CN112476484A

CN112476484A - Marine emergency maintenance arm carrier device under water

Info

Publication number: CN112476484A
Application number: CN202011290036.XA
Authority: CN
Inventors: 胡淼; 韩江桂; 郭文勇; 王晶航; 孙颙琰; 蒋飞; 王波翔
Original assignee: Naval University of Engineering PLA
Current assignee: Naval University of Engineering PLA
Priority date: 2020-11-18
Filing date: 2020-11-18
Publication date: 2021-03-12

Abstract

The invention belongs to the technical field of marine emergency guarantee and maintenance equipment, and particularly relates to a carrier device of a marine underwater emergency maintenance mechanical arm. The ship comprises a carrier base detachably fixed on a ship, a vertical truss vertically arranged and connected with the carrier base, an adsorption assembly arranged between the vertical truss and a ship body, a swing arm arranged on the lower side of the vertical truss, a swing arm driving assembly arranged between the vertical truss and the swing arm, and a mechanical arm arranged at the lower end of the swing arm; the invention provides a fixed marine underwater emergency maintenance mechanical arm carrier device which is convenient to assemble and disassemble and is used for carrying and conveying an underwater mechanical arm and auxiliary equipment thereof to perform underwater operation, aiming at the problems that the existing ship docking maintenance period is long, divers are greatly influenced by objective conditions, and a robot for ship underwater maintenance has short endurance time, poor flexibility and large influence by complicated ocean environmental conditions. The ship body and the accessories below the waterline can be observed, detected and maintained in an emergency way.

Description

Marine emergency maintenance arm carrier device under water

Technical Field

The invention belongs to the technical field of marine emergency guarantee and maintenance equipment, and particularly relates to a carrier device of a marine underwater emergency maintenance mechanical arm.

Background

Currently, with the investment and use of new equipment in navy, the development and construction of the equipment are mainly shifted from the aspect of solving the problems and improving the performance of the equipment. The normal operation of the underwater part of the ship is the fundamental guarantee of the normal navigation of the ship, and due to the particularity of the activity space, the current maintenance of the underwater equipment of the ship mainly comprises three modes: firstly, the maintenance is carried out in a dock or on a row with tonnage and size equivalent to those of a ship in annual maintenance; secondly, the problem of the underwater part is solved by means of the underwater of the diver; thirdly, the underwater operation is carried out by the aid of a mechanical arm carried by the underwater robot. In order to ensure high-quality development of new naval equipment and normal sailing use and execution tasks of ships, the detection and maintenance capabilities of underwater parts of ships need to be greatly improved.

At present, the maintenance of the underwater part of a ship mainly has the following three problems: 1. when ships go to dock or go to row for maintenance of underwater equipment, the maintenance period is usually longer, so that the ship has low sailing rate and high maintenance cost; 2. the maintenance and guarantee means for the underwater part of the ship are seriously insufficient, the automation degree of most ships is not high, personnel are limited by objective factors such as water quality, meteorological conditions and the like when the personnel go into the water, the danger coefficient is large, part of faults are found out and eliminated basically in a probing mode, the reliability is poor, and secondary damage is difficult to avoid even if the maintenance is finished; 3. a robot for naval vessel is under water maintenance is short, the flexibility is poor and portable load is less, in a word, lacks one set at present and can overcome the influence of ocean complex environment and detect and maintain the automation equipment of naval vessel part under water rapidly.

Content of application

An object of this application is to provide a convenient to use is nimble, can quick assembly disassembly build, can observe at the hull and maintain and emergency repair in-process as arm and all kinds of underwater equipment instrument carriers and bearing structure's marine emergency maintenance arm carrier device under water.

In order to achieve the purpose, the following technical scheme is adopted in the application.

The carrier device for the marine underwater emergency maintenance mechanical arm is arranged on a ship and comprises a carrier base 6 detachably fixed on the ship, a vertical truss 4 vertically arranged and connected with the carrier base 6, an adsorption component 7 arranged between the vertical truss 4 and a ship body, a swing arm 8 arranged on the lower side of the vertical truss 4, a swing arm driving component 5 arranged between the vertical truss 4 and the swing arm 8 and a mechanical arm 10 arranged at the lower end of the swing arm 8;

the carrier base 6 is of a triangular prism frame structure, each frame is formed by splicing one or two triangular prism connecting frames 2a, and each frame is connected through a connecting block 1 a; two triangular prism connecting frames 2a are vertically arranged on the side frame of one side of the carrier base 6, an electric hoist 12 is arranged on the triangular prism connecting frame 2a positioned on the upper side, and the triangular prism connecting frame 2a positioned on the lower side is vertically connected with the vertical truss 4; the vertical truss 4 and the swing arm 8 are formed by splicing a plurality of triangular prism connecting frames 2 a;

the adsorption component 7 is arranged below the carrier base 6, the adsorption component 7 comprises a support plate 7a connected to the vertical truss 4 through a first screw 1g, a plurality of second screw holes 3k are formed in the support plate 7a, a sucker screw 7b is arranged in each second screw hole k, and a sucker structure 7c is arranged at one end of the sucker screw 7b on the basis of the vertical truss 4;

the swing arm driving assembly 5 comprises two movable connecting plates 1b respectively connected to the lower end of the vertical truss 4 and the upper end of the swing arm 8, a connecting shaft 3b arranged between the two movable connecting plates 1b, and a waterproof motor 5b in shaft connection with the connecting shaft 3 b; the opposite surfaces of the two movable connecting plates 1b are provided with connecting lugs 2b, the two movable connecting plates 1b are connected in a swinging mode through the connecting lugs 2b and connecting shafts 3b arranged in the connecting lugs 2b, the waterproof motor 5b is fixed on one movable connecting plate 1b, and the connecting shafts 3b rotate synchronously with the motor shaft and are fixedly connected with the other movable connecting plate.

The marine underwater emergency maintenance mechanical arm carrier device is further improved, wherein the triangular column connecting frame 2a is of a triangular frame structure and comprises a whole supporting rod 3a positioned at the outer side frame position and a diagonal draw bar 4a positioned between the supporting rods 3 a;

two ends of the triangular column connecting frame 2a are provided with fixed connecting plates, a plurality of first connecting holes 1k are formed in the fixed connecting plates, and adjacent triangular column connecting frames 2a in the same frame of the carrier base 6 are connected through bolt groups arranged in the first connecting holes 1 k; the upper end face and the lower end face of the connecting block 1a are parallel planes 1m, the outer side face of the connecting block is provided with two connecting faces 2m, the two connecting faces are 120 degrees, first screw holes 2k corresponding to the first connecting holes 1k in the connecting block are formed in the connecting faces 2m, and the triangular column connecting frames 2a located at the two ends of the same frame of the carrier base 6 are connected through screw groups arranged in the first connecting holes 1k and the first screw holes 2 k.

The marine underwater emergency maintenance mechanical arm carrier device is further improved, and the support rod 3a is of a light round tube structure; still including being used for connecting vertical truss 4 and triangular prism link 2a and being used for connecting triangular prism link 2a and electric hoist 12's erection joint subassembly 9, erection joint subassembly 9 is including setting up mounting panel 9a on triangular prism link 2a and detaining 9b through the U-shaped of bolt group and mounting panel 9a detachable connection, bracing piece 9a is detained 9b through the U-shaped and is connected with mounting panel 9 a.

The beneficial effects are that:

the invention provides a fixed marine underwater emergency maintenance mechanical arm carrier device which is convenient to assemble and disassemble and is used for carrying and conveying an underwater mechanical arm and auxiliary equipment thereof to perform underwater operation, aiming at the problems that the existing ship docking maintenance period is long, divers are greatly influenced by objective conditions, and a robot for ship underwater maintenance has short endurance time, poor flexibility and large influence by complicated ocean environmental conditions. In order to ensure that the structure has better universality and interchangeability, the structure adopts a modular structure form, and all modules can be rapidly installed and detached, so that the ship body and the attached body below a waterline can be observed, detected and emergently maintained when the ship stays on the water surface.

Drawings

FIG. 1 is a first perspective view of a first marine underwater emergency maintenance robot arm carrier device;

FIG. 2 is a second perspective view of the marine underwater emergency maintenance robot arm carrier device;

FIG. 3 is a schematic view of the carrier base;

fig. 4 is a schematic structural view of a swing arm drive assembly.

Detailed Description

The present application will be described in detail with reference to specific examples.

As shown in FIG. 1, the marine underwater emergency maintenance mechanical arm carrier device is arranged on a ship and comprises a carrier base 6 detachably fixed on the ship, a vertical truss 4 vertically arranged and connected with the carrier base 6, an adsorption assembly 7 arranged between the vertical truss 4 and a ship body, a swing arm 8 arranged on the lower side of the vertical truss 4, a swing arm driving assembly 5 arranged between the vertical truss 4 and the swing arm 8, and a mechanical arm 10 arranged at the lower end of the swing arm 8.

The carrier device for the marine underwater emergency maintenance mechanical arm is mainly used for mounting and fixing various mechanical arms and observing, maintaining or repairing equipment instruments, and corresponding devices or instruments are delivered to required positions by utilizing the carrier device for the mechanical arm and the corresponding equipment instruments are carried to carry out underwater operation. The problems that when the ship stays on the water surface, the maintenance and the repair of the two sides and the bottom of the ship body are difficult, the operation is inconvenient, and equipment and instruments are inconvenient to transport are solved. The device is installed on the upper side of a to-be-maintained or rush-repair working area as required in a detachable mode.

Particularly, the marine underwater emergency maintenance mechanical arm carrier device is fixed at the edge of a deck of a ship through a carrier base 6, the vertical truss 4 is supported and positioned through an adsorption assembly 7, and equipment or instruments on a mechanical arm 8 or a mechanical arm 8 are conveyed to the corresponding position of the lower side of a ship body through a swing arm 8 and a swing arm driving assembly 5 so as to be convenient for maintenance or emergency maintenance.

As shown in fig. 1 and 3, the carrier base 6 is a triangular prism frame structure, and each frame is formed by splicing one or two triangular prism connecting frames 2a, and is connected through a connecting block 1 a; two triangular prism connecting frames 2a are vertically arranged on the side frame of one side of the carrier base 6, an electric hoist 12 is arranged on the triangular prism connecting frame 2a positioned on the upper side, and the triangular prism connecting frame 2a positioned on the lower side is vertically connected with the vertical truss 4; the vertical truss 4 and the swing arm 8 are formed by splicing a plurality of triangular prism connecting frames 2 a;

the triangular column connecting frames 2a are used as modular units for splicing and assembling, so that carrier bases and vertical trusses with different sizes can be formed, and the ship can be conveniently installed and used on ships with various sizes; the triangular column connecting frame 2a is of a triangular frame structure and comprises a whole supporting rod 3a positioned at the position of an outer side frame and diagonal draw bars 4a positioned between the supporting rods 3 a; triangular column frame stable in structure, easy dismounting can improve the dismouting speed and the efficiency of device, and at the concrete implementation in-process, bracing piece 3a can adopt standard pipe, wholly adopts welding process to make, does to adopt novel materials such as high strength light macromolecular material to in use its different characteristics satisfy different demands.

As shown in fig. 1 and 2, the adsorption component 7 is disposed below the carrier base 6, the adsorption component 7 includes a support plate 7a connected to the vertical truss 4 through a plurality of first screws 1g, the support plate 7a is provided with a plurality of second screw holes 3k, the second screw holes k are provided with suction cup screws 7b, and one end of the suction cup screws 7b, which is perpendicular to the vertical truss 4, is provided with a suction cup structure 7 c;

the adsorption component is mainly used for fixing and supporting the vertical truss, the vertical truss structure can be kept at a stable position, the adsorption component can be conveniently fixed on ships with various different types and ship shape structures by the aid of the multi-sucker structure, universality of the adsorption component is guaranteed, in a specific implementation process, the supporting plate 7a is generally arranged in a mode of inclining to the vertical truss, the inclination angle of the supporting plate can be controlled by adjusting the first screw rod, the supporting plate can be close to the side face of the ship, and the adsorption component can be more conveniently and effectively adsorbed and connected with the ship by the aid of suckers and buoys.

The whole device is connected and positioned with a ship through a carrier base positioned on a deck and an adsorption component positioned on the side surface of a ship body.

As shown in fig. 4, the swing arm driving assembly 5 includes two movable connection plates 1b respectively connected to the lower end of the vertical truss 4 and the upper end of the swing arm 8, a connection shaft 3b arranged between the two movable connection plates 1b, and a waterproof motor 5b coupled to the connection shaft 3 b; the opposite surfaces of the two movable connecting plates 1b are provided with connecting lugs 2b, the two movable connecting plates 1b are connected in a swinging mode through the connecting lugs 2b and connecting shafts 3b arranged in the connecting lugs 2b, the waterproof motor 5b is fixed on one movable connecting plate 1b, and the connecting shafts 3b rotate synchronously with the motor shaft and are fixedly connected with the other movable connecting plate.

The two movable connecting plates and the connecting shaft are combined with a motor driving mode, so that the action and the angle of the mechanical arm can be conveniently controlled, and further various operation requirements can be met.

Two ends of the triangular column connecting frame 2a are provided with fixed connecting plates, a plurality of first connecting holes 1k are formed in the fixed connecting plates, and adjacent triangular column connecting frames 2a in the same frame of the carrier base 6 are connected through bolt groups arranged in the first connecting holes 1 k;

the upper end face and the lower end face of the connecting block 1a are parallel planes 1m, the outer side face of the connecting block is provided with two connecting faces 2m, the two connecting faces are 120 degrees, first screw holes 2k corresponding to the first connecting holes 1k in the connecting block are formed in the connecting faces 2m, and the triangular column connecting frames 2a located at the two ends of the same frame of the carrier base 6 are connected through screw groups arranged in the first connecting holes 1k and the first screw holes 2 k.

The support rod 3a is of a light round tube structure; still including being used for connecting vertical truss 4 and triangular prism link 2a and being used for connecting triangular prism link 2a and electric hoist 12's erection joint subassembly 9, erection joint subassembly 9 is including setting up mounting panel 9a on triangular prism link 2a and detaining 9b through the U-shaped of bolt group and mounting panel 9a detachable connection, bracing piece 9a is detained 9b through the U-shaped and is connected with mounting panel 9 a.

During installation, the carrier base is firstly assembled on the deck, the vertical truss and the lifting device are assembled according to the designed structural form, the assembled carrier base is fixed on the convex edge of the deck through the locking bolt through the clamping groove, and meanwhile, the seawater bag is added on the other side of the carrier base to increase the stability of the whole structure. Then hang the rotating device who assembles truss, motor under water, arm etc. to locking position department through a couple of electric block, and another couple is again hung a section triangular prism link to the relevant position and is assembled, send a distance down through electric block with the structure of assembling after, connect another section triangular prism link according to the same mode. The method is the same as the method, the two hooks are alternately used to complete the assembly of the rest part of the structure, the vertical truss part is locked and fixed with the overhanging horizontal truss which plays a supporting role on the carrier base through the locking device after the assembly of the vertical truss part is completed, and finally the sucker is adsorbed on the outer side of the ship board to enhance the stability of the whole structure. In the recovery, the procedure is performed in the reverse order of the installation. Because the whole structure is processed into a standard knot form, the space occupied by storage is smaller, and the requirements of quick assembly and disassembly on ships and convenient storage can be met.

In consideration of the complexity of mounting and dismounting the carrier structure on the ship and the requirement for underwater emergency repair, the weight of the structure is as small as possible on the premise of ensuring that the carrier structure has enough strength and rigidity, namely the selected manufacturing material has higher specific strength and specific rigidity. Meanwhile, the working environment of the mechanical arm is underwater, so the corrosion resistance of the structure must be considered. The aluminum alloy material has the characteristics of high strength, good corrosion resistance, light weight and easiness in processing, so that the aluminum alloy material is selected for the triangular column connecting frame. The locking device is a dangerous part of the whole structure, so that a titanium alloy material with better performance is selected. The adapter block is mainly used on the deck, and in order to enhance the stability of the structure, a structural steel material with larger weight is selected.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the protection scope of the present application, and although the present application is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present application without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A carrier device for a marine underwater emergency maintenance mechanical arm is arranged on a ship and is characterized by comprising a carrier base, a vertical truss, an adsorption assembly, a swing arm driving assembly and a mechanical arm, wherein the carrier base is detachably fixed on the ship;

the carrier base is of a triangular column framework structure, each frame is formed by splicing one or two triangular column connecting frames, and each frame is connected through a connecting block; two triangular column connecting frames are vertically arranged on a side frame of the carrier base, an electric hoist is arranged on the triangular column connecting frame positioned on the upper side, and the triangular column connecting frame positioned on the lower side is vertically connected with the vertical truss;

the vertical truss and the swing arm are formed by splicing a plurality of triangular column connecting frames;

the adsorption component is arranged below the carrier base and comprises a supporting plate connected to the vertical truss through a first screw rod, a plurality of second screw holes are formed in the supporting plate, a sucker screw rod is arranged in each second screw hole, and a sucker structure is arranged at one end of the vertical truss according to the principle of the sucker screw rod;

the swing arm driving assembly comprises two movable connecting plates, a connecting shaft and a waterproof motor, wherein the two movable connecting plates are respectively connected to the lower end of the vertical truss and the upper end of the swing arm; the opposite surfaces of the two movable connecting plates are provided with connecting lugs, the two movable connecting plates are connected in a swinging mode through the connecting lugs and connecting shafts arranged in the connecting lugs, the waterproof motor is fixed on one of the movable connecting plates, and the connecting shafts rotate synchronously with the motor shaft and are fixedly connected with the other movable connecting plate.

2. The carrier device for the marine underwater emergency maintenance mechanical arm according to claim 1, wherein the triangular column connecting frame is of a triangular frame structure and comprises a whole supporting rod positioned at the outer side frame position and diagonal draw bars positioned between the supporting rods;

two ends of the triangular column connecting frame are provided with fixed connecting plates, a plurality of first connecting holes are formed in the fixed connecting plates, and adjacent triangular column connecting frames in the same frame of the carrier base are connected through bolt groups arranged in the first connecting holes;

the upper end face and the lower end face of the connecting block are parallel planes, two connecting faces are arranged on the outer side face of the connecting block, the two connecting faces are 120 degrees, first screw holes corresponding to the first connecting holes in the connecting plate are arranged on the connecting faces, and triangular column connecting frames located at two ends of the same frame of the carrier base are connected through screw rod groups arranged in the first connecting holes and the first screw holes.

3. The carrier device for the marine underwater emergency maintenance mechanical arm according to claim 2, wherein the support rod is of a light round tube structure;

still including being used for connecting perpendicular truss and triangular prism link and being used for connecting the mounting coupling assembling of triangular prism link and electric hoist, mounting coupling assembling can dismantle the U-shaped of being connected and detain with the mounting panel including setting up the mounting panel on the triangular prism link and through bolt group, the bracing piece is detained through the U-shaped and is connected with the mounting panel.