys, pulley fixed support, rope hook.Described upper end is sliding
Wheel, lower end pulleys, pulley fixed support, the quantity of rope hook are respectively as follows: 1,1,2 and 1.Upper head sheave and lower end pulleys
Being fixed on respectively on pulley fixed support, bolt and nut is passed through in the support bracket fastened upper end of pulley at described upper head sheave place
Structure is fixed on the lower surface on main body rack top, is the most also connected to a fixed with the power change of letting out.Described lower end pulleys place
The support bracket fastened bottom of pulley be fastened on the upper end of optical axis right angle fixed block at synchro-draw axle place.Described rope
Hook is fixed on pulley fixed support equally, lower end pulleys and rope hook on pulley fixed support relative to position relationship be: rope
Be hooked in, lower end pulleys under.Acting as of described rope hook: facilitate the end of conductor rope conductor rope to be connected with movable pulley drawing mechanism 7
With fixing.
Described claw auxiliary is thin wall shape linkage, totally 8, and two panels one group is divided into 4 groups.The most often two panels in group
Auxiliary is the distribution of " people " font, and every claw auxiliary is divided into upper end, bottom and intermediate three part, wherein upper end and under
End is provided with through hole three, and often the upper end of the two panels auxiliary in group claw auxiliary is that concentric is placed, and is provided with in through hole three
Bearing, bearing inner wall connects and fixes synchro-draw axle；The bottom of the two panels auxiliary in every claw auxiliary is split type knot
Structure, is connected with connecting rod by the bearing two on the connecting rod of setting at through hole three.Effect describes in detail in connecting rod, at this not
Repeat again.
The described power of letting out change is common to let out force mechanisms, can be connected with the steel wire of the boom hoisting on ship or rope, logical
Cross conversion realization and let out power effect, prevent because the turning effort of equipment causes steel wire or rope to be wound around the rotational case caused even
Steel wire or cord break phenomenon.Change through hole is inserted in the bottom letting out power change, uses nut screwing clamping, anti-stopping leak power change simultaneously
Depart from from main body rack, cause heavy sea or the damage of equipment.
Lay retracting device corresponding to a kind of underwater glider two dimension in the present invention is comprehensive, further relate to corresponding cloth
Put and recovery method.In above-mentioned summary of the invention and following embodiment, machine components, the knot to each mechanism the most
Structure and connection matching relationship have made the most detailed elaboration, laying and recovery method of following middle correspondence, only carry out flow process and step
Rapid is briefly described.
Two, underwater robot (underwater glider) lays the stage:
Step I: early-stage preparations stage.(with reference to hold tightly claw to, synchronize transverse axis, synchro-draw axle, connecting rod and tensioned
The structures such as mechanism)
Not using (by external force) front at this device, due to tensioning spring and the effect of limited block, claw held tightly by two reaping hooks
Open up into maximum limit bit positions, specifically, hold claw tightly to being in open configuration for four groups.Fasten pull rope and conductor rope.
Step II: underwater glider clamping and translation stage.(with reference to hold tightly claw to, movable pulley drawing mechanism, claw pair
Arm and let out the mechanisms such as power change)
This covering device is connected on the lifting appliance of ship base by letting out power change, and promotes.Claw is held tightly by open
To alignment underwater glider, and it is placed on underwater glider fuselage.Conductor rope is strained so that open by automatic or manual
Hold claw tightly to slowly tightening, underwater glider is held tightly function by final realization, thereafter during keep in real time leading
The power of rope, prevent because conductor rope lax cause sliding open hold claw tightly to opening, occur underwater glider to fall existing
As.Realize moving horizontally the underwater glider that this device and this device clamp by the device that plays on ship, finally move
Above the sea that needs lay, in the underwater glider that then this covering device of slow release and this device clamp to sea water, directly
Steel wire or rope on the ship base boom hoisting that this device uses start lax stopping.
Step III: underwater glider enters water and lays the stage.(with reference to hold tightly claw to, spring tensioning mechanism, movable pulley stretching
Mechanism, claw auxiliary and let out the structures such as power change)
The steel wire on ship base boom hoisting that this device uses or rope start lax after, start pine by automatic or manual
Convincing rope by patient analysis, due to the effect of tensioning spring, two reaping hooks are held claw tightly and are slowly opened up into maximum limit bit positions, before this
(before underwater glider enters water), can be realized this covering device and the underwater gliding of this device clamping by the effect of pull rope
The turning function of machine, it is achieved underwater glider is pre-seted the function of course angle.Hereafter, this covering device and water can just be realized
Separation function in the water of lower aerodone.So far, this covering device completes and underwater glider is entered water lays process, then passes through
Ship base lifting appliance can realize that this covering device is recovered into boatman and make.
To lay process contrary in the water release that enters of class Sihe underwater glider, and the removal process of underwater glider is as follows:
Two, underwater robot (underwater glider) recovery stage:
Step I: early-stage preparations process.(with reference to hold tightly claw to, synchronize transverse axis, synchro-draw axle, connecting rod and tensioned
The structures such as mechanism)
Not using (by external force) front at this device, due to tensioning spring and the effect of limited block, claw held tightly by two reaping hooks
Open up into maximum limit bit positions, specifically, hold claw tightly to being in open configuration for four groups.Carrying out reclaiming money, needs
Manually fasten pull rope and conductor rope.
Step II: clamping and translation stage in underwater glider water.(with reference to hold tightly claw to, movable pulley drawing mechanism, card
Pawl auxiliary and let out the mechanisms such as power change)
When underwater glider is near lash ship, this covering device is connected to by letting out power change on the lifting appliance of ship base,
And be positioned at underwater glider top position.Hold claw tightly to alignment underwater glider by open, and be placed on water
On lower aerodone fuselage.Certainly this process can not be accomplished in one move, and in most cases must be by the effect of pull rope
Realize turning function to this covering device, it may be assumed that when the axis at underwater glider fuselage place with arbitrary claw of holding tightly to not existing
During same axis, staff can be realized the break-in holding claw pair tightly by pull rope so that adapts to the side of underwater glider
To, convenient recovery.When holding claw tightly to when blocking the fuselage of underwater glider, now need automatically or staff manually strains
Tension conductor rope so that opens holds claw tightly to slowly tightening, underwater glider is held tightly function, thereafter by final realization
During keep in real time the power of conductor rope, prevent because conductor rope lax cause sliding open hold claw tightly to opening, occur
Underwater glider falls phenomenon.Lifting the underwater glider that this device and this device clamp is realized by the device that plays on ship
Rise and move horizontally, finally realizing the recovery operation to underwater glider.
Step III: underwater glider disembarkation release stage.(with reference to hold tightly claw to, spring tensioning mechanism, movable pulley stretching
Mechanism, claw auxiliary and let out the structures such as power change)
According in above-mentioned steps, through the work of early stage, complete the recovery to underwater glider and work of going on board, this
After, the underwater glider that this covering device and this device clamp is positioned on ship the position of suitable bracing frame, the most slowly releases
Putting conductor rope, due to the effect of tensioning spring, two reaping hooks are held claw tightly and are slowly opened up into maximum limit bit positions, it is achieved that this set
Device and separation function on the ship of underwater glider.So far, removal process during this covering device completes the water to underwater glider.
It is an advantage of the current invention that:
1. the present invention by utilize main body rack, hold tightly claw to, synchronize transverse axis, synchro-draw axle, connecting rod, tensioned
The purely mechanic mechanisms such as mechanism, movable pulley drawing mechanism, claw auxiliary achieve and underwater glider lay and reclaims function, knot
Structure is the most ingenious, easy to maintenance, simple and quick so that underwater glider lay and recovery becomes extremely simple.
2. the present invention program is reasonable in design, simple and reliable for structure, has taken into full account danger and the complexity of operation on the sea.
By design, a set of a kind of ship base lifting machine underwater glider two dimension is comprehensive lays retracting device, it is achieved thereby that to water
The laying and reclaiming rapidly and efficiently of lower aerodone, AUV and other underwater robot etc., has liberated sailor and related work on ship
The labour force of personnel, reduces and is laying the danger with removal process, solves the high cost laid with in removal process and asks
Topic.
3. the present invention lays retracting device by ship base lifting machine underwater glider two dimension of design is comprehensive, it is easy to
Use, lash ship only need to possess common boom hoisting, lash ship is not had particular/special requirement, greatly simplify conventional under water
The recovery process of aerodone and complexity.
The comprehensive retracting device that lays of one ship base lifting machine underwater glider two dimension the most of the present invention is to major part water
Lower robot is compatible preferably, it is possible to realize same set of system to cloth such as multiple underwater glider, AUV, ROV and underwater robots
Put and reclaim, only need the most even to be not required to other transformation can with this covering device with the use of, taken into account the requirement laid, at cloth
New equipment need not be increased when putting can smoothly complete, there is the feature of applied range.
Accompanying drawing explanation
Fig. 1 present invention a kind of ship base lifting machine underwater glider two dimension is comprehensive lays retracting device open configuration
Main TV structure schematic diagram.
Fig. 2 present invention a kind of ship base lifting machine underwater glider two dimension is comprehensive lays retracting device open configuration
Left view structural representation.
Fig. 3 present invention a kind of ship base lifting machine underwater glider two dimension is comprehensive lays retracting device open configuration
Plan structure schematic diagram.
Fig. 4 present invention a kind of ship base lifting machine underwater glider two dimension is comprehensive lays retracting device open configuration
Perspective view.
Fig. 5 present invention a kind of ship base lifting machine underwater glider two dimension is comprehensive lays retracting device closure state
Perspective view.
Fig. 6 present invention a kind of ship base lifting machine underwater glider two dimension is comprehensive lays retracting device closure state
Main TV structure schematic diagram.
The comprehensive local laying retracting device A of Fig. 7 present invention a kind of ship base lifting machine underwater glider two dimension is put
Big perspective view.
The comprehensive local laying retracting device B of Fig. 8 present invention a kind of ship base lifting machine underwater glider two dimension is put
Big perspective view.
Fig. 9 one of the present invention ship base comprehensive retracting device that lays of lifting machine underwater glider two dimension is at closure state
Entirety main TV structure schematic diagram when underwater glider is reclaimed.
Figure 10 one of the present invention ship base comprehensive retracting device that lays of lifting machine underwater glider two dimension is at closed form
Overall perspective view when underwater glider is reclaimed by state.
Main body rack 1, hold tightly claw to 2, synchronize transverse axis 3, synchro-draw axle 4, connecting rod 5, spring tensioning mechanism 6, dynamic sliding
Take turns drawing mechanism 7, claw auxiliary 8, let out power change 9.
Main body rack 1: supporting leg 1-1, through hole one 1-2, change through hole 1-3, conductor rope through hole 1-4, conductor rope 1-5, bail 1-
6, pull rope 1-7
Hold claw tightly to 2: reaping hook holds claw 2-1, through hole two 2-2, limited block 2-3, upper limit position block 2-31, lower position block tightly
2-32
Synchronization transverse axis 3: bearing one 3-1, optical axis right angle fixed block one 3-2
Synchro-draw axle 4: bearing two 4-1, optical axis right angle fixed block two 4-2
Connecting rod 5: bearing three 5-1
Spring tensioning mechanism 6: tensioning spring 6-1, upper hook 6-2, lower draw-bar 6-3
Movable pulley drawing mechanism 7: upper head sheave 7-1, lower end pulleys 7-2, pulley fixed support 7-3, rope hook 7-4
Claw auxiliary 8: upper end 8-1, bottom 8-2, intermediate 8-3, through hole three 8-4
Detailed description of the invention
If Fig. 1 is to shown in 10.A kind of ship base comprehensive retracting device that lays of lifting machine underwater glider two dimension, bag
Include: main body rack 1, hold tightly claw to 2, synchronize transverse axis 3, synchro-draw axle 4, connecting rod 5, spring tensioning mechanism 6, movable pulley stretching
Mechanism 7, claw auxiliary 8, let out power change 9.
Described main body rack 1 is open cage-shaped structure, has four supporting leg 1-1, is divided into two groups, often two in group
The symmetrical setting of supporting leg.Every supporting leg 1-1 bottom is provided with through hole one 1-2, convenient installation parts of bearings.At main body rack 1
Upper end center position is provided with change through hole 1-3, facilitates installation to let out power change 9, and the bottom insertion change letting out power change 9 is led to
Hole 1-3, uses nut screwing clamping, anti-stopping leak power change 9 to depart from from main body rack 1 simultaneously, causes heavy sea or the damage of equipment.More
Add it is essential that both sides are provided with conductor rope through hole 1-4 at the upper end center of described main body rack 1 place, act as: facilitate conductor rope 1-5
Follow-up pulley drawing mechanism 7 passes, and via this main body rack 1, and is sent to ship eventually through the pulley structure on boom hoisting
On, workman personnel can realize the control to movable pulley drawing mechanism 7 by conductor rope 1-5, thus reaches follow-up purpose.Described
It is additionally provided with bail 1-6 on main body rack 1, totally 4, is respectively welded at the outer wall of four supporting leg 1-1 residing for main body rack 1
Center, bail 1-6 can arrange pull rope 1-7, is convenient for people to realize the traction to main body rack 1 by pull rope 1-7
And break-in, it may be assumed that when underwater glider fuselage place axis with arbitrary hold tightly claw to 2 the most not at same axis time, work people
Member can be realized holding the claw break-in to 2 tightly by pull rope 1-7 so that adapts to the direction of underwater glider, conveniently reclaims.When
So general the most in actual applications, above-mentioned in bail 1-6 the most only use 2-3 root pull rope 1-7 can meet demand and merit
Energy.
As illustrated in fig. 1 and 2.Described holding claw tightly to 2 for reaping hook clasping structure, be divided into 4 groups, often group holds claw tightly to 2
Being symmetrical arranged, symmetrical two groups hold claw tightly to 2 on same axle center.Often group holds claw tightly is that claw held tightly by two reaping hooks to 2
2-1, it may be assumed that claw 2-1 held tightly by this reaping hook is sickle shaped, and often claw 2-1 center deviation top (straight line held tightly by two reaping hooks in group
Part) it is provided with through hole two 2-2, convenient connection synchronize transverse axis 3；Often two reaping hooks in group are held claw 2-1 upper end tightly and are also provided with
Through hole two 2-2, convenient connection synchro-draw axle 4.Described claw of holding tightly is additionally provided with limited block 2-3 on 2, and often group is two pieces,
Being oppositely arranged for upper limit position block 2-31 and lower position block 2-32, two limited block 2-3, totally four groups, the position of setting is: embrace in often group
Tight claw is in 2, and upper limit position block 2-31 is mounted on often group and holds claw tightly the right side reaping hook at 2 places is held tightly claw 2-1's
The lower end on center deviation top (straight line portion), contrary, lower position block 2-32 is mounted on often group and holds claw tightly to 2 places
Left side reaping hook holds the upper end on the center deviation top (straight line portion) of claw 2-1, and upper limit position block 2-31 and lower position block 2-32 tightly
When close (during Guan Bi), the bottom of upper limit position block 2-31 and the upper end of lower position block 2-32, on same axis, are imitated
Fruit is: by upper limit position block 2-31 and the position-limiting action of lower position block 2-32, though the stretching action of tensioning spring 6-1, often group
Hold claw tightly two reaping hooks in 2 are held tightly claw 2-1 still will not to separate the biggest.
Such as Fig. 4, shown in 5 and 6.Described synchronization transverse axis 3 consist of two transverse axis, two square crossings are placed, every horizontal stroke
It is provided with bearing one 3-1, described bearing one 3-1 inside two end faces of axle to be fixed on corresponding reaping hook and hold claw 2-1 tightly
Through hole two 2-2 in so that reaping hook is held claw 2-1 tightly and synchronizes can relatively rotate between bearing 3.In described synchronization transverse axis 3
Two transverse axis between use optical axis right angle fixed block one 3-2 connect and rigidly fix so that two synchronization transverse axis 3 is relatively fixed.
As shown in Fig. 4,5,6 and 9.Described synchro-draw axle 4 is similar with synchronizing transverse axis 3, is made up of two tensile axis equally,
Two square crossings are placed, and are provided with bearing two 4-1, described bearing two 4-1 inside two end faces of every tensile axis equally
It is fixed in through hole three 8-4 of corresponding claw auxiliary 8 so that can relatively turn between synchro-draw axle 4 and claw auxiliary 8
Dynamic.Same, two in described synchro-draw axle 4 are drawn use optical axis right angle fixed block two 4-2 between Divine Land to connect and rigidity
Fixing so that two synchro-draw axles 4 are relatively fixed；Further, fixed block two 4-2 upper end, described optical axis right angle also headspace is with logical
Hole, facilitates the mechanism in movable pulley drawing mechanism 7 to connect and fixing.
As shown in Figures 4 and 5.Described connecting rod 5 and Tong Bu transverse axis 3 and synchro-draw axle 4 are similar to, totally 4, often group two, and totally 2
Group.Except for the difference that, the putting position often organized in described connecting rod 5 is different from synchronization transverse axis 3 and synchro-draw axle 4, the connecting rod 5 at this
In often group connecting rod for being placed in parallel, the two ends of every connecting rod 5 are provided with bearing three 5-1, described bearing three 5-1 and install and fix
In through hole three 8-4 in the bottom 8-2 of described claw auxiliary 8, effect is: connecting rod 5 can be real by bearing three 5-1 structure
Now relative to holding claw tightly to 2 rotate.It should be understood that the interconnection function of described connecting rod 5 also include by hold tightly claw to 2 with
Claw auxiliary 8 concentric connects, and final realization holds the claw rotary action to 2 with the relative connecting rod 5 of claw auxiliary 8 tightly.
Such as Fig. 4, shown in 5 and 7.Described spring tensioning mechanism 6 Main Function is to realize synchronizing transverse axis 3 and synchro-draw axle 4
Between tension, including tensioning spring 6-1, upper hook 6-2, lower draw-bar 6-3.Upper hook 6-2 and the work of lower draw-bar 6-3
By the fixation for realizing tensioning spring 6-1, wherein upper hook 6-2 upper end is fixed on optical axis right angle fixed block one 3-2's
Bottom, lower draw-bar 6-3 bottom is fixed on the upper end of optical axis right angle fixed block two 4-2.Tensioning spring 6-1 in mechanism
It act as: when synchronizing between transverse axis 3 and synchro-draw axle 4 in addition to action of gravity without other any force object (under anhydrous
Conductor rope 1-5 on aerodone, movable pulley drawing mechanism 7 does not stresses), it is achieved between relative synchronization transverse axis 3 and synchro-draw axle 4
Tensioning function, by synchronizing transverse axis 3, the effect of claw auxiliary 8, finally realize each claw of holding tightly to two reaping hooks in 2
Hold claw 2-1 tightly and be separated from each other maximum spacing place, facilitate underwater glider to enter into and hold claw tightly in 2.
As shown in figs. 1 and 8.Described movable pulley drawing mechanism 7 includes: upper head sheave 7-1, lower end pulleys 7-2, pulley are fixed
Support 7-3, rope hook 7-4.Described upper head sheave 7-1, lower end pulleys 7-2, pulley fixed support 7-3, the quantity difference of rope hook 7-4
For: 1,1,2 and 1.Upper head sheave 7-1 and lower end pulleys 7-2 is fixed on pulley fixed support 7-3 respectively, institute
The upper end of the pulley fixed support 7-3 stating head sheave 7-1 place is fixed on main body rack 1 top by bolt nut structure
Lower surface on, the most also with let out power change 9 and be connected to a fixed.The pulley fixed support 7-3's at described lower end pulleys 7-2 place
Bottom is fastened on the upper end of optical axis right angle fixed block two 4-2 at synchro-draw axle 4 place.Described rope hook 7-4 is same
Be fixed on pulley fixed support 7-3, lower end pulleys 7-2 and rope hook 7-4 on pulley fixed support 7-3 relative to position relationship
For: rope hook 7-4 upper, lower end pulleys 7-2 under.Described rope hook 7-4 act as: facilitate the end of conductor rope conductor rope 1-5 with dynamic
Pulley drawing mechanism 7 connects and fixes.
Such as Fig. 1, shown in 9 and 10.Described claw auxiliary 8 is thin wall shape linkage, totally 8, and two panels one group is divided into 4 groups.
The most often the two panels auxiliary 8 in group is the distribution of " people " font, every claw auxiliary 8 be divided into upper end 8-1, bottom 8-2 and in
Mesosome 8-3 tri-part, wherein upper end 8-1 and bottom 8-2 is provided with through hole three 8-4, and often the two panels in group claw auxiliary 8 is secondary
The upper end 8-1 of arm is that concentric is placed, and is provided with bearing two 4-1 in through hole 8-4, and bearing two 4-1 inwall connects and fixes same
Step tensile axis 4；The bottom 8-3 of the two panels auxiliary in every claw auxiliary 8 is split-type structural, by setting at through hole three 8-4
Bearing three 5-1 on the connecting rod 5 put is connected with connecting rod 5.Effect describes in detail in connecting rod 5, does not repeats them here.
As shown in Figure 1.The described power of letting out change 9 lets out force mechanisms for common, can with the steel wire of the boom hoisting on ship or
Rope connects, and lets out power effect by conversion realization, prevents because the turning effort of equipment causes steel wire or rope to be wound around initiation
Rotational case even steel wire or cord break phenomenon.Change through hole 1-3 is inserted in the bottom letting out power change 9, uses nut simultaneously
Tightening, anti-stopping leak power change 9 departs from from main body rack 1, causes heavy sea or the damage of equipment.
Above-described embodiment simply to illustrate that the technology design of the present invention and feature, its objective is to be to allow in this area
Those of ordinary skill will appreciate that present disclosure and implements according to this, can not limit the scope of the invention with this.All
It is the change according to the equivalence done by the essence of present invention or modification, all should contain within the scope of the present invention.
Claims (7)
1. underwater glider two dimension is comprehensive lays retracting device, it is characterised in that including: main body rack (1), hold claw tightly
To (2), synchronize transverse axis (3), synchro-draw axle (4), connecting rod (5), spring tensioning mechanism (6), movable pulley drawing mechanism (7), card
Pawl auxiliary (8), let out power change (9), with the mutual assembly and connection of upper-part together.
Underwater glider two dimension the most according to claim 1 is comprehensive lays retracting device, it is characterised in that: main body is propped up
Frame (1) is open cage-shaped structure, has four supporting legs (1-1), is divided into two groups, and often two supporting legs (1-1) in group are relative
Claiming to arrange, every supporting leg (1-1) bottom is provided with through hole one (1-2), installs parts of bearings in through hole one (1-2)；
Center position in main body rack (1) upper end is provided with change through hole (1-3), installs and let out power in change through hole (1-3)
Change (9), the bottom letting out power change (9) is inserted change through hole (1-3), is used nut screwing clamping simultaneously；
Both sides at described main body rack (1) upper end center are provided with conductor rope through hole (1-4), conductor rope (1-5) follow-up pulley stretching-machine
Structure (7) passes, and via conductor rope through hole (1-4), is sent on ship eventually through the pulley structure on boom hoisting；
It is additionally provided with bail (1-6) on described main body rack (1), totally 4, is respectively welded at the outer wall of four supporting legs (1-1)
Center, bail (1-6) can arrange pull rope (1-7), it is achieved pull rope (1-7) is to the traction of main body rack (1) and change
To.
Underwater glider two dimension the most according to claim 1 is comprehensive lays retracting device, it is characterised in that: hold card tightly
Pawl is reaping hook clasping structure to (2), is divided into 4 groups, and often group is held claw tightly and is symmetrical arranged (2), holds claw tightly for symmetrical two groups
To (2) on same axle center, often group holds claw tightly is that claw (2-1) held tightly by two reaping hooks to (2), and claw (2-1) held tightly by reaping hook
For sickle shaped, and often two reaping hooks in group are held claw (2-1) center deviation top tightly and are provided with through hole two (2-2), through hole two (2-2)
Connect and synchronize transverse axis (3)；Often two reaping hooks in group are held claw (2-1) upper end tightly and are also provided with through hole two (2-2), connect and synchronize
Tensile axis (4)；
Described claw of holding tightly is to being additionally provided with limited block (2-3) on (2), often group is two pieces, and limited block (2-3) includes upper limit position block
(2-31) with lower position block (2-32), limited block (2-3) is oppositely arranged；
Holding claw tightly in (2) in often group, upper limit position block (2-31) is mounted on often group and holds the claw right side to (2) place tightly
The center deviation top of claw (2-1) held tightly by reaping hook, contrary, and lower position block (2-32) is mounted on often group and holds claw pair tightly
(2) the center deviation top of claw (2-1) held tightly by the left side reaping hook at place, and upper limit position block (2-31) and lower position block (2-32) exist
During Guan Bi, the bottom of upper limit position block (2-31) and the upper end of lower position block (2-32) are on same axis.
Underwater glider two dimension the most according to claim 1 is comprehensive lays retracting device, it is characterised in that: synchronize horizontal stroke
Axle (3) includes two transverse axis, and two transverse axis square crossings are placed, and are provided with bearing one inside two end faces of every transverse axis
(3-1) during, described bearing one (3-1) is fixed on the through hole two (2-2) that claw (2-1) held tightly by corresponding reaping hook so that reaping hook
Hold claw (2-1) tightly and synchronize can relatively rotate between bearing (3), between described two transverse axis, using optical axis right angle fixed block
Connect and rigidly fix；
Synchro-draw axle (4) is made up of two tensile axis, and two tensile axis square crossings are placed, two end faces of every tensile axis
Inner side is provided with bearing two (4-1), and described bearing two (4-1) is fixed on the through hole three (8-4) of corresponding claw auxiliary (8)
In, it is achieved relatively rotate between synchro-draw axle (4) and claw auxiliary (8)；
Optical axis right angle fixed block is used to connect and rigidly fix between two tensile axis so that synchro-draw axle (4) is relatively fixed,
Fixed block upper end, optical axis right angle also headspace and through hole, it is achieved movable pulley drawing mechanism (7) connects and fixes；
Described respective link (5) totally 4, often group two, totally 2 groups；The connecting rod (5) often organized for being placed in parallel, every connecting rod (5)
Two ends are provided with bearing three (5-1), and described bearing three (5-1) is mounted and fixed in described claw auxiliary (8) bottom (8-2)
Through hole in.
Underwater glider two dimension the most according to claim 1 is comprehensive lays retracting device, it is characterised in that: movable pulley
Drawing mechanism (7) includes head sheave (7-1), lower end pulleys (7-2), pulley fixed support (7-3), rope hook (7-4), described on
Head sheave (7-1), lower end pulleys (7-2), pulley fixed support (7-3), the quantity of rope hook (7-4) are respectively as follows: 1,1,2
With 1；
Upper head sheave (7-1) and lower end pulleys (7-2) are fixed on pulley fixed support (7-3) respectively, pulley fixed support
(7-3) upper end is fixed on the lower surface on main body rack (1) top by bolt arrangement, the most also with let out power change (9)
It is connected to a fixed；The bottom of described pulley fixed support (7-3) is fastened on the optical axis right angle at synchro-draw axle (4) place
The upper end of fixed block；
Described rope hook (7-4) is fixed on pulley fixed support (7-3) equally, and lower end pulleys (7-2) and rope hook (7-4) are at pulley
Fixed support (7-3) the most relative upper position relationship is: rope hook (7-4) upper, lower end pulleys (7-2) under.
Underwater glider two dimension the most according to claim 1 is comprehensive lays retracting device, it is characterised in that: claw pair
Arm (8) is thin wall shape linkage, 8 altogether, and two panels one group is divided into 4 groups；
The most often two panels claw auxiliary (8) in group is the distribution of " people " font, every claw auxiliary (8) be divided into upper end (8-1),
Bottom (8-2) and intermediate (8-3) three part；Wherein it is equipped with through hole three (8-on upper end (8-1) and bottom (8-2)
4), often the upper end (8-1) of the claw auxiliary (8) in group claw auxiliary is that concentric is placed, and is provided with axle in through hole three (8-4)
Holding two (4-1), bearing two (4-1) inwall connects and fixes synchro-draw axle (4)；
Often the bottom (8-2) of the claw auxiliary (8) in group claw auxiliary is split-type structural, is set by through hole three (8-4) place
The bearing three (5-1) put is connected with connecting rod (5).
7. according to underwater glider two dimension described in claim 1-6 comprehensive lay retracting device lay recovery method,
It is characterized in that: comprise the following steps:
One, underwater glider lays the stage:
This covering device is connected on the lifting appliance of ship base by letting out power change (9), and promotes；
The claw of holding tightly opened is directed at underwater glider to (2), and is placed on underwater glider fuselage；
By automatic or manual tension conductor rope (1-5) so that (2) are tightened by the claw of holding tightly opened, and finally realize sliding under water
Xiang machine hold function tightly；
Keep the power of conductor rope (1-5), realized this device and the underwater gliding of this device clamping by the device that plays on ship
Moving horizontally of machine；
Two, underwater glider turns to
The steel wire on ship base boom hoisting that this device uses or rope start lax after, unclamp conductor rope by automatic or manual
(1-5), two reaping hooks are held claw (2-1) tightly and are opened up into maximum limit bit positions, are realized this by the effect of pull rope (1-7)
The turning function of the underwater glider of covering device and the clamping of this device, it is achieved underwater glider is pre-seted the merit of course angle
Energy；
Three, clamping and translation stage in underwater glider water
When underwater glider is near lash ship, this covering device is connected on the lifting appliance of ship base by letting out power change (9), and
It is positioned at underwater glider top position；
The claw of holding tightly opened is directed at underwater glider to (2), and is placed on underwater glider fuselage, pass through simultaneously
The effect of pull rope 1-7 realizes the turning function to this covering device, and staff is realized holding claw tightly by pull rope (1-7)
Break-in to (2)；
When holding the fuselage that (2) are blocked underwater glider by claw tightly, automatic or manual tension conductor rope (1-5) so that open
Hold claw tightly (2) are tightened, it is achieved underwater glider is held tightly, keep the power of conductor rope (1-5), by playing dress on ship
Put and realize the lifting to the underwater glider that this device and this device clamp and move horizontally, finally realize underwater glider
Recovery operation；
Four, the underwater glider disembarkation release stage
Being positioned on bracing frame by the underwater glider that this covering device and this device clamp, release conductor rope (1-5), two reaping hooks are embraced
Tight claw (2-1) opens up into maximum limit bit positions, it is achieved that this covering device separates with on the ship of underwater glider.
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| CN201610768720.1A CN106275286B (en) | 2016-08-30 | 2016-08-30 | Two dimension of underwater glider is comprehensive to be laid recyclable device and lays recovery method |
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|---|---|---|---|
| CN201610768720.1A CN106275286B (en) | 2016-08-30 | 2016-08-30 | Two dimension of underwater glider is comprehensive to be laid recyclable device and lays recovery method |
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| CN106275286B CN106275286B (en) | 2019-07-05 |
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| CN106956757A (en) * | 2017-03-31 | 2017-07-18 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Actively catch the lasso trick device of the latent device of autonomous |
| CN107933835A (en) * | 2017-11-22 | 2018-04-20 | 国家海洋局第二海洋研究所 | A kind of underwater robot dispensing device |
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| CN106956757B (en) * | 2017-03-31 | 2018-11-13 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Actively capture the lasso trick device of the latent device of autonomous |
| CN106956757A (en) * | 2017-03-31 | 2017-07-18 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Actively catch the lasso trick device of the latent device of autonomous |
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| CN107933835A (en) * | 2017-11-22 | 2018-04-20 | 国家海洋局第二海洋研究所 | A kind of underwater robot dispensing device |
| CN108622333A (en) * | 2018-05-28 | 2018-10-09 | 哈尔滨工程大学 | A kind of more UUV lay recycling docking facilities and its lay recovery method |
| CN108860460A (en) * | 2018-06-12 | 2018-11-23 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of passive cable laying floating drum relieving mechanism of optical fiber |
| CN109018272B (en) * | 2018-07-26 | 2019-06-14 | 刘广 | Submarine ensures ship |
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| CN109050839A (en) * | 2018-08-23 | 2018-12-21 | 青岛晨明海洋装备技术有限公司 | A kind of draw off gear of underwater glider and autonomous underwater vehicle |
| CN109050839B (en) * | 2018-08-23 | 2023-08-22 | 青岛晨明海洋装备技术有限公司 | Underwater glider and retraction device of unmanned submarine |
| CN111409796A (en) * | 2019-01-07 | 2020-07-14 | 中国科学院沈阳自动化研究所 | Cable capturing type mechanism for autonomous recovery underwater robot |
| CN111409796B (en) * | 2019-01-07 | 2021-07-20 | 中国科学院沈阳自动化研究所 | Cable capturing type mechanism for autonomous recovery underwater robot |
| CN109782799A (en) * | 2019-01-25 | 2019-05-21 | 上海大学 | A kind of unmanned boat environment measuring control system and detection method based on machine fish |
| CN110104129A (en) * | 2019-03-29 | 2019-08-09 | 浙江大学滨海产业技术研究院 | One kind laying reclaimer from disconnecting type unmanned boat |
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| CN110065605B (en) * | 2019-05-06 | 2020-06-26 | 中北大学 | Deep sea mounting and releasing mechanism |
| CN111070229A (en) * | 2019-12-31 | 2020-04-28 | 唐山四维智能科技有限公司 | Multi-box type turnover box gripper |
| CN111942552A (en) * | 2020-09-16 | 2020-11-17 | 广东海洋大学 | Special recovery gripper for underwater glider |
| CN111942552B (en) * | 2020-09-16 | 2024-03-19 | 广东海洋大学 | Special recovery mechanical claw for underwater glider |
| CN114919716A (en) * | 2022-05-16 | 2022-08-19 | 青岛海洋科学与技术国家实验室发展中心 | A butt joint system of hugging for retrieving glider under water |
| CN114919716B (en) * | 2022-05-16 | 2024-05-07 | 青岛海洋科学与技术国家实验室发展中心 | Butt-joint enclasping system for recovering underwater glider |
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