CN115107429B - Butt-joint type amphibious retraction device of underwater robot - Google Patents

Butt-joint type amphibious retraction device of underwater robot Download PDF

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Publication number
CN115107429B
CN115107429B CN202210720113.3A CN202210720113A CN115107429B CN 115107429 B CN115107429 B CN 115107429B CN 202210720113 A CN202210720113 A CN 202210720113A CN 115107429 B CN115107429 B CN 115107429B
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China
Prior art keywords
traction
underwater robot
sliding
carrier
rope
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CN202210720113.3A
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CN115107429A (en
Inventor
杨文林
叶作霖
薛乃耀
张竺英
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Guangdong Intelligent Unmanned System Research Institute Nansha
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Guangdong Intelligent Unmanned System Research Institute Nansha
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Publication of CN115107429A publication Critical patent/CN115107429A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
    • B60F3/0038—Flotation, updrift or stability devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a butt-joint type amphibious retracting device of an underwater robot, which relates to the technical field of underwater robot deploying and recovering and solves the problems that the existing underwater robot usually adopts hoisting machinery arranged on a deck to deploy and recover, but has the defects of difficult butt joint, low working efficiency and high operation cost; the first sliding mechanisms are arranged on the carrier, and a first distance is reserved between every two adjacent first sliding mechanisms; a first traction mechanism disposed on the carrier; the first traction mechanisms are sequentially wound at the movable ends of two adjacent first sliding mechanisms; in the first interval, the first traction mechanism is provided with a traction area which can be connected with the underwater robot; the invention provides a traction type recovery and distribution device for an underwater robot, which reduces the difficulty of butt joint with the underwater robot through a large-area traction area and can meet the requirements of the robot on sea and land transportation.

Description

Butt-joint type amphibious retraction device of underwater robot
Technical Field
The invention relates to the technical field of laying and recycling of underwater robots, in particular to a butt-joint type amphibious folding and unfolding device of an underwater robot.
Background
With the development of marine equipment technology, the demand for exploration and development of marine resources is increasing day by day, and underwater robots are widely applied to territorial areas such as marine resource exploration, marine environment monitoring, marine scientific investigation, underwater unmanned operation, underwater observation and the like, but the existing underwater robots usually adopt hoisting machinery arranged on a deck to carry out deployment and recovery, and the hoisting machinery needs to accurately align hooks of the hoisting machinery and the underwater robots when being connected with the underwater robots, and the hoisting position of the hoisting machinery is higher than the position of the water surface, so that collision and damage are easily caused to the robots, and the operation risk is high, therefore, the deployment and recovery mode of the underwater robots has the problems of difficult butt joint, low working efficiency, high operation cost and the like.
Disclosure of Invention
The invention aims to provide a butt-joint type amphibious retraction device of an underwater robot, and provides a traction type recovery and distribution device for the underwater robot, which is convenient for reducing the butt-joint difficulty with the underwater robot through a large-area traction area and further improving the recovery success rate.
The technical purpose of the invention is realized by the following technical scheme:
a docking-type amphibious retraction device of an underwater robot comprises:
a carrier;
the number of the first sliding mechanisms is at least two, the first sliding mechanisms are arranged on the carrier, and a first distance is reserved between every two adjacent first sliding mechanisms;
the number of the first traction mechanisms is matched with that of the first sliding mechanisms, and the first traction mechanisms are arranged on the carrier;
the first traction mechanisms are sequentially wound on the movable ends of two adjacent first sliding mechanisms;
within the first distance, the first traction mechanism is formed with a traction area which can be connected with the underwater robot and has a boundary and an area.
Therefore, the traction type recovery and distribution device for the underwater robot is provided, the first interval is used for forming a traction area with a certain area so as to reduce the butt joint difficulty of the traction area and the underwater robot; the top of the underwater robot is provided with a hook, and after the underwater robot enters a traction area, the hook on the underwater robot can be connected with a first traction mechanism through the lifting of the underwater robot and a carrier on the water surface, so that the butt joint recovery of the underwater robot is realized; the first traction mechanism can provide driving force for recovering the underwater robot for the movable end of the first sliding mechanism and can also be used for traction of the underwater robot; compared with a recovery front butt joint mode in which hoisting machinery is adopted to carry out accurate alignment in the prior art, the scheme has the advantages that the difficulty of butt joint with an underwater robot is reduced through a large-area traction area, and the recovery success rate is further improved.
In some embodiments, the first sliding mechanism comprises:
a first slide disposed on the carrier;
a first sliding part which is connected with the first slideway in a sliding way;
the first distance is formed between two adjacent first sliding portions, and the first traction mechanism is sequentially wound on the two adjacent first sliding portions.
In some embodiments, the first sliding mechanism includes a first linear drive member disposed on the carrier, and a movable end of the first linear drive member is drivingly connected to the first sliding portion.
Therefore, the scheme provides a specific implementation mode of the first sliding mechanism, the first linear driving part can provide sliding power for the first sliding part to drive the traction area in the first traction mechanism to extend out of the carrier, and then the underwater robot is smoothly butted and recovered; the traction area of the scheme has mobility, and the traction area can be adapted to underwater robots with different hook positions and different sizes.
In some embodiments, the first linear drive component comprises:
a rack provided to the first sliding section;
a rotary power output member provided in the first sliding portion, a movable end of which is provided with a gear;
the gear is in meshed transmission connection with the rack.
Thus, the scheme provides a specific structure of the first linear driving component, and the first linear driving component can provide stable power output for the first sliding part through the meshing connection mode of the gear structure.
In some embodiments, the method comprises:
the two ends of the hanging rope are respectively connected to one part of the first traction mechanism in the first space;
the second traction mechanism is arranged on the carrier, is positioned at the first interval and is connected with the hanging rope;
under the action of the second traction mechanism, the traction area is formed between the hanging rope and the first traction mechanism.
From this, hang the rope and can make the regional accurate boundary range that has of pulling to in the improvement pull regional couple with underwater robot, secondly hang the rope and can also make the regional farthest end of being fixed in first sliding part of pulling, so that adjust the regional position of pulling through the slip of first sliding part.
In some embodiments, the first traction mechanism comprises a first hanging ring, the hanging rope is arranged in the first hanging ring in a penetrating mode, and the first hanging ring is connected with the second traction mechanism.
Therefore, the scheme provides a connection mode of the hanging rope and the second traction mechanism, the second traction mechanism comprises a second traction rotating part and a second traction rope, and the second traction rope is tied on the first hanging ring so as to realize the connection of the second traction mechanism and the hanging rope; the first hanging ring can provide good stress support for the hanging rope.
In some embodiments, the second traction mechanism is connected to a middle portion of the lanyard such that the traction area is triangular.
Therefore, the triangular structure can enable the stress structure of the traction area to be more stable, so that the stability of the traction area and the underwater robot in the traction process can be improved.
In some embodiments, the first pulling mechanism comprises:
the number of the first traction rotating parts is matched with that of the first sliding mechanisms, and the first traction rotating parts are arranged on the carrier;
the number of the first traction ropes is matched with that of the first traction rotating parts, one end of each first traction rope is wound on the movable end of each first traction rotating part, and the other end of each first traction rope passes through the first sliding part and then is connected with the corresponding first traction rope of the other first traction rotating part;
the traction area is formed between two adjacent first traction ropes.
From this, this scheme provides a traction mechanism's concrete structure, drives the recovery of first haulage rope through first traction rotating part, and then realizes the recovery to the underwater robot in the traction area.
In some embodiments, the method comprises:
the mounting frame is arranged on the movable end of the first sliding mechanism and is provided with a mounting inner cavity;
the number of the fixed pulley pairs is at least two, and the fixed pulley pairs are arranged in the installation inner cavity side by side;
the first traction rope simultaneously penetrates through the space between the adjacent fixed pulley pairs.
Because the expansion end of first slide mechanism is first slide portion, therefore this scheme provides a concrete connection mode of first haulage rope and first slide portion, and one of them fixed pulley pair can make the recovery of first haulage rope more smooth and easy, and another fixed pulley pair can provide spacingly for first haulage rope is located between two fixed pulley pairs all the time, even first haulage rope still keeps being connected with first slide portion under the state of loosening.
In some embodiments, the method comprises the following steps:
a bracket which is arranged on the carrier and is provided with a positioning channel for the underwater robot to slide in;
the clamping parts are arranged around the circumference of the positioning channel and rotatably arranged on the bracket;
the second linear driving component is arranged on the bracket, the movable end of the second linear driving component is connected with the clamping part, and the second linear driving component can drive the clamping part to clamp the underwater robot;
the guide covers are arranged on the clamping parts, and the number of the guide covers is a plurality of guide covers and is arranged around the circumference of the positioning channel.
From this, the clamping part matches with underwater robot's lateral wall, and the guide housing comprises connecting block and a plurality of gib block, and the gib block equipartition is on the connecting block, and the gib block is the slope and arranges, and the underwater robot that can be convenient for of guide housing gets into. Thus, the clamping part can fix the recovered underwater robot on the carrier.
In conclusion, the invention provides the traction type recovery and distribution device for the underwater robot, which is convenient for reducing the difficulty of butt joint with the underwater robot through a large-area traction area, and further improves the recovery success rate; the scheme also provides a butt-joint type amphibious winding and unwinding device, which can realize underwater butt joint, laying and recycling of the robot and meet the requirement of the robot for land transportation.
Drawings
FIG. 1 is a schematic structural view of the present embodiment;
FIG. 2 is a schematic diagram of the positional relationship of the underwater robot to the carrier;
FIG. 3 is an enlarged view at A in FIG. 2;
FIG. 4 is an enlarged view at B in FIG. 2;
FIG. 5 is an enlarged view at C in FIG. 2;
FIG. 6 is an enlarged view at D of FIG. 2;
FIG. 7 is an enlarged view at E in FIG. 2;
FIG. 8 is an enlarged view at F in FIG. 2;
FIG. 9 is an enlarged view at G of FIG. 2;
FIG. 10 is a schematic view of the positional relationship of the underwater robot with another view of the carrier;
fig. 11 is a schematic view showing the connection relationship of the rotary power output member and the gear in the present invention.
Reference numerals: 1. a carrier; 10. a first pitch; 11. a support; 110. a positioning channel; 111. a clamping portion; 112. a second linear drive member; 113. a guide housing; 114. a guide plate; 12. a travel drive mechanism; 14. a deck; 15. a lateral stabilizing mechanism; 2. an underwater robot; 21. hooking; 3. a first sliding mechanism; 31. a first slideway; 32. a first sliding section; 33. a first linear drive component; 331. a rack; 332. a rotary power output member; 333. a gear; 4. a first traction mechanism; 41. a first traction rotation member; 42. a first pull cord; 5. a second traction mechanism; 51. a second traction rotation member; 52. a second pull cord; 6. a traction area; 71. a first suspension loop; 72. a second suspension loop; 73. a third suspension loop; 74. connecting ropes; 75. hanging a rope; 90. a mounting frame; 901. installing an inner cavity; 91. and a fixed pulley pair.
Detailed Description
The invention is further described in detail with reference to the accompanying drawings, and in order to better describe a docking-type amphibious retraction device of an underwater robot, concepts of X, Y and Z axes are introduced, three spatial axes which are mutually orthogonal are taken as the X axis, the Y axis and the Z axis, as shown in coordinate axes of fig. 1 to 10, a + X axis direction is defined as a forward direction of a carrier, a-X axis is defined as a backward direction of the carrier, the Y axis is defined as a width direction of the carrier, and the-Z axis is defined as a gravity direction. The movement in the back-and-forth or up-and-down direction or the movement in the X-axis, Y-axis, and Z-axis directions in the embodiments are not limited to the movement in the vertical, horizontal, or parallel direction, and the movement having an inclination angle may be calculated as long as there is a component movement in the direction.
Example (b):
a docking-type amphibious retraction device of an underwater robot comprises: carrier 1, support 11, first slide mechanism 3, first drive mechanism 4, specifically as follows:
the top of the underwater robot 2 is provided with a hook 21; the underwater robot 2 has the functions of navigation, positioning, remote control and other common AUV.
The carrier 1 is mainly composed of a hull frame, a plate material, a ballast tank, and the like, and a buoyancy adjusting mechanism is mounted on the carrier 1, so that the draft of the carrier 1 can be changed by the buoyancy adjusting mechanism to realize floating and submerging. The buoyancy adjusting mechanism is mainly used for changing the draught of the carrier 1 and the underwater robot 2 so as to prevent the underwater robot from colliding with the carrier 1. The carrier 1 carries an underwater robot 2 butt joint fixing component, fixed loading of the underwater robot 2 can be achieved, traction butt joint of the underwater robot 2 can be achieved by carrying a traction component, and meanwhile, an installation platform is provided for equipment such as a diesel generator set, a hydraulic station, a ballast pump and a first traction mechanism 4 in the carrier 1.
Considering that the existing hoisting machinery needs to perform secondary transfer on the underwater robot 2 after completing the hoisting and recovery of the underwater robot 2, a transfer part needs to be prepared additionally in the prior art; in the scheme, the bottom of the carrier 1 is provided with a traveling driving mechanism 12, the traveling driving mechanism 12 is used for supporting the retractable components and comprises four groups of traveling driving mechanisms 12 in total, wherein the four groups of traveling driving mechanisms 12 comprise a solid tire, a rim, a traveling speed reducer, a connecting rod, a piston rod, a mounting base and the like. The travel drive mechanism 12 has the ability to travel, climb a slope, cross an obstacle, and brake, and realizes a steering function by differential control of the left and right drive wheels.
The carrier 1 is provided with a shipborne power module which provides power for a hydraulic system, an electric control system, a ballast pump system, a propulsion system and the like, and the power module adopts a shipborne diesel generator set. The hydraulic system comprises a hydraulic station, a hydraulic control system, a hydraulic pipeline, hydraulic accessories and the like, and provides power sources for actuating mechanisms such as the second linear driving part 112 (a clamping oil cylinder), the first linear driving part 33 (a lifting motor), the walking driving mechanism 12, the suspension oil cylinder and the like.
Lateral stabilizing mechanisms 15 are mounted on two sides of the carrier 1, the lateral stabilizing mechanisms 15 are used for controlling the lateral swing of the first traction mechanism 4 in the process of dragging and dragging the underwater robot 2 so as to smoothly complete the guided docking of the underwater robot 2, and the lateral stabilizing mechanisms 15 mainly comprise boat fins and propelling mechanisms on two sides.
A deck 14 with one end capable of inclining is arranged on the carrier 1, and a lifting oil cylinder is arranged at the bottom of one end of the deck 14 and can lift the deck 14 for laying the underwater robot 2.
The bracket 11 is arranged on the carrier 1, and the bracket 11 is of a frame structure;
the number of the first sliding mechanisms 3 is at least two, specifically, in this embodiment, the number of the first sliding mechanisms 3 is two, the first sliding mechanisms 3 are respectively arranged on two sides of the support 11 of the carrier 1, and a first distance 10 is left between two adjacent first sliding mechanisms 3;
in the present embodiment, the first slide mechanism 3 includes: the first slideway 31, the first sliding part 32, and the first linear driving member 33 are specifically as follows:
the first slideway 31 is arranged on the carrier 1; the first sliding part 32 is connected to the first slideway 31 in a sliding manner; the first distance 10 is formed between two adjacent first sliding portions 32, and the first traction mechanism 4 is sequentially wound around the two adjacent first sliding portions 32.
The first linear driving member 33 is disposed on the carrier 1, and a movable end of the first linear driving member 33 is drivingly connected to the first sliding portion 32. Therefore, the scheme provides a specific embodiment of the first sliding mechanism 3, the first linear driving part 33 can provide sliding power for the first sliding part 32 to drive the traction area 6 in the first traction mechanism 4 to extend out of the carrier 1, and then the underwater robot 2 can be smoothly docked and recovered; the towing area 6 of the present solution has mobility that enables adaptation to different positions of the hook 21, different sizes of underwater robots 2.
In the present embodiment, the first linear drive section 33 includes: rack 331, rotation power take-off 332, specifically as follows:
the rack 331 is provided on the first sliding portion 32; the rotary power output member 332 is provided in the first sliding portion 32, and a gear 333 is provided at the movable end of the rotary power output member 332; the gear 333 is in meshed transmission connection with the rack 331. Thus, the present embodiment provides a specific structure of the first linear driving member 33, which can provide a stable power output to the first sliding portion 32 by the engagement connection of the gear 333 structure.
In the present embodiment, the number of the first traction mechanisms 4 matches the number of the first sliding mechanisms 3, which are arranged on the carrier 1;
the first traction mechanisms 4 are sequentially wound at the movable ends of two adjacent first sliding mechanisms 3;
within the first distance 10, the first towing means 4 is formed with a towing area 6 connectable to the underwater robot 2 and having a boundary and an area.
The first traction mechanism 4 includes: the first traction rotating part 41 and the first traction rope 42 are as follows:
first traction rotation members 41, the number of which matches the number of the first sliding mechanisms 3, provided on the carrier 1; first traction ropes 42 the number of which matches the first traction rotation member 41; in the present embodiment, the number of the first traction rotation member 41 and the first traction rope 42 is two, and they are respectively provided on the two first sliding mechanisms 3.
One end of the first pulling rope 42 is wound around the movable end of the first pulling rotating member 41, and the other end of the first pulling rope 42 passes through the first sliding portion 32 and then is connected with the first pulling rope 42 corresponding to the other first pulling rotating member 41; preferably, the first pull-cord 42, the second pull-cord 52, and the connecting cord 74 are all cords.
Specifically, this underwater robot's amphibious winding and unwinding devices of dock still includes: a connecting rope 74, a second hanging ring 72 and a third hanging ring 73;
one of the first pulling ropes 42 is connected to the second hanging ring 72, the other first pulling rope 42 is connected to the third hanging ring 73, and the second hanging ring 72 and the third hanging ring 73 are respectively arranged at two ends of the connecting rope 74.
The traction area 6 is formed between two adjacent first traction ropes 42. From this, this scheme provides a concrete structure of first drive mechanism 4, drives the recovery of first haulage rope 42 through first traction rotating part 41, and then realizes the recovery to the underwater robot 2 in the traction area 6.
The docking-type amphibious retraction device of the underwater robot further comprises a hanging rope 75, two ends of the hanging rope 75 are respectively connected to one part of the first traction mechanism 4 in the first interval 10, specifically, two ends of the hanging rope 75 are respectively connected to the second hanging ring 72 and the third hanging ring 73, and the connection mode is specifically tying.
A second traction mechanism 5, which is arranged on the carrier 1, is located at the first distance 10, and is connected with the hanging rope 75;
under the action of the second traction means 5, a traction area 6 is formed between the lanyard 75 and the first traction means 4. Thereby, the hanging rope 75 can make the towing area 6 have an accurate boundary range so as to improve the hook 21 of the towing area 6 and the underwater robot 2, and secondly the hanging rope 75 can also make the towing area 6 fixed to the farthest end of the first sliding portion 32 so as to adjust the position of the towing area 6 by the sliding of the first sliding portion 32.
The butt-joint type amphibious retraction device of the underwater robot further comprises a first hanging ring 71, a hanging rope 75 penetrates through the first hanging ring 71, and the first hanging ring 71 is connected with a second traction mechanism 5. The first suspension loop 71 is a circular loop. Therefore, the scheme provides a connection mode of the hanging rope 75 and the second traction mechanism 5, the second traction mechanism 5 comprises a second traction rotating part 51 and a second traction rope 52, and the second traction rope 52 is tied on the first hanging ring 71, so that the connection of the second traction mechanism 5 and the hanging rope 75 is realized; the first suspension loop 71 can provide good force support for the suspension rope 75.
The first suspension loop 71 is located in the middle of the suspension rope 75 so that the second traction mechanism 5 is connected to the middle of the suspension rope 75, thereby making the traction area 6 triangular. Therefore, the triangular structure can enable the stress structure of the traction area 6 to be more stable, so that the stability of the traction area 6 and the underwater robot 2 in the traction process can be improved.
Preferably, this embodiment further includes: mounting bracket 90, fixed pulley pair 91 are specifically as follows:
a mounting bracket 90 provided on the movable end of the first sliding mechanism 3 and having a mounting cavity 901; at least two fixed pulley pairs 91 are arranged in the installation cavity 901 in parallel; the first traction rope 42 is simultaneously inserted between the adjacent fixed pulley pairs 91.
Because the movable end of the first sliding mechanism 3 is the first sliding portion 32, the present scheme provides a specific connection mode of the first traction rope 42 and the first sliding portion 32, wherein one fixed pulley pair 91 can make the recovery of the first traction rope 42 smoother, and the other fixed pulley pair 91 can provide a limit for the first traction rope 42, so that the first traction rope 42 is always located between the two fixed pulley pairs 91, even if the first traction rope 42 is still connected with the first sliding portion 32 in a loosened state.
The bracket 11 has a positioning channel 110 into which the underwater robot 2 can slide; the upper surface of the carrier 1 is provided with two guide plates 114 arranged along the positioning channel 110, and a guide groove for the underwater robot 2 to enter is formed between the two adjacent guide plates 114;
preferably, the docking-type amphibious retraction device for the underwater robot of the embodiment further comprises two groups of docking fixing mechanisms for the underwater robot 2, wherein the two groups of docking fixing mechanisms for the underwater robot 2 are respectively arranged on the support 11 and are located at the front end and the rear end of the positioning channel 110 along the + X axis direction;
2 butt joint fixed establishment of underwater robot includes: the clamping part 111, the second linear driving part 112 and the guide cover 113 are as follows:
a plurality of clamping portions 111, which are arranged around the circumference of the positioning channel 110 and rotatably disposed on the bracket 11;
a second linear driving member 112 which is provided on the stand 11, has a movable end connected to the gripping portion 111, and can drive the gripping portion 111 to grip the underwater robot 2; the second linear driving unit 112 is a hydraulic cylinder connected to a hydraulic station mounted on the carrier 1;
guide hoods 113, which are several in number and arranged circumferentially around the positioning passage 110, are provided on the clamping portion 111. Preferably, the number of the clamping parts 111 and the guide covers 113 in each set of the underwater robot 2 docking fixing mechanism is four, and four guide covers 113 can be funnel-shaped openings, and one side with a large diameter of the funnel-shaped openings is used for docking with the underwater robot 2, so as to improve the guidance of the underwater robot 2 on the carrier 1.
From this, clamping part 111 and underwater robot 2's lateral wall phase-match, guide housing 113 comprises connecting block and a plurality of guide strip, and the guide strip equipartition is on the connecting block, and the guide strip is the slope and arranges, and guide housing 113 can be convenient for underwater robot 2 to get into. Thus, closing of the plurality of clamping portions 111 can fix the recovered underwater robot 2 to the carrier 1, and opening of the plurality of clamping portions 111 can unlock the underwater robot 2.
Recovery process
First, the first sliding portion 32 and the pulling region 6 are protruded from the carrier 1 in the-X axis direction by the first linear driving means 33; controlling the draught of the underwater robot 2 and the carrier 1 to enable the first traction mechanism 4 on the carrier 1 to be higher than a hook 21 of the underwater robot 2 at the sea level (along the Z axis); then, controlling the underwater robot 2 to move to be located in the traction area 6; then controlling the draught of the underwater robot 2 and the carrier 1 to enable the first traction mechanism 4 on the carrier 1 and the hook 21 of the underwater robot 2 to be located at the same sea level;
then, the first traction mechanism 4 and the second traction mechanism 5 simultaneously drive the first sliding part 32 and the traction area 6 to move in the + X axis direction, at this time, the hook 21 of the underwater robot 2 is moved in the + X axis direction by the first traction rope 42 in the traction area 6 until the underwater robot 2 enters the positioning channel 110 along the guide cover 113;
finally, the second linear driving component 112 drives the plurality of clamping parts 111 to approach the underwater robot 2, so as to clamp and lock the underwater robot 2 on the carrier 1. The underwater robot 2 can directly run on the water surface or the land according to the requirement, and further the underwater robot can rapidly transfer.
Laying-up process
Firstly, the second linear driving component 112 drives the plurality of clamping parts 111 to move away from the underwater robot 2, so that the underwater robot 2 is unlocked from the carrier 1; the deck 14 is driven to rise through the lifting oil cylinder, the underwater robot 2 is thrown into the sea under the action of gravity, and then the underwater robot 2 is laid.
Advantageous effects
The invention provides a butt-joint type amphibious retraction device aiming at the amphibious requirement of an underwater robot 2, which can realize underwater butt joint and underwater laying and recovery of the robot and can meet the requirement of the robot on land transportation.
The scheme provides a traction type recovery and distribution device for an underwater robot 2, and a first interval 10 is used for forming a traction area 6 with a certain area so as to reduce the butt joint difficulty of the traction area 6 and the underwater robot 2; after the underwater robot 2 enters the traction area 6, the hook 21 on the underwater robot 2 can be connected with the first traction mechanism 4 through the lifting of the underwater robot 2 and the carrier 1 on the water surface, so that the underwater robot 2 is recovered; the first traction mechanism 4 can provide the driving force for recovering the underwater robot 2 for the movable end of the first sliding mechanism 3, and can also be used for traction of the underwater robot 2; compared with a recovery front butt joint mode in the prior art that hoisting machinery is adopted for accurate alignment, the scheme is characterized in that the difficulty of butt joint with the underwater robot 2 is reduced through the large-area traction area 6, and the recovery success rate is further improved.
The scheme can improve the convenience and the economy of the laying operation of the underwater robot 2, and provides a new effective means for laying and recycling the underwater robot 2.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as required after reading the present specification, but all of them are protected by patent law within the scope of the present invention.

Claims (6)

1. A docking type amphibious retraction device of an underwater robot is characterized by comprising:
a carrier;
the number of the first sliding mechanisms is at least two, the first sliding mechanisms are arranged on the carrier, and a first distance is reserved between every two adjacent first sliding mechanisms; the first slide mechanism includes:
a first slide disposed on the carrier;
a first sliding part which is connected with the first slideway in a sliding way;
the number of the first traction mechanisms is matched with that of the first sliding mechanisms, the first traction mechanisms are arranged on the carrier, and the first traction mechanisms are sequentially wound on two adjacent first sliding parts;
the first pulling mechanism includes:
the number of the first traction rotating parts is matched with that of the first sliding mechanisms, and the first traction rotating parts are arranged on the carrier;
the number of the first traction ropes is matched with that of the first traction rotating parts, one end of each first traction rope is wound on the movable end of each first traction rotating part, and the other end of each first traction rope passes through the first sliding part and then is connected with the corresponding first traction rope of the other first traction rotating part;
the butt-joint type amphibious retraction device of the underwater robot further comprises:
the two ends of the hanging rope are respectively connected to one part of the first traction mechanism in the first space;
the second traction mechanism is arranged on the carrier, is positioned at the first interval and is connected with the hanging rope;
in the first interval, under the action of the second traction mechanism, a traction area which can be connected with the underwater robot and has a boundary and an area is formed between the hanging rope and the first traction mechanism, the first interval is formed between two adjacent first sliding parts, and the position of the traction area is adjusted through the sliding of the first sliding parts;
the butt-joint type amphibious retraction device of the underwater robot further comprises a connecting rope, a second hanging ring and a third hanging ring;
one of the first pulling ropes is connected to the second hanging ring, the other pulling rope is connected to the third hanging ring, and the second hanging ring and the third hanging ring are respectively arranged at two ends of the connecting rope.
2. The dock-type amphibious retraction device for an underwater robot as claimed in claim 1, wherein the first sliding mechanism comprises a first linear driving member disposed on the carrier, and a movable end of the first linear driving member is drivingly connected to the first sliding portion.
3. The docking-type amphibious retraction device for the underwater robot as claimed in claim 1, comprising a first suspension loop, wherein the suspension rope is arranged in the first suspension loop in a penetrating manner, and the first suspension loop is connected with the second traction mechanism.
4. The dock-type amphibious retraction device for an underwater robot as claimed in claim 1, wherein the second traction mechanism is connected to the middle of the hanging rope so that the traction area is triangular.
5. A docking-type amphibious retraction device for underwater robots according to claim 1 characterised in that it comprises:
the mounting frame is arranged on the movable end of the first sliding mechanism and is provided with a mounting inner cavity;
the number of the fixed pulley pairs is at least two, and the fixed pulley pairs are arranged in the installation inner cavity side by side;
the first traction rope penetrates through the positions between the adjacent fixed pulley pairs.
6. A docking-type amphibious retraction device for underwater robots according to claim 1 characterised in that it comprises:
a bracket provided to the carrier and having a positioning passage into which the underwater robot can slide;
the clamping parts are arranged around the circumference of the positioning channel and rotatably arranged on the bracket;
the second linear driving component is arranged on the bracket, the movable end of the second linear driving component is connected with the clamping part, and the second linear driving component can drive the clamping part to clamp the underwater robot;
the guide covers are arranged on the clamping parts, and the number of the guide covers is a plurality of guide covers and is arranged around the circumference of the positioning channel.
CN202210720113.3A 2022-06-23 2022-06-23 Butt-joint type amphibious retraction device of underwater robot Active CN115107429B (en)

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CN1426924A (en) * 2001-12-19 2003-07-02 成守英 Quick danger escaping device using parachute
JP2006025674A (en) * 2004-07-14 2006-02-02 Shoichi Yuki Plastic sheet setup implement, method for setting up plastic sheet for greenhouse using the same, and structure for temporary adhesion of plastic sheet end
CN204920605U (en) * 2015-09-17 2015-12-30 上海千荟温室工程技术有限公司 Steel -cable drawing allies oneself with crisscross windowing facility in a greenhouse
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