CN110733940A - underwater robot winding and unwinding devices - Google Patents
underwater robot winding and unwinding devices Download PDFInfo
- Publication number
- CN110733940A CN110733940A CN201911036208.8A CN201911036208A CN110733940A CN 110733940 A CN110733940 A CN 110733940A CN 201911036208 A CN201911036208 A CN 201911036208A CN 110733940 A CN110733940 A CN 110733940A
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- China
- Prior art keywords
- underwater robot
- fixedly connected
- cable
- guide mechanism
- support frame
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- 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
- B65H75/44—Constructional details
- B65H75/4402—Guiding arrangements to control paying-out and re-storing of the material
- B65H75/4405—Traversing devices; means for orderly arranging the material on the drum
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- 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
- B65H75/44—Constructional details
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
-
- 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
- B65H75/44—Constructional details
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
- B65H75/4489—Fluid motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/35—Ropes, lines
Abstract
The invention discloses an underwater robot retracting device, which belongs to the technical field of ship equipment and comprises a hanging beam, a guide mechanism, a worm gear mechanism, a buffer member, an armored umbilical cable, a sea cable winch mechanism, a guide mechanism, a rotary support frame and an underwater robot, wherein two ends of the hanging beam are arranged on two upright posts in a sliding mode, the end of the guide mechanism is fixedly connected with the hanging beam, the second end of the guide mechanism is rotatably arranged in the rotary support frame, the worm gear mechanism is fixedly arranged on the outer wall of the rotary support frame, the buffer member is fixedly arranged on the end face, away from the guide mechanism, of the rotary support frame, the end of the armored umbilical cable is fixedly connected with the sea cable winch mechanism, and the second end of the umbilical armored cable bypasses the guide mechanism, penetrates through the rotary support frame and the buffer member and is fixedly connected with the underwater robot.
Description
Technical Field
The invention relates to the technical field of marine equipment, in particular to an underwater robot retracting device.
Background
In the prior art, an underwater robot retracting device mainly adopts an A-shaped bracket retracting device. The A-shaped support type retraction device can retract the underwater robot.
The A-shaped support type retraction device comprises a base frame unit, an A-shaped support unit, a cable arranging device unit, a winch unit and a hydraulic control unit, wherein the A-shaped support type and winch integrated design is usually adopted, the A-shaped support type retraction device is installed on a ship deck, the swinging-out and swinging-in actions of an A-shaped support are completed by two groups of hydraulic cylinders, the underwater robot system (comprising an underwater robot and a relay station) leaves a main ship body area in the horizontal direction and is suspended above the sea surface, and the subsequent lowering and entering actions are facilitated.
However, when the a-frame type retraction device retracts the underwater robot when the dimension of the rectangular moon pool of the ship is small (slightly larger than the length and width dimension of the robot), the rectangular underwater robot is easy to collide with the wall of the rectangular moon pool of the ship in the process of lowering and recovering, and equipment is damaged.
Disclosure of Invention
The invention provides underwater robot retracting and releasing devices, which solve or partially solve the technical problem that a rectangular underwater robot collides with the wall of a rectangular moon pool of a ship in the process of transferring and recovering under the condition that the dimension of the rectangular moon pool of the ship is smaller (slightly larger than the length and width dimension of the robot) in the prior art.
In order to solve the technical problem, the invention provides an underwater robot retracting device which comprises a hanging beam, a submarine cable winch mechanism, an armored umbilical cable, a guide mechanism, a rotary support frame, a worm gear mechanism, a buffer piece and two upright posts, wherein two ends of the hanging beam are arranged on the two upright posts in a sliding mode, the end of the guide mechanism is fixedly connected with the hanging beam, the second end of the guide mechanism is arranged in the rotary support frame in a rotating mode, the worm gear mechanism is fixedly arranged on the outer wall of the rotary support frame, the buffer piece is fixedly arranged on the end face, deviating from the guide mechanism, of the rotary support frame, the end of the armored umbilical cable is fixedly connected with the submarine cable winch mechanism, and the second end of the armored umbilical cable bypasses the guide mechanism, penetrates through the rotary support frame and is fixedly connected with the underwater robot.
, the slewing bearing frame comprises a bearing inner ring and a bearing outer ring, the bearing inner ring is rotatably sleeved in the bearing outer ring, the bearing inner ring is fixedly connected with the guide mechanism, the bearing outer ring is fixedly connected with the buffer piece, and a th gear is arranged on the circumferential surface of the bearing outer ring.
, rollers are disposed between the bearing inner race and the bearing outer race.
, the worm gear mechanism comprises a motor and a worm, wherein the fixed end of the motor is fixedly connected with the guide mechanism, the output end of the motor is fixedly connected with the worm, and the worm is meshed with the gear
, guide rails are arranged on the two upright posts, and two ends of the hanging beam can be arranged in the corresponding guide rails in a sliding manner.
, racks are fixedly arranged in the two guide rails, second motors are fixedly arranged at two ends of the hanging beam, second gears are fixedly arranged at output ends of the second motors, and the second gears are meshed with the corresponding racks.
, each guide rail is fixedly provided with limit stops at the top and the bottom.
, the guide mechanism comprises a bracket and a fixed pulley, wherein the end of the bracket is fixedly connected with the hanging beam, the fixed pulley is rotatably arranged in the bracket, and the second end of the bracket is rotatably arranged in the rotary support frame.
, the submarine cable winch mechanism comprises a base, a submarine cable winch drum and two side plates, wherein the two side plates are fixedly arranged on the base, the submarine cable winch drum is rotatably arranged between the two side plates, and the end of the armored umbilical cable is wound on the submarine cable winch drum.
, the area of the buffer is larger than the area of the rotary support frame.
or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
the underwater robot system comprises a lifting beam, a rotating support frame, a first end of a guide mechanism, a second end of an armored umbilical cable, a second end of the armored umbilical cable, a second end of the armored umbilical cable, a first end of the armored umbilical cable, a second end 63of the armored umbilical cable, a first end 63of the armored umbilical cable, a second end 63of the armored umbilical cable, a first end of the armored cable, a second end 63of the underwater robot, a second end of the armored umbilical cable, a second end of the underwater robot, a second end of the armored cable, the first end is fixedly connected with the underwater robot, the first end of the first end, the first end of the first end of the armored umbilical cable, the first end of the first underwater robot, the first underwater cable, the second end of the first underwater robot, the second end of the armored cable, the first underwater cable, the second end of the first underwater cable, the first underwater robot, the second end of the first underwater cable, the armored cable, the first underwater cable, the second end of the first underwater robot, the second end of the first underwater cable, the second end 63of the first underwater robot, the first underwater cable, the second end of the first underwater robot, the second end of the first underwater robot, the armored cable, the second end of the second cable, the first underwater robot, the second cable, the first underwater cable, the second end of the first underwater cable, the second cable, the first underwater cable, the second cable, the first underwater cable, the second cable, the first underwater cable, the second cable, the first underwater cable, the second cable, the first cable, the second cable, the first underwater cable, the first.
Drawings
Fig. 1 is a front view of an underwater robot retracting device provided in an embodiment of the present invention;
FIG. 2 is a side view of the underwater robot retraction device of FIG. 1;
FIG. 3 is a top view of the underwater robot retraction device of FIG. 1;
FIG. 4 is a schematic structural diagram of a revolving support frame of the underwater robot retracting device in FIG. 1;
FIG. 5 is a schematic structural diagram of a column of the underwater robot retracting device in FIG. 1;
FIG. 6 is a schematic view of a boom of the underwater robot retraction device of FIG. 1 reaching the bottom of a column;
FIG. 7 is a schematic unfastened umbilical of the armored umbilical of the underwater robotic retraction device of FIG. 1;
FIG. 8 is a schematic view of the retraction of an armored umbilical of the underwater robotic retraction device of FIG. 1;
fig. 9 is a schematic view illustrating a suspension beam of the underwater robot retracting device of fig. 1 reaching the top of a column.
Detailed Description
Referring to fig. 1-3, the underwater robot retracting device provided by the embodiment of the invention comprises a hanging beam 1, a submarine cable winch mechanism 2, an armored umbilical cable 3, a guide mechanism 4, a rotary support frame 5, a worm gear mechanism 6, a buffer member 7 and two upright posts 8.
The two ends of the hanging beam 1 are slidably arranged on the two upright posts 8.
The th end of the guide mechanism 4 is fixedly connected with the hanging beam 1, the second end of the guide mechanism 4 is rotatably arranged in the rotary supporting frame 5, the worm gear mechanism 6 is fixedly arranged on the outer wall of the rotary supporting frame 5, and the buffer member 7 is fixedly arranged on the end face of the rotary supporting frame 5 departing from the guide mechanism 4.
The th end of the armored umbilical cable 3 is fixedly connected with the sea cable winch mechanism 2, and the second end of the armored umbilical cable 3 bypasses the guide mechanism 4 and passes through the rotary support frame 5 and the buffer member 7 to be fixedly connected with the underwater robot 9.
According to the specific embodiment of the application, two ends of a lifting beam 1 are slidably arranged on two upright columns 8, so that the underwater robot 9 can complete the work in the early stage of lowering and the later stage of recovery of the underwater robot 9 by sliding the lifting beam 1 up and down on the upright columns 8, because the second end of a guide mechanism 4 is fixedly connected with the lifting beam 1 and the second end of the guide mechanism 4 is rotatably arranged in a slewing support frame 5, the movement direction of the armored umbilical cable 3 can be changed by the guide mechanism 4, because a worm gear mechanism 6 is fixedly arranged on the outer wall of the slewing support frame 5, a buffer 7 is fixedly arranged on the end face of the slewing support frame 5 departing from the guide mechanism 4, the second end of the armored umbilical cable 3 is fixedly connected with a cable winch mechanism 2, the second end of the armored umbilical cable 3 bypasses the guide mechanism 4, penetrates through the slewing support frame 5 and the worm 7 to be fixedly connected with the underwater robot 9, when the underwater robot 9 is to lower, the underwater robot 9, the underwater robot is to be lowered, the underwater robot 9, the underwater robot is enabled to rotate around the central buffer mechanism 9, the central buffer 7, the central buffer 9, the central buffer mechanism 9 is enabled to be enabled to rotate, the central buffer 9, the central buffer mechanism 9 is enabled to rotate, the central buffer mechanism 9, the central buffer mechanism is enabled to rotate, the central buffer mechanism 9, the central buffer mechanism 9, the central buffer mechanism is enabled to rotate, the central buffer mechanism 9, the central buffer mechanism 9, the central buffer mechanism 9, the central buffer mechanism is enabled to.
Referring to fig. 4, in particular, the revolving support frame 5 includes: bearing inner ring 5-1 and bearing outer ring 5-2.
The bearing inner ring 5-1 is rotatably sleeved in the bearing outer ring.
The bearing inner ring 5-1 is fixedly connected with the guide mechanism 4. In the embodiment, a plurality of bolt holes are formed in the bearing inner ring 5-1, and bolts penetrate through the bolt holes to be fixedly connected with the bracket 4-1 of the guide mechanism 4.
The bearing outer ring 5-2 is fixedly connected with the buffer member 7. in the embodiment, a plurality of bolt holes are arranged on the bearing outer ring 5-2, bolts penetrate through the bolt holes to be fixedly connected with the buffer member 7, and th gears 5-3 are arranged on the circumferential surface of the bearing outer ring 5-2.
A roller is arranged between the bearing inner ring 5-1 and the bearing outer ring 5-2, so that the bearing outer ring 5-2 can rotate around the bearing inner ring 5-1 conveniently.
The worm gear mechanism 6 includes an th motor 6-1 and a worm 6-2.
The fixed end of the th motor 6-1 is fixedly connected with the guide mechanism 4, in the embodiment, the fixed end of the th motor 6-1 can be fixedly connected with the bracket 4-1 of the guide mechanism 4 through a bolt, so that the disassembly is convenient, the output end of the th motor 6-1 is fixedly connected with the worm 6-2, and in the embodiment, the output end of the th motor 6-1 can be fixedly connected with the worm 6-2 through a coupler.
The worm 6-2 is meshed with the th gear 5-3.
The th motor 6-1 is started, the th motor 6-1 drives the worm 6-2 to rotate, the worm 6-2 drives the bearing outer ring 5-2 to rotate around the bearing inner ring 6-1 through the gear 5-3, and the bearing outer ring 5-2 can drive the buffer piece 7 to rotate.
Referring to fig. 5, specifically, guide rails are respectively disposed on the two upright posts 8; two ends of the hanging beam 1 can be arranged in corresponding guide rails in a sliding way, so that the hanging beam 1 can slide up and down along the guide rails.
In the early stage of the underwater robot 9 being lowered, the armored umbilical cable 3 is lowered by the sea cable winch mechanism 2, the second motor 13 is started at the same time, the second gear 14 is driven by the second motor 13 to rotate on the rack 12, the hanging beam 1 and the armored umbilical cable 3 are driven to descend synchronously, and the underwater robot 9 is lowered in the early stage; the underwater robot 9 retrieves the later stage, and the armoured umbilical cable 3 is retrieved to sea cable winch mechanism 2, starts second motor 13, and second motor 13 drives second gear 14 and rotates on rack 12, drives hanging beam 1 and the synchronous rising of armoured umbilical cable 3, carries out the underwater robot 9 and retrieves the later stage, draws back underwater robot 9 to the normal position.
Meanwhile, the self-locking function is realized through the meshing of the second gear 14 and the rack 12, in the process of retracting and releasing the relay station 10 and the underwater robot 9, the gear 14 is driven up and down on the rack 12 under the action of the second motor 13, when the second motor 13 stops running, the second gear 14 stops rotating and is locked on the rack 12, and the positions of the relay station 10 and the underwater robot 9 in the rectangular moon pool 11 can be controlled at any time.
The top and the bottom of each guide rail are fixedly provided with limit stoppers 15 for preventing the second gear 14 from sliding out of the rack 12. In this embodiment, the bottom of each guide rail can be fixedly provided with a limit stop 15 by welding, so as to ensure the stability of connection.
The th motor 6-1 and the second motor 13 may be hydraulic motors or electric motors.
Specifically, the guide mechanism 4 includes: a bracket 4-1 and a fixed pulley 4-2.
The th end of the bracket 4-1 is fixedly connected with the hanging beam 1. in the embodiment, the th end of the bracket 4-1 can be fixedly connected with the hanging beam 1 by welding to ensure the connection firmness.A fixed pulley 4-2 is rotatably arranged in the bracket 4-1, and the armored umbilical cable 3 passes around the fixed pulley 4-2 to change the movement direction of the armored umbilical cable 3.
The second end of the bracket 4-1 is rotatably arranged in the rotating support frame 5, so that the rotating support frame 5 can rotate around the second end of the bracket 4-1.
Specifically, the submarine cable winch mechanism 2 includes: a base 2-1, a submarine cable winch drum 2-2 and two side plates 2-3.
The two side plates are fixedly arranged on the base 2-1. In the embodiment, the two side plates can be fixedly arranged on the base 2-1 by welding, so that the connection firmness is ensured.
The sea cable winch drum 2-2 is rotatably arranged between the two side plates 2-3.
The th end of the armored umbilical 3 is wound around the sea cable winch drum 2-2.
When the underwater robot 9 needs to be wound and unwound, the submarine cable winch drum 2-2 rotates forwards or backwards between the two side plates 2-3, and the armored umbilical cable 3 is loosened or tightened.
Specifically, the buffer 7 has an area larger than that of the pivoting support frame 5, facilitating contact with the top of the relay station 10. The buffer member 7 can reduce the collision damage of the rotary support frame 5 to the top of the relay station 10 due to the inertia effect in the process of recovering the underwater robot 9 from the armored umbilical cable 3.
The buffer 7 may be a rubber plate.
Specifically, the armor umbilical cable 3 is outside layers of armor steel wires (guarantee mechanical properties such as tensile of armor umbilical cable), and inside is optical cable (transmission control signal), cable (power supply, transmission signal of telecommunication), hollow tube unit (provide hydraulic pressure and chemical agent), filler material (support function), protective sheath (protect the functional unit, maintain stable in structure) etc..
In order to more clearly describe the embodiments of the present invention, the following description is made in terms of the method of using the embodiments of the present invention.
The base 2-1 is fixedly arranged at the bow of the ship, the upright columns 8 are fixedly arranged at the tail of the ship, the two upright columns 8 are fixed on the bulkhead of the ship, the structural strength of the side walls of the two sides of the ship body can be enhanced, the th end of the armored umbilical cable 3 is wound on the reel 2-2 of the sea cable winch, the second end of the armored umbilical cable 3 passes around the fixed pulley 4-2 and penetrates through the rotary support frame 5 and the buffer piece 7 to be fixedly connected with the underwater robot 9
Referring to fig. 6, in the process of lowering the armored umbilical cable, the armored umbilical cable 3 wound on the reel 2-2 of the marine cable winch is loosened along with the rotation of the reel 2-2 of the marine cable winch, meanwhile, the second motor 13 is started, the second motor 13 drives the second gear 14 to rotate on the rack 12, the hanging beam 1 is driven to descend, the underwater robot 9 is lowered in the early stage, through the gravity and traction effects of the relay station 10 and the rectangular underwater robot 9, the hanging beam 1, the bracket 4-1 and the fixed pulley 4-2 are lowered synchronously with the armored umbilical cable 3 along with the relay station 10 and the rectangular underwater robot 9 until the second gear 14 reaches the limit stop 15 fixedly arranged at the bottom of the guide rail (the length of the rack is determined according to the situation, only the requirement that the synchronously lowered rectangular underwater robot extends out of the rectangular moon pool of the ship is met), the second motor 13 stops operating, and the second gear 14 stops acting on the rack 12.
At the moment, the buffer 7 is tightly attached to the top of the relay station 10 of the underwater robot 9, the th motor 6-1 is started, the th motor 6-1 drives the worm 6-2 to rotate, the worm 6-2 drives the bearing outer ring 5-2 to rotate around the bearing inner ring 6-1 through the gear 5-3, the bearing outer ring 5-2 can drive the buffer 7 to rotate, the relay station 10 and the underwater robot 9 are driven to rotate through friction force between the buffer 7 and the top of the relay station 10, so that the angle between the underwater robot 9 and the rectangular moon pool 11 of the ship is adjusted, the fact that the symmetrical center plane of the underwater robot 9 and the symmetrical center plane of the rectangular moon pool 11 are kept in fixed parallelism before the underwater robot 9 is put down and passes through the rectangular moon pool 11 is guaranteed, the relative displacement distance between the underwater robot 9 and the rectangular moon pool 11 is controlled, the collision risk between the rectangular underwater robot 9 and the rectangular moon pool wall of the ship in the putting down process is avoided, and equipment safety is.
Referring to fig. 7, the armored umbilical cable 3 on the reel 2-2 of the marine cable winch is continuously lowered, the second motor 13 stops running and stops running, the hanging beam 1, the support 4-1, the fixed pulley 4-2, the rotary support frame 5, the worm gear mechanism 6 and the buffer member 7 stop moving downwards, the contact part of the buffer member 7 and the top of the relay station is separated, and the relay station 10 and the rectangular underwater robot 9 are continuously lowered under the action of gravity and traction force of the relay station and the rectangular underwater robot until the relay station 10 and the rectangular underwater robot are completely lowered out of the ship through the rectangular moon pool 11 of the ship, so that the lowering process is completed.
Referring to fig. 8, when the underwater robot 9 finishes working, the armored umbilical cable 3 starts to be recovered, and along with the recovery of the armored umbilical cable 3 on the sea cable winch drum 2-2, the relay station 10 and the rectangular underwater robot 9 move upwards, and when the top of the relay station 10 just touches the buffer piece 7, the armored umbilical cable 3 on the sea cable winch drum 2-2 stops being recovered.
The buffer member 7 is attached to the top of the relay station 10 of the underwater robot 9, the worm gear mechanism 6 is started, the worm gear mechanism 6 drives the rotary support frame 5 to rotate around the second end of the guide mechanism 4, the buffer member 7 is then rotated, the relay station 10 and the underwater robot 9 are driven to rotate through friction between the buffer member 7 and the top of the relay station 10, so that the angle between the underwater robot 9 and the rectangular moon pool 11 of the ship is adjusted, the underwater robot 9 is enabled to keep constant parallelism between the symmetrical center plane of the underwater robot 9 and the symmetrical center plane of the rectangular moon pool 11 before being recycled through the rectangular moon pool 11, the relative displacement distance between the underwater robot 9 and the rectangular moon pool 11 is controlled, the collision risk between the recycling process of the rectangular underwater robot 9 and the rectangular moon pool wall of the ship is avoided, and the safety of equipment is ensured.
Referring to fig. 9, in the later recovery stage of the underwater robot 9, the marine cable winch mechanism 2 recovers the armored umbilical cable 3, the armored umbilical cable 3 pulls the relay station 10 of the underwater robot 9 to the bottom of the buffer member 7, so that the top of the relay station 10 is tightly attached to the buffer member, the second motor 13 is started, the second motor 13 drives the second gear 14 to rotate on the rack 12, the hanging beam 1 and the armored umbilical cable 3 are driven to synchronously ascend, the underwater robot 9 is recovered in the later recovery stage, and the underwater robot 9 is pulled back to the original position.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (10)
- The underwater robot retracting and releasing device is characterized by comprising a hanging beam, a submarine cable winch mechanism, an armored umbilical cable, a guide mechanism, a rotary support frame, a worm gear mechanism, a buffer piece and two upright posts;two ends of the hanging beam are slidably arranged on the two upright posts;the th end of the guide mechanism is fixedly connected with the hanging beam, the second end of the guide mechanism is rotatably arranged in the rotary supporting frame, the worm gear mechanism is fixedly arranged on the outer wall of the rotary supporting frame, and the buffer piece is fixedly arranged on the end face of the rotary supporting frame, which is far away from the guide mechanism;and the th end of the armored umbilical cable is fixedly connected with the submarine cable winch mechanism, and the second end of the armored umbilical cable bypasses the guide mechanism, passes through the rotary support frame and the buffer part and is fixedly connected with the underwater robot.
- 2. The underwater robot retraction device according to claim 1, wherein the slewing support frame comprises: a bearing inner race and a bearing outer race;the bearing inner ring is rotatably sleeved in the bearing outer ring;the bearing inner ring is fixedly connected with the guide mechanism;the bearing outer ring is fixedly connected with the buffer piece, and the th gear is arranged on the circumferential surface of the bearing outer ring.
- 3. The underwater robot retracting device of claim 2, wherein:and a roller is arranged between the bearing inner ring and the bearing outer ring.
- 4. The underwater robot retracting and releasing device of claim 2, wherein the worm gear mechanism comprises an th motor and a worm;the fixed end of the th motor is fixedly connected with the guide mechanism, and the output end of the th motor is fixedly connected with the worm;the worm is meshed with the th gear.
- 5. The underwater robot retracting device of claim 1, wherein:guide rails are arranged on the two upright posts;and two ends of the hanging beam can be arranged in the corresponding guide rails in a sliding manner.
- 6. The underwater robot retracting device of claim 5, wherein:racks are fixedly arranged in the two guide rails;a second motor is fixedly arranged at both ends of the hanging beam, and a second gear is fixedly arranged at the output end of the second motor;the second gear is meshed with the corresponding rack.
- 7. The underwater robot retracting device of claim 6, wherein:and the top and the bottom of each guide rail are fixedly provided with limit stops.
- 8. The underwater robot retraction device according to claim 1, wherein the guiding mechanism comprises: a bracket and a fixed pulley;the th end of the bracket is fixedly connected with the hanging beam, and the fixed pulley is rotatably arranged in the bracket;the second end of the bracket is rotatably arranged in the rotary support frame.
- 9. The underwater robotic storage and retrieval device of claim 1, wherein said sea cable winch mechanism includes: the device comprises a base, a submarine cable winch drum and two side plates;the two side plates are fixedly arranged on the base;the submarine cable winch drum is rotatably arranged between the two side plates;the th end of the armored umbilical is wound around the sea cable winch drum.
- 10. The underwater robot retracting device of claim 1, wherein:the area of the buffer piece is larger than that of the rotary supporting frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911036208.8A CN110733940A (en) | 2019-10-29 | 2019-10-29 | underwater robot winding and unwinding devices |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911036208.8A CN110733940A (en) | 2019-10-29 | 2019-10-29 | underwater robot winding and unwinding devices |
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| CN110733940A true CN110733940A (en) | 2020-01-31 |
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| CN201911036208.8A Pending CN110733940A (en) | 2019-10-29 | 2019-10-29 | underwater robot winding and unwinding devices |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112593888A (en) * | 2020-12-08 | 2021-04-02 | 重庆前卫科技集团有限公司 | Umbilical cable deployment and underwater docking device |
| CN115123950A (en) * | 2022-07-18 | 2022-09-30 | 中科长城海洋信息系统有限公司 | Stand rotation mechanism and marine stand winch |
Citations (5)
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| CN105775077A (en) * | 2016-03-08 | 2016-07-20 | 中国石油大学(华东) | Tethered remote-controlled underwater equipment transportation and installation robot |
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| CN112593888A (en) * | 2020-12-08 | 2021-04-02 | 重庆前卫科技集团有限公司 | Umbilical cable deployment and underwater docking device |
| CN112593888B (en) * | 2020-12-08 | 2022-07-05 | 重庆前卫科技集团有限公司 | Umbilical cable deployment and underwater docking device |
| CN115123950A (en) * | 2022-07-18 | 2022-09-30 | 中科长城海洋信息系统有限公司 | Stand rotation mechanism and marine stand winch |
| CN115123950B (en) * | 2022-07-18 | 2024-01-12 | 中科长城海洋信息系统有限公司 | Upright post rotating mechanism and marine upright post winch |
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