CN108248801B - Underwater hoisting robot - Google Patents
Underwater hoisting robot Download PDFInfo
- Publication number
- CN108248801B CN108248801B CN201810164152.3A CN201810164152A CN108248801B CN 108248801 B CN108248801 B CN 108248801B CN 201810164152 A CN201810164152 A CN 201810164152A CN 108248801 B CN108248801 B CN 108248801B
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- Prior art keywords
- underwater
- robot
- winch
- control system
- underwater robot
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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
Abstract
The invention discloses an underwater hoisting robot, which comprises a deck control system, a winch, an umbilical cable and an underwater robot, wherein the deck control system comprises a lifting mechanism, a lifting mechanism and a lifting mechanism; one end of the umbilical cable is connected with the deck control system, and the other end of the umbilical cable is hinged with the upper end of the underwater robot, so that electric energy supply and data connection are realized; the middle part of the umbilical cable is wound on a winch, the winch is connected with a deck control system through a signal line, the deck control system controls the winch to be retracted and extended, and the umbilical cable is driven by the winch to further drive the underwater robot to move up and down. The invention can realize the accurate, rapid and reliable distribution and recovery operation of underwater instruments and equipment, and has the characteristics of large carrying capacity and strong anti-interference capability.
Description
Technical Field
The invention relates to a robot, in particular to an underwater hoisting robot which can be used for laying and recovering underwater equipment.
Background
The underwater robot plays an important role in the aspects of marine environment investigation, marine resource development, underwater engineering construction and the like, and at present, the research and development of the underwater robot are highly emphasized in all countries in the world. A remote-controlled underwater Robot (ROV) with a cable is an important branch of the ROV, and oil gas plays an important role in the fields of ocean resource development, ocean engineering construction and the like.
Most of the existing cable remote control underwater robots are general ROVs, and the arrangement form of the propellers adopts a vector arrangement scheme to realize flexible movement in multiple directions, but the thrust in the advancing direction is insufficient, so that the flow resistance of the underwater robot in the advancing direction is weak; most of the cabled remote control underwater machines are neutral buoyancy in water, and the motion in the vertical direction is driven by the propellers arranged in the vertical direction, so that the maximum driving force of the cabled remote control underwater machine in the vertical direction is the sum of the thrusts of the propellers arranged vertically. The maximum thrust of a propeller applied to the current underwater robot is in the order of hundreds of kilograms, so that the carrying capacity of the underwater robot is limited.
In the marine environment investigation, the marine resource development and the underwater engineering construction, a large amount of underwater instruments and equipment need to be distributed and recovered, and the cable remote control underwater robot 4 is not suitable for the distribution and recovery of the underwater instruments and equipment, particularly heavy instruments and equipment due to the limitation of carrying capacity and flow resistance.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides an underwater hoisting robot, can realize accurate, quick and reliable laying and recovery operation of underwater instruments and equipment, and has the characteristics of large carrying capacity and strong anti-interference capability.
The technical scheme adopted by the invention is as follows: an underwater hoisting robot comprises a deck control system, a winch, an umbilical cable and an underwater robot; one end of the umbilical cable is connected with the deck control system, and the other end of the umbilical cable is hinged with the upper end of the underwater robot, so that electric energy supply and data connection are realized; the middle part of the umbilical cable is wound on a winch, the winch is connected with a deck control system through a signal line, the deck control system controls the winch to be retracted and extended, and the umbilical cable is driven by the winch to further drive the underwater robot to move up and down.
Further, the underwater robot comprises a main frame, a propeller, a sealed control cabin for providing a control signal, a sealed feed cabin for providing electric energy, a docking skirt for docking the instrument frame, a grabbing and releasing device for grabbing and releasing a docking pin on the instrument frame, an underwater searchlight, an underwater camera, a detection sonar, an altimeter, a depth meter and an acoustic beacon; the front side and the rear side of the left box and the right box of the main frame are respectively provided with a propeller; an underwater searchlight and an underwater camera are respectively arranged at the front side and the bottom of the main frame; a detection sonar, an altimeter, a depth meter and a beacon are arranged on the front side of the main frame; the bottom of the main frame is fixedly connected with the lower end of the docking skirt, and the grabbing and releasing device is fixedly connected with the upper end of the docking skirt; the main frame is provided with sealed control cabin and sealed feed cabin, propeller, searchlight, underwater camera, survey sonar, altimeter, depth gauge, sound beacon, grab put the device respectively with sealed control cabin and sealed feed cabin are connected, sealed control cabin and sealed feed cabin interconnect to, be connected with deck control system through the umbilical cable respectively.
Wherein the propeller is divided into a horizontal propeller and a vertical propeller; the horizontal propellers are arranged on the left side and the right side of the main frame to realize the movement of the underwater robot in a horizontal plane; the vertical propellers are arranged on the front side and the rear side of the main frame, and posture adjustment of the underwater robot is achieved.
The docking skirt adopts a conical structure, and a docking needle on the instrument frame slides in the docking skirt and enters the grabbing and placing device; the grabbing and releasing device realizes grabbing and releasing of the butt joint needle, so that grabbing and releasing of the instrument frame by the underwater robot are realized.
The invention has the beneficial effects that:
compared with the prior art, the underwater robot does not adopt the pressure-resistant floating block to adjust the buoyancy of the underwater robot, and the underwater robot presents larger negative buoyancy in water, so that the underwater robot has higher stability.
The motion of the underwater robot in the vertical direction is realized by depending on a winch and the self gravity, and compared with the prior art (the vertical motion of the robot is realized by using a propeller), the underwater robot has stronger carrying capacity and anti-flow capacity, and is suitable for the laying and recovery operation of deep water heavy equipment. The left side and the right side of the underwater robot are provided with the propellers, the thrust direction of the propellers is consistent with the heading direction of the underwater robot, the maximum anti-flow capacity can be obtained in the heading direction, and the underwater hoisting robot can work normally in a strong current environment.
The underwater robot is provided with the docking skirts and the grabbing and releasing device, and can be additionally arranged on equipment with a structure similar to that of an instrument frame or existing equipment to achieve docking structures similar to that of the instrument frame, so that the arrangement and recovery operation of the instrument equipment is achieved. The underwater robot adopting the special butt joint structure of the butt joint skirt, the grabbing device and the like is a special underwater robot, and the underwater laying and recycling robot realized by the invention fills up the technical blank in the aspect of laying and recycling underwater equipment in China.
The invention relates to an underwater robot applied to deployment and recovery of underwater equipment, which has the characteristics of simple structure, high stability, strong carrying capacity and large operation depth, is particularly suitable for deployment and recovery operation of deep-water heavy equipment, and can be widely applied to the fields of submarine oil gas development, submarine observation station construction, deep-sea environment monitoring and the like.
Drawings
FIG. 1 is a schematic view of an underwater lift robot;
fig. 2 is a schematic diagram of an underwater robot;
FIG. 3 is a schematic view of a propeller arrangement;
FIG. 4 is a view of the instrument frame structure;
the attached drawings are marked as follows: 1-deck control system, 2-winch, 3-umbilical cable, 4-underwater robot, 5-main frame, 6-horizontal propeller, 7-sealed control cabin, 8-docking apron, 9-grabbing and releasing device, 10-underwater searchlight, 11-underwater camera, 12-detection sonar, 13-altimeter, 14-depth meter, 15-acoustic beacon, 16-docking pin, 17-instrument frame, 18-vertical propeller; 19-sealed feeding cabin.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings:
as shown in fig. 1 to 3, an underwater lifting robot comprises a deck control system 1, a winch 2, an umbilical cable 3 and an underwater robot 4, wherein the deck control system 1 and the winch 2 are arranged on a mother ship.
One end of the umbilical cable 3 is connected with the deck control system 1, and the other end of the umbilical cable is hinged with the upper end of the underwater robot 4, so that electric energy supply and data connection are achieved. The deck control system 1 is connected with the underwater robot 4 through the umbilical cable 3 to realize power supply and data connection. The state information of the underwater robot 4 is uploaded to the deck control system 1 through the umbilical cable 3, and the deck control system 1 downloads the control signal to the underwater robot 4, so that the motion control and data acquisition of the underwater robot 4 are realized.
The middle part of the umbilical cable 3 is wound on a winch 2, the winch 2 is connected with a deck control system 1 through a signal line, the deck control system 1 controls the winch 2 to retract and release, and the umbilical cable 3 is driven by the winch 2 to further drive the underwater robot 4 to move up and down. Horizontal propulsion devices are arranged on the left side and the right side of the underwater robot 4 to realize motion in a horizontal plane, and vertical propellers 18 are arranged on the front side and the rear side of the underwater robot 4 to realize posture adjustment of the underwater robot 4.
The underwater robot 4 comprises a main frame 5, a propeller, a sealed control cabin 7 for providing a control signal, a sealed feed cabin 19 for providing electric energy, a docking skirt 8 for docking an instrument frame 17, a grabbing and releasing device 9 for grabbing and releasing a docking needle 16 on the instrument frame 17, an underwater searchlight 10, an underwater camera 11, a detection sonar 12, an altimeter 13, a depth meter 14 and an acoustic beacon 15. The front side and the rear side of the left box and the right box of the main frame 5 are respectively provided with a propeller, the propellers are divided into a horizontal propeller 6 and a vertical propeller 18, the horizontal propeller 6 is arranged on the left side and the right side of the main frame 5, and the underwater robot 4 can move in the horizontal plane; the vertical propellers 18 are arranged on the front side and the rear side of the main frame 5, so that the posture of the underwater robot 4 is adjusted; an underwater searchlight 10 and an underwater camera 11 are respectively arranged at the front side and the bottom of the main frame 5; a detection sonar 12, an altimeter 13, a depth meter 14 and a beacon 15 are arranged on the front side of the main frame 5; the bottom of the main frame 5 is fixedly connected with the lower end of the docking skirt 8, and the grabbing and releasing device 9 is fixedly connected with the upper end of the docking skirt 8; the main frame 5 is provided with a sealed control cabin 7 and a sealed feed cabin 19, the propeller, the underwater searchlight 10, the underwater camera 11, the detection sonar 12, the altimeter 13, the depth gauge 14, the acoustic beacon 15 and the grabbing and releasing device 9 are respectively connected with the sealed control cabin 7 and the sealed feed cabin 19, the sealed control cabin 7 and the sealed feed cabin 19 are connected with each other, and are respectively connected with the deck control system 1 through the umbilical cable 3.
The underwater robot 4 is provided with a docking skirt 8 and a grabbing and releasing device 9, the docking skirt 8 adopts a conical structure, and a docking needle 16 on an instrument frame 17 slides in the docking skirt 8 and enters the grabbing and releasing device 9; the grabbing and releasing device 9 realizes grabbing and releasing of the butt pins 16, and therefore grabbing and releasing of the instrument frame 17 by the underwater robot 4 are realized.
The laying operation process comprises: the underwater robot 4 is placed on the instrument frame 17, the pick-and-place device 9 picks the butt joint pin 16 on the instrument frame 17, and the connection between the underwater robot 4 and the instrument frame 17 is completed; the deck control system 1 determines the underwater position of the underwater robot 4 through an acoustic beacon 15 on the underwater robot 4; the deck control system 1 controls the winch 2 and a propeller of the underwater robot 4, and controls the underwater robot 4 to move to a preset laying position; the deck control system 1 collects sensor data such as an underwater camera 11, a detection sonar 12, an altimeter 13, a depth meter 14 and the like, and determines the environment of the distribution position; the deck control system 1 controls the grabbing and releasing device 9 on the underwater robot 4 to release the docking pin 16, so that the underwater robot 4 is separated from the instrument frame 17; the deck control system 1 controls the winch 2 to recover the underwater robot 4.
The recovery operation process comprises the following steps: the deck control system 1 controls the winch 2 and a propeller of the underwater robot 4, and controls the underwater robot 4 to move to a preset laying position; the deck control system 1 collects sensor data such as an underwater camera 11, a detection sonar 12, an altimeter 13, a depth meter 14, an acoustic beacon 15 and the like, and determines the position of an instrument frame 17; the underwater robot 4 is placed on the instrument frame 17, the pick-and-place device 9 picks the butt joint pin 16 on the instrument frame 17, and the connection between the underwater robot 4 and the instrument frame 17 is completed; the deck control system 1 controls the winch 2 to recover the underwater robot 4.
Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (3)
1. An underwater hoisting robot is characterized by comprising a deck control system, a winch, an umbilical cable and an underwater robot; one end of the umbilical cable is connected with the deck control system, and the other end of the umbilical cable is hinged with the upper end of the underwater robot, so that electric energy supply and data connection are realized; the middle part of the umbilical cable is wound on a winch, the winch is connected with a deck control system through a signal wire, the deck control system controls the winch to be retracted and extended, and the umbilical cable is driven by the winch to further drive the underwater robot to move up and down; wherein the content of the first and second substances,
the underwater robot comprises a docking skirt for docking an instrument frame and a grabbing and releasing device for grabbing and releasing a docking needle on the instrument frame, and the grabbing and releasing device is fixedly connected with the upper end of the docking skirt; the docking skirt adopts a conical structure, and a docking needle on the instrument frame slides in the docking skirt and enters the grabbing and placing device; the grabbing and releasing device realizes grabbing and releasing of the butt joint needle, so that grabbing and releasing of the instrument frame by the underwater robot are realized.
2. An underwater lifting robot as claimed in claim 1, further comprising a main frame, a propeller, a sealed control cabin for providing control signals, a sealed feed cabin for providing electric energy, an underwater searchlight, an underwater camera, a sonar, an altimeter, a depth meter, and an acoustic beacon; the left side, the right side, the front side and the rear side of the main frame are respectively provided with a propeller; an underwater searchlight and an underwater camera are respectively arranged at the front side and the bottom of the main frame; a detection sonar, an altimeter, a depth meter and a beacon are arranged on the front side of the main frame; the bottom of the main frame is fixedly connected with the lower end of the butt-joint skirt; the main frame is provided with sealed control cabin and sealed feed cabin, propeller, searchlight, underwater camera, survey sonar, altimeter, depth gauge, sound beacon, grab put the device respectively with sealed control cabin and sealed feed cabin are connected, sealed control cabin and sealed feed cabin interconnect to, be connected with deck control system through the umbilical cable respectively.
3. An underwater lifting robot as claimed in claim 2, wherein the thrusters are divided into horizontal thrusters and vertical thrusters; the horizontal propellers are arranged on the left side and the right side of the main frame to realize the movement of the underwater robot in a horizontal plane; the vertical propellers are arranged on the front side and the rear side of the main frame, and posture adjustment of the underwater robot is achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810164152.3A CN108248801B (en) | 2018-02-27 | 2018-02-27 | Underwater hoisting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810164152.3A CN108248801B (en) | 2018-02-27 | 2018-02-27 | Underwater hoisting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108248801A CN108248801A (en) | 2018-07-06 |
| CN108248801B true CN108248801B (en) | 2020-02-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810164152.3A Expired - Fee Related CN108248801B (en) | 2018-02-27 | 2018-02-27 | Underwater hoisting robot |
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| CN (1) | CN108248801B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110963009A (en) * | 2018-09-28 | 2020-04-07 | 安星航海洋科技(天津)有限公司 | Deep sea intelligent laying observation system |
| CN109591981B (en) * | 2018-11-30 | 2019-11-15 | 中热科（海南）海洋与农业研究院有限公司 | A kind of ocean engineering underwater detection robot |
| CN109728474B (en) * | 2018-12-29 | 2020-08-04 | 中国船舶重工集团公司第七一九研究所 | ROV guide-based plugging device and plugging method thereof |
| CN114313153B (en) * | 2021-12-29 | 2023-07-25 | 眼点(上海)智能科技有限公司 | Ocean bottom seismograph recycling device and method in ice area environment |
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| CN102495420A (en) * | 2011-12-13 | 2012-06-13 | 大连海事大学 | Underwater object precision positioning system and method |
| CN106814408A (en) * | 2017-01-12 | 2017-06-09 | 浙江大学 | The integrated detection device of historical relic under water based on ROV platforms |
| CN208181382U (en) * | 2018-02-27 | 2018-12-04 | 天津大学 | It is a kind of to hang robot under water |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9551205B2 (en) * | 2014-12-23 | 2017-01-24 | Teledyne Instruments, Inc. | Modular securing device for ROV and diver mate-able subsea applications |
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2018
- 2018-02-27 CN CN201810164152.3A patent/CN108248801B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102495420A (en) * | 2011-12-13 | 2012-06-13 | 大连海事大学 | Underwater object precision positioning system and method |
| CN106814408A (en) * | 2017-01-12 | 2017-06-09 | 浙江大学 | The integrated detection device of historical relic under water based on ROV platforms |
| CN208181382U (en) * | 2018-02-27 | 2018-12-04 | 天津大学 | It is a kind of to hang robot under water |
Non-Patent Citations (2)
| Title |
|---|
| 新型水下对接装置的研制;王晓东等;《中国造船》;20020630;第43卷(第2期);第95-98页 * |
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| CN108248801A (en) | 2018-07-06 |
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