CN115072548A - Independently lift by crane structure of remote control underwater robot - Google Patents
Independently lift by crane structure of remote control underwater robot Download PDFInfo
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- CN115072548A CN115072548A CN202210781330.3A CN202210781330A CN115072548A CN 115072548 A CN115072548 A CN 115072548A CN 202210781330 A CN202210781330 A CN 202210781330A CN 115072548 A CN115072548 A CN 115072548A
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- lifting
- hoisting
- underwater robot
- hook
- assembly
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
- B66C1/34—Crane hooks
- B66C1/36—Crane hooks with means, e.g. spring-biased detents, for preventing inadvertent disengagement of loads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention relates to the technical field of underwater robots, in particular to a lifting structure of an autonomous remote control underwater robot. The hoisting structure comprises a hoisting hook assembly, an isolation plate and a hoisting frame assembly, wherein the hoisting hook assembly is arranged at the top of the hoisting frame assembly, the hoisting hook assembly and the hoisting frame assembly are isolated by the isolation plate, the hoisting hook assembly has two hoisting forms, and the hoisting frame assembly has one hoisting form; the hoisting frame assembly is used for being fixedly connected with a frame of the autonomous remote control underwater robot. The invention has simple structure, easy realization, large specific strength and good corrosion resistance, and is suitable for the multi-working-condition hoisting form of the heavy autonomous remote control underwater robot.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a hoisting structure of an autonomous remote control underwater robot.
Background
An autonomous remote controlled underwater vehicle (ARV) is different from a traditional ARV in deployment and recovery methods due to the existence of an optical fiber management system. The traditional ROV is lifted and laid through the repeater and is recovered together with the repeater, and the AUV has no transition equipment and is directly laid and recovered through a cable. The ARV has a special optical fiber management system, an ARV body and an optical fiber compensator can be distributed together through an adaptive A-shaped frame, and the ARV body and the optical fiber compensator are respectively recovered; or the ARV body is distributed through the plummet, the plummet body serves as an optical fiber management system, and after the operation is finished, the ARV body and the plummet are respectively recovered. The adaptive A-shaped frame or the weight pressing device can lock the ARV body through the lock hook before hoisting, and the A-shaped frame or the weight pressing device and the ARV body are fixed into a whole, so that the ARV body is prevented from excessively swinging along with a ship in the hoisting and outward swinging processes; when in recovery, the lifting hook of the ARV body adapts to the traditional rope hanging mode, and after the hook is hooked, the lifting hook is lifted and recovered under the matching of the swing stopping rope. Because the autonomous remote control underwater robot has an optical fiber management system, the laying and recovery mode of the autonomous remote control underwater robot is different from that of the traditional underwater robot, the traditional hoisting structure cannot be suitable for laying and recovery of the autonomous remote control underwater robot and cannot be matched with a weight pressing device of the autonomous remote control underwater robot, and the traditional hoisting structure mainly determines the configuration of a main body according to experience and has lower specific strength.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a hoisting structure of an autonomous remote control underwater robot, which meets the specific laying and recycling requirements of an ARV system, has large specific strength due to the fact that the overall configuration is derived from a topological optimization result, separates different materials through plastics, carries out anti-corrosion treatment on specific parts, and improves the overall anti-corrosion performance.
The purpose of the invention is realized by the following technical scheme:
the invention provides a lifting structure of an autonomous remote control underwater robot, which comprises a lifting hook assembly, an isolation plate and a lifting frame assembly, wherein the lifting hook assembly is arranged at the top of the lifting frame assembly, the lifting hook assembly and the lifting frame assembly are isolated by the isolation plate, the lifting hook assembly has two lifting forms, and the lifting frame assembly has one lifting form; the hoisting frame assembly is used for being fixedly connected with a frame of the autonomous remote control underwater robot.
The lifting frame assembly comprises a lifting frame and a hook column arranged at the top of the lifting frame, and the lifting hook assembly is arranged in the middle of the top of the lifting frame; the two hook columns are arranged on two sides of the lifting hook assembly in parallel;
the hook column is used for being matched with a lock hook on the pendant pressing device matched with the autonomous remote control underwater robot, rigid fixation after the autonomous remote control underwater robot is lifted is achieved, and swinging is prevented.
The lifting frame comprises two bases and two wall plates which are arranged between the two bases and are parallel to each other, and two ends of the bottom of each wall plate are respectively connected with the two bases; the hook post with the lifting hook subassembly all is connected between two wallboards.
The inner side of the wall plate is of a hollow structure and is provided with an arc top, and a reinforcing rib is connected between the bottom of the wall plate and the base.
The hoisting frame assembly is made of aluminum alloy 6061-T6, and the surface of the hoisting frame assembly is subjected to hard anodic oxidation treatment.
The lifting hook assembly comprises a lifting block, a lifting hook and a lifting ring which are sequentially connected from bottom to top, wherein the lifting block is connected with the lifting frame assembly;
the lifting ring is used for being matched with a releaser on the pendant pressing device matched with the autonomous remote control underwater robot to realize unhooking release of the autonomous remote control underwater robot;
the lifting hook is used for hooking with the mooring rope when the autonomous remote control underwater robot is recovered.
The opening of the lifting hook is provided with a safety clip which prevents the cable from falling off.
The lifting hook assembly is characterized in that each part in the lifting hook assembly is made of carbon steel, the parts are welded in sequence, and fluorocarbon paint is sprayed on the outer portion of the lifting hook assembly.
The isolation plate is made of polyether-ether-ketone, and the isolation plate prevents the hook assembly from directly contacting with the lifting frame assembly to generate electrochemical corrosion.
And the overall configuration of the hoisting structure is designed according to a topological optimization result.
The invention has the advantages and positive effects that:
1. the invention has large specific strength: the configuration of the invention is determined based on the topological optimization result, the material distribution is scientific, the specific strength is high, and the lightweight is realized on the premise of meeting the mechanical property.
2. The invention has good corrosion resistance: the invention carries out isolation treatment on metals of different materials to prevent electrochemical corrosion, and carries out hard anodic oxidation treatment on carbon steel parts and aluminum alloy parts by spraying fluorocarbon paint on the carbon steel parts.
3. The invention has simple structure and easy realization: the invention has the advantages of less parts, simple structure, no complex configuration and easy realization.
4. The invention is suitable for a multi-working condition hoisting form: the lifting hook provided by the invention has two lifting forms, is matched with the hook column, has three lifting forms, and is suitable for lifting forms under various working conditions.
Drawings
FIG. 1 is a schematic diagram of a lifting structure of an autonomous remote-controlled underwater robot according to the present invention;
FIG. 2 is a schematic view of the construction of the lifting hook assembly of the present invention;
FIG. 3 is a schematic structural view of a lifting frame assembly of the present invention;
FIG. 4 is a diagram of a topology optimization arrangement of the present invention;
FIG. 5 is a diagram illustrating a topology optimization result of the present invention;
in the figure: 1 is lifting hook assembly, 2 is the division board, 3 is lifting frame subassembly, 101 is lifting ring, 102 is lifting hook, 103 is lifting block, 201 is the couple post, 202 is the wallboard, 203 is the base, 204 is the stiffening rib.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the hoisting structure of the autonomous remote-control underwater robot provided by the invention comprises a lifting hook assembly 1, a partition plate 2 and a hoisting frame assembly 3, wherein the lifting hook assembly 1 is arranged at the top of the hoisting frame assembly 3, the lifting hook assembly 1 and the hoisting frame assembly 3 are isolated by the partition plate 2, the lifting hook assembly 1 has two hoisting forms, and the hoisting frame assembly 3 has one hoisting form; the hoisting frame assembly 3 is fixedly connected with a frame of the autonomous remote control underwater robot, the hoisting structure has three hoisting forms, and the whole structure is suitable for various hoisting working conditions.
As shown in fig. 3, in the embodiment of the present invention, the lifting frame assembly 3 includes a lifting frame and a hooking rod 201 disposed on the top of the lifting frame, and the lifting hook assembly 1 is disposed at the middle position of the top of the lifting frame; the two hook columns 201 are arranged on two sides of the lifting hook assembly 1 in parallel; the hook column 201 is used for being matched with a hook on the pendant pressing device matched with the autonomous remote control underwater robot, rigid fixation after the autonomous remote control underwater robot is lifted is achieved, and swinging is prevented.
In the embodiment of the invention, the hoisting frame comprises two bases 203 and two mutually parallel wall plates 202 arranged between the two bases 203, and two ends of the bottom of each wall plate 202 are respectively connected with the two bases 203; the hook post 201 and the lifting hook assembly 1 are both connected between two wall panels 202.
Further, the inner side of the wall plate 202 is hollow and has a circular arc top, and a reinforcing rib 204 is connected between the bottom of the wall plate 202 and the base 203. Specifically, all parts of the hoisting frame assembly 3 are made of aluminum alloy 6061-T6 and are welded into a whole, and the surface of the hoisting frame assembly is subjected to hard anodic oxidation treatment, so that the corrosion resistance is improved.
As shown in fig. 2, in the embodiment of the present invention, the lifting hook assembly 1 includes a lifting block 103, a lifting hook 102, and a lifting ring 101, which are connected in sequence from bottom to top, wherein the lifting block 103 is connected to the lifting frame assembly 3; the lifting ring 101 is used for being matched with a releaser on a pendant pressing device matched with the autonomous remote control underwater robot to realize unhooking release of the autonomous remote control underwater robot; the lifting hook 102 is used to hook with a cable when the autonomous remote controlled underwater robot is retracted.
Further, a safety clip is arranged at the opening of the lifting hook 102, and the safety clip prevents the cable from falling off. In this embodiment, each of the lifting block 103, the lifting hook 102, the lifting ring 101, and the like in the lifting hook assembly 1 is made of carbon steel, and each of the parts is welded in sequence and is externally sprayed with fluorocarbon paint.
In the embodiment of the invention, the isolation plate 2 is made of polyetheretherketone, and the isolation plate 2 prevents the direct contact between the hook assembly 1 and the lifting frame assembly 3 from generating electrochemical corrosion.
In the embodiment of the invention, the overall configuration of the hoisting structure is designed according to the topological optimization result. As shown in fig. 4-5, in order to obtain a structural form with a large specific strength, a preliminary configuration is determined by topology optimization, wherein a connecting part of the lower part of the lifting frame and the ARV frame, a part of the lifting hook and the hook column are used as fixed parts, topology optimization is not performed, and topology optimization is performed on the rest parts, so that the topology optimization configuration shown in fig. 5 is obtained.
Specifically, 1) a finite element model is established. Based on the shape envelope space of the lifting frame of the autonomous remote-control underwater robot, a topological optimization model is established through finite element software, in order to simplify the finite element model, the carrier of the autonomous remote-control underwater robot is replaced by a rigid plate, and the total mass of the rigid plate is consistent with that of the carrier of the autonomous remote-control underwater robot.
2) Apply load and establish boundary conditions. As shown in fig. 4, in the actual tool, the lifting frame is connected with the carrier through a plurality of bolts, and Tie binding constraints are established between the lifting frame and the flat plate in the corresponding area of the lifting frame to simulate a bolt connection mode in order to simplify the model. Two working conditions of the ARV hoisting frame are as follows: the first working condition is that when the lifting hook assembly lifts, the lifting hook 102 or the lifting ring 101 is stressed, in order to simplify the model, the lifting hook 102 and the lifting ring 101 are not modeled, and the fixed constraint is established in the middle of the lifting hook assembly 1. The second working condition is that the lifting frame is locked with the weight pressing device, hook columns 201 on two sides of the lifting frame are fixedly restrained, and the fixed restraint in the first working condition is invalid. The model is built by two analysis steps, which respectively correspond to the statics analysis under the independent action of two working conditions, and the gravity action of the rigid flat plate is used as the external load.
3) And setting topology optimization parameters. The existing configuration is required to be reserved at the fixed constraint position under two working conditions and is not used as a topological optimization area. The volume of the lifting frame is used as a constraint condition in the optimization process, so that the volume of the optimized configuration is less than or equal to 15%. The goal of topology optimization is to maximize the structural rigidity (minimize the flexibility) under the comprehensive consideration of two working conditions. According to the method, the objective functions under two working conditions are subjected to linear weighted summation, the flexibility value of the weighted summation is used as the objective function, and the multi-objective optimization problem is converted into the single-objective optimization problem to be solved.
4) And running a topology optimization process. And running a topology optimization process according to the setting of the finite element model. The density of the topological optimization cloud graph is more than 0.5, the density cloud graph is shown in figure 5, the density cloud graph is clear at the moment, the material distribution is continuous, the configuration is the rigidity maximization configuration of the ARV lifting frame under two working conditions, and the density cloud graph can be used as the basis for the ARV lifting frame concept design.
On the basis of the topology optimization configuration, the design configuration of the final hoisting structure is determined by further combining factors such as processing technology, robot adaptation, hook convenience and assembly convenience, as shown in fig. 1. The material distribution of the hoisting structure is scientific, and the lightweight is realized on the premise of meeting the mechanical property.
In the embodiment of the invention, the lifting hook assembly 1 comprises two lifting interfaces: a lifting eye 101 and a lifting hook 102. The lifting ring 101 is matched with a releaser on a pendant pressing device matched with the autonomous remote control underwater robot, so that unhooking and releasing of the autonomous remote control underwater robot can be realized. When the autonomous remote control underwater robot is recovered, the hoisting cable is hooked with the hoisting hook 102, the safety clamp on the hoisting hook 102 can prevent the cable from being separated, the cable is recovered after the hook is completed, and the hoisting recovery of the autonomous remote control underwater robot is realized. The hook column 201 of the hoisting frame assembly 3 is matched with a lock hook on the pressing pendant matched with the autonomous remote control underwater robot, rigid fixation of the underwater robot and the pressing pendant is completed through the lock hook operation of the pressing pendant, and swinging of the autonomous remote control underwater robot relative to the pressing pendant after hoisting is prevented. The lifting hook assembly 1 is fixed with the lifting frame assembly 3 through screws, wherein the isolation plate 2 is made of polyether ether ketone and is positioned between the lifting hook assembly 1 and the lifting frame assembly 3, so that an isolation effect is achieved, and electrochemical corrosion between different metals is prevented. And the hoisting frame assembly 3 is fixed with the autonomous remote control underwater robot frame through screws.
The working principle of the invention is as follows:
when independently remote control underwater robot prepares to lay into water, at first press the pendant with the cooperation and arrange independently remote control underwater robot in and lift by crane structure upper portion, press the pendant and fixed an organic whole with boats and ships optical cable, pin lifting ring 101 of lifting hook component 1 through the releaser that presses the pendant, the latch hook that rethread pressed the pendant pins the couple of lifting by crane frame subassembly 3 both sides is lived 201, realized pressing the rigid fixation of pendant and ARV, lift by crane the back, the two can not take place to sway each other. The ship is used for swinging the integrated pressing weight device and the ARV outwards through the A-shaped frame and releasing the optical cable, releasing the pressing weight device and the ARV to the target water depth, loosening the lock hook through the pressing weight device, releasing through the releaser, separating the ARV from the pressing weight device by means of self gravity, reaching a target area and completing operation. After the operation is finished, the optical cable is recovered by the ship, and the weight pressing device is recovered to a deck of the ship. The ARV floats upwards by means of buoyancy of the ARV, floats to the sea surface and sails to the position near a deck of the ship, personnel are hung on a lifting hook 102 of the lifting hook assembly 1 through a mooring rope, the mooring rope is recovered by the ship, and the lifting and the recovery of the ARV are realized.
In conclusion, the invention provides the hoisting structure of the autonomous remote control underwater robot, which has the characteristics of high specific strength, good corrosion resistance, simple structure, easiness in realization, suitability for multiple working condition hoisting forms and the like.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. A lifting structure of an autonomous remote control underwater robot is characterized by comprising a lifting hook assembly (1), a partition plate (2) and a lifting frame assembly (3), wherein the lifting hook assembly (1) is arranged at the top of the lifting frame assembly (3), the lifting hook assembly (1) and the lifting frame assembly (3) are isolated through the partition plate (2), the lifting hook assembly (1) has two lifting forms, and the lifting frame assembly (3) has one lifting form; the hoisting frame assembly (3) is used for being fixedly connected with a frame of the autonomous remote control underwater robot.
2. The hoisting structure of the autonomous remote-controlled underwater robot of claim 1, wherein the hoisting frame assembly (3) comprises a hoisting frame and a hook column (201) arranged at the top of the hoisting frame, and the hoisting hook assembly (1) is arranged at the middle position of the top of the hoisting frame; the two hook columns (201) are arranged on two sides of the lifting hook assembly (1) in parallel;
the hook column (201) is used for being matched with a hook on the pendant pressing device of the autonomous remote control underwater robot to realize rigid fixation after the autonomous remote control underwater robot is lifted, and swinging is prevented.
3. The hoisting structure of the autonomous remote-controlled underwater robot according to claim 2, characterized in that said hoisting frame comprises two bases (203) and two parallel wall plates (202) disposed between the two bases (203), the two ends of the bottom of the wall plates (202) are respectively connected to the two bases (203); the hook column (201) and the lifting hook component (1) are connected between the two wall plates (202).
4. The hoisting structure of the autonomous remote-controlled underwater robot of claim 3, characterized in that the inner side of the wall plate (202) is hollow and has a circular arc top, and a reinforcing rib (204) is connected between the bottom of the wall plate (202) and the base (203).
5. The hoisting structure of the autonomous remote-controlled underwater robot according to claim 4, characterized in that the hoisting frame assembly (3) is made of aluminum alloy 6061-T6 and has a hard anodized surface.
6. The hoisting structure of the autonomous remote-controlled underwater robot according to claim 1, characterized in that said lifting hook assembly (1) comprises a lifting block (103), a lifting hook (102) and a lifting ring (101) connected in sequence from bottom to top, wherein the lifting block (103) is connected to said lifting frame assembly (3);
the lifting ring (101) is used for being matched with a releaser on the pressing pendant matched with the autonomous remote control underwater robot to realize unhooking release of the autonomous remote control underwater robot;
the lifting hook (102) is used for hooking with the cable when the autonomous remote-control underwater robot recovers.
7. The hoisting structure of the autonomous remotely controlled underwater robot of claim 6, characterized in that a safety catch is provided at the opening of the lifting hook (102), the safety catch preventing the cable from coming off.
8. The hoisting structure of the autonomous remote-controlled underwater robot according to claim 6, wherein each part of the hoisting hook assembly (1) is made of carbon steel, and the parts are welded in sequence and externally coated with fluorocarbon paint.
9. The hoisting structure of the autonomous remote-controlled underwater robot according to claim 1, wherein the isolation plate (2) is made of polyetheretherketone, and the isolation plate (2) prevents the hook assembly (1) and the hoisting frame assembly (3) from directly contacting to cause electrochemical corrosion.
10. The hoisting structure of the autonomous, remotely controlled underwater robot of claim 1, characterized in that the overall configuration of the hoisting structure is designed according to the result of the topological optimization.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210781330.3A CN115072548B (en) | 2022-07-04 | 2022-07-04 | Independently lift by crane structure of remote control underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210781330.3A CN115072548B (en) | 2022-07-04 | 2022-07-04 | Independently lift by crane structure of remote control underwater robot |
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| CN115072548A true CN115072548A (en) | 2022-09-20 |
| CN115072548B CN115072548B (en) | 2023-04-11 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100229352A1 (en) * | 2009-03-11 | 2010-09-16 | Timothy Alan Dunbar | Subsea Transfer Hook Adaptor And Method |
| CN201761636U (en) * | 2010-06-21 | 2011-03-16 | 中国船舶重工集团公司第七〇二研究所 | Optical cable ARV water-surface recycling device |
| CN108750907A (en) * | 2018-05-31 | 2018-11-06 | 上海二十冶建设有限公司 | Dismountable fixed suspender and its application method |
| CN208292481U (en) * | 2018-03-26 | 2018-12-28 | 广州市珠江灯光科技有限公司 | Lift handgrips and the cabinet with lifting handgrips |
| CN111409793A (en) * | 2019-01-07 | 2020-07-14 | 中国科学院沈阳自动化研究所 | Capture system and method for recovering underwater robot by using water surface robot |
-
2022
- 2022-07-04 CN CN202210781330.3A patent/CN115072548B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100229352A1 (en) * | 2009-03-11 | 2010-09-16 | Timothy Alan Dunbar | Subsea Transfer Hook Adaptor And Method |
| CN201761636U (en) * | 2010-06-21 | 2011-03-16 | 中国船舶重工集团公司第七〇二研究所 | Optical cable ARV water-surface recycling device |
| CN208292481U (en) * | 2018-03-26 | 2018-12-28 | 广州市珠江灯光科技有限公司 | Lift handgrips and the cabinet with lifting handgrips |
| CN108750907A (en) * | 2018-05-31 | 2018-11-06 | 上海二十冶建设有限公司 | Dismountable fixed suspender and its application method |
| CN111409793A (en) * | 2019-01-07 | 2020-07-14 | 中国科学院沈阳自动化研究所 | Capture system and method for recovering underwater robot by using water surface robot |
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| CN115072548B (en) | 2023-04-11 |
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