CN208602648U - The mechanical arm type of underwater robot lays recovery system - Google Patents

Abstract

The utility model relates to a kind of mechanical arm types of underwater robot to lay recovery system, and one end of mechanical arm is removably mounted on lash ship, and the upper end of elevator Zhi Dang mechanism is articulated with the other end of mechanical arm by connecting plate A；One end of damping hydraulic cylinder is installed on the other end of mechanical arm, and the other end of damping hydraulic cylinder is connected with connecting plate A, and elevator Zhi Dang mechanism realizes that sideway and trim are only swung by damping hydraulic cylinder, and passes through damping hydraulic cylinder limit, locking after only swinging；The fore body of underwater robot is equipped with the shooting rope mechanism for realizing underwater robot shooting rope on sea level, there is the fore body releasably dished out to dish out buoyant mass for shooting rope mechanism, fore body buoyant mass of dishing out drives the shooting rope hawser expansion being connected on underwater robot after release is dished out, and the lower end of elevator Zhi Dang mechanism is connect by hawser with the shooting rope hawser dished out.High automation, few peopleization operation may be implemented in the utility model, has largely liberated manpower.

Description

The mechanical arm type of underwater robot lays recovery system

Technical field

The utility model belongs to underwater robot field, and the mechanical arm type cloth of specifically a kind of underwater robot is put back to Receipts system.

Background technique

With the high deployment of national marine strategy, the various forms of underwater robot equipment configuration forms of marine field are more Sample, system application functionization, scientific exploration seriation.Various underwater robots flourish in entire ocean application field Under situation, how ocean operation lack peopleization operation require under the premise of, more efficiently underwater robot is laid safely and Recycling is always a domestic and international generally existing general character problem.

Currently, underwater robot is laid and recycles there are mainly four types of mode:

The first is to be laid and docked under water recycling operation using floating dock type and hoistable platform, although can reduce wind The influence of wave, but dedicated support lash ship is needed, and dedicated lash ship cost and cost of use are expensive, are not suitable for present status in China.

Second is the recycling of ship midship moon pool, can be avoided wave for laying the influence with reclaimer operation；But due to the moon The size in pond is limited, and the underwater robot size that can support folding and unfolding is caused to be only limitted to the form of small scale and shape rule.

The third is to be lifted by crane to recycle with lash ship on the water surface, is typically necessary staff and takes motorboat close to underwater machine Device people completion is docked with recovering mechanism；The operation mode is affected by stormy waves, is easy to appear equipment damage when sea situation difference And the case where personal injury；It is reciprocal with recovery process to lay process.

4th kind is that the line-throwing appliance for completing the underwater robot of work mission is cast out traction rope, work by remote control command Make personnel using fishing rope device traction rope is recycled after, imported from A type frame, and there is staff gradually to draw to lash ship stern A The lower section of type frame；By staff on lash ship using stock hook docking, then the supporting team 5 being made of more people is in lash ship belt speed Under the operating condition of traveling, only swung recycling, which solves under someone ship and links up with bring dangerous problem, using at This is lower.But the problem of there are severe sea conditions to be difficult to realize, and versatility is not strong, and more peopleization operate.

Therefore, it is necessary to a kind of versatile, few peopleization, automation it is more economical simultaneously and it is reliable lay recyclable device and Lay recovery method so that underwater robot lay recycling realize it is more reasonable.

Utility model content

In order to solve existing above problem when underwater robot lays recycling, the purpose of this utility model is to provide one The mechanical arm type of kind underwater robot lays recovery system.

The purpose of this utility model is achieved through the following technical solutions:

The utility model includes lash ship, mechanical arm, elevator Zhi Dang mechanism, shooting rope mechanism and damping hydraulic cylinder, wherein mechanical One end of arm is removably mounted on lash ship, and the upper end of elevator Zhi Dang mechanism is articulated with mechanical arm by connecting plate A The other end；One end of the damping hydraulic cylinder is installed on the other end of mechanical arm, the other end of the damping hydraulic cylinder and the company Fishplate bar A is connected, and elevator Zhi Dang mechanism realizes that sideway and trim are only swung by the damping hydraulic cylinder, and passes through institute after only swinging State damping hydraulic cylinder limit, locking；The fore body of the underwater robot, which is equipped with, realizes underwater robot shooting rope on sea level Shooting rope mechanism, which there is the fore body releasably dished out to dish out buoyant mass, and fore body buoyant mass of dishing out is thrown in release The shooting rope hawser expansion being connected on underwater robot is driven after out, the lower end of elevator Zhi Dang mechanism passes through hawser and dishes out Shooting rope hawser connection；

Wherein: elevator Zhi Dang mechanism includes circumferential revolution adjusted device, hoisting mechanism, captures bracket and guiding buffering Fixed frame, it includes hanging ring articulated linkage, link block A, mounting rack, rotation motor and rotary shaft, institute which, which turns round adjusted device, Rotation motor to be stated to be mounted on the guiding buffer fixing frame by mounting rack, output shaft is connected with the lower end of the rotary shaft, The upper end of the rotary shaft is fixedly connected with the link block A, and hanging ring articulated linkage, the connection are equipped on the link block A One end of plate A and the other end of mechanical arm are hinged, and the other end of link block A is connected with the hanging ring articulated linkage；The volume Raising mechanism includes hawser, winching barrel, power source, bracket A and rotating cylinder branch shaft, and bracket A is mounted on the guiding buffering On fixed frame, the winching barrel is rotatably installed on bracket A by rotating cylinder branch shaft, and the power source is mounted on bracket On A, output end is connected with one end of winching barrel, winching barrel is driven to rotate, and the one ends wound of the hawser is in winching barrel On, the other end is connect with the shooting rope hawser that the shooting rope mechanism dishes out；

Oil liquid damping isolator is installed on the guiding buffer fixing frame, which includes oil liquid damping Controller and external fixed cylinder, the external fixed cylinder are mounted on guiding buffer fixing frame, and the oil liquid damping controller holds It is placed in the outside fixed cylinder, upper end is connect with the top of external fixed cylinder, and lower end is connected with the capture bracket；

Guiding cylinder barrel is installed on the guiding buffer fixing frame, which includes external fixed stop sleeve, interior The fixed wear-resistant sleeve in portion and internal follower cylinder rod, the fixed stop sleeve in the outside is installed on the guiding buffer fixing frame, described The fixed wear-resistant sleeve in inside, which is placed in external fixed stop sleeve and fixes stop sleeve with outside, to be connected, the inside with Dynamic cylinder rod can be placed in OQ t in internal fixed wear-resistant sleeve, and lower end is connect with the capture bracket；

The one or both sides of the winching barrel are equipped with passive hawser and disperse cylinder mechanism, which disperses roller machine Structure includes passive roller and bracket B, and the bracket B is mounted on bracket A, the passive roller rotational installation on bracket B, Spacing between the winching barrel and passive roller is less than 2 times of cable diameter；

Hawser hold-down mechanism is installed on the guiding buffer fixing frame, which includes torsionspring, turns round Spring support rod, link block B and hawser pressure plate, the torsional-spring supported bar are mounted on guiding buffer fixing frame by link block B, One end of the hawser pressure plate is rotationally connected on torsional-spring supported bar, and the other end is free end, and the torsionspring is set in On torsional-spring supported bar, both ends are abutted against with the guiding buffer fixing frame and hawser pressure plate respectively, the hawser pressure plate from It is connected on hawser by holding by the elastic force of the torsionspring；

The shooting rope hawser that the hawser is pierced by by the bottom of guiding buffer fixing frame, dishes out with the shooting rope mechanism is connect, The hawser limit plate being mounted on guiding buffer fixing frame is equipped in the outside of the hawser；One is equipped on the capture bracket Grade buffering vibration isolator, the guiding buffer fixing frame lower surface is equipped with level 2 buffering vibration isolator；

Between the rotary shaft and mounting rack be equipped with to rotary shaft carry out axial limiting wear-resisting copper ring and to rotary shaft into To the wear-resisting copper sheathing A of limit, the lower end of the rotary shaft is equipped with triangle connecting-type face, the output shaft with the rotation motor for conduct End is connected；The upper end of the rotary shaft is fixedly connected by locking nut A with the bottom of link block A；

The link block A is in U-typed, and the hanging ring articulated linkage is installed on the open end of U-typed, the hanging ring articulated linkage One end be hanging ring, the other end offers positioning lock tieholen；

The shooting rope mechanism includes that fore body dishes out and buoyant mass, ontology and is separately mounted to the intrinsic shooting rope hawser, solid Fixed rack, spring top clamping extrapolation supporting mechanism, connecting bar locking mechanism and DC motor driver, the ontology are mounted on underwater The fore body of people is connect by shooting rope hawser and the fore body buoyant mass of dishing out, which dishes out side of the buoyant mass towards ontology Equipped with the bar that is locked；The spring top clamping extrapolation supporting mechanism includes outer propulsion arm, holds out against spring and external fixed cylinder, this is outer Portion's fixed cylinder is installed on the fixed bracket, and accommodated inside holds out against spring, and one end of the outer propulsion arm can relatively move Ground is inserted in external fixed cylinder, and the other end is free end, which is in locking state quilt in fore body buoyant mass of dishing out It is compressed in external fixed cylinder；The connecting bar locking mechanism includes release link, back-moving spring and release cam, the release cam It is connected to the output end of the DC motor driver, is equipped with the release link in the two sides of release cam, every side is released The one end for putting connecting rod is articulated on the fixed bracket, and the other end is folding end, passes through drawing between the release link of two sides Tight spring is connected；It is described be locked bar fore body dish out buoyant mass be in locking state by the two sides release link other end be inserted into And it is stuck in the end, the DC motor driver driving release cam rotation drives and opens outside release link described in two sides, the bow Portion's buoyant mass of dishing out is spilled over by holding out against the elastic force of spring, the elastic reset that release link passes through back-moving spring described in two sides；

One end of the bar that is locked is connected to fore body and dishes out in buoyant mass, and the other end is conical head, diameter it is small one It holds towards the ontology；The other end of release link described in two sides is formed with lead-in groove, and the conical head is dished out buoyancy in fore body Block is in locking state and is inserted by lead-in groove, and the big one end of diameter is stuck in lead-in groove medial end, locks the fore body and dishes out Buoyant mass；

The axial cross section of the lead-in groove is tapered, and the small one end of diameter is towards inside；The conical head is imported in insertion The release link of two sides is pushed out during slot, the release link of two sides passes through back-moving spring after conical head insertion It resets, the big one end end face in the one end and conical head diameter for keeping the lead-in groove diameter small is clamped；

The dish out side of buoyant mass towards ontology of the fore body offers locking limit pin hole, corresponding on the fixed bracket Locking limit pin shaft is installed, the locking limit pin shaft the fore body dish out buoyant mass be in locking state insertion locking limit It is fixed in pin hole；

The external fixed cylinder is hollow structure, and one end is fixed on the fixed bracket, and the inside of the other end is equipped with solid Determine boss, one end of the outer propulsion arm is provided in the axial direction with guide pin hole；It is convex that described one end for holding out against spring is set in fixation It is on platform and fixed, one end end abutment of the other end and the outer propulsion arm；The fixing lug boss is dished out in fore body at buoyant mass In in locking state insertion guide pin hole；

Release link described in two sides is symmetrical arranged, and one end is articulated on the fixed bracket by the fixed screw rod of connecting rod, And it is fixed by connecting rod fixture nut；Spacing between release link one end described in two sides is greater than the spacing between the other end；

The DC motor driver is connected by screw-type face pin shaft with release cam, the lower part of the screw-type face pin shaft For quartet connection type face, top is cylinder and is formed with external screw thread, and the cylinder on the screw-type face pin shaft top is worn by release cam It crosses, and the release cam is fixedly clamped by locking nut B；

The DC motor driver include top type face transmission limit jacking block, screw-type face pin shaft, end seal end cap, The outer fixed cylinder of shaft end seal end cap, driver and driving motor, the outer fixed cylinder of the driver are fixed on fixed bracket, and upper and lower two End is sealedly connected with shaft end seal end cap and end seal end cap respectively, and the driving motor is mounted on the outer fixed cylinder of driver It is internal；The lower end of top type face transmission limit jacking block and shaft end seal end cap seal are rotatablely connected, and electric with the driving The output shaft of machine is connected, and the upper end of top type face transmission limit jacking block passes through screw-type face pin shaft and release cam phase Even；

The upper end of top type face transmission limit jacking block offers type face link slot, under the pin shaft of the screw-type face The connection of end type face；The upper end outer edge of the shaft end seal end cap is along the circumferential direction evenly equipped with multiple convex screw fixed stations and more A recessed screw fixing groove, each convex screw fixed station and recessed screw fixing groove arranged for interval, each convex spiral shell Screw fixed hole is offered on nail fixed station.

The advantages of the utility model and good effect are as follows:

1. the utility model design is rationally, integrated level is high, and entire elevator is only swung mechanism height and is integrated, is liberated significantly Space hold of the draw off gear to lash ship deck；Meanwhile the utility model is to fully consider that sea lays and recycle operation On the basis of risk and working environment complexity, obtained in conjunction with marine practical operation experience；The utility model is using multistage Buffering stop swings design, and waving under the conditions of severe sea condition can be classified release, gradually buffered, during further improving folding and unfolding Stability and safety；High automation, few peopleization operation may be implemented in the recovery system that lays of the utility model, in very great Cheng Manpower has been liberated on degree, has simplified the scale of supporting team 5.

2. it is convenient that the utility model carries, according to supporting the interface of lash ship to be arranged, the demand of flight number can be combined flexible Carry out charge and discharge operations；Moreover, general mechanical arm can neatly dismantle its integrated form elevator Zhi Dang mechanism, mechanical arm is realized It is general to hang function, further increase the versatility of deck working equipment function.

It, can be according to the diving of different external structure patterns 3. the utility model draw-in and draw-off function is versatile, applied widely Flexibly replacement guide support carries out the reclaimer operation of versatility.

4. the utility model is entirely laid or reclaimer operation process is simple and reliable, is convenient for grasping, it is easy to promote and apply.

5. the transmission connection of the circumferential revolution adjusted device of the utility model is connected using type face, reliable transmission, installation dimension It protects convenient and efficient.

6. the oil liquid damping isolator vibration isolation capability of the utility model is strong, adjustable range is big, with first-level buffer vibration isolator, two Three-level buffering isolation scheme is collectively formed in grade buffering vibration isolator, lays recovery operation under high sea conditions even if can ensure, It can still guarantee that the safety of underwater robot lays recycling.

7. the capture bracket of the utility model can do custom design according to the underwater robot of different shapes, in end Connecting interface on design general-purpose interface, can flexibly be replaced according to folding and unfolding demand, realize that set of system with more set brackets, is realized The general draw-in and draw-off function of a tractor serves several purposes.

It 8. the utility model, which is provided with passive hawser, disperses cylinder mechanism, ensure that during elevator, will passively receive Cable laying rope wound side by side.

9. the utility model is provided with hawser hold-down mechanism, mechanism guarantees that hawser is located always when carrying out identical tension elevator It, will not be because of reciprocal folding and unfolding movement so that hawser is wound in impaction state.

10. the connecting bar locking mechanism structure of the utility model is simple, release is reliable, only leans on level-one cam link fast pulldown Release, efficient quick are convenient and practical.

Detailed description of the invention

Fig. 1 is the overall structure diagram of the utility model；

Fig. 2 is one of the schematic perspective view of the utility model elevator Zhi Dang mechanism；

Fig. 3 is the two of the schematic perspective view of the utility model elevator Zhi Dang mechanism；

Fig. 4 is circumferentially to turn round the three-dimensional cutaway view at adjusted device in the utility model elevator Zhi Dang mechanism；

Fig. 5 is one of the schematic perspective view of hoisting mechanism in the utility model elevator Zhi Dang mechanism；

Fig. 6 is two of the schematic perspective view of hoisting mechanism in the utility model elevator Zhi Dang mechanism；

Fig. 7 is the three-dimensional cutaway view that cylinder barrel is oriented in the utility model elevator Zhi Dang mechanism；

Fig. 8 is the three-dimensional cutaway view of oil liquid damping isolator in the utility model elevator Zhi Dang mechanism；

Fig. 9 is the schematic perspective view of the utility model shooting rope mechanism；

Figure 10 is the stereochemical structure cross-sectional view of spring top clamping extrapolation supporting mechanism in the utility model shooting rope mechanism；

Figure 11 is the structure top view of connecting bar locking mechanism in the utility model shooting rope mechanism；

Figure 12 is the structure sectional view of DC motor driver in the utility model shooting rope mechanism；

Figure 13 is the schematic perspective view of screw-type face pin shaft in Figure 12；

Figure 14 is the schematic perspective view of DC motor driver in the utility model shooting rope mechanism；

Wherein: 1 is lash ship, and 2 be mechanical arm, and 3 be elevator Zhi Dang mechanism；

301 turn round adjusted device to be circumferential, and 30101 be hanging ring bar that is articulated and connected, and 30102 be link block A, and 30103 be solid Fixed board A, 30104 be support plate A, and 30105 be fixed plate B, and 30106 be fixed plate C, and 30107 be rotation motor, and 30108 be defeated Shaft end out, 30109 be triangle connecting-type face, and 30110 be wear-resisting copper sheathing A, and 30111 be rotary shaft, and 30112 be locking nut A, 30113 be positioning lock tieholen, and 30114 be wear-resisting copper ring, and 30115 be screw A；

302 be hoisting mechanism, and 30201 be hawser, and 30202 be hawser limit plate, and 30203 be winching barrel, and 30204 be company Acting flange A, 30205 be winding speed reducing, and 30206 be hoist motor, and 30207 be bracket A, and 30208 be screw C, and 30209 be rotation Rotating cylinder branch shaft, 30210 be wear-resisting copper sheathing B；

303 be oil liquid damping isolator, and 30301 be oil liquid damping controller, and 30302 be latch segment, and 30303 be external solid Safety barrel, 30304 be external screw thread connector A, and 30305 be external screw thread connector B；

304 be guiding cylinder barrel, and 30401 be external fixed stop sleeve, and 30402 fix wear-resistant sleeve to be internal, and 30403 be end Portion's flange screw plate, 30404 be internal follower cylinder rod, and 30405 be internal locking screw, and 30406 be screw E, and 30407 be connection Flange B；

305 disperse cylinder mechanism for passive hawser, and 30501 be passive roller, and 30502 be bracket B, and 30503 be screw D；

306 be hawser hold-down mechanism, and 30601 be torsionspring, and 30602 be torsional-spring supported bar, and 30603 be link block B, 30604 be hawser pressure plate, and 30605 be screw B；

307 is capture bracket, and 308 be first-level buffer vibration isolator, and 309 be level 2 buffering vibration isolator, and 310 is solid for guiding buffering Determine frame；

4 be underwater robot, and 5 be shooting rope mechanism；

501 dish out buoyant mass for fore body, and 50101 be the bar that is locked, and 50102 be conical head, and 50103 be locking spacer pin Hole, 50104 be lifting bolt, and 50105 be locking limit pin shaft；

502 be ontology, and 503 be shooting rope hawser, and 504 be fixed bracket；

505 be spring top clamping extrapolation supporting mechanism, and 50501 be outer propulsion arm, and 50502 be boss, and 50503 be to hold out against bullet Spring, 50504 be external fixed cylinder, and 50505 be fixing lug boss, and 50506 be screw F, and 50507 be guide pin hole；

506 be connecting bar locking mechanism, and 50601 be release link, and 50602 be back-moving spring, and 50603 be release cam, 50604 be screw G, and 50605 fix screw rod for connecting rod, and 50606 be connecting rod fixture nut；

507 be DC motor driver, and 50701 be top type face transmission limit jacking block, and 50702 be screw H, and 50703 are Guidance tape, 50704 be O-ring seal, and 50705 be static sealing ring A, and 50706 be locking nut B, and 50707 sell for screw-type face Axis, 507071 be quartet connection type face, and 507072 be cylinder, and 50708 be end seal end cap, and 50709 be shaft end seal end cap, 50710 be screw thread pair, and 50711 be screw I, and 50712 be the outer fixed cylinder of driver, and 50713 be driving motor, and 50714 be quiet close Seal B, 50715 be screw J, and 50716 be lead-in groove, and 50717 be screw fixed hole, and 50718 be type face link slot, and 50719 are Convex screw fixed station, 50720 be recessed screw fixing groove；

6 be connecting plate A, and 7 be damping hydraulic cylinder.

Specific embodiment

The utility model is described in further detail with reference to the accompanying drawing.

As shown in Figure 1, the utility model includes lash ship 1, mechanical arm 2, elevator Zhi Dang mechanism 3, shooting rope mechanism 5, connecting plate A6 and damping hydraulic cylinder 7, wherein one end of mechanical arm 2 is removably mounted on lash ship 1, can be provided according to support lash ship 1 Installation interface and flight number demand flexibly mounted and dismounted, with ensure the flight number to the retractable operation of underwater robot 4, Other equipments can also be carried out hanging operation simultaneously；The upper end of elevator Zhi Dang mechanism 3 is articulated with mechanical arm 2 by connecting plate A6 The other end；The cylinder body of damping hydraulic cylinder 7 is installed on the other end of mechanical arm 2, the piston rod and connecting plate of the damping hydraulic cylinder 7 A6 is connected, and elevator Zhi Dang mechanism 3 realizes that sideway and compound stop of trim are swung by damping hydraulic cylinder 7, and passes through damping after only swinging The limit of hydraulic cylinder 7, locking.The fore body of underwater robot 4 is equipped with shooting rope mechanism 5, for realizing underwater robot 4 on sea level On quick shooting rope function, which there is the fore body releasably dished out to dish out buoyant mass 501, and fore body is dished out buoyant mass 501 drive the shooting rope hawser 503 being connected on underwater robot 4 to be unfolded after release is dished out, and the lower end of elevator Zhi Dang mechanism 3 is logical Hawser 30201 is crossed to connect with the shooting rope hawser 503 dished out.

As shown in Figure 2 and Figure 3, elevator Zhi Dang mechanism 3 includes circumferential revolution adjusted device 301, hoisting mechanism 302, oil liquid resistance Buddhist nun's vibration isolator 303, guiding cylinder barrel 304, passive hawser dispersion cylinder mechanism 305, hawser hold-down mechanism 306, capture bracket 307, First-level buffer vibration isolator 308, level 2 buffering vibration isolator 309 and guiding buffer fixing frame 310, wherein hoisting mechanism 302 is located at and leads Into buffer fixing frame 310, the oil being mounted on guiding buffer fixing frame 310 is equipped in the left and right sides of hoisting mechanism 302 Liquid damping isolator 303 and guiding cylinder barrel 304；The front side of hoisting mechanism 302 and/or rear side, which are equipped with, makes the dispersion of hawser 30201 simultaneously The passive hawser of row's winding disperses cylinder mechanism 305, and the top of hoisting mechanism 302 is equipped with the hawser hold-down mechanism for compressing hawser 306.Capture the lower section that bracket 307 is located at guiding buffer fixing frame 310, oil liquid damping isolator 303 in hoisting mechanism 302 and Guiding cylinder barrel 304 is connected with capture bracket 307 respectively, and capturing bracket 307 is in arcuation, and the side contacted with underwater robot 4 is set There is first-level buffer vibration isolator 308, guiding 310 lower surface of buffer fixing frame is equipped with level 2 buffering vibration isolator 309.The utility model Guiding buffer fixing frame 310 can be designed in the connecting interface of end according to 4 custom design of underwater robot of different shapes General-purpose interface can be replaced flexibly according to folding and unfolding demand.

As shown in figs. 2 to 4, circumferential revolution adjusted device 301 includes hanging ring articulated linkage 30101, link block A30102, peace It shelves, rotation motor 30107, wear-resisting copper sheathing A30110, rotary shaft 30111, locking nut A30112 and wear-resisting copper ring 30114, The top for being wherein oriented to buffer fixing frame 310 is equipped with fixed plate C30106, and mounting rack is fixed on the upper surface of fixed plate C30106 Middle position, including fixed plate A30103, support plate A30104 and fixed plate B30105, support plate A30104 are two pieces, in parallel Setting, the left and right ends of fixed plate A30103 pass through the top that screw A30115 is fixed in two pieces of support plate A30104 respectively, The lower section of fixed plate A30103 is located between two pieces of support plate A30104, is connected with by screw parallel with fixed plate A30103 Fixed plate B30105.Aperture among fixed plate B30105, rotation motor 30107 are fixed in the lower surface of fixed plate B30105, Output shaft end 30108 is passed through by the aperture on fixed plate B30105, and is rotated by rotary shaft 30111 and link block A30102 Connection.It is wear-resisting equipped with radially being limited to rotary shaft 30111 between 30111 middle part outside of rotary shaft and fixed plate A30103 Copper sheathing A30110, rotary shaft 30111 are isolated by wear-resisting copper sheathing A30110, and are constituted revolute pair with fixed plate A30103 and connect, It is clearance fit between rotary shaft 30111 and wear-resisting copper sheathing A30110；Triangle is equipped on the inside of the lower end (big end) of rotary shaft 30111 Shape connecting-type face 30109 is equipped with triangle connecting-type face, rotation motor on the outside of the output shaft end 30108 of rotation motor 30107 30107 connect transmitting torque by type face with rotary shaft 30111, the upper end of rotary shaft 30111 by locking nut A30112 with The bottom of link block A30102 is fixedly connected.Link block A30102 is in U-typed, and it is hinged that the open end of the U-typed is equipped with hanging ring One end of connecting rod 30101, hanging ring articulated linkage 30101 is hanging ring, and the other end offers positioning lock tieholen 30113, connecting plate A6 One end and mechanical arm 2 the other end it is hinged, the other end of connecting plate A6 is connected with hanging ring articulated linkage 30101.In fixation The two sides up and down of plate A30103 are equipped with the wear-resisting copper ring for covering and carrying out axial limiting in rotary shaft 30111, to rotary shaft 30111 30114, it is clearance fit between rotary shaft 30111 and wear-resisting copper ring 30114；The wear-resisting copper ring 30114 being located above passes through lock Tight nut A30112 and fixed plate A30103 is fixed, underlying wear-resisting copper ring 30114 by the big end of rotary shaft 30111 and Fixed plate A30103 is fixed；Meanwhile upper and lower two wear-resisting copper rings 30114 also carry out axial limiting to wear-resisting copper sheathing A30110.

As shown in Fig. 2, Fig. 3 and Fig. 5, Fig. 6, hoisting mechanism 302 includes hawser 30201, hawser limit plate 30202, elevator Roller 30203, connecting flange A30204, power source, bracket A30207, rotating cylinder branch shaft 30209 and wear-resisting copper sheathing B30210, Bracket A30207 is fixed on the bottom surface of guiding buffer fixing frame 310, and winching barrel 30203 passes through 30209 turns of rotating cylinder branch shaft Dynamic to be mounted on bracket A30207, power source is mounted on bracket A30207, one end phase of output end and winching barrel 30203 Even, driving winching barrel 30203 rotates, and for the one ends wound of hawser 30201 on winching barrel 30203, the other end is free end, It is connected with the shooting rope hawser 503 that shooting rope mechanism 5 dishes out.The power source of the present embodiment includes the elevator being fixedly connected by screw Retarder 30205 and hoist motor 30206, the winding speed reducing 30205 are fixed to by screw together with hoist motor 30206 On bracket A30207.30203 inside left of winching barrel is equipped with connecting flange A30204, and connecting flange A30204 passes through screw It is affixed with the ring flange of winding speed reducing 30205；The more common axle key connection of flanged joint is relatively reliable, convenient, is conducive to maintenance. The right side of winching barrel 30203 is secured on the left side flange of rotating cylinder branch shaft 30209 by screw C30208, rotating cylinder branch Shaft 30209 is established revolute pair with bracket A30207 by wear-resisting copper sheathing B30210 and is connect.Hawser 30201 is fixed by guiding buffering Be pierced by the hole that 310 bottom of frame opens up, be connected with the shooting rope hawser 503 that shooting rope mechanism 5 dishes out, the outside of hawser 30201 (i.e. Side far from winching barrel 30203) it is equipped with the hawser limit plate 30202 being mounted on guiding buffer fixing frame 310, make hawser It is received in 30201.

The one or both sides of winching barrel 30203 are equipped with passive hawser and disperse cylinder mechanism 305, the passive hawser dispersion rolling Cylinder mechanism 305 includes passive roller 30501 and bracket B30502, and bracket B30502 is mounted on bracket by screw D30503 On A30207 or guiding buffer fixing frame 310, the rotational installation of passive roller 30501 is on bracket B30502, winching barrel Spacing between 30203 and passive roller 30501 is less than 2 times of 30201 diameter of hawser.The present embodiment is in winching barrel 30203 front side is arranged a passive hawser and disperses cylinder mechanism 305, and hawser 30201 is wrapped in the process of winching barrel 30203 In, the passive roller 30501 in passive hawser dispersion cylinder mechanism 305 is contacted with hawser 30201, makes each layer of hawser 30201 equal wound side by side.The hawser 30201 of the utility model is Kevlar hawser.

The top of winching barrel 30203 is equipped with the hawser hold-down mechanism 306 for being mounted on guiding buffer fixing frame 310, the cable Hold-down mechanism 306 of restricting includes torsionspring 30601, torsional-spring supported bar 30602, link block B30603 and hawser pressure plate 30604, The both ends of torsional-spring supported bar 30602 are respectively equipped with link block B30603, and the link block B30603 at both ends passes through screw respectively B30605 is fixed on guiding buffer fixing frame 310, and one end of hawser pressure plate 30604 is rotationally connected with torsional-spring supported bar On 30602, the other end is free end, and torsionspring 30601 is set on torsional-spring supported bar 30602, and both ends are slow with guiding respectively It rushes fixed frame 310 and hawser pressure plate 30604 abuts against, the free end of the hawser pressure plate 30604 passes through torsionspring 30601 Elastic force be tensioned downwards, hawser 30201 is compressed.

As shown in Fig. 2, Fig. 3 and Fig. 8, the left and right sides of hoisting mechanism 302, which is equipped with, is mounted on guiding buffer fixing frame 310 On oil liquid damping isolator 303, the oil liquid damping isolator 303 include oil liquid damping controller 30301, latch segment 30302 And external fixed cylinder 30303, oil liquid damping isolator 303 are fixed on entirely through the outer flange of external fixed cylinder 30303 and lead To on buffer fixing frame 310, oil liquid damping controller 30301 is placed in the outside fixed cylinder 30303, and upper end is equipped with external screw thread Connector A30304 for being threadedly coupled with latch segment 30302, and external fixed cylinder 30303 is fixedly clamped and is hindered in oil liquid Between Buddhist nun's controller 30301 and latch segment 30302；The lower end of oil liquid damping controller 30301 is equipped with external screw thread connector B30305 captures the lower surface that bracket 307 is mounted on connecting plate B311 for being connected with connecting plate B311.The utility model Oil liquid damping controller 30301 be commercial products, purchase in German Bo Sheng Science and Technology Ltd., model HBY-14/40.

As shown in Fig. 2, Fig. 3 and Fig. 7, the left and right sides of hoisting mechanism 302, which is equipped with, is mounted on guiding buffer fixing frame 310 On guiding cylinder barrel 304, which includes external fixed stop sleeve 30401, internal fixed wear-resistant sleeve 30402, end Portion's flange screw plate 30403, internal follower cylinder rod 30404 and connecting flange B30407, outside are fixed under stop sleeve 30401 End is equipped with connecting flange B30407, and connecting flange B30407 is fixed on guiding buffer fixing frame 310；The fixed wear-resistant sleeve in inside 30402 are placed in external fixed stop sleeve 30401, and upper end is solid by screw E30406 and end flange pressure plate 30403 It connects, and end flange pressure plate 30403 and internal fixed wear-resistant sleeve 30402 is fixed external fixed stop sleeve together 30401 upper end.Internal follower cylinder rod 30404 can be placed in OQ t in internal fixed wear-resistant sleeve 30402, for realizing The lower end of servo-actuated guide function, internal follower cylinder rod 30404 is equipped with internal locking screw 30405, is used for internal follower cylinder rod 30404 connect with connecting plate B311.

As shown in figure 9, shooting rope mechanism 5 includes that fore body dishes out and buoyant mass 501, ontology 502 and is separately mounted to the ontology 502 Interior shooting rope hawser 503, fixed bracket 504, spring top clamping extrapolation supporting mechanism 505, connecting bar locking mechanism 506 and direct current generator Driver 507, wherein ontology 502 is mounted on the fore body of underwater robot 4, is dished out buoyant mass by shooting rope hawser 503 and fore body 501 connection, fore body dish out buoyant mass 501 locking state by connecting bar locking mechanism 506 locking.

As shown in Figure 9, Figure 10, fore body is dished out, and buoyant mass 501 is whole in pyramidal, and the small one end end face of diameter is circular arc mistake It crosses, to reduce resistance in water；Fore body buoyant mass 501 of dishing out is equipped with towards a side surface of ontology 502 and is locked bar 50101, one end of the bar 50101 that is locked is adhered to fore body by epoxy adhesive (such as 502 glue) and dishes out buoyant mass 501 On, the other end is conical head 50102, and the small one end of diameter is connected towards ontology 502 for locking with connecting bar locking mechanism 506. Fore body dish out buoyant mass 501 towards ontology 502 side surface middle part be provided in the axial direction with locking limit pin hole 50103.It is fixed Corresponding on bracket 504 to be equipped with locking limit pin shaft 50105, which dishes out in fore body at buoyant mass 501 It is inserted into locking limit pin hole 50103 and fixes in locking state.Fore body dishes out buoyant mass 501 towards ontology 502 Side surface lower portions are equipped with lifting bolt 50104, and one end of the lifting bolt 50104 is bonded in bow by epoxy adhesive Portion dishes out in buoyant mass 501, and the other end is annular in shape, connects for fastening with shooting rope hawser 503.

Spring top clamping extrapolation supporting mechanism 505 includes outer propulsion arm 50501, holds out against spring 50503 and external fixed cylinder 50504, which is hollow structure, and one end is fixed on fixed bracket 504 by screw F50506, another The inside at end is equipped with columned fixing lug boss 50505；One end of outer propulsion arm 50501 can relatively movably be inserted in external solid In safety barrel 50504, the other end is free end, and one end of outer propulsion arm 50501 is equipped with cricoid boss 50502.Outer propulsion arm 50501 accommodated inside holds out against spring 50503, which is set in fixing lug boss 50505 and consolidates It is fixed, 50502 end abutment of boss of the other end and outer 50501 one end of propulsion arm.It holds out against spring 50503 and holds out against boss to the left 50502, make outer propulsion arm 50501 by the thrust continued to the left；It is convex when outer propulsion arm 50501 shifts extreme position onto the left Platform 50502 is held out against in limit to fixed bracket 504.One end of outer propulsion arm 50501 is provided in the axial direction with guide pin hole 50507, The longitudinal center line of the guide pin hole 50507 is conllinear with the longitudinal center line of fixing lug boss 50505；When outer 50501 quilt of propulsion arm Fore body buoyant mass 501 of dishing out is shifted onto when flushing with fixed bracket 504, and fixing lug boss 50505 is inserted into guide pin hole 50507 Portion, at this point, fore body is dished out, buoyant mass 501 is adjacent to towards 502 1 side plane of ontology and 502 left side plane of ontology, conical head 50102 It is locked with connecting bar locking mechanism 506, holds out against spring 50503 and be in maximum pressured state.

As shown in Fig. 9, Figure 11, connecting bar locking mechanism 506 is convex including release link 50601, back-moving spring 50602, release The fixed screw rod 50605 of wheel 50603, connecting rod and connecting rod fixture nut 50606, the release cam 50603 are connected to direct current generator drive The output end of dynamic device 507, is symmetrically arranged with release link 50601, the release link of every side in the two sides of release cam 50603 50601 one end is articulated on fixed bracket 504 by the fixed screw rod 50605 of connecting rod, and passes through connecting rod fixture nut 50606 Fixed, the other end of the release link 50601 of every side is folding end；Spacing between 50601 one end of two sides release link is greater than Spacing between the other end.It is connected between the release link 50601 of two sides by back-moving spring 50602.Two sides release link 50601 other end is formed with lead-in groove 50716, and the axial cross section of lead-in groove 50716 is tapered, and the small one end of diameter is in Side；Conical head 50102 is in locking state and is inserted by lead-in groove 50716 in fore body buoyant mass 501 of dishing out, in insertion lead-in groove The release link 50601 of two sides is pushed out during 50716, the release link 50601 of two sides is inserted into conical head 50102 Resetted afterwards by back-moving spring 50602, the one end for keeping 50716 diameter of lead-in groove small and 50102 diameter of conical head it is big one End face clamping is held, locking fore body is dished out buoyant mass 501.

As shown in Fig. 9, Figure 12~14, DC motor driver 507 includes top type face transmission limit jacking block 50701, leads To band 50703, O-ring seal 50704, static sealing ring A50705, locking nut B50706, screw-type face pin shaft 50707, end The outer fixed cylinder 50712 of end cover 50708, shaft end seal end cap 50709, driver, driving motor 50713 and static sealing ring B50714, the outer fixed cylinder 50712 of the driver are fixed on fixed bracket 504, and shaft end seal end cap 50709 passes through screw H50702 is fixed in the upper end of the outer fixed cylinder 50712 of driver, and end seal end cap 50708 is fixed in drive by screw J50715 The lower end of the dynamic outer fixed cylinder 50712 of device.Driving motor 50713 is fixed on the outer fixed cylinder 50712 of driver by screw I50711 Internal flange on.The lower end of top type face transmission limit jacking block 50701 and the sealing of shaft end seal end cap 50709 are rotatablely connected, It is equipped with guidance tape 50703 between the lower end and shaft end seal end cap 50709 that top type face is driven limit jacking block 50701, prevents Direct pivoting friction between top type face transmission limit jacking block 50701 and shaft end seal end cap 50709.Driving motor 50713 Output shaft is fixedly connected with the lower end that top type face is driven limit jacking block 50701 by screw thread pair 50710, top type face transmission limit The upper end of position jacking block 50701 is connected by screw-type face pin shaft 50707 with release cam 50603.Screw-type face pin shaft 50707 Lower part is quartet connection type face 507071 (i.e. square block), and top is cylinder 507072 and is formed with external screw thread, screw-type face pin shaft The cylinder on 50707 tops is passed through by release cam 50603, and by a pair of of locking nut B50706 setting up and down will discharge it is convex Wheel 50603 is locked on screw-type face pin shaft 50707, and release cam 50603 is enable to be directly driven by driving motor 50713.Top The upper end of portion type face transmission limit jacking block 50701 offers rectangular type face link slot 50718, with screw-type face pin shaft 50707 The quartet connection type face 507071 of lower end connects.The upper end outer edge of shaft end seal end cap 50709 is along the circumferential direction evenly equipped with more A convex screw fixed station 50719 and multiple recessed screw fixing grooves 50720, each convex screw fixed station 50719 and recessed spiral shell 50720 arranged for interval of fixing groove is followed closely, screw fixed hole 50717 is offered on each convex screw fixed station 50719, passes through spiral shell It follows closely fixation hole 50717 DC motor driver 507 is fixed on fixed bracket 504.

The utility model lays recovery method are as follows:

Underwater robot 4 works after mission, and staff passes through the shooting rope machine of 4 fore body of remote control trigger underwater robot Fore body 501 quick release of buoyant mass of dishing out is dished out, shooting rope hawser 503 is driven to be unfolded by the DC motor driver 507 in structure 5, And in being floated on sea after dishing out；Then, then by manually picking up shooting rope hawser 503, with the hawser in elevator Zhi Dang mechanism 3 30201 are connected, and recycle hawser 30201 using elevator Zhi Dang mechanism 3, and then underwater robot 4 is recycled；Pass through mechanical arm 2 again Elevator Zhi Dang mechanism 3, underwater robot 4 are recycled on lash ship 1, during recycling, pass through the effect of damping hydraulic cylinder 7 It realizes that roll and compound stop of trim are swung, realizes the safe retrieving to underwater robot 4.Specifically:

Shooting rope mechanism 5: be locked bar 50101 fore body dish out buoyant mass 501 be in locking state by two sides discharge connect The insertion of lead-in groove 50716 and clamping that 50601 other end of bar is formed, the locking insertion locking limit pin hole of limit pin shaft 50105 It is fixed in 50103.At this point, the compression of outer propulsion arm 50501 holds out against spring 50503, pushed away by fore body buoyant mass 501 of dishing out It is flushed to left end with fixed bracket 504, fixing lug boss 50505 is inserted into guide pin hole 50507.When release, driven by direct current generator Dynamic device 507 drives release cam 50603 to open the release link 50601 of two sides, releases the limit to conical head 50102；This When, outer propulsion arm 50501 is pushed outwardly by the compressed spring 50503 that holds out against, and fore body is dished out buoyant mass by wave effect 501 dish out.Fore body after release buoyant mass 501 of dishing out floats under the action of wave, drives 503 rapid deployment of shooting rope hawser. The release link 50601 of two sides passes through the elastic reset of back-moving spring 50602.

Elevator Zhi Dang mechanism 3: in laying removal process, rotation motor 30107 works, due to rotary shaft 30111 and even It meets block A30102 to connect by locking nut A30112, because link block A30102 is fixed on the end of mechanical arm 2 again, therefore rotate Motor 30107 drives the part below of rotary shaft 30111 (including mounting rack, guiding buffer fixing frame 310, capture bracket 307) It produces relative rotation with rotary shaft 30111, realizes revolution tuning.Hoist motor 30206 and winding speed reducing 30205 drive elevator Roller 30203 rotates, and hawser 30201 is laid or recycled, and then realizes underwater robot 4 relative to capture bracket 307 Lay or recycle.Guiding cylinder barrel 304 can play guide function, and oil liquid damping isolator 303 can play buffer function, passive cable Rope dispersion cylinder mechanism 305 makes the equal wound side by side of every layer of hawser 30201, and mechanism is when carrying out identical tension elevator, hawser compacting machine Structure 306 can guarantee that hawser 30201, will not be because of reciprocal folding and unfolding movement so that hawser 30201 occurs always in impaction state Winding.

Claims (18)

1. a kind of mechanical arm type of underwater robot lays recovery system, it is characterised in that: including lash ship (1), mechanical arm (2), Elevator Zhi Dang mechanism (3), shooting rope mechanism (5) and damping hydraulic cylinder (7), wherein one end of mechanical arm (2) is removably mounted on On lash ship (1), the upper end of elevator Zhi Dang mechanism (3) is articulated with the other end of mechanical arm (2) by connecting plate A (6)；It is described One end of damping hydraulic cylinder (7) is installed on the other end of mechanical arm (2), the other end of the damping hydraulic cylinder (7) and the connection Plate A (6) is connected, and elevator Zhi Dang mechanism (3) realizes that sideway and trim are only swung by the damping hydraulic cylinder (7), and swings only Pass through the damping hydraulic cylinder (7) limit, locking afterwards；The fore body of the underwater robot (4) is equipped with realization underwater robot (4) on sea level shooting rope shooting rope mechanism (5), which there is the fore body releasably dished out to dish out buoyant mass (501), fore body buoyant mass (501) of dishing out drives the shooting rope hawser being connected on underwater robot (4) after release is dished out (503) it is unfolded, the lower end of elevator Zhi Dang mechanism (3) is connect by hawser (30201) with the shooting rope hawser dished out.

2. the mechanical arm type of underwater robot lays recovery system according to claim 1, it is characterised in that: the elevator stops Mechanism (3) are swung to include circumferential revolution adjusted device (301), hoisting mechanism (302), capture bracket (307) and be oriented to buffering and fix Frame (310), the circumferential direction revolution adjusted device (301) include hanging ring articulated linkage (30101), link block A (30102), mounting rack, Rotation motor (30107) and rotary shaft (30111), the rotation motor (30107) are mounted on the guiding by mounting rack and delay It rushes on fixed frame (310), output shaft is connected with the lower end of the rotary shaft (30111), the upper end of the rotary shaft (30111) and institute It states link block A (30102) to be fixedly connected, hanging ring articulated linkage (30101), the company is installed on the link block A (30102) One end of fishplate bar A (6) and the other end of mechanical arm (2) are hinged, the other end of connecting plate A (6) and the hanging ring articulated linkage (30101) it is connected；The hoisting mechanism (302) includes hawser (30201), winching barrel (30203), power source, bracket A (30207) and rotating cylinder branch shaft (30209), bracket A (30207) are mounted on the guiding buffer fixing frame (310), institute It states winching barrel (30203) to be rotatably installed on bracket A (30207) by rotating cylinder branch shaft (30209), the power source It is mounted on bracket A (30207), output end is connected with the one end of winching barrel (30203), winching barrel (30203) is driven to revolve Turn, the one ends wound of the hawser (30201) on winching barrel (30203), what the other end and the shooting rope mechanism (5) were dished out Shooting rope hawser (503) connection.

3. the mechanical arm type of underwater robot lays recovery system according to claim 2, it is characterised in that: the guiding is slow It rushes on fixed frame (310) and oil liquid damping isolator (303) is installed, which includes oil liquid damping control Device (30301) processed and external fixed cylinder (30303), the external fixed cylinder (30303) are mounted on guiding buffer fixing frame (310) On, the oil liquid damping controller (30301) is placed in the outside fixed cylinder (30303), upper end and external fixed cylinder (30303) top connection, lower end is connected with the capture bracket (307).

4. the mechanical arm type of underwater robot lays recovery system according to claim 2, it is characterised in that: the guiding is slow It rushes on fixed frame (310) and guiding cylinder barrel (304) is installed, which includes external fixed stop sleeve (30401), internal fixed wear-resistant sleeve (30402) and internal follower cylinder rod (30404), the outside are fixed stop sleeve (30401) It is installed on the guiding buffer fixing frame (310), internal fixed wear-resistant sleeve (30402) are placed in external fixed support sleeve It is connected in cylinder (30401) and with the outside fixed stop sleeve (30401), the internal follower cylinder rod (30404) opposite can rise It is placed in drop in internal fixed wear-resistant sleeve (30402), lower end is connect with the capture bracket (307).

5. the mechanical arm type of underwater robot lays recovery system according to claim 2, it is characterised in that: the elevator rolling The one or both sides of cylinder (30203) are equipped with passive hawser dispersion cylinder mechanism (305), which disperses cylinder mechanism It (305) include passive roller (30501) and bracket B (30502), the bracket B (30502) is mounted on bracket A (30207), The passive roller (30501) rotational installation is on bracket B (30502), the winching barrel (30203) and passive roller (30501) spacing between is less than 2 times of hawser (30201) diameter.

6. the mechanical arm type of underwater robot lays recovery system according to claim 2, it is characterised in that: the guiding is slow It rushes on fixed frame (310) and hawser hold-down mechanism (306) is installed, which includes torsionspring (30601), torsional-spring supported bar (30602), link block B (30603) and hawser pressure plate (30604), the torsional-spring supported bar (30602) it is mounted in guiding buffer fixing frame (310) by link block B (30603), the hawser pressure plate (30604) One end is rotationally connected on torsional-spring supported bar (30602), and the other end is free end, and the torsionspring (30601) is set in torsion On spring support rod (30602), both ends are abutted against with the guiding buffer fixing frame (310) and hawser pressure plate (30604) respectively, The free end of the hawser pressure plate (30604) is connected on hawser (30201) by the elastic force of the torsionspring (30601).

7. the mechanical arm type of underwater robot lays recovery system according to claim 2, it is characterised in that: the hawser (30201) the shooting rope hawser (503) be pierced by by the bottom of guiding buffer fixing frame (310), dished out with the shooting rope mechanism (5) is even It connects, the hawser limit plate (30202) being mounted in guiding buffer fixing frame (310) is equipped in the outside of the hawser (30201)； It is equipped with first-level buffer vibration isolator (308) on the capture bracket (307), the guiding buffer fixing frame (310) lower surface peace Equipped with level 2 buffering vibration isolator (309).

8. the mechanical arm type of underwater robot lays recovery system according to claim 2, it is characterised in that: the rotary shaft (30111) it is equipped between mounting rack and the wear-resisting copper ring (30114) of axial limiting is carried out to rotary shaft (30111) and to rotary shaft (30111) lower end of the wear-resisting copper sheathing A (30110) radially limited, the rotary shaft (30111) is equipped with triangle connecting-type face (30109), it is connected with the output shaft end (30108) of the rotation motor (30107)；The upper end of the rotary shaft (30111) It is fixedly connected by locking nut A (30112) with the bottom of link block A (30102).

9. the mechanical arm type of underwater robot lays recovery system according to claim 2, it is characterised in that: the link block A (30102) is in U-typed, and the hanging ring articulated linkage (30101) is installed on the open end of U-typed, the hanging ring articulated linkage (30101) one end is hanging ring, and the other end offers positioning lock tieholen (30113).

10. the mechanical arm type of underwater robot lays recovery system according to claim 1, it is characterised in that: the shooting rope Mechanism (5) includes that fore body is dished out buoyant mass (501), ontology (502) and the shooting rope hawser being separately mounted in the ontology (502) (503), fixed bracket (504), spring top clamping extrapolation supporting mechanism (505), connecting bar locking mechanism (506) and direct current generator driving Device (507), the ontology (502) are mounted on the fore body of underwater robot (4), are dished out by shooting rope hawser (503) with the fore body Buoyant mass (501) connection, fore body buoyant mass (501) of dishing out are equipped with towards the side of ontology (502) and are locked bar (50101)；Spring top clamping extrapolation supporting mechanism (505) includes outer propulsion arm (50501), holds out against spring (50503) and outer Portion's fixed cylinder (50504), the outside fixed cylinder (50504) are installed on the fixed bracket (504), and accommodated inside holds out against bullet Spring (50503), one end of the outer propulsion arm (50501) can be relatively movably inserted in external fixed cylinder (50504), another End is free end, which is in locking state and is compressed in external fixation in fore body buoyant mass (501) of dishing out In cylinder (50504)；The connecting bar locking mechanism (506) includes that release link (50601), back-moving spring (50602) and release are convex It takes turns (50603), which is connected to the output end of the DC motor driver (507), in release cam (50603) two sides are equipped with the release link (50601), and one end of the release link (50601) of every side is articulated with described On fixed bracket (504), the other end is folding end, passes through back-moving spring between the release link (50601) of two sides (50602) it is connected；The bar that is locked (50101) is in locking state and is discharged by two sides in fore body buoyant mass (501) of dishing out Connecting rod (50601) other end is inserted into and is stuck in the end, and DC motor driver (507) driving release cam (50603) turns It is dynamic, drive release link (50601) described in two sides to open outside, the fore body dishes out buoyant mass (501) by holding out against spring (50503) Elastic force be spilled over, release link described in two sides (50601) passes through the elastic reset of back-moving spring (50602).

11. the mechanical arm type of underwater robot lays recovery system according to claim 10, it is characterised in that: the locking One end of fixed link (50101) is connected to fore body and dishes out on buoyant mass (501), and the other end is conical head (50102), and diameter is small One end is towards the ontology (502)；The other end of release link described in two sides (50601) is formed with lead-in groove (50716), described Conical head (50102) is in locking state and is inserted by lead-in groove (50716) in fore body buoyant mass (501) of dishing out, and diameter is big One end is stuck in lead-in groove (50716) medial end, locks the fore body and dishes out buoyant mass (501).

12. the mechanical arm type of underwater robot lays recovery system according to claim 11, it is characterised in that: the importing The axial cross section of slot (50716) is tapered, and the small one end of diameter is towards inside；The conical head (50102) is in insertion lead-in groove (50716) release link (50601) of two sides is pushed out during, the release link (50601) of two sides is in taper It is resetted after head (50102) insertion by back-moving spring (50602), the one end and taper for keeping the lead-in groove (50716) diameter small The big one end end face clamping of head (50102) diameter.

13. the mechanical arm type of underwater robot lays recovery system according to claim 10, it is characterised in that: the fore body The side of buoyant mass of dishing out (501) towards ontology (502) offers locking limit pin hole (50103), the fixed bracket (504) Upper correspondence is equipped with locking limit pin shaft (50105), which dishes out buoyant mass in the fore body (501) it is fixed in locking state insertion locking limit pin hole (50103).

14. the mechanical arm type of underwater robot lays recovery system according to claim 10, it is characterised in that: the outside Fixed cylinder (50504) is hollow structure, and one end is fixed on the fixed bracket (504), and it is convex that the inside of the other end is equipped with fixation One end of platform (50505), the outer propulsion arm (50501) is provided in the axial direction with guide pin hole (50507)；It is described to hold out against spring (50503) one end is set on fixing lug boss (50505) and fixed, one end of the other end and the outer propulsion arm (50501) End abutment；The fixing lug boss (50505) fore body dish out buoyant mass (501) be in locking state insertion guide pin hole (50507) in.

15. the mechanical arm type of underwater robot lays recovery system according to claim 10, it is characterised in that: described in two sides Release link (50601) is symmetrical arranged, and one end is articulated with the fixed bracket (504) by connecting rod fixed screw rod (50605) On, and it is fixed by connecting rod fixture nut (50606)；Spacing between release link described in two sides (50601) one end is greater than another Spacing between one end.

16. the mechanical arm type of underwater robot lays recovery system according to claim 10, it is characterised in that: the direct current Motor driver (507) is connected by screw-type face pin shaft (50707) with release cam (50603), the screw-type face pin shaft (50707) lower part is quartet connection type face (507071), and top is cylinder (507072) and is formed with external screw thread, the screw thread The cylinder on type face pin shaft (50707) top is passed through by release cam (50603), and is released by locking nut B (50706) by described Cam (50603) is put to be fixedly clamped.

17. the mechanical arm type of underwater robot lays recovery system according to claim 10, it is characterised in that: the direct current Motor driver (507) includes top type face transmission limit jacking block (50701), screw-type face pin shaft (50707), end seal end Cover (50708), shaft end seal end cap (50709), the outer fixed cylinder (50712) of driver and driving motor (50713), the driver Outer fixed cylinder (50712) is fixed on fixed bracket (504), and upper and lower ends are sealedly connected with shaft end seal end cap respectively (50709) and end seal end cap (50708), the driving motor (50713) are mounted on the outer fixed cylinder (50712) of driver It is internal；The lower end of top type face transmission limit jacking block (50701) and shaft end seal end cap (50709) sealing are rotatablely connected, And be connected with the output shaft of the driving motor (50713), the upper end of top type face transmission limit jacking block (50701) passes through institute Screw-type face pin shaft (50707) is stated to be connected with release cam (50603).

18. the mechanical arm type of 7 underwater robots lays recovery system according to claim 1, it is characterised in that: the top The upper end of type face transmission limit jacking block (50701) offers type face link slot (50718), with screw-type face pin shaft (50707) lower end type face connection；The upper end outer edge of the shaft end seal end cap (50709) is along the circumferential direction evenly equipped with multiple Convex screw fixed station (50719) and multiple recessed screw fixing grooves (50720), each convex screw fixed station (50719) And recessed screw fixing groove (50720) arranged for interval, it is solid that screw is offered on each convex screw fixed station (50719) Determine hole (50717).