CN114516040A - Long-distance underwater mechanical arm type operation platform - Google Patents
Long-distance underwater mechanical arm type operation platform Download PDFInfo
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- CN114516040A CN114516040A CN202011307243.1A CN202011307243A CN114516040A CN 114516040 A CN114516040 A CN 114516040A CN 202011307243 A CN202011307243 A CN 202011307243A CN 114516040 A CN114516040 A CN 114516040A
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- arm
- hinged
- underwater
- hydraulic cylinder
- knuckle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of marine operation automation equipment, in particular to a long-distance underwater mechanical arm type operation platform which comprises a rotary supporting mechanism, a tail end arm, an underwater hard connecting mechanism and a plurality of knuckle arms, wherein the last section of arm is connected with the tail end arm, the tail end arm is connected with the underwater hard connecting mechanism through the rotating arm, the underwater hard connecting mechanism is connected with the underwater operation tool bag, be equipped with soft coupling assembling and rotating assembly in terminal arm, soft coupling assembling is equipped with the soft coupling rope and passes the swinging boom and link to each other with the underwater operation instrument package under water behind the hard coupling mechanism under water, rotating assembly is equipped with the pulley of liftable and the helicla flute cooperation of swinging boom upper end, pendulum rod among the hard coupling mechanism passes through ejector pad lift drive swing under water, end lock twists reverse the slider and passes through the pendulum rod drive and remove, locking lever on the lock is twistd reverse the slider drive and is rotated the locking through the end lock that corresponds at bottom lock seat downside. The underwater operation device can realize long-distance underwater operation, can replace the soft connection state and the hard connection state, and is flexible to use and simple to control.
Description
Technical Field
The invention relates to the field of marine operation automation equipment, in particular to a long-distance underwater mechanical arm type operation platform.
Background
In the automatic field of marine operation, underwater robot is a common solution, but utilize fixed tying up underwater robot operation such as pipeline cable among the prior art, it is difficult to avoid pipeline cable and the winding problem of underwater robot, floating underwater robot can produce the seabed and erode in addition, not only weaken underwater well head basis, and can lead to the sea water muddy, and it is relatively complicated to utilize underwater robot operation control, the working cost is high, the operating efficiency is low, consequently need a new automation equipment to replace underwater robot to carry out the operation at present urgently.
Disclosure of Invention
The invention aims to provide a long-distance underwater mechanical arm type working platform which can realize long-distance underwater operation, can change soft connection and hard connection states according to requirements, and is flexible to use and simple to control.
The purpose of the invention is realized by the following technical scheme:
a long-distance underwater mechanical arm type working platform comprises a rotary supporting mechanism, a tail end arm, an underwater hard connecting mechanism and a plurality of section arms which are sequentially hinged, wherein a first section arm swings under the drive of a first section arm hydraulic cylinder, the lower end of the first section arm and the lower end of the first section arm hydraulic cylinder are hinged on the rotary supporting mechanism, other section arms swing under the drive of section arm hydraulic cylinders arranged on adjacent section arms, the last section arm is connected with the tail end arm, the lower end of the tail end arm is connected with the underwater hard connecting mechanism through a rotary arm, the lower end of the underwater hard connecting mechanism is connected with an underwater working tool kit, a soft connecting component and a rotary component are arranged in the tail end arm, the soft connecting component is provided with a soft connecting rope which passes through the rotary arm and the underwater hard connecting mechanism and then is connected with the underwater working tool kit, the rotary component is provided with a liftable pulley and is matched with a spiral groove at the upper end of the rotary arm, the underwater hard connecting mechanism comprises a bottom lock seat, a bottom lock torsion slider, a swing rod and a liftable push block, wherein the swing rod passes through the push block lifting drive to swing, the bottom lock torsion slider passes through the swing rod drive to move along a corresponding sliding groove in the bottom lock seat, the lower side of the bottom lock seat is provided with a bottom lock which is matched with a container corner fitting on an underwater operation tool bag, and a lock rod on the bottom lock is driven to rotate through the corresponding bottom lock torsion slider.
The flexible connection assembly comprises a flexible connection hydraulic cylinder and a flexible connection rope, and the upper end of the flexible connection rope is connected with the end part of a cylinder rod of the flexible connection hydraulic cylinder.
The rotating assembly comprises a rotating hydraulic cylinder, a sliding seat and a sliding rail, the sliding seat is driven by the rotating hydraulic cylinder to slide along the sliding rail in a lifting mode, and the pulley is arranged on the sliding seat.
The terminal arm comprises a terminal arm shell, the upper end of the terminal arm shell is connected with the last section of arm, the lower end of the terminal arm shell is connected with the rotating arm in a rotating mode, and the flexible connecting assembly and the rotating assembly are arranged in the terminal arm shell.
Terminal arm casing lower extreme is equipped with swinging boom axle sleeve, swinging boom axle collar and swinging boom axle lid, wherein be equipped with the flange on the swinging boom and arrange in between swinging boom axle sleeve and the swinging boom axle collar, just flange and swinging boom axle collar pass through it is spacing to swing boom axle lid.
The underwater hard connection mechanism comprises a hard connection shell and a connection hydraulic cylinder, the upper end of the hard connection shell is fixedly connected with the lower end of the rotating arm, the lower end of the hard connection shell is fixedly connected with the bottom lock seat, the push block, the swing rod and the connection hydraulic cylinder are all arranged in the hard connection shell, the push block passes through the connection hydraulic cylinder to drive the push block to lift, one end of the swing rod is hinged to the push block, and the other end of the swing rod is hinged to the corresponding bottom lock torsion sliding block.
A guide seat is arranged in the hard connection shell, and the push block ascends and descends along the guide seat.
The rotary supporting mechanism comprises a base body, a rotary driving device, a driving gear and a slewing bearing, wherein the rotary driving device, the driving gear and the slewing bearing are all arranged on the base body, and the driving gear is meshed with the outer teeth of the slewing bearing and is driven to rotate through the rotary driving device.
The slewing bearing is provided with a connecting seat and a first hydraulic cylinder hinged support, the lower end of the first section arm is hinged to the connecting seat, the lower end of the first section arm hydraulic cylinder body is connected with the first hydraulic cylinder hinged support, and the end part of a cylinder rod of the first section arm hydraulic cylinder is hinged to the middle part of the first section arm.
All the other knuckle arms except the first knuckle arm comprise knuckle arm hydraulic cylinders, knuckle arm hinged frames and knuckle arm connecting rods, wherein one end of each knuckle arm hinged frame is hinged to the end portion of the adjacent knuckle arm, the other end of each knuckle arm hinged frame is hinged to the corresponding knuckle arm connecting rod, the other end of each knuckle arm connecting rod is hinged to the corresponding knuckle arm body end portion, the lower ends of the cylinder bodies of the knuckle arm hydraulic cylinders are hinged to the adjacent knuckle arms, and the end portions of the cylinder bodies are hinged to the corresponding knuckle arm hinged frames.
The invention has the advantages and positive effects that:
1. the underwater operation tool bag comprises a plurality of successively extendable knuckle arms, long-distance underwater operation can be achieved, in addition, the tail end arm is provided with a soft connecting component, the soft connecting component is provided with a soft connecting rope to be connected with an underwater operation tool bag, meanwhile, the lower end of the tail end arm is provided with an underwater hard connecting mechanism, the underwater operation tool bag can be locked through a control bottom lock, container corner pieces on the underwater operation tool bag can be firmly connected, and the underwater operation tool bag is flexible to use.
2. The invention realizes long-distance operation by utilizing the plurality of knuckle arms, has no problem of winding of a pipeline cable and the underwater robot compared with a floating underwater robot, has small scouring on the seabed, and can not weaken the underwater wellhead foundation or cause seawater turbidity.
3. The invention can automatically calculate the relative position and the motion track according to the determined GPS coordinate of the comprehensive operation ship and the GPS coordinate (or beacon coordinate) of the operation point, the underwater operation tool bag is unfolded by one key to move to the position near the operation point, the long-distance underwater mechanical arm type operation platform stops moving and is locked after the underwater operation tool bag is in place, and after the underwater operation tool bag is connected with an underwater operation object, the long-distance underwater mechanical arm type operation platform is in soft connection with the underwater operation tool bag, thereby reducing the influence of ocean current on an operation system and ensuring that the whole operation is simpler.
Drawings
Figure 1 is an overall schematic view of the present invention,
figure 2 is another perspective view of the invention of figure 1,
figure 3 is an enlarged view at a in figure 2,
figure 4 is an enlarged view at B in figure 2,
figure 5 is an enlarged view at C in figure 2,
figure 6 is an enlarged view at D in figure 2,
figure 7 is an enlarged view at E in figure 2,
figure 8 is an enlarged view at F of figure 2,
figure 9 is an enlarged view at G in figure 2,
figure 10 is an enlarged view at H of figure 2,
figure 11 is a schematic view of the end arm of figure 2,
figure 12 is an enlarged view at I of figure 11,
figure 13 is a schematic view of the subsea hard connection of figure 11,
fig. 14 is an enlarged view at J in fig. 13.
Wherein, 1 is a rotary supporting mechanism, 101 is a seat body, 102 is a rotary motor, 103 is a speed reducer, 104 is a driving gear, 105 is a slewing bearing, 106 is a connecting seat, and 107 is a connecting flange; 2, a first knuckle arm, 201, 202, 203, 204, a first hydraulic cylinder hinged support, a first knuckle arm lower hinged shaft and a first cylinder rod hinged shaft; 3 is a second knuckle arm, 301 is a second knuckle arm hydraulic cylinder, 302 is a second hydraulic cylinder hinged support, 303 is a second knuckle arm hinged support, 304 is a second knuckle arm connecting rod, 305 is a hinge shaft one, 306 is a hinge shaft two, 307 is a hinge shaft three, 308 is a hinge shaft four, and 309 is a hinge shaft five; 4, a third knuckle arm, 401, 402, 403, a third knuckle arm hinge bracket, 404, a third knuckle arm connecting rod, 405, 406, 407, 408, nine and 409, respectively; 5 is a fourth-section arm, 501 is a fourth-section arm hydraulic cylinder, 502 is a fourth hydraulic cylinder hinged support, 503 is a fourth-section arm hinged support, 504 is a fourth-section arm connecting rod, 505 is a hinge eleven, 506 is a hinge twelve, 507 is a hinge thirteen, 508 is a hinge fourteen, and 509 is a hinge fifteen; 6 is a fifth-section arm, 601 is a fifth-section arm hydraulic cylinder, 602 is a fifth hydraulic cylinder hinged support, 603 is a fifth-section arm hinged support, 604 is a fifth-section arm connecting rod, 605 is a hinge shaft sixteen, 606 is a hinge shaft seventeen, 607 is a hinge shaft eighteen, 608 is a hinge shaft nineteen, and 609 is a hinge shaft twenty; 7, a sixth section arm, 701, 702, 703, 704, a sixth section arm connecting rod, 705, 706, a hinge shaft twenty-one, 706, twenty-two, 707, twenty-three, 708, twenty-four and 709, respectively; 8, a seventh-section arm, 801, a seventh-section hydraulic cylinder, 802, a seventh hydraulic cylinder hinged support, 803, a seventh-section arm hinged support, 804, a seventh-section arm connecting rod, 805, twenty-six hinge shafts, 806, twenty-seven hinge shafts, 807, twenty-eight hinge shafts, 808, twenty-nine hinge shafts and 809, thirty hinge shafts; 9 is an eighth section arm, 901 is an eighth section arm hydraulic cylinder, 902 is an eighth hydraulic cylinder hinged support, 903 is an eighth section arm hinged support, 904 is an eighth section arm connecting rod, 905 is a hinged shaft thirty-one, 906 is a hinged shaft thirty-two, 907 is a hinged shaft thirty-three, and 908 is a hinged shaft thirty-four; 10 is an underwater operation tool kit; 11 is a tail end arm, 111 is a soft connecting component, 1111 is a soft connecting hydraulic cylinder, 1112 is a soft connecting rope, 1113 is a hinge seat of the soft connecting hydraulic cylinder, 1114 is a soft connecting rope shaft, 1115 is a tool kit joint, 112 is a rotating component, 1121 is a rotating hydraulic cylinder, 1122 is a rotating arm, 1123 is a pulley, 1124 is a spiral groove, 1125 is a slide rail, 1126 is a slide seat, 1127 is a rotating arm shaft sleeve, 1128 is a rotating arm shaft cover, 1129 is a rotating arm shaft collar, 113 is a tail end arm shell, 1131 is a connecting shaft, 12 is an underwater hard connecting mechanism, 1201 is a connecting hydraulic cylinder, 1202 is a guide seat, 1203 is a push block, 1204 is a bottom lock torsion slide block, 1205 is a swing rod, 1206 is a bottom lock seat, and 1207 is a hard connecting shell; 13 is an operation table, 14 is a system assembly, 15 is a bottom lock, 151 is a lock rod, and 16 is a container corner fitting.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 14, the present invention comprises a rotation support mechanism 1, a terminal arm 11, an underwater hard connection mechanism 12 and a plurality of articulated joint arms in sequence, wherein as shown in fig. 3, a first joint arm 2 of the plurality of joint arms is driven to swing by a first joint arm hydraulic cylinder 201, and the lower end of the first joint arm 2 and the lower end of the first joint arm hydraulic cylinder 201 are both articulated on the rotation support mechanism 1, as shown in fig. 1 to 2, each joint arm is articulated in sequence and driven to swing by a joint arm hydraulic cylinder provided on an adjacent joint arm, a last joint arm is connected to the terminal arm 11, as shown in fig. 11 to 14, the lower end of the terminal arm 11 is connected to the underwater hard connection mechanism 12 by a rotation arm 1122, the lower end of the underwater hard connection mechanism 12 is connected to an underwater operation tool bag 10, a soft connection assembly 111 and a rotation assembly 112 are provided in the terminal arm 11, as shown in fig. 11, the flexible connection assembly 111 is provided with a flexible connection rope 1112, and the flexible connection rope 1112 is connected to the underwater operation kit 10 after passing through the rotating arm 1122 and the underwater hard connection mechanism 12, as shown in fig. 12, the rotating assembly 112 is provided with a liftable pulley 1123, and the pulley 1123 is matched with a spiral groove 1124 at the upper end of the rotating arm 1122, when the pulley 1123 is lifted, the pulley 1123 rolls along the spiral groove 1124, so as to drive the rotating arm 1122 to rotate, as shown in fig. 13, the underwater hard connection mechanism 12 includes a bottom lock base 1206, a bottom lock torsion slider 1204, a swing rod 1205 and a liftable push block 1203, the swing rod 1205 is lifted and swung by the push block 1203, the bottom lock torsion slider 1204 is driven by the swing rod 1205 to move along a corresponding sliding groove on the bottom lock base 1206, the bottom lock 15 is disposed in a corresponding container corner piece 16 on the underwater operation kit 10, and the lock rod 151 on the bottom lock 15 is arranged in a notch corresponding to the lower side of the bottom lock twisting slide block 1204, and the bottom lock twisting slide block 1204 moves, namely, drives the lock rod 151 to rotate so as to realize the locking of the base 15. The underwater work kit 10, the bottom lock 15 and the container corner fitting 16 are all well known in the art.
As shown in fig. 11 to 12, the end arm 11 includes an end arm housing 113, and the upper end of the end arm housing 113 is connected to the last arm segment by a connecting shaft 1131, the lower end of the end arm housing 113 is rotatably connected to the rotating arm 1122, the flexible connecting assembly 111 and the rotating assembly 112 are both disposed in the end arm housing 113, wherein the flexible connecting assembly 111 includes a flexible connecting hydraulic cylinder 1111 and a flexible connecting rope 1112, a flexible connecting hydraulic cylinder hinged support 1113 is disposed in the end arm housing 113, the upper end of the flexible connecting hydraulic cylinder 1111 is hinged to the flexible connecting hydraulic cylinder hinged support 1113, the upper end of the flexible connecting rope 1112 is connected to the rod end of the flexible connecting hydraulic cylinder, the lower end of the flexible connecting rope 1112 passes through the rotating arm and the underwater hard connecting mechanism 12 and is connected to the underwater work tool bag 10, in this embodiment, the lower end of the flexible connecting rope 1112 is provided with a flexible connecting rope shaft 1114 fixedly connected to a tool bag joint 1122 disposed on the underwater work tool bag 10, in this way, the flexible connection hydraulic cylinder 1111 extends and retracts to realize flexible connection operation of the underwater operation tool bag 10.
As shown in fig. 12, the rotating assembly 112 in the end arm 11 includes a rotating hydraulic cylinder 1121, a sliding base 1126 and a sliding rail 1125, the sliding base 1126 is fixedly connected to the end of the cylinder rod of the rotating hydraulic cylinder 1121 and slides up and down along the sliding rail 1125, and the pulley 1123 is disposed on the sliding base 1126 and is driven by the sliding base 1126 to move up and down.
As shown in fig. 12, the lower end of the terminal arm housing 113 is provided with a rotating arm shaft sleeve 1127, a rotating arm shaft collar 1129 and a rotating arm shaft cover 1128 for rotatably connecting to the rotating arm 1122, wherein a flange is provided on the rotating arm 1122 and is disposed between the rotating arm shaft sleeve 1127 and the rotating arm shaft collar 1129, and the flange and the rotating arm shaft collar 1129 are limited by the rotating arm shaft cover 1128.
As shown in fig. 13 to 14, the underwater hard connection mechanism 12 includes a hard connection housing 1207 and a connection hydraulic cylinder 1201, the upper end of the hard connection housing 1207 is fixedly connected to the lower end of the rotating arm 1122, the lower end of the hard connection housing 1207 is fixedly connected to the bottom lock base 1206, the push block 1203, the swing rod 1205 and the connection hydraulic cylinder 1201 are all disposed in the hard connection housing 1207, the push block 1203 is driven to move up and down by the connection hydraulic cylinder 1201, one end of the swing rod 1205 is hinged to the push block 1203, the other end of the swing rod is hinged to the corresponding bottom lock torsion slider 1204, the bottom lock torsion slider 1204 is disposed in a corresponding sliding slot in the bottom lock base 1206, and the soft connection rope 1112 is connected to the underwater operation kit 10 after passing through the bottom lock base 1206.
As shown in fig. 13, a guide seat 1202 is provided in the hard connection housing 1207, and the pushing block 1203 is provided in the guide seat 1202 and pushed by the connection hydraulic cylinder 1201 to slide up and down along the guide seat 1202.
As shown in fig. 3, the rotation support mechanism 1 connected to the first joint arm 2 includes a base 101, a rotation driving device, a driving gear 104, and a slewing bearing 105, the rotation driving device, the driving gear 104, and the slewing bearing 105 are all disposed on the base 101, and the driving gear 104 is engaged with the slewing bearing 105 through external teeth and is driven to rotate by the rotation driving device.
As shown in fig. 3, a connecting base 106 and a first hydraulic cylinder hinged support 202 are arranged on the pivoting support 105, the lower end of the first knuckle arm 2 is hinged to the connecting base 106 through a first knuckle arm lower hinged shaft 203, the lower end of the cylinder body of the first knuckle arm hydraulic cylinder 201 is hinged to the first hydraulic cylinder hinged support 202, and the end of the cylinder rod of the first knuckle arm hydraulic cylinder 201 is hinged to the middle of the first knuckle arm 2 through a first cylinder rod hinged shaft 204.
All the other knuckle arms except the first knuckle arm 2 comprise knuckle arm hydraulic cylinders, knuckle arm hinged frames and knuckle arm connecting rods, wherein as shown in fig. 4-5, the second knuckle arm hinged frame 303 and the third knuckle arm hinged frame 403 are identical in structure, one end of each knuckle arm is hinged to the rear adjacent knuckle arm, the other end of each knuckle arm is provided with two hinge shafts which are respectively hinged to the end portion of the corresponding knuckle arm hydraulic cylinder rod and the corresponding knuckle arm connecting rod, and the other end of each knuckle arm connecting rod is hinged to the corresponding knuckle arm body.
As shown in fig. 4, a second hydraulic cylinder hinged support 302 is arranged on the first knuckle arm 2, the lower end of the cylinder body of the second knuckle arm hydraulic cylinder 301 is hinged to the second hydraulic cylinder hinged support 302, one end of the second knuckle arm hinged support 303 is hinged to the end of the adjacent first knuckle arm 2 through a fourth hinge shaft 308, the other end of the second knuckle arm hinged support 303 is provided with a first hinge shaft 305 and a second hinge shaft 306, wherein the end of the cylinder rod of the second knuckle arm hydraulic cylinder 301 is mounted on the second hinge shaft 306, one end of the second knuckle arm connecting rod 304 is mounted on the first hinge shaft 305, and the other end of the second knuckle arm connecting rod is hinged to the corresponding second knuckle arm 3 body through a fifth hinge shaft 9. The first knuckle arm 2 and the second knuckle arm 3 are hinged through a third hinge shaft 307.
As shown in fig. 5, a third hydraulic cylinder hinged support 402 is arranged on the second arm 3, the lower end of the cylinder body of the third arm 401 is hinged to the third hydraulic cylinder hinged support 402, one end of the third arm hinged support 403 is hinged to the end of the adjacent second arm 3 through a hinge shaft six 405, the other end of the third arm hinged support 403 is provided with a hinge shaft nine 408 and a hinge shaft ten 409, wherein the end of the cylinder rod of the third arm hydraulic cylinder 401 is mounted on the hinge shaft ten 409, one end of the third arm connecting rod 404 is mounted on the hinge shaft nine 408, and the other end of the third arm connecting rod is hinged to the corresponding third arm 4 body through a hinge shaft eight 407. The second joint arm 3 and the third joint arm 4 are hinged through a hinge shaft seven 406.
As shown in fig. 6 to 9, the fourth arm hinge frame 503, the fifth arm hinge frame 603, the sixth arm hinge frame 703 and the seventh arm hinge frame 803 have the same structure, two ends of the fourth arm hinge frame are respectively hinged to the adjacent arm and the corresponding arm link, and a middle right-angle end is hinged to the end of the corresponding arm hydraulic cylinder rod.
As shown in fig. 6, a fourth hydraulic cylinder hinged support 502 is arranged on the third arm segment 4, the lower end of the cylinder body of the fourth arm segment 501 is hinged to the fourth hydraulic cylinder hinged support 502, one end of the fourth arm segment hinged support 503 is hinged to the end of the adjacent third arm segment 4 through a hinge shaft eleven 505, the other end of the fourth arm segment hinged support is hinged to one end of the corresponding fourth arm segment connecting rod 504 through a hinge shaft fourteen 508, the other end of the fourth arm segment connecting rod 504 is hinged to the corresponding fourth arm segment 5 through a hinge shaft fifteen 509, and the end of the cylinder rod of the fourth arm segment 501 is hinged to the right-angle end of the middle of the fourth arm segment hinged support 503 through a hinge shaft twelve 506. The third arm 4 and the fourth arm 5 are hinged by a hinge shaft thirteen 507.
As shown in fig. 7, a fifth hydraulic cylinder hinged support 602 is arranged on the fourth arm segment 5, the lower end of the cylinder body of the fifth arm segment 601 is hinged to the fifth hydraulic cylinder hinged support 602, one end of the fifth arm segment hinged support 603 is hinged to the end of the adjacent fourth arm segment 5 through a hinge twenty 609, the other end of the fifth arm segment hinged support 603 is hinged to one end of the corresponding fifth arm segment connecting rod 604 through a hinge seventeen 606, the other end of the fifth arm segment connecting rod 604 is hinged to the corresponding fifth arm segment 6 body through a hinge sixteenth 605, and the end of the cylinder rod of the fifth arm segment hydraulic cylinder 601 is hinged to the right-angled end in the middle of the fifth arm segment hinged support 603 through a hinge nineteen 608. The fourth arm 5 and the fifth arm 6 are connected by a hinge eighteen 607.
As shown in fig. 8, a sixth hydraulic cylinder hinged support 702 is arranged on the fifth-joint arm 6, the lower end of the cylinder body of the sixth-joint arm 701 is hinged to the sixth hydraulic cylinder hinged support 702, one end of the sixth-joint arm hinged support 703 is hinged to the end of the adjacent fifth-joint arm 6 through a hinge twenty-four 708, the other end of the sixth-joint arm hinged support 703 is hinged to one end of a corresponding sixth-joint arm connecting rod 704 through a hinge twenty-two 706, the other end of the sixth-joint arm connecting rod 704 is hinged to the corresponding sixth-joint arm 7 body through a hinge twenty-one 705, and the end of the cylinder rod of the sixth-joint arm hydraulic cylinder 701 is hinged to the right-angle end in the middle of the sixth-joint arm hinged support 703 through a hinge twenty-three 707. The fifth arm section 6 and the sixth arm section are hinged through a hinge shaft twenty-five 709.
As shown in fig. 9, a seventh hydraulic cylinder hinged support 802 is arranged on the sixth-section arm 7, the lower end of the cylinder body of the seventh-section arm hydraulic cylinder 801 is hinged to the seventh hydraulic cylinder hinged support 802, one end of the seventh-section arm hinged support 803 is hinged to the end of the adjacent sixth-section arm 7 through a hinge twenty-sixth 805, the other end of the seventh-section arm hinged support is hinged to one end of the corresponding seventh-section arm connecting rod 804 through a hinge twenty-ninth 808, the other end of the seventh-section arm connecting rod 804 is hinged to the corresponding seventh-section arm 8 body through a hinge thirty 809, and the end of the cylinder rod of the seventh-section arm hydraulic cylinder 801 is hinged to the right-angle end in the middle of the seventh-section arm hinged support 803 through a hinge twenty-seventh 806. The sixth arm 7 and the seventh arm 8 are hinged by a hinge shaft twenty-eight 807.
As shown in fig. 10, the eighth arm hinge 903 has one end hinged to the end of the seventh arm 8 adjacent thereto via a hinge thirty-one 905, and the other end hinged to both the rod end of the eighth arm hydraulic cylinder 901 and the eighth arm link 904 via a hinge thirty-two 906.
As shown in fig. 10, an eighth hydraulic cylinder hinged support 902 is arranged on the seventh arm 8, the lower end of the eighth hydraulic cylinder 901 is hinged to the eighth hydraulic cylinder hinged support 902, and the other end of the eighth arm connecting rod 904 is hinged to the eighth arm 9 through a hinge shaft thirty-four 908. The seventh arm 8 and the eighth arm 9 are hinged by a hinge shaft thirty-three 907.
As shown in fig. 1, the present invention can be operated and controlled by an operation console 13 with an operation rod, and a system assembly 14 composed of a hydraulic system, an electric control system, an intelligent interaction system, a power source system, etc. is provided at one side of the rotary support mechanism 1. The console 13 and system assembly 14 are well known in the art.
The working principle of the invention is as follows:
when the invention works, all the knuckle arms are unfolded and adjusted in position in sequence, so that the tail end arm 11 drives the underwater hard connection mechanism 12 to move to the underwater operation tool kit 10 on the deck of the comprehensive operation ship, then the soft connection rope 1112 in the tail end arm 11 is connected with the structure on the underwater operation tool kit 10 to realize soft connection, meanwhile, the connection hydraulic cylinder 1201 in the underwater hard connection mechanism 12 is started to enable the bottom lock 15 to lock the container corner piece 16 on the underwater operation tool kit 10, then the system assembly 14 determines the GPS coordinate of the operation ship and the GPS coordinate (or beacon coordinate) of an operation point, and automatically calculates the relative position and the motion track according to the two coordinates, under the control of the system assembly 14, all the knuckle arms are unfolded in coordination motion and enable the tail end arm 11 to fall into the water to move to the vicinity of the operation point, all the knuckle arms stop moving after the underwater operation tool kit 10 is in position, and the underwater operation tool kit 10 is connected with an underwater operation object, the operating personnel remote control operation tool kit accomplishes corresponding operation. In addition, when the soft connection operation is required, the connecting hydraulic cylinder 1201 in the underwater hard connection mechanism 12 is started to release the bottom lock 15, the tail end arm 11 and the underwater operation tool bag 10 are in a state of being connected only through the soft connection rope 1112, the length of the soft connection rope 1112 can be adjusted through the telescopic rod of the soft connection hydraulic cylinder 1111, when the hard connection operation is required, the connecting hydraulic cylinder 1201 in the underwater hard connection mechanism 12 is started to lock the bottom lock 15, and at the moment, the underwater hard connection mechanism 12 is hard connected with the container corner fitting 16 on the underwater operation tool bag 10 through the bottom lock 15. The present invention allows for the replacement of different types of subsea work packages 10 as desired.
Claims (10)
1. The utility model provides a long distance underwater mechanical arm type work platform which characterized in that: including rotation support mechanism (1), terminal arm (11), hard coupling mechanism (12) under water and articulated a plurality of festival arms that link to each other in proper order, wherein first festival arm (2) are through first festival arm pneumatic cylinder (201) drive swing, and first festival arm (2) lower extreme and first festival arm pneumatic cylinder (201) lower extreme all articulate in on rotation support mechanism (1), all the other each festival arms are all through the festival arm pneumatic cylinder drive swing on locating adjacent festival arm, last festival arm with terminal arm (11) link to each other, terminal arm (11) lower extreme links to each other with hard coupling mechanism (12) under water through a swinging boom (1122), hard coupling mechanism (12) lower extreme links to each other with underwater operation instrument package (10) under water, is equipped with soft coupling assembling (111) and rotating assembly (112) in terminal arm (11), soft coupling assembling (111) are equipped with soft coupling rope (1112) and pass behind swinging boom (1122) and the hard coupling mechanism (12) under water and underwater operation instrument package (12) under water Utensil package (10) link to each other, rotating assembly (112) be equipped with liftable pulley (1123) with spiral groove (1124) cooperation of swinging boom (1122) upper end, hard coupling mechanism (12) including bottom lock seat (1206), bottom lock twist reverse slider (1204), pendulum rod (1205) and liftable ejector pad (1203) under water, wherein pendulum rod (1205) pass through ejector pad (1203) lift drive swing, bottom lock twist reverse slider (1204) pass through pendulum rod (1205) drive is followed the spout removal that corresponds on bottom lock seat (1206), and bottom lock seat (1206) downside is equipped with bottom lock (15) and cooperates with container corner fittings (16) on the tool package (10) of underwater operation, just locking lever (151) on bottom lock (15) twist reverse slider (1204) drive through the bottom lock that corresponds and rotate.
2. The long reach underwater robotic work platform of claim 1, wherein: the flexible connecting assembly (111) comprises a flexible connecting hydraulic cylinder (1111) and a flexible connecting rope (1112), and the upper end of the flexible connecting rope (1112) is connected with the end part of a cylinder rod of the flexible connecting hydraulic cylinder (1111).
3. The long reach underwater robotic work platform of claim 1, wherein: the rotating assembly (112) comprises a rotating hydraulic cylinder (1121), a sliding seat (1126) and a sliding rail (1125), the sliding seat (1126) is driven by the rotating hydraulic cylinder (1121) to move up and down and slide along the sliding rail (1125), and the pulley (1123) is arranged on the sliding seat (1126).
4. The long reach underwater robotic work platform of claim 1, wherein: terminal arm (11) are including terminal arm casing (113), just terminal arm casing (113) upper end links to each other with last festival arm, the lower extreme with swinging boom (1122) rotate and are connected, soft coupling assembling (111) and rotating assembly (112) all locate in terminal arm casing (113).
5. The long reach underwater robotic work platform of claim 4, wherein: the lower end of the tail end arm shell (113) is provided with a rotating arm shaft sleeve (1127), a rotating arm shaft collar (1129) and a rotating arm shaft cover (1128), wherein a flange is arranged on the rotating arm (1122) and placed between the rotating arm shaft sleeve (1127) and the rotating arm shaft collar (1129), and the flange and the rotating arm shaft collar (1129) are limited through the rotating arm shaft cover (1128).
6. The long reach underwater robotic work platform of claim 1, wherein: the underwater hard connection mechanism (12) comprises a hard connection shell (1207) and a connection hydraulic cylinder (1201), the upper end of the hard connection shell (1207) is fixedly connected with the lower end of a rotating arm (1122), the lower end of the hard connection shell is fixedly connected with a bottom lock seat (1206), a push block (1203), a swing rod (1205) and the connection hydraulic cylinder (1201) are all arranged in the hard connection shell (1207), the push block (1203) is driven to lift through the connection hydraulic cylinder (1201), one end of the swing rod (1205) is hinged to the push block (1203), and the other end of the swing rod is hinged to a corresponding bottom lock torsion sliding block (1204).
7. The long reach underwater robotic work platform of claim 6, wherein: a guide seat (1202) is arranged in the hard connection shell (1207), and the push block (1203) ascends and descends along the guide seat (1202).
8. The long reach underwater robotic work platform of claim 1, wherein: rotatory supporting mechanism (1) includes pedestal (101), rotation driving device, drive gear (104) and slewing bearing (105) all locate on pedestal (101), just drive gear (104) with slewing bearing (105) external tooth meshing passes through rotation driving device drive is rotatory.
9. The long reach underwater robotic work platform of claim 8, wherein: the rotary support (105) is provided with a connecting seat (106) and a first hydraulic cylinder hinged support (202), the lower end of the first arm (2) is hinged to the connecting seat (106), the lower end of the cylinder body of the first arm hydraulic cylinder (201) is connected with the first hydraulic cylinder hinged support (202), and the end part of the cylinder rod of the first arm hydraulic cylinder (201) is hinged to the middle part of the first arm (2).
10. The long reach underwater robotic work platform of claim 1, wherein: all the other knuckle arms except the first knuckle arm (2) comprise knuckle arm hydraulic cylinders, knuckle arm hinged frames and knuckle arm connecting rods, wherein one end of each knuckle arm hinged frame is hinged to the end part of an adjacent knuckle arm, the other end of each knuckle arm hinged frame is hinged to the corresponding knuckle arm connecting rod, the other end of each knuckle arm connecting rod is hinged to the end part of the corresponding knuckle arm body, the lower end of a cylinder body of each knuckle arm hydraulic cylinder is hinged to the adjacent knuckle arm, and the end part of the cylinder body is hinged to the corresponding knuckle arm hinged frame.
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| CN114516040B (en) | 2023-06-27 |
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