CN110816790B - Rope throwing mechanism of underwater robot cloth-laying recovery system - Google Patents
Rope throwing mechanism of underwater robot cloth-laying recovery system Download PDFInfo
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- CN110816790B CN110816790B CN201810921652.7A CN201810921652A CN110816790B CN 110816790 B CN110816790 B CN 110816790B CN 201810921652 A CN201810921652 A CN 201810921652A CN 110816790 B CN110816790 B CN 110816790B
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- bow
- release
- throwing
- locking
- jacking
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- 230000007246 mechanism Effects 0.000 title claims abstract description 43
- 238000011084 recovery Methods 0.000 title claims description 9
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- 230000005540 biological transmission Effects 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 3
- 239000004744 fabric Substances 0.000 claims description 2
- RKTYLMNFRDHKIL-UHFFFAOYSA-N copper;5,10,15,20-tetraphenylporphyrin-22,24-diide Chemical compound [Cu+2].C1=CC(C(=C2C=CC([N-]2)=C(C=2C=CC=CC=2)C=2C=CC(N=2)=C(C=2C=CC=CC=2)C2=CC=C3[N-]2)C=2C=CC=CC=2)=NC1=C3C1=CC=CC=C1 RKTYLMNFRDHKIL-UHFFFAOYSA-N 0.000 claims 1
- 238000004064 recycling Methods 0.000 abstract description 5
- 230000010354 integration Effects 0.000 abstract description 2
- 230000003068 static effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 239000004184 Avoparcin Substances 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- 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
-
- 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
- B63G2008/008—Docking stations for unmanned underwater vessels, or the like
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention relates to a rope throwing mechanism of an underwater robot laying and recycling system, wherein a body is arranged on the underwater robot and is connected with a bow throwing buoyancy block through a rope throwing cable, and a locking fixing rod is arranged on one side of the bow throwing buoyancy block facing the body; the outer fixed cylinder is arranged on the fixed bracket, a jacking spring is accommodated in the outer fixed cylinder, one end of the outer jacking push rod is inserted into the outer fixed cylinder, the other end of the outer jacking push rod is a free end, and the outer jacking push rod is compressed in the outer fixed cylinder in a locked state when the buoyancy block is thrown out of the bow; the release cam is connected to the output end of the direct current motor driver, release connecting rods are arranged on two sides of the release cam, one end of each release connecting rod is hinged to the fixed support, the other end of each release connecting rod is an opening and closing end, and the release connecting rods on two sides are connected through a tensioning spring. The invention has reasonable structural design and high integration level, can realize high-automation and less-man operation, releases manpower to a great extent, and simplifies the scale of the guarantee team.
Description
Technical Field
The invention belongs to the field of underwater robots, and particularly relates to a rope throwing mechanism of an underwater robot cloth and recycling system.
Background
With the high deployment of national ocean strategy, various underwater robot equipment in the ocean field have diversified structural forms, practical system application and scientific detection serialization. Under the situation that various underwater robots are vigorously developed in the whole ocean application field, how to more efficiently and safely place and recycle the underwater robots on the premise of less humanized operation requirements of ocean operation is always a common problem at home and abroad.
At present, four main modes of deployment and recovery of underwater robots are as follows:
the first is to adopt a floating dock type and a lifting platform to carry out underwater deployment, docking and recovery operation, although the influence of wind waves can be reduced, a special support mother ship is needed, and the manufacturing cost and the use cost of the special mother ship are expensive, so that the special mother ship is not suitable for the current domestic situation.
The second is that the midship moon pool is recycled, so that the influence of sea waves on the deployment and recycling operation can be avoided; however, due to the limited size of the moon pool, the size of the underwater robot which can support retraction is limited to a small scale and a regular form.
Thirdly, the mother ship is used for hoisting and recycling on the water surface, and generally, workers are required to take a motor boat to approach an underwater robot to complete the butt joint with a recycling mechanism; the operation mode is greatly influenced by wind and waves, and equipment damage and personnel injury easily occur when the sea conditions are poor; the distribution flow and the recovery flow are reciprocal.
Fourthly, the rope throwing device of the underwater robot which completes the working mission is thrown out of the traction rope through a remote control command, a worker uses the rope fishing device to recycle the traction rope, the traction rope is led in the A-shaped frame, and the worker gradually pulls the traction rope to the lower part of the A-shaped frame of the stern of the mother ship; the working personnel on the mother ship use the long rod hook for butt joint, and then a team composed of a plurality of people can stop swinging and recover under the working condition that the mother ship moves at a belt speed; the recovery method solves the problem of dangers caused by the fact that someone gets off the boat hook, and the method is low in use cost; however, the method has the problems of difficult realization of severe sea conditions, low universality and multi-humanization operation.
Disclosure of Invention
In order to solve the problems during deployment and recovery of the underwater robot, the invention aims to provide a rope throwing mechanism of a deployment and recovery system of the underwater robot.
The aim of the invention is realized by the following technical scheme:
the invention comprises a bow throwing buoyancy block, a body, a throwing rope cable, a fixed support, a spring jacking and pushing supporting mechanism, a connecting rod locking mechanism and a direct current motor driver, wherein the throwing rope cable, the body, the spring jacking and pushing supporting mechanism, the connecting rod locking mechanism and the direct current motor driver are respectively arranged in the body; the spring jacking and pushing supporting mechanism comprises an outer jacking push rod, a jacking spring and an outer fixed cylinder, wherein the outer fixed cylinder is arranged on the fixed support, the jacking spring is accommodated in the outer fixed cylinder, one end of the outer jacking push rod can be inserted into the outer fixed cylinder in a relatively movable manner, the other end of the outer jacking push rod is a free end, and the outer jacking push rod is compressed in the outer fixed cylinder in a locked state when a buoyancy block is thrown out of the bow; the connecting rod locking mechanism comprises a release connecting rod, a tensioning spring and a release cam, wherein the release cam is connected to the output end of the direct current motor driver, the release connecting rods are arranged on two sides of the release cam, one end of each release connecting rod on each side is hinged to the fixed support, the other end of each release connecting rod is an opening and closing end, and the release connecting rods on two sides are connected through the tensioning spring; the locking fixing rod throws out the buoyancy block at the bow part in a locking state, the other ends of the release connecting rods at the two sides are inserted into and clamped at the ends, the direct current motor driver drives the release cam to rotate to drive the release connecting rods at the two sides to be outwards stretched, the bow part throws out the buoyancy block and is thrown out through the elasticity of the jacking spring, and the release connecting rods at the two sides are reset through the elasticity of the tensioning spring;
wherein: one end of the locking fixing rod is connected to the bow throwing buoyancy block, the other end of the locking fixing rod is a conical head, and the small-diameter end of the locking fixing rod faces the body; the other ends of the release connecting rods at the two sides are provided with guide grooves, the conical heads are inserted from the guide grooves when the bow throwing buoyancy blocks are in a locking state, and one ends with large diameters are clamped at the inner side end parts of the guide grooves to lock the bow throwing buoyancy blocks;
the axial section of the guide-in groove is conical, and the end with the smaller diameter faces to the inner side; the cone head pushes the release connecting rods at two sides outwards in the process of inserting the cone head into the guide groove, and the release connecting rods at two sides are reset through a tensioning spring after the cone head is inserted, so that one end of the guide groove with a small diameter is clamped with the end face of one end of the cone head with a large diameter;
a locking limit pin hole is formed in one side, facing the body, of the bow throwing buoyancy block, a locking limit pin shaft is correspondingly arranged on the fixed support, and the locking limit pin shaft is inserted into the locking limit pin hole for limiting and fixing when the bow throwing buoyancy block is in a locking state;
the outer fixed cylinder is of a hollow structure, one end of the outer fixed cylinder is fixedly connected to the fixed support, the inner side of the other end of the outer fixed cylinder is provided with a fixed boss, and one end of the outer push rod is provided with a guide pin hole along the axial direction; one end of the jacking spring is sleeved on the fixing boss and fixed, and the other end of the jacking spring is abutted with one end of the outer jacking push rod; the fixed boss is thrown out of the buoyancy block at the bow part and is in a locking state and inserted into the guide pin hole;
the two sides of the release connecting rods are symmetrically arranged, and one ends of the release connecting rods are hinged to the fixed support through connecting rod fixing screw rods and fixed through connecting rod fixing nuts; the distance between one ends of the release connecting rods at two sides is larger than the distance between the other ends;
the direct current motor driver is connected with the release cam through a thread profile pin shaft, the lower part of the thread profile pin shaft is a square connection profile, the upper part of the thread profile pin shaft is a cylinder and is provided with external threads, and the cylinder at the upper part of the thread profile pin shaft passes through the release cam and clamps and fixes the release cam through a lock nut;
the direct current motor driver comprises a top profile transmission limit top block, a thread profile pin shaft, a tail end sealing end cover, a shaft end sealing end cover, a driver outer fixed cylinder and a driving motor, wherein the driver outer fixed cylinder is fixedly connected to a fixed support, the upper end and the lower end of the driver outer fixed cylinder are respectively and hermetically connected with the shaft end sealing end cover and the tail end sealing end cover, and the driving motor is installed inside the driver outer fixed cylinder; the lower end of the top profile transmission limiting jacking block is connected with the shaft end sealing end cover in a sealing and rotating way and is connected with the output shaft of the driving motor, and the upper end of the top profile transmission limiting jacking block is connected with the release cam through the threaded profile pin shaft;
the upper end of the top profile transmission limiting top block is provided with a profile connecting groove which is connected with the lower end profile of the threaded profile pin shaft; the outer edge of the upper end of the shaft end sealing end cover is uniformly provided with a plurality of upper convex screw fixing tables and a plurality of lower concave screw fixing grooves along the circumferential direction, the upper convex screw fixing tables and the lower concave screw fixing grooves are arranged at intervals, and each upper convex screw fixing table is provided with a screw fixing hole;
and a guide belt is arranged between the lower end of the top profile transmission limiting top block and the shaft end sealing end cover.
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-man operation, releases manpower to a great extent, and simplifies the scale of the guarantee team.
2. The connecting rod locking mechanism is simple in structure, reliable in release, high in efficiency, fast, convenient and practical, and is released by means of the quick transmission of the primary cam connecting rod.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a perspective cross-sectional view of the spring biasing and pushing support mechanism of the present invention;
FIG. 3 is a top plan view of the link locking mechanism of the present invention;
FIG. 4 is a cross-sectional view of the structure of the DC motor driver of the present invention;
FIG. 5 is a schematic perspective view of the threaded pin of FIG. 4;
FIG. 6 is a schematic perspective view of a DC motor driver according to the present invention;
FIG. 7 is a diagram of the operation state of the present invention applied to an underwater robot;
wherein: 1, a bow is thrown out of a buoyancy block, 101 is a locking fixed rod, 102 is a conical head, 103 is a locking limit pin hole, 104 is a suspension ring screw, and 105 is a locking limit pin shaft;
2 is a body, 3 is a rope throwing cable, and 4 is a fixed bracket;
5 is a spring pushing and pushing supporting mechanism, 501 is an outer pushing rod, 502 is a boss, 503 is a pushing spring, 504 is an outer fixed cylinder, 505 is a fixed boss, 506 is a screw A,507 is a guide pin hole;
6 is a connecting rod locking mechanism, 601 is a release connecting rod, 602 is a tensioning spring, 603 is a release cam, 604 is a screw B,605 is a connecting rod fixing screw rod, and 606 is a connecting rod fixing nut;
7 is a direct current motor driver, 701 is a top profile transmission limiting top block, 702 is a screw C,703 is a guide belt, 704 is an O-shaped sealing ring, 705 is a static sealing ring A,706 is a locking nut, 707 is a threaded profile pin, 7071 is a square connecting profile, 7072 is a cylinder, 708 is a tail end sealing end cover, 709 is a shaft end sealing end cover, 710 is a thread pair, 711 is a screw D,712 is a driver external fixing cylinder, 713 is a driving motor, 714 is a static sealing ring B,715 is a screw E,716 is a guide groove, 717 is a screw fixing hole, 718 is a profile connecting groove, 719 is an upward protruding screw fixing table, and 720 is a concave screw fixing groove;
the device comprises a mother ship 8, a mechanical arm 9, a hoisting and anti-swing mechanism 10, an underwater robot 11, a rope throwing mechanism 12, a connecting plate 13 and a damping hydraulic cylinder 14.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, the invention comprises a bow throwing buoyancy block 1, a body 2, a throwing rope cable 3, a fixed support 4, a spring jacking pushing supporting mechanism 5, a connecting rod locking mechanism 6 and a direct current motor driver 7 which are respectively arranged in the body 2, wherein the body 2 is arranged on an underwater robot 11 and is connected with the bow throwing buoyancy block 1 through the throwing rope cable 3, and the bow throwing buoyancy block 1 is locked in a locking state through the connecting rod locking mechanism 6.
As shown in fig. 1 and 2, the bow part is thrown out of the buoyancy block 1 to form a frustum shape as a whole, and the end face of the end with the small diameter is in arc transition so as to reduce the resistance in water; the bow throws out buoyancy block 1 and is equipped with locking dead lever 101 on the one side surface towards body 2, and the one end of locking dead lever 101 is passed through epoxy adhesive (like 502 glues) and is adhered to bow throws out buoyancy block 1, and the other end is conical head 102, and the one end that the diameter is little is towards body 2 for with connecting rod locking mechanism 6 locking connection. A locking limit pin hole 103 is axially formed in the middle of the surface of one side of the bow, which faces the body 2, of the buoyancy block 1. The fixed support 4 is correspondingly provided with a locking limit pin shaft 105, and the locking limit pin shaft 105 is inserted into the locking limit pin hole 103 to limit and fix when the buoyancy block 1 is thrown out of the bow part and is in a locking state. The lower part of one side surface of the bow throwing buoyancy block 1 facing the body 2 is provided with a lifting screw 104, one end of the lifting screw 104 is adhered to the bow throwing buoyancy block 1 through an epoxy resin adhesive, and the other end of the lifting screw is annular and used for being connected with a throwing rope 3 in a fastening way.
The spring jacking and pushing supporting mechanism 5 comprises an outer jacking push rod 501, a jacking spring 503 and an outer fixing barrel 504, wherein the outer fixing barrel 504 is of a hollow structure, one end of the outer fixing barrel 504 is fixedly connected to the fixing bracket 4 through a screw A506, and a cylindrical fixing boss 505 is arranged on the inner side of the other end of the outer fixing barrel; one end of the outer push rod 501 is inserted into the outer fixed cylinder 504 in a relatively movable manner, the other end is a free end, and one end of the outer push rod 501 is provided with an annular boss 502. The outer push rod 501 is internally accommodated with a push spring 503, one end of the push spring 503 is sleeved on the fixing boss 505 and fixed, and the other end is abutted with the end of the boss 502 at one end of the outer push rod 501. The pushing spring 503 pushes the boss 502 to the left, so that the outer pushing rod 501 is continuously pushed to the left; when the outer push rod 501 is pushed to the left to the limit position, the boss 502 is pushed and limited to the fixed bracket 4. One end of the outer push rod 501 is axially provided with a guide pin hole 507, and the axial center line of the guide pin hole 507 is collinear with the axial center line of the fixed boss 505; when the outer pushing rod 501 is pushed to be level with the fixed support 4 by the bow throwing buoyancy block 1, the fixed boss 505 is inserted into the guide pin hole 507, at this time, the bow throwing buoyancy block 1 is tightly attached to the left side plane of the body 2 towards one side plane of the body 2, the conical head 102 is fixedly locked with the connecting rod locking mechanism 6, and the pushing spring 503 is in the maximum compression state.
As shown in fig. 1 and 3, the link locking mechanism 6 includes a release link 601, a tension spring 602, a release cam 603, a link fixing screw 605 and a link fixing nut 606, the release cam 603 is connected to the output end of the dc motor driver 7, the release links 601 are symmetrically arranged on two sides of the release cam 603, one end of each release link 601 is hinged on the fixing bracket 4 through the link fixing screw 605 and is fixed through the link fixing nut 606, and the other end of each release link 601 on each side is an open-close end; the spacing between one end of the two side release links 601 is greater than the spacing between the other end. The release links 601 on both sides are connected by a tension spring 602. The other end of the two side release links 601 is formed with an introduction groove 716, the axial section of the introduction groove 716 is tapered, and the end with the smaller diameter faces the inner side; the cone 102 throws out the buoyancy block 1 at the bow part and is in a locking state and is inserted by the guide-in groove 716, the release connecting rods 601 at two sides are pushed outwards in the process of being inserted into the guide-in groove 716, the release connecting rods 601 at two sides are reset through the tensioning springs 602 after the cone 102 is inserted, one end with the small diameter of the guide-in groove 716 is clamped with the end face of one end with the large diameter of the cone 102, and the bow part is locked to throw out the buoyancy block 1.
As shown in fig. 1 and fig. 4 to 6, the dc motor driver 7 includes a top profile transmission limit top block 701, a guide belt 703, an O-ring 704, a static seal ring a705, a lock nut 706, a threaded profile pin 707, a terminal seal end cap 708, a shaft end seal end cap 709, a driver outer fixing cylinder 712, a driving motor 713 and a static seal ring B714, wherein the driver outer fixing cylinder 712 is fixedly connected to the fixing bracket 4, the shaft end seal end cap 709 is fixedly connected to the upper end of the driver outer fixing cylinder 712 by a screw C702, and the terminal seal end cap 708 is fixedly connected to the lower end of the driver outer fixing cylinder 712 by a screw E715. The driving motor 713 is fixed to an inner flange of the driver outer fixing cylinder 712 by a screw D711. The lower end of the top profile transmission limiting jacking block 701 is in sealing and rotating connection with the shaft end sealing end cover 709, a guide belt 703 is arranged between the lower end of the top profile transmission limiting jacking block 701 and the shaft end sealing end cover 709, and direct rotating friction between the top profile transmission limiting jacking block 701 and the shaft end sealing end cover 709 is prevented. The output shaft of the driving motor 713 is fixedly connected with the lower end of the top profile transmission limiting jacking block 701 through a screw pair 710, and the upper end of the top profile transmission limiting jacking block 701 is connected with the release cam 603 through a screw profile pin 707. The lower part of the screw profile pin 707 is a square connection profile 7071 (i.e., square block), the upper part is a cylinder 7072, and external threads are formed, the cylinder at the upper part of the screw profile pin 707 is penetrated by the release cam 603, and the release cam 603 is locked to the screw profile pin 707 by a pair of locking nuts 706 arranged up and down, so that the release cam 603 can be directly driven by the driving motor 713. Square profile connecting grooves 718 are formed in the upper end of the top profile transmission limiting top block 701 and are connected with square connecting profiles 7071 at the lower end of the threaded profile pin 707. The upper outer edge of the shaft end sealing end cover 709 is uniformly provided with a plurality of upward convex screw fixing tables 719 and a plurality of downward concave screw fixing grooves 720 along the circumferential direction, the upward convex screw fixing tables 719 and the downward concave screw fixing grooves 720 are arranged at intervals, screw fixing holes 717 are formed in each upward convex screw fixing table 719, and the direct current motor driver 7 is fixed on the fixing support 4 through the screw fixing holes 717.
The working principle of the invention is as follows:
the locking fixing rod 101 is inserted into and clamped by the guide-in groove 716 formed at the other end of the release connecting rod 601 at the two sides when the buoyancy block 1 is thrown out of the bow part, and the locking limit pin shaft 105 is inserted into the locking limit pin hole 103 for limiting and fixing. At this time, the outer push rod 501 compresses the push spring 503, is pushed by the bow-thrown buoyancy block 1 to the left end flush with the fixing bracket 4, and the fixing boss 505 is inserted into the guide pin hole 507.
As shown in fig. 7, a mechanical arm 9 is installed on the mother ship 8, and the mechanical arm 9 can be flexibly installed or detached according to an installation interface and a voyage demand provided by the support mother ship 8 so as to ensure the retraction operation of the voyage on the underwater robot 11; meanwhile, other equipment can be lifted and put. The winch anti-swing mechanism 10 is hinged to the tail end of the mechanical arm 9 through a connecting plate 13, and meanwhile, a roll and trim compound anti-swing damping hydraulic cylinder 14 is connected in parallel, and the yaw and trim anti-swing function is realized by combining the circumferential rotation function of the circumferential rotation steering mechanism in the winch anti-swing mechanism 10. After the end of the oscillation stopping action, the hoisting oscillation stopping mechanism 10 can be limited and locked by the damping hydraulic cylinder 14. The rope throwing mechanism 12 is arranged at the bow of the underwater robot 11, and when the rope throwing mechanism is released, the direct current motor driver 7 drives the release cam 603 to open the release connecting rods 601 at the two sides, so that the limit of the conical head 102 is released; at this time, the compressed jack spring 503 pushes the outer jack rod 501 outwards, and the bow is thrown out of the buoyancy block 1 by the action of sea waves. The released bow throws out the buoyancy block 1 to float under the action of sea waves, and drives the rope throwing cable 3 to be quickly unfolded. The release links 601 at both sides are restored by the elastic force of the tension springs 602.
Claims (7)
1. The utility model provides a rope throwing mechanism of recovery system is put to underwater robot cloth which characterized in that: the device comprises a bow throwing buoyancy block (1), a body (2), a throwing rope cable (3), a fixed support (4), a spring jacking pushing supporting mechanism (5), a connecting rod locking mechanism (6) and a direct current motor driver (7), wherein the bow throwing buoyancy block (1) is arranged in the body (2), the body (2) is arranged on an underwater robot (11), the bow throwing buoyancy block (1) is connected through the throwing rope cable (3), and a locking fixed rod (101) is arranged on one side of the bow throwing buoyancy block (1) facing the body (2); the spring jacking and pushing supporting mechanism (5) comprises an outer jacking push rod (501), a jacking spring (503) and an outer fixed cylinder (504), wherein the outer fixed cylinder (504) is arranged on the fixed support (4), the jacking spring (503) is accommodated in the outer fixed cylinder (504), one end of the outer jacking push rod (501) can be relatively movably inserted into the outer fixed cylinder (504), the other end is a free end, and the outer jacking push rod (501) is compressed in the outer fixed cylinder (504) when the bow throws out the buoyancy block (1) and is in a locking state; the connecting rod locking mechanism (6) comprises a release connecting rod (601), a tensioning spring (602) and a release cam (603), wherein the release cam (603) is connected to the output end of the direct current motor driver (7), the release connecting rod (601) is arranged on two sides of the release cam (603), one end of each release connecting rod (601) is hinged to the fixed support (4), the other end of each release connecting rod is an opening end, and the release connecting rods (601) on two sides are connected through the tensioning spring (602); the locking fixing rod (101) is inserted into and clamped at the other end of the release connecting rods (601) at two sides when the bow throwing buoyancy block (1) is in a locking state, the direct current motor driver (7) drives the release cam (603) to rotate so as to drive the release connecting rods (601) at two sides to be outwards stretched, the bow throwing buoyancy block (1) is thrown out through the elasticity of the jacking springs (503), and the release connecting rods (601) at two sides are reset through the elasticity of the tensioning springs (602);
one end of the locking fixed rod (101) is connected to the bow throwing buoyancy block (1), the other end of the locking fixed rod is a conical head (102), and the small-diameter end of the locking fixed rod faces the body (2); the other ends of the release connecting rods (601) on the two sides are provided with guide grooves (716), the conical heads (102) are inserted into the guide grooves (716) when the bow throwing buoyancy block (1) is in a locking state, one end with a large diameter is clamped at the inner side end part of the guide grooves (716), the bow throwing buoyancy block (1) is locked, the axial section of the guide grooves (716) is conical, and one end with a small diameter faces the inner side; the conical head (102) pushes the release connecting rods (601) at two sides outwards in the process of being inserted into the guide-in groove (716), and the release connecting rods (601) at two sides are reset through the tensioning springs (602) after the conical head (102) is inserted, so that one end of the guide-in groove (716) with the smaller diameter is clamped with the end face of one end of the conical head (102) with the larger diameter;
the bow throws out one side of buoyancy block (1) towards body (2) and has seted up locking spacing pinhole (103), correspond on fixed bolster (4) and install locking spacing round pin axle (105), this locking spacing round pin axle (105) are in when bow throws out buoyancy block (1) and is in locking state inserts in locking spacing pinhole (103) and carries out spacing fixedly.
2. The rope slinging mechanism of an underwater robotic deployment and retrieval system of claim 1, wherein: the outer fixed cylinder (504) is of a hollow structure, one end of the outer fixed cylinder is fixedly connected to the fixed support (4), the inner side of the other end of the outer fixed cylinder is provided with a fixed boss (505), and one end of the outer push rod (501) is provided with a guide pin hole (507) along the axial direction; one end of the jacking spring (503) is sleeved on the fixing boss (505) and fixed, and the other end of the jacking spring is abutted with one end of the outer jacking push rod (501); the fixing boss (505) is inserted into the guide pin hole (507) when the bow throws out the buoyancy block (1) and is in a locking state.
3. The rope slinging mechanism of an underwater robotic deployment and retrieval system of claim 1, wherein: the release connecting rods (601) on two sides are symmetrically arranged, and one ends of the release connecting rods are hinged to the fixed support (4) through connecting rod fixing screw rods (605) and fixed through connecting rod fixing nuts (606); the distance between one ends of the release links (601) on the two sides is larger than the distance between the other ends.
4. The rope slinging mechanism of an underwater robotic deployment and retrieval system of claim 1, wherein: the direct current motor driver (7) is connected with the release cam (603) through a threaded profile pin shaft (707), the lower part of the threaded profile pin shaft (707) is a tetragonal connection profile (7071), the upper part of the threaded profile pin shaft is a cylinder (7072) and is provided with external threads, and the cylinder at the upper part of the threaded profile pin shaft (707) is penetrated by the release cam (603) and is clamped and fixed by a locking nut (706).
5. The rope slinging mechanism of an underwater robotic deployment and retrieval system of claim 1, wherein: the direct current motor driver (7) comprises a top profile transmission limit top block (701), a thread profile pin shaft (707), a tail end sealing end cover (708), a shaft end sealing end cover (709), a driver outer fixed cylinder (712) and a driving motor (713), wherein the driver outer fixed cylinder (712) is fixedly connected to a fixed bracket (4), the upper end and the lower end of the driver outer fixed cylinder are respectively and hermetically connected with the shaft end sealing end cover (709) and the tail end sealing end cover (708), and the driving motor (713) is arranged in the driver outer fixed cylinder (712); the lower end of the top profile transmission limiting jacking block (701) is connected with the shaft end sealing end cover (709) in a sealing and rotating mode, and is connected with an output shaft of the driving motor (713), and the upper end of the top profile transmission limiting jacking block (701) is connected with the release cam (603) through the thread profile pin shaft (707).
6. The rope slinging mechanism of an underwater robotic deployment and retrieval system of claim 5, wherein: the upper end of the top profile transmission limiting top block (701) is provided with a profile connecting groove (718), and the profile connecting groove (718) is in profile connection with the lower end of the threaded profile pin shaft (707); the upper end outer edge of the shaft end sealing end cover (709) is uniformly provided with a plurality of upper convex screw fixing tables (719) and a plurality of lower concave screw fixing grooves (720) along the circumferential direction, the upper convex screw fixing tables (719) and the lower concave screw fixing grooves (720) are arranged at intervals, and screw fixing holes (717) are formed in each upper convex screw fixing table (719).
7. The rope slinging mechanism of an underwater robotic deployment and retrieval system of claim 5, wherein: a guide belt (703) is arranged between the lower end of the top profile transmission limit top block (701) and the shaft end sealing end cover (709).
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| CN112173052B (en) * | 2020-09-23 | 2021-06-22 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot rope throwing device and using method thereof |
| CN113232806B (en) * | 2021-05-21 | 2022-04-12 | 中国船舶科学研究中心 | Drawer type cable-controlled submersible underwater laying and recycling device and operation method thereof |
| CN114148494B (en) * | 2021-12-08 | 2022-12-13 | 哈尔滨工程大学 | Underwater outboard release device |
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