CN110550506B - Umbilical cable installation, discharge and recovery device for underwater robot - Google Patents
Umbilical cable installation, discharge and recovery device for underwater robot Download PDFInfo
- Publication number
- CN110550506B CN110550506B CN201910794202.0A CN201910794202A CN110550506B CN 110550506 B CN110550506 B CN 110550506B CN 201910794202 A CN201910794202 A CN 201910794202A CN 110550506 B CN110550506 B CN 110550506B
- Authority
- CN
- China
- Prior art keywords
- limiting block
- gear
- umbilical cable
- winding roller
- transmission gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000011084 recovery Methods 0.000 title claims abstract description 22
- 238000009434 installation Methods 0.000 title claims abstract description 21
- 238000004804 winding Methods 0.000 claims abstract description 48
- 239000000463 material Substances 0.000 claims abstract description 7
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 4
- 229920000915 polyvinyl chloride Polymers 0.000 claims abstract description 4
- 239000004800 polyvinyl chloride Substances 0.000 claims abstract description 4
- 239000002023 wood Substances 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 37
- 210000003954 umbilical cord Anatomy 0.000 claims description 19
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 11
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 11
- 241001330002 Bambuseae Species 0.000 claims description 11
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 11
- 239000011425 bamboo Substances 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 6
- 239000004593 Epoxy Substances 0.000 claims description 3
- 230000008602 contraction Effects 0.000 claims description 3
- 125000004122 cyclic group Chemical group 0.000 claims description 3
- 239000003822 epoxy resin Substances 0.000 abstract description 2
- 229920000647 polyepoxide Polymers 0.000 abstract description 2
- 229910052802 copper Inorganic materials 0.000 abstract 1
- 239000010949 copper Substances 0.000 abstract 1
- 210000003781 tooth socket Anatomy 0.000 description 3
- 238000006056 electrooxidation reaction Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/40—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable
- B65H75/42—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2205/00—Tethers
- B63B2205/02—Tether payout means
- B63B2205/06—Reels for tethers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
Abstract
The invention discloses an underwater robot umbilical cable installation, discharge and recovery device, which comprises a wire barrel, wherein two ends of the wire barrel are integrally provided with a disc, a stator is fixed in the wire barrel at a central shaft, a winding roller which can freely rotate by taking the wire barrel as an axis is installed on the outer side of the middle part of the wire barrel, the disc and the winding roller can be made of any one of polyvinyl chloride and wood, the wire barrel and the disc are made of the same material, a plurality of annular and uniformly arranged coil grooves are fixed on the outer wall of the stator, coils are fixed in the middle parts of the coil grooves, the coils are formed by winding insulating copper wires in the same direction, two ends of the plurality of coils are connected with an electric contact through wires, the coils and the stator are sealed by epoxy resin, the material of the stator is the same as that of the wire barrel, and the installation, discharge and recovery of the umbilical cable of a robot are more convenient by matching use of the devices, and avoid the navel cord cable intertwine, increase staff's work load.
Description
Technical Field
The invention relates to the technical field of underwater robot cable discharge and recovery, in particular to an underwater robot umbilical cable installation, discharge and recovery device.
Background
When current robot umbilical cable carries out the installation and releases the recovery, adopt artificial mode to carry out releasing of umbilical cable and retrieve mostly, its process is comparatively loaded down with trivial details, can't promote the installation to umbilical cable and release the efficiency of retrieving to when retrieving, umbilical cable can be when winding the winding roller multilayer winding's the surface the condition appears, can't be around full winding roller, and can increase staff's work load, be unfavorable for the high efficiency of whole work to go on.
Disclosure of Invention
The invention aims to provide an underwater robot umbilical cable installation, release and recovery device, and aims to solve the problems that the existing robot umbilical cable installation, release and recovery in the background technology is troublesome, cannot be separated from manual participation, and is easy to cause the mutual winding of umbilical cables, so that the workload of workers is increased.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an underwater robot umbilical cable installation discharges recovery unit, includes a line section of thick bamboo, the both ends of a line section of thick bamboo are provided with the disc with the body, the inside of a line section of thick bamboo is located axis department and is fixed with the stator, the outside at line section of thick bamboo middle part is installed and is used a line section of thick bamboo as axle free rotation's winding roller, the outer wall of stator is fixed with a plurality of coil grooves that are cyclic annular align to grid, the middle part department of coil groove is fixed with the coil, the coil forms with the equidirectional coiling for insulating copper wire, and the both ends of a plurality of coils are connected with the electrical contact through the wire, adopt epoxy to seal between coil and the stator, and the material of stator is.
Preferably, the bobbin, the disc and the winding roller are made of any one of polyvinyl chloride and wood, and the bobbin and the disc are made of the same material.
Preferably, the two ends of the winding roller are fixedly connected with clamping blocks, the front view of each clamping block is T-shaped, clamping grooves matched with the clamping blocks in the direction of the clamping blocks are formed in one side, close to the bobbin, of each disc, a plurality of magnets are fixed inside the winding roller, and the magnets are annularly and uniformly arranged, and the magnetic poles of the magnets are the same.
Preferably, a sliding rod is fixed on one side of each of the two disks close to each other, threads are formed in the bottom side of the outer wall of each sliding rod, and a limiting block capable of sliding on the outer wall of each sliding rod is installed on the outer wall of each sliding rod.
Preferably, one end of the limiting block, which is close to the winding roller, is movably connected with a roller through a rotating shaft, tooth holes are formed in two ends of the outer wall of the roller, the tooth holes are meshed with gears, and the middle of each gear is movably connected with the limiting block through a deflection shaft.
Preferably, a T-shaped buckle is fixed at one end, away from the gear, of the deflection shaft, a movable groove matched with the buckle is formed in the inner wall of the limiting block, a spring is arranged between the side wall of the buckle and the two ends of the movable groove, and the two ends of the spring are fixed with the buckle and the movable groove respectively.
Preferably, the thread is clamped with a thread bolt, tooth grooves are formed in the outer walls of the two ends of the thread bolt, a transmission gear is meshed with the tooth grooves, a rotating shaft is welded in the middle of one side, away from the transmission gear, of the transmission gear, and one end, away from the transmission gear, of the rotating shaft is welded on the inner wall of the limiting block through a bearing.
Preferably, the middle parts of the two sides of the limiting block are provided with movable holes, telescopic rods are inserted into the movable holes, the telescopic rods are located at the inner part of the limiting block, two conical gears are fixed on the outer wall of each telescopic rod, and the conical gears are matched with the gears and the transmission gears.
Preferably, the specific use steps are as follows:
(A1) before the umbilical cord clamping device is used, an umbilical cord of a robot passes through a position between the roller and the limiting block, when the umbilical cord is stretched, the umbilical cord drives the cord cylinder and the disc to rotate together, the umbilical cord drives the roller to rotate in the stretching process of the umbilical cord, the tooth holes at two ends of the roller drive the gear to rotate, the gear drives the transmission gear to rotate, the transmission gear drives the threaded bolt to rotate through meshing with the tooth grooves, when the threaded bolt rotates, the threaded bolt drives the limiting block to integrally move along the rotating direction of the threaded bolt, when the limiting block moves, the umbilical cord moves along with the limiting block, and the limiting block is always positioned right above the position where the umbilical cord is separated from the cord cylinder, so that the umbilical cord and the limiting block cannot be clamped;
(A2) when the umbilical cable is recovered, a power supply of the coil is closed, a magnetic field is formed around the coil and the stator after the coil passes through current, the magnet at the moment can receive deflection force in the magnetic field, the plurality of magnets drive the winding rollers to rotate, the winding rollers wind the umbilical cable and give the umbilical cable a force of contraction towards the direction of the winding rollers;
(A3) when the telescopic rod outside the limiting block abuts against the side wall of the disc, the telescopic rod receives a force opposite to the movement direction of the limiting block, the telescopic rod drives the conical gear to move towards the inside of the limiting block, the sharp end of the conical gear is inserted from the side face of the joint of the gear and the transmission gear and enables the gear and the transmission gear to be separated, when the gear and the transmission gear are separated, the buckle of the deflection shaft, which is far away from one end of the gear, slides in the movable groove, the spring is stressed at the moment, when the gear and the transmission gear are completely separated, the conical gear replaces the gear and is meshed with the transmission gear, and the gear is meshed with the conical gear and the transmission gear under the action of the spring;
(A4) and then the limiting block slides on the sliding rod in the opposite direction before, the umbilical cable moves along with the limiting block and is wound with the winding roller, when the limiting block moves to the side face of the disc again, the other end of the telescopic rod is pressed again, the gear and the transmission gear are separated from the bevel gear, the limiting block changes the movement direction on one side, and the umbilical cable can be wound with the winding roller.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the umbilical cable recovery device, the magnetic field is generated through the electrified coil, the magnet is stressed by the magnetic field and drives the winding roller to rotate, the recovery of the umbilical cable of the robot can be quicker and more convenient, the winding roller can be fully wound when the umbilical cable is recovered through the limiting block, the phenomenon of jamming cannot occur, and the workload of workers for recovering the umbilical cable is reduced.
2. According to the invention, the coil and the coil slot are sealed by using the epoxy resin, so that not only can electrochemical corrosion between the coil and the coil slot be avoided, but also short circuit between the coil and the coil slot can be prevented, and the whole device can normally operate.
3. According to the invention, the sliding direction of the limiting block on the sliding rod can be changed through the conical gear, so that an umbilical cable can be wound on the winding roller more tightly, and the space of the outer wall of the winding roller can be fully utilized.
Drawings
FIG. 1 is a schematic view of a disk structure according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an internal structure of a limiting block according to an embodiment of the invention;
fig. 3 is a schematic view of the internal structure of the bobbin according to the embodiment of the present invention.
In the figure: 1. a bobbin; 2. a disc; 21. a card slot; 22. a slide bar; 23. a thread; 231. a threaded bolt; 232. a tooth socket; 233. a transmission gear; 234. a rotating shaft; 235. a bearing; 24. a limiting block; 241. a movable groove; 242. a spring; 25. a rotating shaft; 26. a roller; 261. a perforation; 262. a gear; 263. a yaw axis; 264. buckling; 3. a stator; 31. a coil slot; 32. a coil; 33. an electrical contact; 4. a winding roller; 41. a clamping block; 42. a magnet; 5. a movable hole; 6. a telescopic rod; 61. a bevel gear.
Detailed Description
In order to enable the umbilical cable of the robot to be more conveniently installed, released and recovered and prevent the umbilical cables from being wound with each other to increase the workload, the umbilical cable installing, releasing and recovering device for the underwater robot is particularly provided. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the embodiment provides an umbilical cable installation, discharge and recovery device for an underwater robot, which includes a wire drum 1, wherein two ends of the wire drum 1 are integrally provided with a disc 2, a stator 3 is fixed inside the wire drum 1 at a central axis, and a winding roller 4 which freely rotates with the wire drum 1 as an axis is installed outside the middle of the wire drum 1.
The outer wall of stator 3 is fixed with a plurality of coil grooves 31 that are cyclic annular align to grid, the middle part department of coil groove 31 is fixed with coil 32, coil 32 forms with the equidirectional coiling for insulating copper wire, can make the magnetic field direction that coil 32 produced unanimous like this, and the both ends of a plurality of coils 32 are connected with electrical contact 33 through the wire, can make the magnetic field intensity that each coil 32 produced unanimous, adopt epoxy to seal between coil 32 and the stator 3, can avoid producing electrochemical corrosion between coil 32 and the winding roller 31 like this, and the material of stator 3 is the same with bobbin 1.
The bobbin 1, the disc 2 and the winding roller 4 can be made of any one of polyvinyl chloride and wood, and the bobbin 1 and the disc 2 are made of the same material.
The two ends of the winding roller 4 are fixedly connected with clamping blocks 41, the front view of each clamping block 41 is in a T shape, clamping grooves 21 matched with the clamping blocks 41 are formed in one sides, close to the bobbin 1, of the two circular discs 2, a plurality of magnets 42 are fixed inside the winding roller 4, and the magnets 42 are arranged in an annular and uniform mode and have the same magnetic poles.
A sliding rod 22 is fixed on one side of the two discs 2 close to each other, a thread 23 is arranged on the bottom side of the outer wall of the sliding rod 22, and a limiting block 24 capable of sliding on the outer wall of the sliding rod 22 is arranged on the outer wall of the sliding rod 22.
One end of the limiting block 24 close to the wire winding roller 4 is movably connected with a roller 26 through a rotating shaft 25, two ends of the outer wall of the roller 26 are provided with tooth holes 261, the tooth holes 261 are meshed with a gear 262, and the middle of the gear 262 is movably connected with the limiting block 24 through a deflection shaft 263.
A T-shaped buckle 264 is fixed at one end of the deflection shaft 263 far away from the gear 262, a movable groove 241 matched with the buckle 264 is formed in the inner wall of the limiting block 24, a spring 242 is arranged between the side wall of the buckle 264 and two ends of the movable groove 241, and two ends of the spring 242 are respectively fixed with the buckle 264 and the movable groove 241.
The thread 23 is clamped with a thread bolt 231, the outer walls of the two ends of the thread bolt 231 are provided with tooth sockets 232, the tooth sockets 232 are meshed with a transmission gear 233, the middle part of one side, away from each other, of the transmission gear 233 is welded with a rotating shaft 234, and one end, away from the transmission gear 233, of the rotating shaft 234 is welded on the inner wall of the limiting block 24 through a bearing 235.
The middle parts of the two sides of the limiting block 24 are provided with movable holes 5, telescopic rods 6 are inserted into the movable holes 5, the telescopic rods 6 are positioned at the inner parts of the limiting block 24, two bevel gears 61 are fixed on the outer walls of the telescopic rods 6, and the bevel gears 61 are matched with the gears 262 and the transmission gears 233.
In this embodiment, before using, pass between running roller 26 and stopper 24 with the umbilical of robot, when the umbilical elongates, umbilical drives bobbin 1 and disc 2 and rotates together, in the umbilical elongation in-process, umbilical drives running roller 26 and rotates, the tooth hole 261 at running roller 26 both ends drives gear 262 rotatory, gear 262 drives drive gear 233 and rotates, drive gear 233 drives screw bolt 231 through the meshing with tooth's socket 232 and rotates, when screw bolt 231 rotates, screw bolt 231 will drive stopper 24 and wholly follow screw bolt 231 pivoted direction and move, when stopper 24 removes, umbilical follows stopper 24 and moves together, and stopper 24 is in the umbilical and breaks away from directly over bobbin 1 position all the time, can guarantee that can not produce the dead phenomenon of card between umbilical and the stopper 24.
When the umbilical cable is recovered, the power supply of the coil 32 is closed, after the coil 32 passes through the current, a magnetic field is formed around the coil 32 and the stator 3, the magnet 42 at the moment can receive the deflection force in the magnetic field, the plurality of magnets 42 drive the winding rollers 4 to rotate, the winding rollers 4 wind the umbilical cable, and the umbilical cable is given a force of contraction towards the direction of the winding rollers 4.
During the process of recovering the umbilical cable by the winding roller 4, the umbilical cable drives the roller 26 to rotate, and the limited block 24 slides on the sliding rod 22, when the telescopic rod 6 outside the limiting block 24 abuts against the side wall of the disc 2, the telescopic rod 6 is subjected to a force opposite to the moving direction of the limiting block 24, at this time, the telescopic rod 6 drives the bevel gear 61 to move towards the inside of the limiting block 24, the sharp end of the bevel gear 61 is inserted from the side surface of the joint of the gear 262 and the transmission gear 233, and the gear 262 is separated from the transmission gear 233, when the gear 262 is separated from the transmission gear 233, the catch 264 of the end of the deflection shaft 263 far from the gear 262 will slide inside the movable slot 241, at which time the spring 242 is forced upwards, when the gear 262 is completely separated from the driving gear 233, the bevel gear 61 replaces the gear 262 and engages with the driving gear 233, under the action of the spring 242, the gear 262 meshes with the bevel gear 61 and the transmission gear 233.
Then stopper 24 will slide on slide bar 22 in the opposite direction before, at this time the umbilical cord will follow stopper 24 and be wound up on winding roller 4, when stopper 24 is moved to the side of disc 2 again, the other end of telescopic rod 6 is pressed again and gear 262 and drive gear 233 are disengaged from bevel gear 61, stopper 24 changes the direction of movement to one side to allow umbilical cord to be wound up on winding roller 4.
Through the cooperation use between each above device, can make the installation of robot umbilical cable release retrieve more convenient to and avoid umbilical cable to twine each other, increase staff's work load.
In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be further noted that, unless otherwise specifically stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, connected through an intermediate medium, or connected through the insides of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides an underwater robot umbilical cable installation discharges recovery unit, includes line section of thick bamboo (1), its characterized in that: the utility model discloses a wire winding machine, including a wire section of thick bamboo, the both ends of a line section of thick bamboo (1) are provided with disc (2) with the body, the inside of a line section of thick bamboo (1) is located axis department and is fixed with stator (3), the outside at the middle part of a line section of thick bamboo (1) is installed and is used a line section of thick bamboo (1) as axle free rotation's winding roller (4), the outer wall of stator (3) is fixed with a plurality of coil grooves (31) that are cyclic annular align to grid, the middle part department of coil groove (31) is fixed with coil (32), coil (32) are formed for the insulating copper wire with the equidirectional coiling, and the both ends of a plurality of coil (32) are connected with electrical contact (33) through the wire, adopt epoxy to seal between coil (32) and stator (3), and.
2. The underwater robot umbilical cable installation, deployment and recovery device of claim 1, wherein: the bobbin (1), the disc (2) and the winding roller (4) are made of any one of polyvinyl chloride and wood, and the bobbin (1) and the disc (2) are made of the same material.
3. The underwater robot umbilical cable installation, deployment and recovery device of claim 1, wherein: the two ends of the winding roller (4) are fixedly connected with clamping blocks (41), the front view of each clamping block (41) is T-shaped, one side, close to the bobbin (1), of each disc (2) is provided with a clamping groove (21) matched with the clamping block (41), a plurality of magnets (42) are fixed inside the winding roller (4), and the magnets (42) are uniformly arranged in an annular mode, and magnetic poles of the magnets are the same.
4. The underwater robot umbilical cable installation, deployment and recovery device of claim 1, wherein: a sliding rod (22) is fixed on one side of each of the two discs (2) close to each other, threads (23) are formed in the bottom side of the outer wall of each sliding rod (22), and a limiting block (24) capable of sliding on the outer wall of each sliding rod is installed on the outer wall of each sliding rod (22).
5. The underwater robot umbilical cable installation, deployment and recovery device of claim 4, wherein: the wire winding device is characterized in that one end, close to the wire winding roller (4), of the limiting block (24) is movably connected with a roller (26) through a rotating shaft (25), tooth holes (261) are formed in two ends of the outer wall of the roller (26), gears (262) are meshed with the tooth holes (261), and the middle of the gears (262) is movably connected with the limiting block (24) through deflection shafts (263).
6. The underwater robot umbilical cable installation, deployment and recovery device of claim 5, wherein: a T-shaped buckle (264) is fixed at one end, far away from the gear (262), of the deflection shaft (263), a movable groove (241) matched with the buckle (264) is formed in the inner wall of the limiting block (24), a spring (242) is arranged between the side wall of the buckle (264) and two ends of the movable groove (241), and two ends of the spring (242) are fixed with the buckle (264) and the movable groove (241) respectively.
7. The underwater robot umbilical cable installation, deployment and recovery device of claim 5, wherein: the thread (23) is clamped with a thread bolt (231), tooth grooves (232) are formed in the outer walls of the two ends of the thread bolt (231), a transmission gear (233) is meshed with the tooth grooves (232), a rotating shaft (234) is welded in the middle of one side, away from the transmission gear (233), of the transmission gear (233), and one end, away from the transmission gear (233), of the rotating shaft (234) is welded on the inner wall of the limiting block (24) through a bearing (235).
8. The underwater robot umbilical cable installation, deployment and recovery device of claim 5, wherein: the middle parts of two sides of the limiting block (24) are provided with movable holes (5), telescopic rods (6) are inserted into the movable holes (5), the telescopic rods (6) are located at the inner part of the limiting block (24), two bevel gears (61) are fixed on the outer wall of each telescopic rod, and the bevel gears (61) are matched with the gears (262) and the transmission gears (233).
9. The underwater robot umbilical cable installation, deployment and recovery device of claim 1, comprising the specific use steps of:
(A1) before the umbilical cord stretching device is used, an umbilical cord of a robot passes through a position between the roller wheel (26) and the limiting block (24), when the umbilical cord stretches, the umbilical cord drives the cord cylinder (1) and the disc (2) to rotate together, in the process of stretching the umbilical cord, the umbilical cord drives the roller wheel (26) to rotate, tooth holes (261) at two ends of the roller wheel (26) drive the gear (262) to rotate, the gear (262) drives the transmission gear (233) to rotate, the transmission gear (233) drives the threaded bolt (231) to rotate through meshing with the tooth grooves (232), when the threaded bolt (231) rotates, the threaded bolt (231) drives the limiting block (24) to integrally move along with the rotating direction of the threaded bolt (231), when the limiting block (24) moves, the umbilical cord moves along with the limiting block (24), and the limiting block (24) is always positioned right above the position where the umbilical cord breaks away from the cord cylinder (1), the umbilical cable can be prevented from being clamped with the limiting block (24);
(A2) when the umbilical cable is recovered, a power supply of the coil (32) is closed, after the coil (32) passes through current, a magnetic field is formed around the coil (32) and the stator (3), the magnet (42) at the moment receives deflection force in the magnetic field, the plurality of magnets (42) drive the winding roller (4) to rotate, the winding roller (4) winds the umbilical cable, and a force of contraction towards the winding roller (4) is given to the umbilical cable;
(A3) in the process that the umbilical cable is recovered by the winding roller (4), the umbilical cable drives the roller (26) to rotate, the limiting block (24) slides on the sliding rod (22), when the telescopic rod (6) on the outer side of the limiting block (24) abuts against the side wall of the disc (2), the telescopic rod (6) is subjected to a force opposite to the moving direction of the limiting block (24), the telescopic rod (6) drives the bevel gear (61) to move towards the inside of the limiting block (24), the sharp end of the bevel gear (61) is inserted from the side face of the joint of the gear (262) and the transmission gear (233), the gear (262) is separated from the transmission gear (233), when the gear (262) is separated from the transmission gear (233), the buckle (264) at the end, far away from the gear (262), of the shaft (263) slides in the movable groove (241), the deflection spring (242) is stressed at the moment, and after the gear (262) is completely separated from the transmission gear (233), the bevel gear (61) replaces the gear (262) and is meshed with the transmission gear (233), and the gear (262) is meshed with the bevel gear (61) and the transmission gear (233) under the action of the spring (242);
(A4) then the limiting block (24) slides on the sliding rod (22) in the opposite direction, the umbilical cable at the moment moves along with the limiting block (24) and is fully wound on the winding roller (4), when the limiting block (24) moves to the side of the disc (2) again, the other end of the telescopic rod (6) is pressed again, the gear (262) and the transmission gear (233) are separated from the conical gear (61), and the limiting block (24) changes the moving direction on one side, so that the umbilical cable can be fully wound on the winding roller (4).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910794202.0A CN110550506B (en) | 2019-08-27 | 2019-08-27 | Umbilical cable installation, discharge and recovery device for underwater robot |
| PCT/CN2020/089659 WO2021036340A1 (en) | 2019-08-27 | 2020-05-11 | Device for mounting, releasing and recovering umbilical cable of autonomous underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910794202.0A CN110550506B (en) | 2019-08-27 | 2019-08-27 | Umbilical cable installation, discharge and recovery device for underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110550506A CN110550506A (en) | 2019-12-10 |
| CN110550506B true CN110550506B (en) | 2020-06-26 |
Family
ID=68738223
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910794202.0A Active CN110550506B (en) | 2019-08-27 | 2019-08-27 | Umbilical cable installation, discharge and recovery device for underwater robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110550506B (en) |
| WO (1) | WO2021036340A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110550506B (en) * | 2019-08-27 | 2020-06-26 | 南京涵曦月自动化科技有限公司 | Umbilical cable installation, discharge and recovery device for underwater robot |
| CN111519915A (en) * | 2020-05-07 | 2020-08-11 | 何士林 | Self-rolling anti-leakage ink fountain for building construction and line snapping method thereof |
| CN111758458B (en) * | 2020-07-20 | 2021-12-03 | 衡东荣鑫绿色食品有限公司 | Big-arch shelter farming watering irrigation system |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000001268A (en) * | 1998-06-17 | 2000-01-07 | Hitachi Cable Ltd | Cable bundling machine |
| KR101168310B1 (en) * | 2009-12-18 | 2012-07-25 | 삼성중공업 주식회사 | Wire winch and autonomous mobile apparatus having the same |
| CN203269226U (en) * | 2013-04-24 | 2013-11-06 | 天津敏才科技发展有限公司 | Communication cable wrapping device |
| CN203461639U (en) * | 2013-08-02 | 2014-03-05 | 武汉船用机械有限责任公司 | Cable winder for travelling offshore crane |
| CN203411167U (en) * | 2013-08-30 | 2014-01-29 | 平国民 | Motor specially used for rewinding vehicle |
| CN105644744A (en) * | 2016-03-17 | 2016-06-08 | 天津海之星海洋科技发展有限公司 | Throwing and recovering machine for ship-based underwater robot |
| CN106476994B (en) * | 2016-11-25 | 2018-08-14 | 大连华锐重工集团股份有限公司 | Underwater robot extension and retraction system and its application method |
| CN206849251U (en) * | 2017-05-05 | 2018-01-05 | 北京臻迪科技股份有限公司 | A kind of operating office |
| CN109650162A (en) * | 2019-02-27 | 2019-04-19 | 卓郎（江苏）纺织机械有限公司 | The separately positioned take-up roll of the unit that tests the speed and the textile machine for using the take-up roll |
| CN110550506B (en) * | 2019-08-27 | 2020-06-26 | 南京涵曦月自动化科技有限公司 | Umbilical cable installation, discharge and recovery device for underwater robot |
-
2019
- 2019-08-27 CN CN201910794202.0A patent/CN110550506B/en active Active
-
2020
- 2020-05-11 WO PCT/CN2020/089659 patent/WO2021036340A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021036340A1 (en) | 2021-03-04 |
| CN110550506A (en) | 2019-12-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110550506B (en) | Umbilical cable installation, discharge and recovery device for underwater robot | |
| CN112978482A (en) | Take-up reel for preventing cable from winding during winding for power electrical engineering and use method | |
| CN208916518U (en) | A kind of communication cable draw off gear | |
| CN213140980U (en) | Winding mechanism with protection function for winding machine | |
| CN208249524U (en) | A kind of power cable bobbin winder device | |
| CN112499380A (en) | Automatic wire take-up device for electric power engineering and use method thereof | |
| CN209835305U (en) | Power panel capable of automatically recovering wires | |
| CN208361548U (en) | A kind of wire and cable core synthesis traction mechanism | |
| CN114481655B (en) | Steel wire rope braiding and winding equipment and working method thereof | |
| CN216004746U (en) | Coiling mechanism is used in electric power engineering construction | |
| CN212049925U (en) | Wire winding device | |
| CN213181774U (en) | Portable high-pressure megger | |
| CN110980409A (en) | Power cable winding and unwinding devices that can non return | |
| CN203645076U (en) | Winding device and electrical equipment | |
| CN112908642A (en) | Transformer lead clamp suitable for different wire harnesses | |
| CN206502459U (en) | A kind of power cable retracting device | |
| CN219217133U (en) | Portable wire coil with winding and unwinding structure | |
| CN104260053A (en) | Horizontal screw charged fastening tool of transformer substation device | |
| CN216403375U (en) | Retractable circuit for electric power energy storage | |
| CN211569783U (en) | Cable winding and unwinding devices is used in construction in room | |
| CN213894704U (en) | Wire coiling mechanism is used in power equipment installation | |
| CN217708337U (en) | Electric power safety ground wire frame that excellent in use effect | |
| CN210682867U (en) | Cable winding and unwinding devices that electric power distribution construction used | |
| CN204136001U (en) | The horizontal helical silk ribbon electricity fastened tools of substation equipment | |
| CN114194926B (en) | Steel wire rubber hose winding device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240115 Address after: Room 602, Unit 2, Building 5, Xingcheng Yulong Bay, No. 118 Jinchai Road, Liaobu Town, Dongguan City, Guangdong Province, 523000 Patentee after: Dongguan Lanqi Management Consulting Co.,Ltd. Address before: 211100 300 Chi Hui Road, Qilin science and Technology Innovation Park, Jiangning District, Nanjing, Jiangsu Patentee before: NANJING HANXIYUE AUTOMATION TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |