CN114148494A - Underwater outboard release device - Google Patents
Underwater outboard release device Download PDFInfo
- Publication number
- CN114148494A CN114148494A CN202111493604.0A CN202111493604A CN114148494A CN 114148494 A CN114148494 A CN 114148494A CN 202111493604 A CN202111493604 A CN 202111493604A CN 114148494 A CN114148494 A CN 114148494A
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- Prior art keywords
- underwater
- clamping
- rod
- clamping device
- releasing
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- 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
Abstract
The invention provides an underwater outboard release device, which comprises a pressure-resistant shell, integral driving devices symmetrically arranged at two sides of the pressure-resistant shell, two movable wheel discs respectively engaged with gears on the integral driving devices, a storage clamping device arranged on the movable wheel discs, an extension release device arranged below the pressure-resistant shell, and double-cam driving devices symmetrically arranged at two sides of the extension release device, wherein the extension release device is matched with the storage clamping device, an underwater operation device is arranged in the storage clamping device, under the combined action of the integral driving devices at the two sides, the movable wheel disc is driven to rotate through the meshing action between the gears, and finally the movable wheel disc and the storage clamping device rotate, the first pushing frame and the second pushing frame on the storage clamping device are matched with the cam on the double cam driving device, under the action of the double-cam driving device, unlocking of the storage clamping device and clamping of underwater operation equipment are completed.
Description
Technical Field
The invention relates to an underwater outboard release device, and belongs to the technical field of transmission mechanical equipment.
Background
The transport and release of underwater work equipment has been an important direction of modern technological research, for example: the underwater vehicle, underwater glider, etc. equipment, they have important effects to underwater research, to the complicated sea area, when the situation of many homeworks, need a plurality of underwater equipments to work simultaneously, but can carry the underwater equipment of outboard release gear of a plurality of underwater operation equipment relatively less, and also there are some places that need promote and strengthen in the transportation and release gear process: on one hand, the number of underwater operation equipment which can be carried by some traditional outboard release devices is small, and the operation requirements are difficult to meet under the condition that a plurality of operation equipment in a complex sea area need to work simultaneously, which causes a barrier to underwater research; on the other hand, some conventional outboard release devices consume a lot of energy and have low navigation efficiency when a long-distance and deep navigation is required, and some safety risks may exist when the vehicle travels for a long time.
Disclosure of Invention
The invention aims to solve the problems that the number of portable underwater operation equipment is small when an underwater outboard release device is transported and released, the consumed energy is large when long-distance navigation is carried out, and the navigation efficiency is low in the prior art.
The purpose of the invention is realized as follows: comprises a pressure-resistant shell, integral driving devices symmetrically arranged at two sides of the pressure-resistant shell, two movable wheel discs respectively engaged with gears on the integral driving devices, a storage clamping device arranged on the movable wheel discs, an extension releasing device arranged below the pressure-resistant shell, and double-cam driving devices symmetrically arranged at two sides of the extension releasing device, wherein the extension releasing device is matched with the storage clamping device, underwater operation equipment is arranged in the storage clamping device, under the combined action of the integral driving devices at the two sides, the movable wheel disc is driven to rotate through the meshing action between the gears, and finally the movable wheel disc and the storage clamping device rotate, the first pushing frame and the second pushing frame on the storage clamping device are matched with the cam on the double cam driving device, under the action of the double-cam driving device, unlocking of the storage clamping device and clamping of underwater operation equipment are completed.
Further, the storage clamping device comprises a fixed plate, clamping claws hinged to the fixed plate, a first connecting rod and a second connecting rod hinged to the two clamping claws respectively, lifting rods hinged to the other ends of the first connecting rod and the second connecting rod, a first guide rail and a second guide rail arranged on one side of the fixed plate, a first pushing frame and a second pushing frame matched with the first guide rail and the second guide rail respectively, the fixed plate is fixedly connected to one side of the movable wheel disc, and the other ends of the second pushing frames and the fixed plate form a locking mechanism.
Furthermore, the locking mechanism comprises a locking frame, a locking block, a spring and a check ring which are arranged on the fixing plate, after the underwater operation equipment is filled on the storage clamping device, the locking block is inserted into the groove of the lifting rod under the action of the spring to complete locking, and when the underwater operation equipment needs to be released, the locking block is pushed to move under the action of the pushing frame II, the locking block is moved out of the groove of the lifting rod, and the locking is released.
Further, the storage clamping device is provided with 24 pairs in total, and 24 underwater operation devices can be stored in total.
Further, the stretching releasing device comprises a fixed base plate fixed on the outer surface of the pressure-resistant shell, a motor symmetrically arranged on the lower surface of the fixed base plate, a threaded screw rod mechanism connected with the output end of the motor, a lifting rod group arranged on the lower surface of the fixed base plate and stretching out of the upper surface of the fixed base plate, a sliding rail arranged on the upper surface of the stretching out of the upper surface of the fixed base plate and the lower surface of the fixed base plate, a movable support and a fixed support matched with the sliding rail, a clamping paw device symmetrically arranged on the lower surface of the stretching out of the bottom plate, a first connecting rod and a second connecting rod which are respectively hinged with one end of the clamping paw device, a rotating rod hinged with the other end of the first connecting rod and the other end of the second connecting rod, and a hydraulic cylinder arranged on the stretching out of the bottom plate, wherein one end of the hydraulic cylinder is hinged with the clamping paw device.
Furthermore, the clamping paw device comprises an extension plate arranged on the extension base plate, clamping paws hinged with the extension plate, a first rod and a second rod respectively hinged with the two clamping paws, an extension rod hinged with the other end of the first rod and the other end of the second rod, a guide rail arranged on the fixed base plate, and a groove-shaped cam matched with the guide rail, wherein the other end of the extension rod is matched with an inner groove of the groove-shaped cam.
Furthermore, the clamping paw device on the stretching and releasing device is driven by a groove-shaped cam, under the normal operation and the rotation operation, the paw stretching out of the releasing device is in an open state under the action of the hydraulic cylinder, the interference between the stretching out of the releasing device and the storage clamping device is avoided, when the stretching and releasing device works, the storage clamping device and the underwater operation equipment clamped by the storage clamping device rotate to the position right below the stretching out of the releasing device, the stretching out of the releasing device descends for a certain distance, the underwater operation equipment is clamped by the storage clamping device, the stretching out of the releasing device continues to descend, the underwater operation equipment is pushed out of the shell, the paw stretching out of the releasing device is opened, and the releasing is completed.
Compared with the prior art, the invention has the beneficial effects that:
1. the release that stretches out of this patent adopts single-stage double shear fork elevating gear, has solved like this that the elevating gear space requires big, the problem that lifting strength is low, and the elevating gear's of this patent original height is lower, and the lift stroke is bigger, can provide better space control, and for single-stage single shear formula elevating gear, possess stronger lifting capacity, better intensity.
2. The extension releasing device adopts a spiral transmission mode, and the equipment has good self-locking performance outside occupying a smaller longitudinal space, so that the potential safety hazard is reduced, the operation is more stable, and the stop position is reliable.
3. The underwater vehicle has better bearing capacity and storage capacity, because the traditional outboard release device can only bear one or a plurality of underwater operation equipment, but the rotary storage device adopted by the patent can store 24 underwater operation equipment, can provide more underwater operation equipment with different functions, meets various underwater operation requirements,
4. this patent can carry the underwater operation equipment of a plurality of different functions to different assigned positions, and this is to needing long navigation, and the underwater operation equipment of long distance carrying out underwater operation has very big degree energy saving, and the underwater operation equipment of a plurality of different functions of carrying releases in the position of difference, has improved the efficiency of transportation, also can play very big help effect to underwater operation's recovery moreover.
Therefore, this patent structural style is clear, and each device is coordinated and cooperated each other, and the operation is simple reasonable, and occupation space is little, and stability is good, has effectively solved the portable underwater operation equipment that outboard release device exists when transportation and release and is small in quantity, the problem that the energy consumption that exists is big when carrying out long distance navigation, navigation inefficiency.
Drawings
Fig. 1 is a schematic view of the general structure of the underwater outboard-based release device provided by the invention.
Fig. 2 is a schematic structural diagram of the overall extending state of the underwater outboard release device provided by the invention.
Fig. 3 is an external structural view of a storage clamping device according to the present invention.
Fig. 4 is an internal structure view of the storage clamping device according to the present invention.
Fig. 5 is a schematic view of a storage clamping device based locking mechanism provided by the invention.
FIG. 6 is a block diagram of a reach-based release provided by the present invention.
FIG. 7 is a block diagram of a clamping mechanism based on a reach release mechanism provided by the present invention.
The list of components represented by each reference numeral in the figures is as follows: 1-a pressure-resistant shell; 2-integral drive means; 3-storing the clamping device; 4-a movable wheel disc; 5-double cam drive means; 6-extending the release means; 7-underwater operation equipment; 8-a housing; 301-a fixed plate; 302-a gripper jaw; 303-connecting rod one; 304-link two; 305-a lifting bar; 306-a locking mechanism; 307-pushing frame one; 308-pushing the second frame; 309-guide rail one; 3010-guide rail two; 3061-locking frame; 3062-locking block; 3063-a spring; 3064-a retainer ring; 601-a hydraulic cylinder; 602-connecting rod one; 603-rotating the rods; 604-connecting rod two; 605-gripper jaw means; 606-extending the base plate; 607-a movable support; 608-a fixed baseplate; 609-a threaded lead screw mechanism; 6010-motor; 6011-fixing the support; 6012-a slide rail; 6013-a set of lifting bars; a clamping paw 6051, a first rod 6052, an extension rod 6053, a guide rail 6054, a groove-shaped cam 6055, an extension plate 6056 and a second rod 6057.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 2, the present invention includes a pressure casing 1; an integral drive device 2; a storage holding device 3; a movable wheel 4; a double cam drive device 5; extending the release device 6; underwater operation equipment 7 and a shell 8. The pressure casing comprises an integral driving device 2, a movable wheel disc 4, a storage clamping device 3, a stretching-out releasing device 6 and a double-cam driving device 5, wherein the integral driving device 2 is symmetrically arranged on two sides of the pressure casing 1, the movable wheel disc 4 is meshed with a gear on the integral driving device 2, the storage clamping device 3 is installed on one side of the movable wheel disc 4, the stretching-out releasing device 6 is arranged below the pressure casing 1, and the double-cam driving device 5 is symmetrically arranged on two sides of the stretching-out releasing device 6 and matched with the storage clamping device 3.
As shown in fig. 3 to 4, the specific structure of the storage clamping device includes a fixing plate 301, a clamping claw 302, a first connecting rod 303, a second connecting rod 304, a lifting rod 305, a locking mechanism 306, a first pushing frame 307, a second pushing frame 308, a first guide rail 309, and a second guide rail 3010. The fixed plate 301 is fixedly connected to one side of the movable wheel disc 4, the clamping claws 302 hinged to the fixed plate 301, the first connecting rods 303 and the second connecting rods 304 respectively hinged to the two clamping claws 302, the lifting rods 305 hinged to the other ends of the first connecting rods 303 and the second connecting rods 304, the first guide rails 309 and the second guide rails 3010 arranged on one side of the fixed plate 301, and the first pushing frames 307 and the second pushing frames 308 respectively matched with the first guide rails 309 and the second guide rails 3010. The other end of the second pushing frame 308 and the fixing plate 301 form a locking mechanism 306. The storage clamping device 3 is provided with 24 pairs, so that 24 underwater operation devices 7 can be stored.
As shown in fig. 5, the locking mechanism 306 of the storage clamping device specifically includes a locking frame 3061, a locking block 3062, a spring 3063 and a retainer ring 3064, which are arranged on the fixed plate 301, after the underwater operation equipment is filled on the storage clamping device 3, the locking block 3062 is inserted into the groove of the lifting rod 305 under the action of the spring 3063 to complete locking, and when the underwater operation equipment 7 needs to be released, the locking block 3063 is pushed to move under the action of the second pushing frame 308 to move out of the groove of the lifting rod 305 to release locking.
As shown in fig. 6, the concrete structure of the extension releasing means 6 includes a hydraulic cylinder 601; a first connecting rod 602; turning the rod 603; a second connecting rod 604; a gripper jaw arrangement 605; extending the base plate 606; a movable support 607; a fixed base plate 608; a threaded lead screw mechanism 609; a motor 6010; a fixed support 6011, a slide rail 6012; lift rod set 6013; the pressure casing comprises a fixed bottom plate 608, a motor 6010, a threaded screw mechanism 609, a lifting rod group 6013, a sliding rail 6012, a movable support 607 and a fixed support 6011, a clamping paw device 605, a first connecting rod 602 and a second connecting rod 604, and a rotating rod 603, wherein the fixed bottom plate 608 is fixed on the outer surface of the pressure casing 1, the motor 6010 is symmetrically arranged on the lower surface of the fixed bottom plate 608, the threaded screw mechanism 609 is connected with the output end of the motor 6010, the lifting rod group 6013 is arranged on the lower surface of the fixed bottom plate 608 and extends out of the upper surface of the bottom plate 606, the sliding rail 6012 is arranged on the upper surface of the extended bottom plate 606 and the lower surface of the fixed bottom plate 608, the movable support 607 and the fixed support 6011 are matched with the sliding rail 6012, the clamping paw device 605 is symmetrically arranged on the lower surface of the extended bottom plate 606, the first connecting rod 602 and the second connecting rod 604 are hinged with one end of the first connecting rod 602 and the other end of the second connecting rod 604. A hydraulic cylinder 601 provided on the extension base 606, one end of the hydraulic cylinder 601 being hinged to the gripper jaw 605.
As shown in fig. 7, the gripping gripper assembly 605 includes a gripping gripper 6051, a first rod 6052, an extension rod 6053, a guide rail 6054, a slot-type cam 6055, an extension plate 6056, a second rod 6057, an extension plate 6056 disposed on the extension base plate 606, a gripping gripper 6051 hinged to the extension plate 6056, a first rod 6052 and a second rod 6057 hinged to the two gripping grippers 6051, an extension rod 6053 hinged to the other end of the first rod 6052 and the other end of the second rod 6057, a guide rail 6054 disposed on the fixed base plate 608, a slot-type cam 6055 engaged with the guide rail 6054, and an inner groove of the slot-type cam 6055 engaged with the other end of the extension rod 6053.
The integral driving device 2 is symmetrically arranged on two sides of the pressure-resistant shell 1, and under the combined action of the driving motors on the two sides, the movable wheel disc 4 is driven to rotate through the meshing action between the gears, and finally the movable wheel disc 4 and the storage clamping device 3 rotate according to the set movement speed.
The first pushing frame 307 and the second pushing frame 308 on the storage clamping device 3 are matched with the cam on the double-cam driving device 5, and the unlocking of the storage clamping device 3 and the clamping of the underwater operation equipment 7 are completed under the action of the double-cam driving device 5.
The clamping paw device 605 extending out of the releasing device 6 is driven by a groove-shaped cam, under normal operation and rotation work, under the action of the hydraulic cylinder 601, the paw extending out of the releasing device 6 is in an open state, interference between the extending out of the releasing device 6 and the storing and clamping device 3 is avoided, when the releasing work is carried out, the storing and clamping device 3 and the underwater operation equipment 7 clamped by the same rotate to the position right below the extending out of the releasing device 6, the extending out of the releasing device 6 descends for a certain distance, the underwater operation equipment 7 is clamped, the storing and clamping device 3 releases the underwater operation equipment 7, the extending out of the releasing device 6 continues descending movement, the underwater operation equipment 7 is pushed out of the shell, the paw extending out of the releasing device 6 is opened, and releasing is completed.
The working principle of the invention is as follows: when the outboard release device is static or rotates, the extending release device is in a folding state, and the clamping paw on the extending release device is in an opening state, so that the interference between the storage clamping device and the extending release device can not be caused; in the rotating process, the driving motor on the integral driving devices at the two sides drives the driving gear to rotate, the movable wheel disc is driven to rotate through the meshing action between the gears, the underwater operation equipment carried by the storage device at the inner side of the movable wheel disc also rotates, when the underwater operation equipment is released, releasing corresponding underwater operation equipment according to operation requirements, rotating the corresponding underwater operation equipment to the position right below the extending and releasing device through the storage clamping device, controlling the screw transmission mechanism through the motor to drive the lifting connecting rod to be gradually opened by the extending and releasing device, and the underwater operation equipment is clamped, the double-cam driving devices on the two sides act to release and store the underwater operation equipment clamped by the clamping device, the releasing device extends out to continue moving downwards to transport the underwater operation equipment to the outside of the shell, and the clamping claws are opened to complete the release of the underwater operation equipment.
Claims (7)
1. An underwater outboard release device characterized by: comprises a pressure-resistant shell, integral driving devices symmetrically arranged at two sides of the pressure-resistant shell, two movable wheel discs respectively engaged with gears on the integral driving devices, a storage clamping device arranged on the movable wheel discs, an extension releasing device arranged below the pressure-resistant shell, and double-cam driving devices symmetrically arranged at two sides of the extension releasing device, wherein the extension releasing device is matched with the storage clamping device, underwater operation equipment is arranged in the storage clamping device, under the combined action of the integral driving devices at the two sides, the movable wheel disc is driven to rotate through the meshing action between the gears, and finally the movable wheel disc and the storage clamping device rotate, the first pushing frame and the second pushing frame on the storage clamping device are matched with the cam on the double cam driving device, under the action of the double-cam driving device, unlocking of the storage clamping device and clamping of underwater operation equipment are completed.
2. The underwater outboard release device of claim 1, wherein: the storage clamping device comprises a fixed plate, clamping claws hinged to the fixed plate, a first connecting rod and a second connecting rod hinged to the two clamping claws respectively, lifting rods hinged to the other ends of the first connecting rod and the second connecting rod, a first guide rail and a second guide rail arranged on one side of the fixed plate, a first pushing frame and a second pushing frame matched with the first guide rail and the second guide rail respectively, the fixed plate is fixedly connected to one side of the movable wheel disc, and the other end of the second pushing frame and the fixed plate form a locking mechanism.
3. The underwater outboard release device of claim 2, wherein: the locking mechanism comprises a locking frame, a locking block, a spring and a check ring which are arranged on the fixing plate, after underwater operation equipment is filled on the storage clamping device, the locking block is inserted into the groove of the lifting rod under the action of the spring to complete locking, and when the underwater operation equipment is required to be released, the locking block is pushed to move under the action of the pushing frame II, the groove of the lifting rod is moved out, and locking is released.
4. The underwater outboard release device of claim 2 or 3, wherein: the storage clamping device is provided with 24 pairs in total, and 24 underwater operation devices can be stored in total.
5. The underwater outboard release device of claim 1, wherein: the stretching releasing device comprises a fixed base plate fixed on the outer surface of the pressure-resistant shell, a motor symmetrically arranged on the lower surface of the fixed base plate, a threaded lead screw mechanism connected with the output end of the motor, a lifting rod group arranged on the lower surface of the fixed base plate and stretching out of the upper surface of the fixed base plate, a sliding rail arranged on the upper surface of the stretching out of the upper surface of the fixed base plate and the lower surface of the fixed base plate, a movable support and a fixed support matched with the sliding rail, a clamping paw device symmetrically arranged on the lower surface of the stretching out of the bottom plate, a first connecting rod and a second connecting rod which are respectively hinged with one end of the clamping paw device, a rotating rod hinged with the other end of the first connecting rod and the other end of the second connecting rod, a hydraulic cylinder arranged on the stretching out of the bottom plate, and one end of the hydraulic cylinder is hinged with the clamping paw device.
6. The underwater outboard release device of claim 5, wherein: the clamping paw device comprises an extension plate arranged on the extension base plate, clamping paws hinged with the extension plate, a first rod and a second rod respectively hinged with the two clamping paws, an extension rod hinged with the other end of the first rod and the other end of the second rod, a guide rail arranged on the fixed base plate, and a groove-shaped cam matched with the guide rail, wherein the other end of the extension rod is matched with an inner groove of the groove-shaped cam.
7. The underwater outboard release device of claim 6, wherein: the clamping paw device on the stretching and releasing device is in a groove-shaped cam driving mode, under the normal operation and the rotation operation, under the action of the hydraulic cylinder, the paw stretching out of the releasing device is in an opening state, interference between the stretching out of the releasing device and the storage clamping device cannot be caused, during the releasing operation, the storage clamping device and the clamped underwater operation equipment rotate to the position right below the stretching out of the releasing device, the stretching out of the releasing device descends for a certain distance, the underwater operation equipment is clamped, the storage clamping device releases the underwater operation equipment, the stretching out of the releasing device continues descending movement, the underwater operation equipment is pushed out of the shell, the paw stretching out of the releasing device is opened, and releasing is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111493604.0A CN114148494B (en) | 2021-12-08 | 2021-12-08 | Underwater outboard release device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111493604.0A CN114148494B (en) | 2021-12-08 | 2021-12-08 | Underwater outboard release device |
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| Publication Number | Publication Date |
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| CN114148494A true CN114148494A (en) | 2022-03-08 |
| CN114148494B CN114148494B (en) | 2022-12-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111493604.0A Active CN114148494B (en) | 2021-12-08 | 2021-12-08 | Underwater outboard release device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115848595A (en) * | 2022-12-27 | 2023-03-28 | 哈尔滨工程大学 | Underwater outboard launching device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110104126A (en) * | 2019-05-21 | 2019-08-09 | 中国船舶重工集团公司第七一九研究所 | A kind of storage of underwater buoy body hydraulic-driven and release device |
| CN110816790A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Rope throwing mechanism of underwater robot laying and recycling system |
| CN111152902A (en) * | 2020-01-03 | 2020-05-15 | 西北工业大学 | Lifting platform claw type AUV releasing and recovering device adopted by underwater glider |
| CN112847421A (en) * | 2021-01-08 | 2021-05-28 | 哈尔滨工程大学 | Clamping device for lifting large-diameter cylindrical material |
| CN112847422A (en) * | 2021-01-08 | 2021-05-28 | 哈尔滨工程大学 | Clamping device capable of being locked quickly |
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2021
- 2021-12-08 CN CN202111493604.0A patent/CN114148494B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110816790A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Rope throwing mechanism of underwater robot laying and recycling system |
| CN110104126A (en) * | 2019-05-21 | 2019-08-09 | 中国船舶重工集团公司第七一九研究所 | A kind of storage of underwater buoy body hydraulic-driven and release device |
| CN111152902A (en) * | 2020-01-03 | 2020-05-15 | 西北工业大学 | Lifting platform claw type AUV releasing and recovering device adopted by underwater glider |
| CN112847421A (en) * | 2021-01-08 | 2021-05-28 | 哈尔滨工程大学 | Clamping device for lifting large-diameter cylindrical material |
| CN112847422A (en) * | 2021-01-08 | 2021-05-28 | 哈尔滨工程大学 | Clamping device capable of being locked quickly |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115848595A (en) * | 2022-12-27 | 2023-03-28 | 哈尔滨工程大学 | Underwater outboard launching device |
| CN115848595B (en) * | 2022-12-27 | 2023-12-22 | 哈尔滨工程大学 | Underwater outboard launching device |
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| CN114148494B (en) | 2022-12-13 |
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