CN204237424U - A kind of under-water robot hoist cable Automatic Link Establishment - Google Patents

A kind of under-water robot hoist cable Automatic Link Establishment Download PDF

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Publication number
CN204237424U
CN204237424U CN201420684119.0U CN201420684119U CN204237424U CN 204237424 U CN204237424 U CN 204237424U CN 201420684119 U CN201420684119 U CN 201420684119U CN 204237424 U CN204237424 U CN 204237424U
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CN
China
Prior art keywords
under
described
slide block
pedestal
device
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CN201420684119.0U
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Chinese (zh)
Inventor
陈垦
匡俊
陈庆强
陈骅
张成都
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中国船舶科学研究中心上海分部
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Priority to CN201420684119.0U priority Critical patent/CN204237424U/en
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Publication of CN204237424U publication Critical patent/CN204237424U/en

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Abstract

The utility model discloses a kind of under-water robot hoist cable Automatic Link Establishment, comprise hooking device, pedestal, lifting lug device, up limiting stopper and descending inhibiting device.Base interior vertical axes is to having the umbilical cables passage that can insert for hooking device, and the umbilical cables of under-water robot is also through this passage; Pedestal top is provided with and the up limiting stopper of support with vertical axes, and up limiting stopper bottom has a truncated cone hole, and the mushroom head frustum of a cone upper surface of this truncated cone hole and hooking device and outside face match and can limit the up of hooking device; Described descending inhibiting device comprises slide block mechanism, elastic locating mechanism; Described slide block mechanism carries out switch motion under the drive of elastic locating mechanism.The utility model controls two slide blocks by pulling plug cable at far-end, and the translation of two slide blocks makes hook pin or unlocks.Without the need under operating personal water participate in, for under-water robot lay and recovery brings great convenience.

Description

A kind of under-water robot hoist cable Automatic Link Establishment

Technical field

The utility model include cable underwater robot lay and reclaim in lifting part, particularly relate to a kind of under-water robot hoist cable Automatic Link Establishment.

Background technology

Under water robot lay with in removal process, umbilical cables cannot bear the all-mass of under-water robot.Therefore, need an independent hoist cable to hang on the hoisting ring on underwater human body, carried out laying and reclaiming of under-water robot.Lay under-water robot when entering water, first on lash ship deck or bank by hoist cable with hook carry on robot body hoisting ring, after under-water robot enters water, open hook and realize being separated of hoist cable and under-water robot; When reclaiming under-water robot, then by hoist cable carry at robot body hoisting ring place, pull hoist cable that robot is recycled to lash ship deck or bank.

At present, the carry process need of hoist cable manually participates in.Normally people take rubber boat or to from under-water robot very close to position to complete the carry of cable.This mode inefficiency, when external environment condition is comparatively severe, also also exists certain potential safety hazard.

Utility model content

The purpose of this utility model solves the problems of the prior art, provides that a kind of stable working is reliable, easy to operate, under-water robot hoist cable Automatic Link Establishment safely and efficiently.

The technical solution of the utility model is: a kind of under-water robot hoist cable Automatic Link Establishment, comprises hooking device, pedestal, lifting lug device, up limiting stopper and descending inhibiting device;

Described hooking device inner vertical axially has manhole, described hooking device top is the mushroom head structure of up-small and down-big truncated cone, middle part is narrowed as column type driving surface, lower end is hook coupling end, this hook coupling end lower end is connected with hitch gear, and this hitch gear is connected with underwater human body;

The top of described pedestal is provided with lifting lug device, and this lifting lug device is for connecting hoist cable;

Described base interior vertical axes is to having the umbilical cables passage that can insert for hooking device, and the umbilical cables of under-water robot is also through this passage;

Be provided with in described pedestal upper inside wall and the up limiting stopper of support with vertical axial line, up limiting stopper bottom has a truncated cone hole, and the mushroom head frustum of a cone upper surface of this truncated cone hole and hooking device and outside face match and can limit the up of hooking device;

Described descending inhibiting device comprises slide block mechanism, elastic locating mechanism; Described pedestal bottom has level for slide block mechanism motion to slideway, and this slideway and described umbilical cables channel vertical intersect UNICOM; Described slide block mechanism comprises two slide blocks being symmetrically arranged in slideway both sides, two slide blocks are connected with elastic locating mechanism respectively, switch motion is carried out under the drive of elastic locating mechanism, described slide block is when closed, a round taper hole is left in two slide blocks, to pin the mushroom head lower surface of hooking device, described round taper hole has identical vertical axis with umbilical cables passage and hooking device.

Preferably, described elastic locating mechanism comprises pulling plug, connecting rod, slide block guide bar, retracing spring, spring stop; Described slide block has manhole, and slide block guide bar passes from this manhole, described pedestal has two key shape grooves, passes, the Movement transmit of pulling plug to slide block for slide block guide bar; Upper end and the slide block guide bar of described connecting rod are hinged, and lower end and the pulling plug pin of connecting rod are hinged; Described pulling plug pin is fixed in the middle of two pulling plug blocks, and two pulling plug blocks adopt screw to be fixed on pulling plug; Described pulling plug is outside equipped with retracing spring, and upper end and the spring stop of retracing spring offset, and the lower end of retracing spring connects with pulling plug block.

Preferably, also comprise pad device, this pad device is arranged on the bottom of pedestal, and the centre of pad device has a cylindrical hole, and hooking device is penetrated by this cylindrical hole.

Preferably, pedestal has two key-way shape holes, and this hole is used for fixing spring stop, and the upper-lower position of spring stop can regulate in grooved hole.Like this, the screen resilience of retracing spring can be changed as required.

Preferably, described pedestal is also provided with the pedestal door that is parallel to umbilical cables passage, the opening of pedestal door is greater than the diameter of robot umbilical cables, and during to guarantee that pedestal door is opened, umbilical cables can pass this pedestal door.

The utility model has the advantages that: the utility model realizes remote operation by safe and reliable mechanical device, without the need under operating personal water participate in, for under-water robot lay and recovery brings great convenience.

The technological means realized to make the utility model, technical characteristic, utility model object and technique effect are easy to understand, and below in conjunction with concrete diagram, set forth the utility model further.

Accompanying drawing explanation

Fig. 1 is the block diagram of the utility model under-water robot hoist cable Automatic Link Establishment;

Fig. 2 is the main cutaway view of the utility model under-water robot hoist cable Automatic Link Establishment;

Fig. 3 is the main cutaway view of the utility model hooking device;

Fig. 4 is the schematic diagram of the utility model locking state;

Fig. 5 is the schematic diagram of the utility model released state.

Detailed description of the invention

The utility model provides a kind of under-water robot hoist cable Automatic Link Establishment, to realize when laying and reclaim under-water robot automatic carry and to open hoist cable.Below in conjunction with accompanying drawing, the utility model is described in further detail.

As Fig. 1 ~ 5, the utility model comprises: pedestal (1), slide block (2), pulling plug (3), retracing spring (4), connecting rod (5), hooking device (6), lifting lug device (7), hoist cable (8), spring stop (9), rubber cushion blocks (10), pedestal door (13), up limiting stopper (16).Wherein pedestal (1) is provided with umbilical cables passage (11), and hooking device (6) also can insert this umbilical cables passage (11).

The superior displacement that up limiting stopper (16) is used for limiting hook (6) is put, and usually selects comparatively soft material, such as poly tetrafluoroethylene.Up limiting stopper (16) bottom has a truncated cone hole (17), utilize the conical surface in this hole (17) to coordinate with the mushroom head circular cone table top (63) of hook (6) and reach up spacing object, the face angle a2 of usual truncated cone hole (17) is larger than the face angle a1 of the mushroom head conical surface (63), i.e. a2>a1.

The upper surface of slide block (2) coordinates with the mushroom head frustum of a cone lower surface (61) of hooking device (6), to pin slide block (6).Slide block (2) has 2, is arranged symmetrically in the both sides of hook (6).When two slide blocks (2) are closed, form a round taper hole (21) at middle part, this is that the mushroom head frustum-conical portion (64) of conveniently hooking device (6) passes through smoothly.Owing to often producing surface sliding between hooking device (6) and slide block (2), therefore, hooking device (6) and slide block (2) select 304 stainless steel materials.

Rubber cushion blocks (10) is arranged on the bottom of pedestal (1), has a manhole (19) at the middle part of rubber cushion blocks (10).Rubber cushion blocks (10) plays buffer action.Namely when the utility model device slides to the under-water robot in water along umbilical cables; namely what touch under-water robot at first is rubber cushion blocks (10); therefore, select a kind of comparatively soft material namely to protect the utility model device itself, also protect under-water robot.

Above-mentioned through hole (17), (21), (19) are all common vertical central lines, link up with (6) like this and just easy to doly can enter its control position.

The disposed outside of pulling plug (3) has retracing spring (4), and upper end and the spring stop (9) of retracing spring (4) offset, and lower end and the pulling plug block (32) of retracing spring (4) offset.Retracing spring elastic force can be regulated by the upper-lower position of regulating spring baffle plate (9).

Slide block (2) can move reciprocatingly in slideway (12), to reach the effect of pinning and conciliating locking and hanging hook device (6).When pulling pulling plug (3), pulling plug drivening rod (5), movable slider (2) is with again by connecting rod (5), is so to unlock; Due to the effect of retracing spring (4), slide block (2) can be allowed to reset.

Open pedestal door (13), under-water robot umbilical cables is put into the umbilical cables passage (11) of this device, then close pedestal door.Such the utility model device can slide to along umbilical cables the under-water robot place be in water, and completes automatic butt with hooking device (6).

Principle of work of the present utility model is:

In the practical application of the utility model device, relate to three hawsers, they respectively: 1, umbilical cables (102), this is used to as under-water robot is powered and the hawser of transmission of control signals, and it is connected to water surface winch and under-water robot; 2, hoist cable (103), for laying and reclaiming under-water robot, is weight cable, and its one end connects the lifting lug device (7) of the utility model device, and the other end connects water surface loop wheel machine; 3, pulling plug cable (101), is used for controlling the lock and unlock action of the utility model device.

Hook 6 is arranged on the body of under-water robot, and umbilical cables is through the manhole (62) of hook (6), and another vital function of umbilical cables guides the utility model device to slide to hook place to carry out automatic butt.

When under-water robot is laid to water by lash ship deck or bank, hooking device (6) on under-water robot is inserted the utility model device to limes superiors restraining position by operating personal, and the working end, the face of cylinder (65) of the working end of slide block (2) and hooking device (6) is offseted.Now, the utility model device is locking-in state, as shown in Figure 4.Start water surface loop wheel machine to be mentioned by the utility model device by hoist cable (103), under-water robot is also together mentioned, and under-water robot cloth can be put into water.After entering water, under-water robot at himself buoyancy low suspension in water; Operating personal pulls pulling plug cable (101), and pulling plug (3) band movable slider (2) slides to unlocked position, as shown in Figure 5.Hooking device (6) is namely separable with pedestal (1).By hoist cable, pedestal (1) is promoted go back to deck.Under-water robot just dive can go execution work task.After under-water robot fulfils assignment and floats up to the water surface, the utility model device is sling by water surface loop wheel machine and is delivered to hooking device (6) along umbilical cables by operating personal.Under pedestal (1) Action of Gravity Field, slide block (2) is washed open by the mushroom head tapered portion (63) of hooking device (6), after hook continues to go upward to upper extreme position, slide block (2) is closed under the effect of retracing spring (4), and hooking device (6) is lockable.Promote hoist cable (101) and under-water robot can be recycled to deck.

Be only the utility model preferred embodiment in sum, be not used for limiting practical range of the present utility model.Namely all equivalences done according to the content of the utility model claim change and modify, and all should belong to technology category of the present utility model.

Claims (5)

1. a under-water robot hoist cable Automatic Link Establishment, is characterized in that: comprise hooking device, pedestal, lifting lug device, up limiting stopper and descending inhibiting device;
Described hooking device inner vertical axially has manhole, described hooking device top is the mushroom head structure of up-small and down-big truncated cone, middle part is narrowed as column type driving surface, lower end is hook coupling end, this hook coupling end lower end is connected with hitch gear, and this hitch gear is connected with underwater human body;
The top of described pedestal is provided with lifting lug device, and this lifting lug device is for connecting hoist cable;
Described base interior vertical axes is to having the umbilical cables passage that can insert for hooking device, and the umbilical cables of under-water robot is also through this passage;
Be provided with in described pedestal upper inside wall and the up limiting stopper of support with vertical axial line, up limiting stopper bottom has a truncated cone hole, and the mushroom head frustum of a cone upper surface of this truncated cone hole and hooking device and outside face match and can limit the up of hooking device;
Described descending inhibiting device comprises slide block mechanism, elastic locating mechanism; Described pedestal bottom has level for slide block mechanism motion to slideway, and this slideway and described umbilical cables channel vertical intersect UNICOM; Described slide block mechanism comprises two slide blocks being symmetrically arranged in slideway both sides, two slide blocks are connected with elastic locating mechanism respectively, switch motion is carried out under the drive of elastic locating mechanism, described slide block is when closed, a round taper hole is left in two slide blocks, to pin the mushroom head lower surface of hooking device, described round taper hole and umbilical cables passage and hooking device have identical vertical axial line.
2., by under-water robot hoist cable Automatic Link Establishment according to claim 1, it is characterized in that: described elastic locating mechanism comprises pulling plug, connecting rod, slide block guide bar, retracing spring, spring stop; Described slide block has manhole, and slide block guide bar passes from this manhole, described pedestal has two key shape grooves, passes, the Movement transmit of pulling plug to slide block for slide block guide bar; Upper end and the slide block guide bar of described connecting rod are hinged, and lower end and the pulling plug pin of connecting rod are hinged; Described pulling plug pin is fixed in the middle of two pulling plug blocks, and two pulling plug blocks adopt screw to be fixed on pulling plug; Described pulling plug is outside equipped with retracing spring, and upper end and the spring stop of retracing spring offset, and the lower end of retracing spring connects with pulling plug block.
3. by under-water robot hoist cable Automatic Link Establishment according to claim 1, it is characterized in that: also comprise pad device, this pad device is arranged on the bottom of pedestal, and the centre of pad device has a cylindrical hole, and hooking device is penetrated by this cylindrical hole.
4. under-water robot hoist cable Automatic Link Establishment as claimed in claim 1, it is characterized in that: on pedestal, have two key-way shape holes, this hole is used for fixing spring stop, and the upper-lower position of spring stop can regulate in grooved hole.
5. by under-water robot hoist cable Automatic Link Establishment according to claim 1; it is characterized in that: described pedestal is also provided with the pedestal door that is parallel to umbilical cables passage; the opening of pedestal door is greater than the diameter of robot umbilical cables, and during to guarantee that pedestal door is opened, umbilical cables can pass this pedestal door.
CN201420684119.0U 2014-11-14 2014-11-14 A kind of under-water robot hoist cable Automatic Link Establishment CN204237424U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420684119.0U CN204237424U (en) 2014-11-14 2014-11-14 A kind of under-water robot hoist cable Automatic Link Establishment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104401866A (en) * 2014-11-14 2015-03-11 中国船舶科学研究中心上海分部 Hoisting cable automatic connection device for underwater robot
CN108298028A (en) * 2017-12-27 2018-07-20 中国船舶重工集团公司第七0研究所 A kind of portable underwater aircraft lays retracting device
CN109591981A (en) * 2018-11-30 2019-04-09 邓宜新 A kind of ocean engineering underwater detection robot

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104401866A (en) * 2014-11-14 2015-03-11 中国船舶科学研究中心上海分部 Hoisting cable automatic connection device for underwater robot
CN104401866B (en) * 2014-11-14 2019-03-15 中国船舶科学研究中心上海分部 A kind of underwater robot hoist cable Automatic Link Establishment
CN108298028A (en) * 2017-12-27 2018-07-20 中国船舶重工集团公司第七0研究所 A kind of portable underwater aircraft lays retracting device
CN109591981A (en) * 2018-11-30 2019-04-09 邓宜新 A kind of ocean engineering underwater detection robot
CN109591981B (en) * 2018-11-30 2019-11-15 中热科(海南)海洋与农业研究院有限公司 A kind of ocean engineering underwater detection robot

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C14 Grant of patent or utility model
GR01 Patent grant
AV01 Patent right actively abandoned
AV01 Patent right actively abandoned

Granted publication date: 20150401

Effective date of abandoning: 20190315