CN109533237A - A kind of autonomous underwater robot lays recycling single-point lifting and only swings protective device - Google Patents
A kind of autonomous underwater robot lays recycling single-point lifting and only swings protective device Download PDFInfo
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- CN109533237A CN109533237A CN201710864962.5A CN201710864962A CN109533237A CN 109533237 A CN109533237 A CN 109533237A CN 201710864962 A CN201710864962 A CN 201710864962A CN 109533237 A CN109533237 A CN 109533237A
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- load
- underwater robot
- autonomous underwater
- lifting
- swings
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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
-
- 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
- B63B27/10—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
- Jib Cranes (AREA)
Abstract
Recycling single-point lifting, which is laid, the present invention relates to a kind of autonomous underwater robot only swings protective device; lifting boom is slidably connected with load-bearing ontology; one end of lifting boom is connected with lash ship crane system; the two sides of the other end are respectively equipped with connecting rod, and load-bearing ontology connect with autonomous underwater robot single-point, realizes that single-point lifts by crane；The two sides of load-bearing ontology are respectively equipped with Zhi Dang mechanism, Zhi Dang mechanism includes only swinging swing rod, only swinging ring and Cantilever, one end of Cantilever is mounted on the side of load-bearing ontology, the other end with only to swing swing rod hinged, the one end for only swinging swing rod, which is equipped with, only swings ring to autonomous underwater robot progress position restriction, one end of the other end and connecting rod is hinged, and the other end of connecting rod is articulated with the other end of lifting boom；In load-bearing body interior, between the lifting boom other end and load-bearing bodies top, swung until being equipped with autonomous underwater robot provide buffer power spring damping device.The present invention is laid and is recycled by the way of single-point lifting, improves device security.
Description
Technical field
The present invention relates to autonomous underwater robots to lay recycling field, and specifically a kind of autonomous underwater robot is laid
Protective device is only swung in recycling single-point lifting.
Background technique
Autonomous underwater robot be one kind do not depend on lash ship power supply and autonomous control, can recycle and Reusability, energy for a long time
The underwater platform of self-propelled navigation under water.Due to being influenced by sea situation, laying, recycling for autonomous underwater robot is always
One difficult operation process.In laying recycling operation, due to lash ship pitching, the influence of rolling, and the work of marine stormy waves
With in addition unsafe operation, autonomous underwater robot can all swing, can be with hull and extension and retraction system when fierceness
It collides, seriously affects personnel and equipment safety.Currently, autonomous underwater robot mainly uses two or four suspension centre to add
Bow, stern frapping line mode laid and recycled operation.In this way, though can reduce autonomous underwater robot is laying recycling work
The problem of lifting when industry swings, but this method needs two or more operators to break off relations when laying, when recycling, need
Diver is wanted to lock two or more suspension centres and be bow, stern frapping line, removal process is more complex, diver and lash ship operator
Large labor intensity, lay, the safety recycled it is poor.
Summary of the invention
In order to which multiple spot lifting swings when solving the problems, such as that current autonomous underwater robot lays and recycles, the purpose of the present invention exists
Protective device is only swung in providing a kind of autonomous underwater robot and laying recycling single-point lifting.Protective device list is only swung in single-point lifting
Point lifts by crane and has the function of that buffering stop is swung, and does not need specially to design lowering equipment, versatile, and stability is high.
The purpose of the present invention is achieved through the following technical solutions:
The present invention includes load-bearing ontology, lifting boom, connecting rod, Zhi Dang mechanism and spring damping device, wherein lifting boom with hold
Weight ontology is slidably connected, and one end of the lifting boom is connected with lash ship crane system, and the two sides of the other end are respectively equipped with connecting rod, described
Load-bearing ontology connect with autonomous underwater robot single-point, realizes that single-point lifts by crane；The two sides of the load-bearing ontology are respectively equipped with structure
Identical Zhi Dang mechanism, the Zhi Dang mechanism of every side include only swinging swing rod, only swinging ring and Cantilever, the Cantilever
One end is mounted on the side of the load-bearing ontology, and swing rod is hinged with ipsilateral only swinging for the other end, and described one end for only swinging swing rod is set
Have and ring only is swung to autonomous underwater robot progress position restriction, one end of the other end and the ipsilateral connecting rod is hinged, the company
The other end of bar is articulated with the other end of the lifting boom；The lash ship crane system lay or removal process in pull lifting
Bar, and then drive the swing rod that only swings of two sides to swing respectively by the connecting rod of two sides, autonomous underwater robot is supported and is limited
Position；In the load-bearing body interior, between the lifting boom other end and load-bearing bodies top, equipped at least one set until swing from
Main underwater robot provides the spring damping device of buffer power；
Wherein: the spring damping device includes pretightning force adjustment bolt, compressed spring and spring conductor rod, which leads
It is mounted on the other end of the lifting boom to bar, is arranged with compressed spring on the spring conductor rod, the two of the compressed spring
End is abutted against at the top of the other end of the lifting boom and load-bearing ontology respectively；The bottom thread of the load-bearing ontology is connected with
The upper end of pretightning force adjustment bolt, the pretightning force adjustment bolt is connected to the other end of lifting boom, by adjusting the lifting boom
The distance between the other end and load-bearing body bottom portion and then the active force for adjusting compressed spring；The spring conductor rod is with lifting boom
It slides up and down, the unthreaded hole stretched out for spring conductor rod is offered at the top of the load-bearing ontology；
The lifting boom can be connect by self-lubricating bearing and load-bearing ontology with respect to slide up and down to, the lifting boom it is another
End is equipped with the mounting plate positioned at load-bearing body interior, the spring damping device be located at the mounting plate and load-bearing ontology top it
Between；
The swing rod that only swings is divided into two sections with an angle, in the another of two sections of intersections and the Cantilever
End is hinged by fork hinge, wherein one end of one section of end and the connecting rod passes through pitman pin hinged, another section of end
Portion is connected with described stop and swings ring；It is described only to swing pendulum when the lifting boom slides up and down under the pulling of lash ship crane system
Bar is swung by the drive of connecting rod around fork hinge；The ring that only swings is semicircle corresponding with autonomous underwater robot outer profile
Shape should only swing the position that ring is in contact with the autonomous underwater robot and be equipped with rubber cushion cover；
Only swinging described in every side is to have frapping line on swing rod；
It is equipped with auxiliary support frame below Cantilever described in every side, the both ends of every side auxiliary support frame are respectively and together
The Cantilever and load-bearing ontology of side are connected；
The bottom of the load-bearing ontology is equipped with the shackle of connection suspender belt, and one end of the suspender belt is connected with shackle, the other end
It is connected with recycling lock；The autonomous underwater robot is equipped with single hanging ring, which is laying as unique lifting point
Or connect when recycling with the recycling locking phase；
One end of the lifting boom is connected with shackle, and the shackle of the lifting boom one end passes through suspender belt and lash ship crane system
System is connected.
Advantages of the present invention and good effect are as follows:
1. the present invention is laid and recycled by the way of single-point lifting, change the complexity of previous two o'clock or 4 points of liftings
Form reduces the labor intensity of lash ship operator and diver.
2. the present invention reduces swinging for autonomous underwater robot when being laid, recycling operation, buffering is only swung to it and is protected
Shield, reduces the risk for laying, recycling operation.
3. the present invention does not have to the lowering equipment of design specialized, small to the dependence of lash ship loop wheel machine system, various revolutions are adapted to
The underwater robot of shape, versatility are stronger.
4. the present invention uses the structure of fully mechanical, of simple structure and low cost, maintenance easy to repair.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is structural front view of the invention；
Fig. 3 is the structural schematic diagram of spring damping device of the present invention；
Fig. 4 is the structural schematic diagram that the present invention only swings that swing rod disengages autonomous underwater robot；
Fig. 5 is the structural schematic diagram that the present invention only swings that swing rod only swings autonomous underwater robot；
Wherein: 1 is autonomous underwater robot, and 2 be load-bearing ontology, and 3 be lifting boom, and 4 be connecting rod, mechanism is swung until 5,6 are
Spring damping device, 7 be recycling lock, and 8 is unload ring, and 9 be suspender belt, and 10 be frapping line, and 11 be self-lubricating bearing, and 12 be cantilever support
Frame swings swing rod until 13, and 14 be fork hinge, and 15 be auxiliary support frame, swings ring until 16, and 17 be pretightning force adjustment bolt, and 18
It is pitman pin for compressed spring, 19,20 be spring conductor rod, and 21 be hanging ring, and 22 be mounting plate.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
As shown in Figures 1 to 3, the present invention includes load-bearing ontology 2, lifting boom 3, connecting rod 4, Zhi Dang mechanism 5 and spring damping dress
6 are set, wherein lifting boom 3 opposite can be slided up and down to load-bearing ontology 2 by self-lubricating bearing 11 and be connect, and lifting boom 3 can be done directly
Line movement.One end (top) of lifting boom 3 is connected with shackle 8, and the shackle 8 on 3 top of lifting boom passes through suspender belt 9 and lash ship crane
System is connected；The other end of lifting boom 3 is equipped with the mounting plate 22 being located inside load-bearing ontology 2.In the two sides of 3 other end of lifting boom
It is respectively equipped with connecting rod 4, the connecting rod 4 of two sides is symmetrical arranged.The bottom of load-bearing ontology 2 is equipped with the shackle 8 of connection suspender belt 9, this hangs
One end with 9 is connected with shackle 8, and the other end is connected with recycling lock 7.Autonomous underwater robot 1 is equipped with single hanging ring 21, should
Hanging ring 21 is connected when laying or recycling with recycling lock 7 as unique lifting point, load-bearing ontology 2 and autonomous underwater robot 1
Single-point lifting is realized in single-point connection.
The two sides of load-bearing ontology 2 are respectively equipped with the identical Zhi Dang mechanism 5 of structure, which is autonomous underwater machine
Support, limit and protection are only swung in the offer that lays or recycle of people 1.The Zhi Dang mechanism 5 of every side includes only swinging swing rod 13, only swinging ring
16, one end of Cantilever 12 and auxiliary support frame 15, Cantilever 12 is mounted on the one of load-bearing ontology 2 by bolt
Side, the lower section of every side Cantilever 12 are equipped with auxiliary support frame 15, the both ends of every side auxiliary support frame 15 respectively with it is ipsilateral
Cantilever 12 and load-bearing ontology 2 be connected；In this way, the Cantilever 12 of two sides, auxiliary support frame 15 and load-bearing ontology 2
Just it is connected to become an entirety.It only swings swing rod 13 to be divided to for two sections with an angle, intersection and Cantilever at two sections
12 other end is hinged by fork hinge 14, and one end of wherein one section of the end and connecting rod 4 of only swinging swing rod 13 passes through connecting rod
Pin shaft 19 is hinged, and another section of end, which is connected with, only swings ring 16 to the progress position restriction of autonomous underwater robot 1.Connecting rod 4
The other end is articulated with the other end of lifting boom 3.When lifting boom 3 slides up and down under the pulling of lash ship crane system, only swing
Swing rod 13 is swung by the drive of connecting rod 4 around fork hinge 14, realizes the limit, support and protection to autonomous underwater robot 1.
Swing ring 16 only for semicircle, corresponding with the outer profile of autonomous underwater robot 1, autonomous underwater robot 1 enters semicircular
Only swinging ring 16 can be achieved with the restriction of position；It is each that only swinging the position that ring 16 is in contact with autonomous underwater robot 1 is equipped with rubber
Glue cushion collar, such autonomous underwater robot 1 are buffered and are protected.Only swinging for every side is to have frapping line 10 on swing rod 13,
Lash ship operator can also assist entirely only swinging protective device and only being swung by frapping line 10.
Between 2 top of mounting plate 22 inside load-bearing ontology 2, positioned at 3 other end of lifting boom and load-bearing ontology, it is equipped with extremely
Autonomous underwater robot 1 is swung until one group few, and (the dynamic cushioning device of the present embodiment of spring damping device 6 of buffer power is provided
6 be two groups, is symmetrical arranged).Spring damping device 6 includes pretightning force adjustment bolt 17, compressed spring 18 and spring conductor rod 20,
The spring conductor rod 20 is mounted on the mounting plate 22 of 3 other end of lifting boom, and spring conductor rod 20 is transported with about 3 straight line of lifting boom
It is dynamic, the unthreaded hole stretched out for spring conductor rod 20 is offered in the top corresponding position of load-bearing ontology 2.It is arranged on spring conductor rod 20
There is compressed spring 18, the both ends of the compressed spring 18 top with the mounting plate 22 of 3 other end of lifting boom and load-bearing ontology 2 respectively
It abuts against.The bottom thread of load-bearing ontology 2 is connected with pretightning force adjustment bolt 17, and the upper end of the pretightning force adjustment bolt 17 abuts
In on the mounting plate 22 of 3 other end of lifting boom, by adjusting the mounting plate 22 of 3 other end of lifting boom and 2 bottom of load-bearing ontology it
Between distance, change the deflection of compressed spring 18, and then adjust the active force of compressed spring 18, only swing swing rod 13 to realize
Hunting range control.
The operation principle of the present invention is that:
Firstly, being illustrated to the removal process of autonomous underwater robot 1:
After autonomous underwater robot 1 completes mission, when staff makes it into safety zone by remote control on lash ship,
Lash ship crane system lay to be invented only swing protective device；Diver is lauched operation, locks single hanging ring with recycling lock 7
21, when lash ship crane rises, as shown in Figures 4 and 5, the effect of 3 under tension of lifting boom is stretched out, and drives connecting rod 4 to swing, by connecting rod 4
It pushes and only swings the swing of swing rod 13, autonomous underwater robot 1 is supported and is limited.Meanwhile the compression in spring damping device 6
Spring 18 is compressed, and spring damping device 6 generates spring force, is made connecting rod 4 and is only swung swing rod 13 with elastic force, can be used to buffer
The impact force that autonomous underwater robot 1 generates during swinging makes entirely only to swing protective device and be in dynamic balance state, to oneself
Main underwater robot 1 generates a spring damping and protection.The operator of lash ship is under the auxiliary of frapping line 10, by autonomous water
Lower robot 1 is recovered on the bracket of lash ship, and crane system is put down, and lifting boom 3 loses pulling force effect, in 18 elastic force of compressed spring
Under the action of reset, drive 4 backswing of connecting rod, only swing swing rod 13 automatically disengage, only swing ring 16 and exit autonomous underwater robot 1
Entire removal process is completed on surface.
Autonomous underwater robot 1 lays process and removal process on the contrary, mainly by autonomous underwater robot 1 from lash ship
Cloth is put into water.When deployment, the working principle for only swinging protective device of the invention is identical as removal process, no longer endures herein
It states.
The present invention is laid and is recycled to autonomous underwater robot using the form of single-point lifting, can solve autonomous underwater
Robot is swung problem with the single-point lifting in removal process laying, and has what buffering swung ability only to swing protective device,
In recycling operation process, recycling need to only be lockked a lifting point by diver, and change needs to lock multiple under water in the past
Suspension centre and be two frapping lines, shortens underwater activity duration and labor intensity, improves autonomous underwater robot and lay
With the safety of recycling.
Claims (10)
1. a kind of autonomous underwater robot, which lays recycling single-point lifting, only swings protective device, it is characterised in that: including load-bearing ontology
(2), lifting boom (3), connecting rod (4), Zhi Dang mechanism (5) and spring damping device (6), wherein lifting boom (3) and load-bearing ontology (2)
It is slidably connected, one end of the lifting boom (3) is connected with lash ship crane system, and the two sides of the other end are respectively equipped with connecting rod (4), described
Load-bearing ontology (2) connect with autonomous underwater robot (1) single-point, realizes that single-point lifts by crane；Distinguish the two sides of the load-bearing ontology (2)
Equipped with the identical Zhi Dang mechanism (5) of structure, the Zhi Dang mechanism (5) of every side includes only swinging swing rod (13), only swinging ring (16) and hang
Arm support frame (12), one end of the Cantilever (12) are mounted on the side of the load-bearing ontology (2), the other end and ipsilateral
Only swing swing rod (13) hingedly, described one end for only swinging swing rod (13), which is equipped with, carries out position restriction to autonomous underwater robot (1)
It only swings ring (16), one end of the other end and the ipsilateral connecting rod (4) is hinged, and the other end of the connecting rod (4) is articulated with described rise
The other end of sunpender (3)；The lash ship crane system lay or removal process in pull lifting boom (3), and then pass through two sides
Connecting rod (4) drive respectively two sides only swing swing rod (13) swing, autonomous underwater robot (1) is supported and is limited；?
The load-bearing ontology (2) is internal, is located at lifting boom (3) other end between load-bearing ontology (2) top, until being equipped at least one set
It swings autonomous underwater robot (1) and the spring damping device (6) of buffer power is provided.
2. autonomous underwater robot according to claim 1, which lays recycling single-point lifting, only swings protective device, feature exists
In: the spring damping device (6) includes pretightning force adjustment bolt (17), compressed spring (18) and spring conductor rod (20), is somebody's turn to do
Spring conductor rod (20) is mounted on the other end of the lifting boom (3), is arranged with compression bullet on the spring conductor rod (20)
Spring (18), the both ends of the compressed spring (18) offset at the top of the other end of the lifting boom (3) and load-bearing ontology (2) respectively
It connects；The bottom thread of the load-bearing ontology (2) is connected with pretightning force adjustment bolt (17), the pretightning force adjustment bolt (17) it is upper
End is connected to the other end of lifting boom (3), by adjusting between the lifting boom (3) other end and load-bearing ontology (2) bottom
Distance and then the active force for adjusting compressed spring (18).
3. autonomous underwater robot according to claim 2, which lays recycling single-point lifting, only swings protective device, feature exists
In: the spring conductor rod (20) slides up and down with lifting boom (3), offers at the top of the load-bearing ontology (2) for spring
The unthreaded hole that guide rod (20) stretches out.
4. autonomous underwater robot according to claim 1, which lays recycling single-point lifting, only swings protective device, feature exists
In: the lifting boom (3), which opposite can be slided up and down to by self-lubricating bearing (11) with load-bearing ontology (2), to be connect, the lifting boom
(3) the other end, which is equipped with, is located at load-bearing ontology (2) internal mounting plate (22), and the spring damping device (6) is located at the installation
Between plate (22) and the top of load-bearing ontology (2).
5. autonomous underwater robot according to claim 1, which lays recycling single-point lifting, only swings protective device, feature exists
In: the swing rod (13) that only swings is divided into two sections with an angle, in two sections of intersections and the Cantilever (12)
The other end passes through fork hinge (14) hingedly, wherein one end of one section of end and the connecting rod (4) passes through pitman pin (19)
Hingedly, another section of end, which is connected with, described only swings ring (16)；The lifting boom (3) carries out under the pulling of lash ship crane system
When sliding up and down, described only swing swing rod (13) are swung by the drive of connecting rod (4) around fork hinge (14).
6. autonomous underwater robot according to claim 5, which lays recycling single-point lifting, only swings protective device, feature exists
In: it is described only swing ring (16) be semicircle corresponding with autonomous underwater robot (1) outer profile, should only swing ring (16) with it is described
The position that autonomous underwater robot (1) is in contact is equipped with rubber cushion cover.
7. autonomous underwater robot according to claim 1, which lays recycling single-point lifting, only swings protective device, feature exists
In: only swinging described in every side is to have frapping line (10) on swing rod (13).
8. autonomous underwater robot according to claim 1, which lays recycling single-point lifting, only swings protective device, feature exists
In: it is equipped with below Cantilever described in every side (12) auxiliary support frame (15), the both ends of every side auxiliary support frame (15)
It is connected respectively with ipsilateral Cantilever (12) and load-bearing ontology (2).
9. autonomous underwater robot according to claim 1, which lays recycling single-point lifting, only swings protective device, feature exists
In: the bottom of the load-bearing ontology (2) is equipped with the shackle (8) of connection suspender belt (9), one end and shackle (8) phase of the suspender belt (9)
Even, the other end is connected with recycling lock (7)；The autonomous underwater robot (1) is equipped with single hanging ring (21), the hanging ring (21)
It is connected when laying or recycling with recycling lock (7) as unique lifting point.
10. autonomous underwater robot according to claim 1, which lays recycling single-point lifting, only swings protective device, feature exists
In: one end of the lifting boom (3) is connected with shackle (8), the shackle (8) of lifting boom (3) one end by suspender belt (9) with it is described
Lash ship crane system is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710864962.5A CN109533237B (en) | 2017-09-22 | 2017-09-22 | Independent underwater robot cloth is put back single-point and is lifted by crane and ends and swing protection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710864962.5A CN109533237B (en) | 2017-09-22 | 2017-09-22 | Independent underwater robot cloth is put back single-point and is lifted by crane and ends and swing protection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109533237A true CN109533237A (en) | 2019-03-29 |
| CN109533237B CN109533237B (en) | 2020-06-19 |
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ID=65828384
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710864962.5A Active CN109533237B (en) | 2017-09-22 | 2017-09-22 | Independent underwater robot cloth is put back single-point and is lifted by crane and ends and swing protection device |
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| CN (1) | CN109533237B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109969936A (en) * | 2019-04-28 | 2019-07-05 | 中国科学院海洋研究所 | What investigation apparatus laid removal process under a kind of ocean water only swings device |
| CN110040628A (en) * | 2019-03-22 | 2019-07-23 | 天津大学 | A kind of latent device folding and unfolding method |
| CN111661772A (en) * | 2020-04-28 | 2020-09-15 | 武汉船用机械有限责任公司 | Diving equipment drags hoisting accessory |
| CN114313114A (en) * | 2022-03-16 | 2022-04-12 | 自然资源部第二海洋研究所 | Buoy anchor rope mooring device and laying and recycling method thereof |
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| CN109969936A (en) * | 2019-04-28 | 2019-07-05 | 中国科学院海洋研究所 | What investigation apparatus laid removal process under a kind of ocean water only swings device |
| CN109969936B (en) * | 2019-04-28 | 2024-02-09 | 中国科学院海洋研究所 | Oscillation stopping device for distribution and recovery process of marine underwater investigation equipment |
| CN111661772A (en) * | 2020-04-28 | 2020-09-15 | 武汉船用机械有限责任公司 | Diving equipment drags hoisting accessory |
| CN114313114A (en) * | 2022-03-16 | 2022-04-12 | 自然资源部第二海洋研究所 | Buoy anchor rope mooring device and laying and recycling method thereof |
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