CN110816755A - Winch oscillation stopping mechanism of underwater robot laying and recycling system - Google Patents
Winch oscillation stopping mechanism of underwater robot laying and recycling system Download PDFInfo
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- CN110816755A CN110816755A CN201810921939.XA CN201810921939A CN110816755A CN 110816755 A CN110816755 A CN 110816755A CN 201810921939 A CN201810921939 A CN 201810921939A CN 110816755 A CN110816755 A CN 110816755A
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- Prior art keywords
- hoisting
- support
- cable
- underwater robot
- fixing frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/36—Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
- F16F15/027—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means comprising control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D2700/00—Capstans, winches or hoists
- B66D2700/01—Winches, capstans or pivots
- B66D2700/0183—Details, e.g. winch drums, cooling, bearings, mounting, base structures, cable guiding or attachment of the cable to the drum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D2700/00—Capstans, winches or hoists
- B66D2700/01—Winches, capstans or pivots
- B66D2700/0183—Details, e.g. winch drums, cooling, bearings, mounting, base structures, cable guiding or attachment of the cable to the drum
- B66D2700/0191—Cable guiding during winding or paying out
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The invention relates to a hoisting swing-stopping mechanism of an underwater robot laying and recycling system.A rotary motor is arranged on a guide buffer fixing frame through a mounting frame, an output shaft is connected with the lower end of a rotary shaft, the upper end of the rotary shaft is fixedly connected with a connecting block A, and the connecting block A is provided with a hoisting ring hinged connecting rod; the hoisting mechanism comprises a cable, a hoisting roller, a power source, a support A and a rotating cylinder supporting and rotating shaft, the support A is arranged on the guide buffer fixing frame, the hoisting roller is rotatably arranged on the support A through the rotating cylinder supporting and rotating shaft, the power source is arranged on the support A, the output end of the power source is connected with one end of the hoisting roller and drives the hoisting roller to rotate, one end of the cable is wound on the hoisting roller, and the other end of the cable is connected with a throwing cable thrown out of the bow of the underwater robot. The invention has reasonable structural design and high integration level, can realize high-automation and less-manual operation, liberates manpower to a great extent and simplifies the scale of a test support team.
Description
Technical Field
The invention belongs to the field of underwater robots, and particularly relates to a hoisting oscillation stopping mechanism of a deployment and recovery system of an underwater robot.
Background
The underwater robot equipment in various forms in the ocean field has diversified structural forms, practical system application and scientific detection serialization. Under the situation of vigorous development of the whole ocean application field, how to safely distribute and recover underwater robots more efficiently on the premise of less man-made operation requirements of ocean operation is always a common problem at home and abroad.
At present, the underwater robot is mainly distributed and recovered in four ways:
the first is to adopt a floating dock type and a lifting platform to carry out underwater laying, butt joint and recovery operation, although the influence of wind waves can be reduced, a special mother ship is required to be supported, and the special mother ship is high in manufacturing cost and use cost and is not suitable for the current domestic situation.
The second type is midship moon pool recovery, which can avoid the influence of sea waves on the laying and recovery operations; however, due to the limited size of the moon pool, the size of the underwater robot capable of supporting retraction is limited to a small scale and a regular shape.
The third is to use a mother ship to lift and recover on the water surface, and generally, a worker needs to take a motor boat to approach an underwater robot to complete the butt joint with a recovery mechanism; the operation mode is greatly influenced by wind and waves, and the conditions of equipment damage and personnel injury are easy to occur when the sea condition is poor; the laying process and the recovery process are reciprocal.
Fourthly, throwing the hauling cable out of the cable throwing device of the underwater robot completing the work mission through a remote control command, leading the hauling cable into the A-shaped frame after the hauling cable is recovered by a worker through the cable throwing device, and gradually dragging the hauling cable to the lower part of the A-shaped frame at the stern part of the mother ship; workers on the mother ship use long rod hooks for butt joint, and a guarantee team consisting of a plurality of people stops swinging and recovers under the working condition that the mother ship advances at a high speed; the recovery method solves the problem of danger caused by the hook of the boat, and the use cost is low; however, the method has the problems of difficult realization of severe sea conditions, low universality and multi-user operation.
Disclosure of Invention
In order to solve the problems existing in the process of laying and recovering the underwater robot, the invention aims to provide a hoisting swing-stopping mechanism of a laying and recovering system of the underwater robot.
The purpose of the invention is realized by the following technical scheme:
the device comprises a circumferential rotation direction-adjusting mechanism, a hoisting mechanism, a capturing support and a guide buffer fixing frame, wherein the circumferential rotation direction-adjusting mechanism comprises a hoisting ring hinged connecting rod, a connecting block A, a mounting frame, a rotary motor and a rotating shaft; the hoisting mechanism comprises a cable, a hoisting roller, a power source, a support A and a rotating cylinder supporting and rotating shaft, the support A is arranged on the guide buffer fixing frame, the hoisting roller is rotatably arranged on the support A through the rotating cylinder supporting and rotating shaft, the power source is arranged on the support A, the output end of the power source is connected with one end of the hoisting roller and drives the hoisting roller to rotate, one end of the cable is wound on the hoisting roller, and the other end of the cable is connected with a recovery rope thrown out of the bow of the underwater robot;
the guide buffer fixing frame is provided with an oil damping vibration isolator, the oil damping vibration isolator comprises an oil damping controller and an external fixed cylinder, the external fixed cylinder is arranged on the guide buffer fixing frame, the oil damping controller is contained in the external fixed cylinder, the upper end of the oil damping controller is connected with the top of the external fixed cylinder, and the lower end of the oil damping controller is connected with the capturing bracket;
the guide buffer fixing frame is provided with a guide cylinder barrel, the guide cylinder barrel comprises an external fixed supporting sleeve, an internal fixed wear-resistant sleeve and an internal follow-up cylinder rod, the external fixed supporting sleeve is arranged on the guide buffer fixing frame, the internal fixed wear-resistant sleeve is accommodated in the external fixed supporting sleeve and is connected with the external fixed supporting sleeve, the internal follow-up cylinder rod can be accommodated in the internal fixed wear-resistant sleeve in a relatively lifting manner, and the lower end of the internal follow-up cylinder rod is connected with the capturing bracket;
one side or two sides of the winch roller are provided with a passive cable rope dispersing roller mechanism, the passive cable rope dispersing roller mechanism comprises a passive roller and a support B, the support B is arranged on the support A, the passive roller is rotatably arranged on the support B, and the distance between the winch roller and the passive roller is less than 2 times of the diameter of the cable rope;
the guide buffer fixing frame is provided with a cable pressing mechanism, the cable pressing mechanism comprises a torsion spring, a torsion spring supporting rod, a connecting block B and a cable pressing plate, the torsion spring supporting rod is arranged on the guide buffer fixing frame through the connecting block B, one end of the cable pressing plate is rotatably connected to the torsion spring supporting rod, the other end of the cable pressing plate is a free end, the torsion spring is sleeved on the torsion spring supporting rod, two ends of the torsion spring are respectively abutted against the guide buffer fixing frame and the cable pressing plate, and the free end of the cable pressing plate is abutted against a cable through the elasticity of the torsion spring;
the mooring rope penetrates out of the bottom of the guide buffer fixing frame and is connected with a recovery rope thrown out of the bow of the underwater robot, and a mooring rope limiting plate arranged on the guide buffer fixing frame is arranged on the outer side of the mooring rope;
a primary buffer vibration isolation pad is mounted on the capturing bracket, and a secondary buffer vibration isolation pad is mounted on the lower surface of the guide buffer fixing frame;
a wear-resistant copper ring for axially limiting the rotating shaft and a wear-resistant copper sleeve A for radially limiting the rotating shaft are arranged between the rotating shaft and the mounting frame, and a triangular connecting profile is arranged at the lower end of the rotating shaft and is connected with the tail end of an output shaft of the rotating motor; the upper end of the rotating shaft is fixedly connected with the bottom of the connecting block A through a locking nut;
the connecting block A is U-shaped, the lifting ring hinged connecting rod is installed at the opening end of the U-shaped, one end of the lifting ring hinged connecting rod is a lifting ring, and the other end of the lifting ring hinged connecting rod is provided with a positioning locking hole.
The invention has the advantages and positive effects that:
1. the invention has reasonable structural design and high integration level, can realize high-automation and less-manual operation, liberates manpower to a great extent and simplifies the scale of a test support team.
2. The transmission connection of the circumferential rotation direction adjusting mechanism adopts profile connection, the transmission is reliable, and the installation and the maintenance are convenient and quick.
3. The oil damping vibration isolator has strong vibration isolation capacity and large adjustment range, and forms a three-stage buffering vibration isolation scheme together with the primary buffering vibration isolator and the secondary buffering vibration isolator, so that the safe deployment and recovery of the underwater robot can be guaranteed even under the condition of high sea.
4. The invention is provided with the passive cable rope dispersing roller mechanism, which ensures that the cable ropes are passively wound side by side in the winding process.
5. The invention is provided with the cable pressing mechanism, and when the mechanism is used for constant tension winding, the cable is ensured to be always in a pressing state, and the cable cannot be wound due to reciprocating winding and unwinding actions.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a second schematic perspective view of the present invention;
FIG. 3 is a perspective sectional view of the circumferential direction rotating and steering mechanism of the present invention;
FIG. 4 is a schematic perspective view of a hoisting mechanism according to the present invention;
fig. 5 is a second schematic perspective view of the hoisting mechanism of the present invention;
FIG. 6 is a perspective cross-sectional view of the guide cylinder of the present invention;
FIG. 7 is a perspective cross-sectional view of the oil damping vibration isolator of the present invention;
FIG. 8 is a diagram illustrating the operation of the present invention applied to a mother ship;
wherein: 1 is a circumferential rotation direction-adjusting mechanism, 101 is a lifting ring hinged connecting rod, 102 is a connecting block A, 103 is a fixing plate A, 104 is a supporting plate A, 105 is a fixing plate B, 106 is a fixing plate C, 107 is a rotating motor, 108 is the tail end of an output shaft, 109 is a triangular connecting molded surface, 110 is a wear-resistant copper sleeve A, 111 is a rotating shaft, 112 is a locking nut, 113 is a positioning locking hole, 114 is a wear-resistant copper ring, and 115 is a screw A;
2, a hoisting mechanism, 201 a cable, 202 a cable limiting plate, 203 a hoisting roller, 204 a connecting flange, 205 a hoisting reducer, 206 a hoisting motor, 207 a support A and 208 a screw C;
3, an oil damping vibration isolator, 301, a controller, 302, a locking block, 303, an external fixed cylinder, 304, an external thread connector A and 305, an external thread connector B;
4, a guide cylinder barrel, 401, an external fixed support sleeve, 402, an internal fixed wear-resistant sleeve, 403, an end flange pressing plate, 404, an internal follow-up cylinder rod, 405, an internal locking thread, 406, a screw E and 407, are used as connecting flanges;
5 is a passive cable dispersion roller mechanism, 501 is a passive roller, 502 is a bracket B, 503 is a screw D;
6 is a cable hold-down mechanism, 601 is a torsion spring, 602 is a torsion spring support rod, 603 is a connection block B, 604 is a cable hold-down plate, and 605 is a screw B;
7 is a capturing bracket, 8 is a primary buffer vibration isolator, 9 is a secondary buffer vibration isolator, 10 is a guide buffer fixing frame, 11 is a connecting plate B, 12 is a mother ship, 13 is a mechanical arm, 14 is a hoisting swing stopping mechanism, 15 is a rope throwing mechanism, 16 is an underwater robot, 17 is a connecting plate A, and 18 is a damping hydraulic cylinder.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the invention comprises a circumferential rotation direction adjusting mechanism 1, a winding mechanism 2, an oil damping vibration isolator 3, a guide cylinder 4, a passive cable dispersion roller mechanism 5, a cable pressing mechanism 6, a capturing bracket 7, a primary buffer vibration isolator 8, a secondary buffer vibration isolator 9 and a guide buffer fixing frame 10, wherein the winding mechanism 2 is positioned in the guide buffer fixing frame 10, and the oil damping vibration isolator 3 and the guide cylinder 4 which are arranged on the guide buffer fixing frame 10 are arranged on the left side and the right side of the winding mechanism 2; a passive cable dispersion roller mechanism 5 for dispersing and winding the cables 201 side by side is arranged at the front side and/or the rear side of the winding mechanism 2, and a cable pressing mechanism 6 for pressing the cables is arranged above the winding mechanism 2. The catching support 7 is positioned below the guide buffering fixing frame 10, the oil damping vibration isolator 3 and the guide cylinder 4 in the hoisting mechanism 2 are respectively connected with the catching support 7, the catching support 7 is arc-shaped, one side of the catching support 7, which is in contact with the underwater robot 16, is provided with a first-level buffering vibration isolator 8, and the lower surface of the guide buffering fixing frame 10 is provided with a second-level buffering vibration isolator 9.
As shown in fig. 1, 2 and 3, the circumferential rotation direction-adjusting mechanism 1 includes a ring hinge connecting rod 101, a connecting block a102, an installation frame, a rotating motor 107, a wear-resistant copper sleeve a110, a rotating shaft 111, a lock nut 112 and a wear-resistant copper ring 114, wherein a fixing plate C106 is arranged on the upper portion of the guide buffer fixing frame 10, the installation frame is fixed at the middle position of the upper surface of the fixing plate C106, and includes two fixing plates a103, a supporting plate a104 and a fixing plate B105, the two supporting plates a104 are arranged in parallel, the left end and the right end of the fixing plate a103 are respectively fixedly connected to the tops of the two supporting plates a104 through screws a115, and a fixing plate B105 parallel to the fixing plate a103 is fixedly connected to the lower portion of the fixing plate. The middle of the fixing plate B105 is opened, the rotating motor 107 is fixed on the lower surface of the fixing plate B105, and the end 108 of the output shaft passes through the opening of the fixing plate B105 and is rotatably connected with the connecting block a102 through the rotating shaft 111. A wear-resistant copper bush A110 for radially limiting the rotating shaft 111 is arranged between the outer side of the middle of the rotating shaft 111 and the fixing plate A103, the rotating shaft 111 is isolated by the wear-resistant copper bush A110 and forms a revolute pair connection with the fixing plate A103, and the rotating shaft 111 and the wear-resistant copper bush A10 are in clearance fit; a triangular connecting profile 109 is arranged on the inner side of the lower end (large end) of the rotating shaft 111, a triangular connecting profile is arranged on the outer side of the tail end 108 of the output shaft of the rotating motor 107, the rotating motor 107 and the rotating shaft 111 are connected through the profiles to transmit torque, and the upper end of the rotating shaft 111 is fixedly connected with the bottom of the connecting block A102 through a locking nut 112. The connecting block A102 is U-shaped, the open end of the U-shaped is provided with a lifting ring hinged connecting rod 101, one end of the lifting ring hinged connecting rod 101 is a lifting ring, and the other end of the lifting ring hinged connecting rod 101 is provided with a positioning locking hole 113. Wear-resistant copper rings 114 which are sleeved on the rotating shaft 111 and axially limit the rotating shaft 111 are arranged on the upper side and the lower side of the fixing plate A103, and the rotating shaft 111 is in clearance fit with the wear-resistant copper rings 114; the upper wear-resistant copper ring 114 is fixed with the fixing plate A103 through a locking nut 112, and the lower wear-resistant copper ring 114 is fixed with the fixing plate A103 through the large end of the rotating shaft 111; meanwhile, the upper and lower wear-resistant copper rings 114 also axially limit the wear-resistant copper bush a 110.
As shown in fig. 1, 2, 4 and 5, the hoisting mechanism 2 includes a cable 201, a cable limiting plate 202, a hoisting drum 203, a connecting flange 204, a power source, a support a207, a rotating drum rotating shaft 209 and a wear-resistant copper sleeve B210, the support a207 is fixed on the bottom surface of the guide buffer fixing frame 10, the hoisting drum 203 is rotatably installed on the support a207 through the rotating drum rotating shaft 209, the power source is installed on the support a207, the output end is connected with one end of the hoisting drum 203 to drive the hoisting drum 203 to rotate, one end of the cable 201 is wound on the hoisting drum 203, and the other end is a free end and is connected with a recovery rope thrown out of the bow of the underwater robot. The power source of this embodiment includes a hoisting speed reducer 205 and a hoisting motor 206 fixedly connected by screws, and the hoisting speed reducer 205 and the hoisting motor 206 are fixed to a bracket a207 together by screws. A connecting flange 204 is arranged on the left side inside the hoisting roller 203, and the connecting flange 204 is fixedly connected with a flange plate of a hoisting speed reducer 205 through a screw; compared with the common shaft key connection, the flange connection is more reliable and convenient and is beneficial to maintenance. The right side of the winding drum 203 is fixedly connected to a left flange of a rotating drum rotating shaft 209 through a screw C208, and the rotating drum rotating shaft 209 is connected with a bracket A207 through a wear-resistant copper sleeve B210 in a rotating pair mode. The cable 201 penetrates through a hole formed in the bottom of the guide buffer fixing frame 10 and is connected with a recovery rope thrown out of the bow of the underwater robot, and a cable limiting plate 202 installed on the guide buffer fixing frame 10 is arranged on the outer side (namely, the side far away from the winding roller 203) of the cable 201, so that the cable 201 is retracted.
One side or two sides of the winding drum 203 are provided with a passive cable dispersing drum mechanism 5, the passive cable dispersing drum mechanism 5 comprises a passive drum 501 and a support B502, the support B502 is installed on the support A207 or the guide buffer fixing frame 10 through a screw D503, the passive drum 501 is rotatably installed on the support B502, and the distance between the winding drum 203 and the passive drum 501 is less than 2 times of the diameter of the cable 201. In this embodiment, a passive cable dispersion drum mechanism 5 is arranged at the front side of the winding drum 203, and in the process that the cable 201 is wound on the winding drum 203, the passive drum 501 in the passive cable dispersion drum mechanism 5 is in contact with the cable 201, so that the cables 201 of each layer are wound side by side. The cable 201 of the present invention is a kevlar cable.
The upper portion of the winding drum 203 is provided with a cable hold-down mechanism 6 installed on the guide buffer fixing frame 10, the cable hold-down mechanism 6 comprises a torsion spring 601, a torsion spring supporting rod 602, a connecting block B603 and a cable hold-down plate 604, two ends of the torsion spring supporting rod 602 are respectively provided with the connecting block B603, the connecting blocks B603 at two ends are respectively and fixedly connected to the guide buffer fixing frame 10 through screws B605, one end of the cable hold-down plate 604 is rotatably connected to the torsion spring supporting rod 602, the other end is a free end, the torsion spring 601 is sleeved on the torsion spring supporting rod 602, two ends are respectively abutted against the guide buffer fixing frame 10 and the cable hold-down plate 604, the free end of the cable hold-down plate 604 is tensioned downwards through the elasticity.
As shown in fig. 1, 2 and 7, the oil damping vibration isolators 3 mounted on the guide buffer fixing frame 10 are respectively disposed on the left and right sides of the hoisting mechanism 2, each oil damping vibration isolator 3 includes an oil damping controller 301, a locking block 302 and an external fixing cylinder 303, the whole oil damping vibration isolator 3 is fixed on the guide buffer fixing frame 10 through an external flange of the external fixing cylinder 303, the oil damping controller 301 is accommodated in the external fixing cylinder 303, and an external thread connector a304 is disposed at the upper end of the oil damping vibration isolator for being in threaded connection with the locking block 302 and clamping and fixing the external fixing cylinder 303 between the oil damping controller 301 and the locking block 302; the lower end of the oil damping controller 301 is provided with an external thread connector B305 for connecting with a connecting plate B11, and a catching bracket 7 is mounted on the lower surface of the connecting plate B11. The oil damping controller 301 of the present invention is a commercially available product, available from bosch technologies ltd, germany, and has a model number of HBY-14/40.
As shown in fig. 1, 2 and 6, the left and right sides of the hoisting mechanism 2 are provided with guide cylinder barrels 4 mounted on the guide buffer fixing frame 10, each guide cylinder barrel 4 includes an external fixed support sleeve 401, an internal fixed wear-resistant sleeve 402, an end flange pressing plate 403, an internal follow-up cylinder rod 404 and a connecting flange 407, the lower end of the external fixed support sleeve 401 is fixed on the guide buffer fixing frame 10, the internal fixed wear-resistant sleeve 402 is accommodated in the external fixed support sleeve 401, the upper end of the internal fixed wear-resistant sleeve is fixedly connected with the end flange pressing plate 403 through a screw E406, and the end flange pressing plate 403 and the internal fixed wear-resistant sleeve 402 are pressed and fixed to the upper end of the external fixed support sleeve 401. The inner follow-up cylinder rod 404 is relatively accommodated in the inner fixed wear-resistant sleeve 402 in a lifting manner for realizing a follow-up guiding function, and the lower end of the inner follow-up cylinder rod 404 is provided with an inner locking thread 405 for connecting the inner follow-up cylinder rod 404 with the connecting plate B11.
The working principle of the invention is as follows:
as shown in fig. 1 to 8, a mechanical arm 13 is mounted on the mother ship 12, and the mechanical arm 13 can be flexibly mounted or dismounted according to a mounting interface and a voyage number requirement provided by the mother ship 12, so as to ensure the voyage number to receive and release the underwater robot 16; meanwhile, other equipment can be hoisted and placed. The connecting block A102 in the hoisting oscillation stopping mechanism 14 is fixed at the tail end of the mechanical arm 13, and meanwhile, damping hydraulic cylinders 18 for roll and pitch compound oscillation stopping are connected in parallel, and the functions of yaw and pitch oscillation stopping are realized by combining the circumferential rotation function of the circumferential rotation direction adjusting mechanism 1. After the oscillation stopping action is finished, the hoisting oscillation stopping mechanism 14 can be limited and locked by the damping hydraulic cylinder 18. The rope throwing mechanism 15 is installed at the bow of the underwater robot 16 and is used for realizing the function of quickly throwing the rope of the underwater robot 16 on the sea level.
After the underwater robot 16 is out of service, a worker triggers the rope throwing mechanism 15 on the bow of the underwater robot 16 through remote control to quickly release the buoyancy block thrown out of the bow, the buoyancy block thrown out of the bow floats under the action of sea waves to drive the rope throwing cable to be quickly unfolded, the rope throwing cable is manually fished up and is connected to the cable 201 on the winch oscillation stopping mechanism 14, and the safe recovery of the underwater robot 16 is realized through the combined action of the mechanical arm 13, the winch oscillation stopping mechanism 14, the connecting plate A17 and the damping hydraulic cylinder 18.
In the process of deployment and recovery, the rotation motor 107 is operated, the rotation shaft 111 is connected with the connecting block a102 through the lock nut 112, and the connecting block a102 is fixed at the end of the mechanical arm 13, so that the rotation motor 107 drives the part below the rotation shaft 111 (including the mounting frame, the guide buffer fixing frame 10 and the catching support 7) and the rotation shaft 111 to rotate relatively, thereby realizing rotation direction adjustment. The hoisting motor 206 and the hoisting reducer 205 drive the hoisting drum 203 to rotate, so as to lay or recover the cable 201, and further, the underwater robot 16 is laid or recovered relative to the capturing bracket 7. The guide cylinder barrel 4 can play a guiding role, the oil damping vibration isolator 3 can play a buffering role, the passive mooring rope dispersing roller mechanism 5 enables every layer of the mooring rope 201 to be wound side by side, the mooring rope pressing mechanism 6 can guarantee that the mooring rope is always in a pressing state when the mechanism is hoisted under constant tension, and the mooring rope cannot be wound due to reciprocating retraction and release actions.
The guiding buffering fixing frame 10 can be designed according to customization of underwater robots 16 with different shapes, a universal interface is designed on a connecting interface at the tail end, and the guiding buffering fixing frame can be flexibly replaced according to retraction requirements.
Claims (9)
1. The utility model provides a recovery system's hoist that underwater robot laid only swings mechanism which characterized in that: the device comprises a circumferential rotation direction-adjusting mechanism (1), a hoisting mechanism (2), a capturing support (7) and a guide buffer fixing frame (10), wherein the circumferential rotation direction-adjusting mechanism (1) comprises a hoisting ring hinged connecting rod (101), a connecting block A (102), a mounting frame, a rotary motor (107) and a rotating shaft (111), the rotary motor (107) is mounted on the guide buffer fixing frame (10) through the mounting frame, an output shaft is connected with the lower end of the rotating shaft (111), the upper end of the rotating shaft (111) is fixedly connected with the connecting block A (102), and the hoisting ring hinged connecting rod (101) is mounted on the connecting block A (102); the hoisting mechanism (2) comprises a cable (201), a hoisting roller (203), a power source, a support A (207) and a rotating roller supporting shaft (209), the support A (207) is installed on the guide buffer fixing frame (10), the hoisting roller (203) is rotatably installed on the support A (207) through the rotating roller supporting shaft (209), the power source is installed on the support A (207), the output end of the power source is connected with one end of the hoisting roller (203) to drive the hoisting roller (203) to rotate, one end of the cable (201) is wound on the hoisting roller (203), and the other end of the cable is connected with a throwing cable thrown out of the bow of the underwater robot.
2. The hoisting and oscillation stopping mechanism of the underwater robot deployment and recovery system according to claim 1, wherein: install fluid damping isolator (3) on direction buffering mount (10), this fluid damping isolator (3) include fluid damping controller (301) and outside solid fixed cylinder (303), install on direction buffering mount (10) outside solid fixed cylinder (303), fluid damping controller (301) holding is in this outside solid fixed cylinder (303), and the upper end is connected with the top of outside solid fixed cylinder (303), the lower extreme with catch support (7) and link to each other.
3. The hoisting and oscillation stopping mechanism of the underwater robot deployment and recovery system according to claim 1, wherein: the guide buffer fixing frame (10) is provided with a guide cylinder barrel (4), the guide cylinder barrel (4) comprises an external fixed supporting sleeve (401), an internal fixed wear-resistant sleeve (402) and an internal follow-up cylinder rod (404), the external fixed supporting sleeve (401) is arranged on the guide buffer fixing frame (10), the internal fixed wear-resistant sleeve (402) is accommodated in the external fixed supporting sleeve (401) and is connected with the external fixed supporting sleeve (401), the internal follow-up cylinder rod (404) can be accommodated in the internal fixed wear-resistant sleeve (402) in a relatively lifting mode, and the lower end of the internal follow-up cylinder rod is connected with the capture support (7).
4. The hoisting and oscillation stopping mechanism of the underwater robot deployment and recovery system according to claim 1, wherein: one side or two sides of the winch drum (203) are provided with a passive cable dispersing drum mechanism (5), the passive cable dispersing drum mechanism (5) comprises a passive drum (501) and a support B (502), the support B (502) is installed on the support A (207), the passive drum (501) is rotatably installed on the support B (502), and the distance between the winch drum (203) and the passive drum (501) is less than 2 times of the diameter of the cable (201).
5. The hoisting and oscillation stopping mechanism of the underwater robot deployment and recovery system according to claim 1, wherein: install hawser hold-down mechanism (6) on direction buffering mount (10), this hawser hold-down mechanism (6) include torsion spring (601), torsional spring bracing piece (602), connecting block B (603) and hawser pressure strip (604), install on direction buffering mount (10) through connecting block B (603) torsional spring bracing piece (602), the one end rotation of hawser pressure strip (604) is connected on torsional spring bracing piece (602), and the other end is the free end, torsion spring (601) cover is established on torsional spring bracing piece (602), both ends respectively with direction buffering mount (10) and hawser pressure strip (604) looks butt, the free end of this hawser pressure strip (604) passes through the elasticity butt of torsion spring (601) is on hawser (201).
6. The hoisting and oscillation stopping mechanism of the underwater robot deployment and recovery system according to claim 1, wherein: the mooring rope (201) penetrates out of the bottom of the guide buffer fixing frame (10) and is connected with a recovery rope thrown out of the bow of the underwater robot, and a mooring rope limiting plate (202) installed on the guide buffer fixing frame (10) is arranged on the outer side of the mooring rope (201).
7. The hoisting and oscillation stopping mechanism of the underwater robot deployment and recovery system according to claim 1, wherein: catch and install one-level buffering vibration isolator (8) on support (7), direction buffering mount (10) lower surface mounting has second grade buffering vibration isolator (9).
8. The hoisting and oscillation stopping mechanism of the underwater robot deployment and recovery system according to claim 1, wherein: a wear-resistant copper ring (114) for axially limiting the rotating shaft (111) and a wear-resistant copper sleeve A (110) for radially limiting the rotating shaft (111) are arranged between the rotating shaft (111) and the mounting frame, and a triangular connecting molded surface (109) is arranged at the lower end of the rotating shaft (111) and is connected with the tail end (108) of the output shaft of the rotating motor (107); the upper end of the rotating shaft (111) is fixedly connected with the bottom of the connecting block A (102) through a locking nut (112).
9. The hoisting and oscillation stopping mechanism of the underwater robot deployment and recovery system according to claim 1, wherein: the connecting block A (102) is U-shaped, the lifting ring hinged connecting rod (101) is installed at the opening end of the U-shaped, one end of the lifting ring hinged connecting rod (101) is a lifting ring, and the other end of the lifting ring hinged connecting rod is provided with a positioning locking hole (113).
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| CN201810921939.XA CN110816755B (en) | 2018-08-14 | 2018-08-14 | Hoisting and oscillation stopping mechanism of underwater robot cloth recycling system |
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| CN201810921939.XA CN110816755B (en) | 2018-08-14 | 2018-08-14 | Hoisting and oscillation stopping mechanism of underwater robot cloth recycling system |
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