CN111038670A - Underwater robot laying device - Google Patents
Underwater robot laying device Download PDFInfo
- Publication number
- CN111038670A CN111038670A CN201911382620.5A CN201911382620A CN111038670A CN 111038670 A CN111038670 A CN 111038670A CN 201911382620 A CN201911382620 A CN 201911382620A CN 111038670 A CN111038670 A CN 111038670A
- Authority
- CN
- China
- Prior art keywords
- clamping hook
- shaft
- right clamping
- linear motor
- left clamping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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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
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
- Motor Or Generator Frames (AREA)
Abstract
The invention discloses an underwater robot cloth releasing device which comprises a sealing cylinder, a linear motor, a releasing shaft, a fixing shaft, a left clamping hook and a right clamping hook, wherein the sealing cylinder is arranged on the left side of the releasing shaft; the linear motor is installed in the sealing cylinder, a telescopic rod of the linear motor is in clearance fit with one end of the release shaft, the upper ends of the left clamping hook and the right clamping hook are staggered up and down, the left clamping hook and the right clamping hook are rotatably connected to the sealing cylinder through a fixed shaft, and the rotation of the left clamping hook and the right clamping hook is limited through the sliding fit of the other end of the release shaft and the butt holes above the left clamping hook and the right clamping hook, and at the moment, the left clamping hook and the right clamping hook clamp an external robot lifting lug together; when the cloth is laid, the linear motor telescopic rod drives the release shaft to move upwards along the axial direction, the release shaft is separated from the left clamping hook and the right clamping hook, the left clamping hook and the right clamping hook are opened after rotating around the fixed shaft under the action of self gravity, and the lifting lugs of the external robot are released to finish the cloth laying. The invention has simple structure, convenient installation and high reliability.
Description
Technical Field
The invention relates to the technical field of underwater robot laying recovery, in particular to an underwater robot laying device.
Background
At present, the underwater robot is usually deployed in a manual intervention mode, and the method mainly comprises the following two methods: one method is to adopt a slender rod tool to separate a lifting hook from the underwater robot after the underwater robot is lifted to a laying point, the method has higher requirements on sea conditions and operators, is generally only suitable for lakes or under good sea conditions, and the operator of the slender rod tool needs to master certain skills through practice training to be competent, so the realization difficulty is high and the requirement is high. The other mode is that a switching mode is adopted to extend the manual control end to the shore or the deck for operation, and because the motion of the underwater robot in the laying process has certain randomness, the prejudgment cannot be made in advance, a specially-assigned person needs to be arranged in the whole process to protect and operate the manual control end, accidental conditions such as misoperation can occur slightly carelessly, and certain safety risk exists.
Disclosure of Invention
In view of this, the invention provides an underwater robot deployment device, which is simple in structure, convenient to install and high in reliability.
The invention is realized by the following technical scheme:
an underwater robot cloth releasing device comprises a sealing cylinder, a linear motor, a releasing shaft, a fixing shaft, a left clamping hook and a right clamping hook;
the linear motor is installed in the sealing cylinder, a telescopic rod of the linear motor is in clearance fit with one end of the release shaft, the upper ends of the left clamping hook and the right clamping hook are staggered up and down, the left clamping hook and the right clamping hook are rotatably connected to the sealing cylinder through a fixed shaft, and the rotation of the left clamping hook and the right clamping hook is limited through the sliding fit of the other end of the release shaft and the butt holes above the left clamping hook and the right clamping hook, and at the moment, the left clamping hook and the right clamping hook clamp an external robot lifting lug together;
when the cloth is laid, the linear motor telescopic rod drives the release shaft to move upwards along the axial direction, the release shaft is separated from the left clamping hook and the right clamping hook, the left clamping hook and the right clamping hook are opened after rotating around the fixed shaft under the action of self gravity, and the lifting lugs of the external robot are released to finish the cloth laying.
Furthermore, the sealing cylinder comprises a sealing cylinder body and a sealing end cover, the sealing cylinder body is a cylinder body with one open end, the open end is sealed by the sealing end cover, and the sealing end cover is provided with a hanging ring; the closed end of the sealing cylinder body is provided with a through hole of the release shaft; meanwhile, the closed end is provided with a protruding cylinder for installing the fixed shaft.
Further, the linear motor realizes power supply and signal transmission with the remote control end through the watertight plug-in.
Furthermore, the upper ends of the left clamping hook and the right clamping hook are positioned in the extending cylinder and are respectively installed on the fixed shaft through bearings, the middle snap ring is sleeved on the fixed shaft between the left clamping hook and the right clamping hook, the left snap ring is sleeved on the fixed shaft between the left clamping hook and the inner wall of the extending cylinder, and the right snap ring is sleeved on the fixed shaft between the right clamping hook and the inner wall of the extending cylinder.
Furthermore, the cloth device also comprises a positioning pin, and the relative positions of the left clamping hook, the right clamping hook and the sealing cylinder are fixed before the release shaft does not extend to the right position.
Has the advantages that:
1. the underwater robot laying device has the advantages that the underwater robot laying is realized by adopting a pin pulling mode of the linear motor, the structure is simple, the installation is convenient, in addition, the clearance fit connection mode is adopted between the release shaft and the extension rod of the linear motor, a certain fine adjustment allowance is ensured, the phenomenon of 'lock-out' of the linear motor caused by poor coaxiality is prevented, the influence of the poor coaxiality on the action of the release shaft and the sealing performance between the release shaft and the sealing cylinder body is also greatly reduced, the structure is simple, and the action is reliable.
2. The sealing cylinder structure can be directly connected with a lifting hook of lifting equipment through the lifting ring, and can also be connected by adopting a lifting belt according to requirements; the interface with the underwater robot is simple, the lifting ring structure is adaptable to various underwater robot lifting ring structure forms, the mode is flexible and changeable, the adaptability is strong, and the application range is wide.
3. The invention adopts a watertight cable mode to connect to a remote control terminal, can ensure watertight performance and can be used as auxiliary traction, thereby greatly reducing the risk brought by manual operation of personnel and having high safety.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the clamping of the left and right clamp hooks;
FIG. 3 is a schematic view of the opening of the left and right clasps;
the device comprises a left clamping hook, a right clamping hook, a left clamping hook, a fixed shaft, a sealing barrel, a release shaft, a regulating spiral ring, a 7-adapting nut, a 8-linear motor, a 9-motor control board, a 10-sealing end cover, a 11-watertight connector, a 12-right snap ring, a 13-middle snap ring, a 14-positioning pin, a 15-left snap ring, a 16-positioning snap ring and a 17-stainless steel bearing, wherein the left clamping hook is arranged on the left side of the clamping hook, the right clamping hook is arranged on the right side of the clamping hook, the.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The embodiment provides an underwater robot laying device, as shown in fig. 1, comprising a right clamping hook 1, a left clamping hook 2, a sealing cylinder, a fixed shaft 3, a releasing shaft 5, a linear motor 8, a motor control board 9, a watertight connector 11, a right snap ring 12, a middle snap ring 13, a left snap ring 15, a positioning snap ring 16, a stainless steel bearing 17 and a positioning pin 14.
The sealing barrel comprises a sealing barrel body 4 and a sealing end cover 10, the sealing barrel body 4 provides installation and sealing space for the linear motor 8 and the motor control panel 9, and the installation interface of the linear motor 8 and the motor control panel 9 is designed inside the sealing barrel body 4, so that firm and reliable installation is ensured. The sealing cylinder 4 is a cylinder with an open end, the open end is in threaded connection with the sealing end cover 10 and is sealed through an O-shaped ring, so that the environmental safety of the linear motor 8 and the motor control board 9 in the laying process is ensured, and the sealing end cover 10 is provided with a lifting ring; the closed end of the sealing cylinder body 4 is provided with a through hole of the release shaft 5, and the release shaft 5 and the sealing cylinder body 4 are sealed in an O-shaped ring mode; meanwhile, the closed end of the sealing cylinder body 4 is provided with an extending cylinder for installing the fixed shaft 3 and the positioning pin 14. The positioning pin 14 is used for fixing the relative positions of the left clamping hook 2, the right clamping hook 1 and the sealing cylinder 4 before the release shaft 5 is not extended to the right.
And the linear motor 8 realizes the connection and the separation between the clamping hook of the laying device and the lifting lug of the underwater robot through the movement of the telescopic rod in the axial direction. When connection is needed, the lifting lug of the underwater robot is placed between the left clamping hook and the right clamping hook, and then the telescopic rod of the linear motor 8 is controlled to move downwards along the axial direction, so that the limiting of the right clamping hook 1 and the left clamping hook 2 is realized, and the reliable connection is ensured; when the underwater robot lifting lug needs to be separated, the telescopic rod of the linear motor 8 is controlled to move upwards along the axial direction, the right clamping hook 1 and the left clamping hook 2 automatically open under the action of self gravity, and the left clamping hook and the right clamping hook are separated from the underwater robot lifting lug. The motor control board 9 is arranged in the sealing cylinder 4 and controls the operation of the linear motor 8. One end of the watertight connector 11 is connected with the motor control panel 9, the other end of the watertight connector is connected with the remote control terminal through the cable assembly, and the watertight connector is mainly used for achieving power supply and signal transmission between the linear motor control panel 9 and the remote control terminal, so that the remote control terminal can control the distribution device.
The right clamping hook 1 and the left clamping hook 2 are jointly acted to realize the connection with the lifting lug of the underwater robot. The left and right clamping hooks are designed to be light in weight, after the underwater robot is successfully laid, the right clamping hook 1 and the left clamping hook 2 rotate around the fixed shaft 3 under the action of self gravity to enable the lower part to automatically open, and the clamping hooks and the lifting lugs of the underwater robot are conveniently separated.
The linear motor 8 is installed in the sealed cylinder 4, the telescopic rod of the linear motor 8 is in threaded connection with the switching nut 7, the adjusting spiral ring 6 is in clearance fit with the release shaft 5, internal threads are machined on the inner circumference of the adjusting spiral ring 6 and are in threaded connection with the switching nut 7, and the clearance fit of the telescopic rod of the linear motor 8 and the release shaft 5 is achieved. The upper ends of the left clamping hook 2 and the right clamping hook 1 are staggered up and down, are positioned in a sealed cylinder extending cylinder and are respectively installed on the fixed shaft 3 through a stainless steel bearing 17, the middle snap ring 13 is sleeved on the fixed shaft 3 between the left clamping hook 2 and the right clamping hook 1, the left snap ring 15 is sleeved on the fixed shaft 3 between the left clamping hook 2 and the inner wall of the extending cylinder, and the right snap ring 12 is sleeved on the fixed shaft 3 between the right clamping hook 1 and the inner wall of the extending cylinder. The other end of the release shaft 5 is in sliding fit with the butt joint holes above the left clamping hook 2 and the right clamping hook 1, so that the rotation of the left clamping hook 2 and the right clamping hook 1 is limited. During installation, firstly, the stainless steel bearing 17, the right clamping hook 1 and the left clamping hook 2 are assembled in place, then the fixing shaft 3 penetrates through the right side of the installation hole in the lower part of the sealing cylinder 4, the right snap ring 12, the right clamping hook 1 and the middle snap ring 13 which are used for assembling the stainless steel bearing 17 in place, the left clamping hook 2 and the left snap ring 15 which are used for assembling the stainless steel bearing 17 in place are sequentially assembled from right to left, then the fixing shaft 3 penetrates out of the left side of the installation hole in the lower part of the sealing cylinder 4, and the positioning snap ring 16 is assembled in place. The main functions of the right snap ring 12, the middle snap ring 13, the left snap ring 15 and the stainless steel bearing 17 are to axially position the right clamping hook 1, the left clamping hook 2 and the sealing cylinder 4 on the fixed shaft 3. The fixed shaft 3 penetrates through the sealing cylinder 4 and is limited by the positioning clamp spring 16, and the positioning clamp spring 16 is installed in a circumferential groove of the fixed shaft 3 and mainly used for achieving axial positioning between the fixed shaft 3 and the sealing cylinder 4.
The operation process of the laying device in the whole laying process of the underwater robot is as follows:
firstly, a right clamping hook 1 and a left clamping hook 2 of the distributing device are placed on two sides of a lifting lug of the underwater robot and clamped tightly, as shown in figure 2, then the relative positions of the right clamping hook 1, the left clamping hook 2 and a sealing cylinder 4 are adjusted in place, and a positioning pin 14 is assembled.
A loading instruction is sent through the remote control terminal, the linear motor 8 drives the release shaft 5 to move downwards along the axial direction through a telescopic rod, and the assembly is in place and is shown in figure 1.
And after the linear motor 8 acts in place, the positioning pin 14 is pulled out, and a lifting ring above the sealing end cover 10 is directly connected with a lifting device or connected with the lifting device in a hanging strip switching mode.
The hoisting device hoists the laying device together with the underwater robot to a laying point, a laying command is sent through the remote control terminal after the laying device is in place, the linear motor 8 drives the release shaft 5 to move upwards along the axial direction through a telescopic rod, and after the release shaft 5 is completely separated from the right clamping hook 1 and the left clamping hook 2, the right clamping hook 1 and the left clamping hook 2 automatically open after rotating around the fixed shaft 3 under the action of self gravity, as shown in fig. 3, the laying of the underwater robot is completed.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. An underwater robot laying device is characterized by comprising a sealing cylinder, a linear motor, a release shaft, a fixed shaft, a left clamp hook and a right clamp hook;
the linear motor is installed in the sealing cylinder, a telescopic rod of the linear motor is in clearance fit with one end of the release shaft, the upper ends of the left clamping hook and the right clamping hook are staggered up and down, the left clamping hook and the right clamping hook are rotatably connected to the sealing cylinder through a fixed shaft, and the rotation of the left clamping hook and the right clamping hook is limited through the sliding fit of the other end of the release shaft and the butt holes above the left clamping hook and the right clamping hook, and at the moment, the left clamping hook and the right clamping hook clamp an external robot lifting lug together;
when the cloth is laid, the linear motor telescopic rod drives the release shaft to move upwards along the axial direction, the release shaft is separated from the left clamping hook and the right clamping hook, the left clamping hook and the right clamping hook are opened after rotating around the fixed shaft under the action of self gravity, and the lifting lugs of the external robot are released to finish the cloth laying.
2. The underwater robot deployment device of claim 1, wherein the sealing cylinder comprises a sealing cylinder body and a sealing end cover, the sealing cylinder body is a cylinder body with one open end, the open end is sealed by the sealing end cover, and the sealing end cover is provided with a lifting ring; the closed end of the sealing cylinder body is provided with a through hole of the release shaft; meanwhile, the closed end is provided with a protruding cylinder for installing the fixed shaft.
3. The underwater robot deployment device of claim 1 wherein the linear motor provides power and signal transmission to the remote control via a watertight plug.
4. The underwater robot spreading device as claimed in claim 2, wherein the upper ends of the left and right hooks are positioned in the extension cylinder and are respectively mounted on a fixed shaft through bearings, a middle snap ring is sleeved on the fixed shaft between the left and right hooks, a left snap ring is sleeved on the fixed shaft between the left hook and the inner wall of the extension cylinder, and a right snap ring is sleeved on the fixed shaft between the right hook and the inner wall of the extension cylinder.
5. The underwater robot deployment device of claim 2 further comprising a positioning pin to fix the relative positions of the left and right hooks and the sealing cylinder before the release shaft is not extended in place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911382620.5A CN111038670A (en) | 2019-12-27 | 2019-12-27 | Underwater robot laying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911382620.5A CN111038670A (en) | 2019-12-27 | 2019-12-27 | Underwater robot laying device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111038670A true CN111038670A (en) | 2020-04-21 |
Family
ID=70240913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911382620.5A Pending CN111038670A (en) | 2019-12-27 | 2019-12-27 | Underwater robot laying device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111038670A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114044112A (en) * | 2021-11-09 | 2022-02-15 | 中国船舶重工集团公司第七一五研究所 | Release mechanism for self-floating acoustic releaser |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030042748A1 (en) * | 2001-08-30 | 2003-03-06 | Samper Rafael Torres | Retractile grab device for the recovery of blocks submerged in a marine environment |
| CN1562698A (en) * | 2004-03-22 | 2005-01-12 | 中国海洋大学 | Device for throwing submarine bank |
| CN200974611Y (en) * | 2006-12-01 | 2007-11-14 | 中国科学院海洋研究所 | Releaser |
| CN103183113A (en) * | 2011-12-28 | 2013-07-03 | 中国科学院沈阳自动化研究所 | Underwater robot recovery system and recovery method thereof |
| CN107182235B (en) * | 2009-09-30 | 2013-12-11 | 宜昌测试技术研究所 | A kind of rocket engine underwater test stand is laid and retracting device |
| CN204195588U (en) * | 2014-11-11 | 2015-03-11 | 重庆山能仪表有限公司 | With the clamping device of cammed surface |
| WO2015042218A1 (en) * | 2013-09-18 | 2015-03-26 | Delmar Systems, Inc. | Connecting link pin retaining device |
| CN205170143U (en) * | 2015-10-20 | 2016-04-20 | 西安西航集团航空航天地面设备有限公司 | Three -jaw gravity hoist |
| CN108609142A (en) * | 2018-05-29 | 2018-10-02 | 浙江大学 | A kind of underwater glider lays retracting device |
-
2019
- 2019-12-27 CN CN201911382620.5A patent/CN111038670A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030042748A1 (en) * | 2001-08-30 | 2003-03-06 | Samper Rafael Torres | Retractile grab device for the recovery of blocks submerged in a marine environment |
| CN1562698A (en) * | 2004-03-22 | 2005-01-12 | 中国海洋大学 | Device for throwing submarine bank |
| CN200974611Y (en) * | 2006-12-01 | 2007-11-14 | 中国科学院海洋研究所 | Releaser |
| CN107182235B (en) * | 2009-09-30 | 2013-12-11 | 宜昌测试技术研究所 | A kind of rocket engine underwater test stand is laid and retracting device |
| CN103183113A (en) * | 2011-12-28 | 2013-07-03 | 中国科学院沈阳自动化研究所 | Underwater robot recovery system and recovery method thereof |
| WO2015042218A1 (en) * | 2013-09-18 | 2015-03-26 | Delmar Systems, Inc. | Connecting link pin retaining device |
| CN204195588U (en) * | 2014-11-11 | 2015-03-11 | 重庆山能仪表有限公司 | With the clamping device of cammed surface |
| CN205170143U (en) * | 2015-10-20 | 2016-04-20 | 西安西航集团航空航天地面设备有限公司 | Three -jaw gravity hoist |
| CN108609142A (en) * | 2018-05-29 | 2018-10-02 | 浙江大学 | A kind of underwater glider lays retracting device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114044112A (en) * | 2021-11-09 | 2022-02-15 | 中国船舶重工集团公司第七一五研究所 | Release mechanism for self-floating acoustic releaser |
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| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200421 |
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| RJ01 | Rejection of invention patent application after publication |