CN208602675U - Underwater robot lays the shooting rope mechanism of recovery system - Google Patents

Underwater robot lays the shooting rope mechanism of recovery system Download PDF

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Publication number
CN208602675U
CN208602675U CN201821305283.0U CN201821305283U CN208602675U CN 208602675 U CN208602675 U CN 208602675U CN 201821305283 U CN201821305283 U CN 201821305283U CN 208602675 U CN208602675 U CN 208602675U
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China
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fixed
fore
screw
type
buoyant mass
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CN201821305283.0U
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尹远
徐会希
张洪彬
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Abstract

The utility model relates to the shooting rope mechanism that a kind of underwater robot lays recovery system, ontology is mounted on underwater robot, is connect by shooting rope hawser and fore body buoyant mass of dishing out, and fore body buoyant mass of dishing out towards the side of ontology is equipped with the bar that is locked;External fixed cylinder is installed on fixed bracket, and accommodated inside holds out against spring, and one end of outer propulsion arm is inserted in external fixed cylinder, and the other end is free end, and outer propulsion arm is in locking state and is compressed in external fixed cylinder in fore body buoyant mass of dishing out;Release cam is connected to the output end of DC motor driver, is equipped with release link in the two sides of release cam, and one end of every side release link is articulated on fixed bracket, and the other end is folding end, is connected between the release link of two sides by back-moving spring.The structure design of the utility model is reasonable, and integrated level is high, it can be achieved that high automation, few peopleization operation, have largely liberated manpower, simplified the scale of supporting team 5.

Description

Underwater robot lays the shooting rope mechanism of recovery system
Technical field
The utility model belongs to underwater robot field, and specifically a kind of underwater robot lays the throwing of recovery system Restrict mechanism.
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, recycling is only swung;The recovery method, which solves ship hook bring dangerous problem, method under someone, to be made With cost is relatively low;But the problem of there are severe sea conditions to be difficult to realize, and versatility is not strong, and more peopleization operate.
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 Kind underwater robot lays the shooting rope mechanism of recovery system.
The purpose of this utility model is achieved through the following technical solutions:
The utility model includes that fore body dishes out and buoyant mass, ontology and is separately mounted to the intrinsic shooting rope hawser, fixation Bracket, spring top clamping extrapolation supporting mechanism, connecting bar locking mechanism and DC motor driver, wherein ontology is mounted on underwater It on people, is connect by shooting rope hawser and the fore body buoyant mass of dishing out, the dish out side of buoyant mass towards ontology of the fore body is equipped with Be locked bar;The spring top clamping extrapolation supporting mechanism includes outer propulsion arm, holds out against spring and external fixed cylinder, and the outside is admittedly Safety barrel is installed on the fixed bracket, and accommodated inside holds out against spring, and one end of the outer propulsion arm can relatively movably insert In external fixed cylinder, the other end is free end, which is in locking state and is compressed in fore body buoyant mass of dishing out In external fixed cylinder;The connecting bar locking mechanism includes release link, back-moving spring and release cam, release cam connection In the output end of the DC motor driver, it is equipped with the release link in the two sides of release cam, the release of every side connects One end of bar is articulated on the fixed bracket, and the other end is folding end, passes through tension bullet between the release link of two sides Spring is connected;The bar that is locked is in locking state and is inserted into and is blocked by the two sides release link other end in fore body buoyant mass of dishing out At the end, the DC motor driver driving release cam rotation drives and opens outside release link described in two sides, the fore body is thrown Buoyant mass is spilled over by holding out against the elastic force of spring out, the elastic reset that release link passes through back-moving spring described in two sides;
Wherein: 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, and diameter is small One end 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 in fore body Buoyant mass 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 It 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;
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;
Guidance tape is equipped between the lower end and shaft end seal end cap of top type face transmission limit jacking block.
The advantages of the utility model and good effect are as follows:
1. the structure design of the utility model is reasonable, integrated level is high, it can be achieved that high automation, few peopleization operate, in very great Cheng Manpower has been liberated on degree, has simplified the scale of supporting team 5.
2. 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 schematic perspective view of the utility model;
Fig. 2 is the stereochemical structure cross-sectional view of the utility model spring top clamping extrapolation supporting mechanism;
Fig. 3 is the structure top view of the utility model connecting bar locking mechanism;
Fig. 4 is the structure sectional view of the utility model DC motor driver;
Fig. 5 is the schematic perspective view of screw-type face pin shaft in Fig. 4;
Fig. 6 is the schematic perspective view of the utility model DC motor driver;
Fig. 7 is the working state figure that the utility model is applied on underwater robot;
Wherein: 1 dishes out buoyant mass for fore body, and 101 be the bar that is locked, and 102 be conical head, and 103 be locking limit pin hole, 104 be lifting bolt, and 105 be locking limit pin shaft;
2 be ontology, and 3 be shooting rope hawser, and 4 be fixed bracket;
5 be spring top clamping extrapolation supporting mechanism, and 501 be outer propulsion arm, and 502 be boss, and 503 is hold out against spring, and 504 be outer Portion's fixed cylinder, 505 be fixing lug boss, and 506 be screw A, and 507 be guide pin hole;
6 be connecting bar locking mechanism, and 601 be release link, and 602 be back-moving spring, and 603 be release cam, and 604 be screw B, 605 fix screw rod for connecting rod, and 606 be connecting rod fixture nut;
7 be DC motor driver, and 701 be top type face transmission limit jacking block, and 702 be screw C, and 703 be guidance tape, 704 be O-ring seal, and 705 be static sealing ring A, and 706 be locking nut, and 707 be screw-type face pin shaft, and 7071 be quartet connection Type face, 7072 be cylinder, and 708 be end seal end cap, and 709 be shaft end seal end cap, and 710 be screw thread pair, and 711 be screw D, 712 be the outer fixed cylinder of driver, and 713 be driving motor, and 714 be static sealing ring B, and 715 be screw E, and 716 be lead-in groove, and 717 are Screw fixed hole, 718 be type face link slot, and 719 be convex screw fixed station, and 720 be recessed screw fixing groove;
8 be lash ship, and 9 be mechanical arm, and 10 be elevator Zhi Dang mechanism, and 11 be underwater robot, and 12 be shooting rope mechanism, and 13 be company Fishplate bar, 14 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 that fore body is dished out and buoyant mass 1, ontology 2 and is separately mounted in the ontology 2 Shooting rope hawser 3, fixed bracket 4, spring top clamping extrapolation supporting mechanism 5, connecting bar locking mechanism 6 and DC motor driver 7, wherein Ontology 2 is mounted on underwater robot 11, is connect by shooting rope hawser 3 and fore body buoyant mass 1 of dishing out, and fore body is dished out buoyant mass 1 It is locked in locking state by connecting bar locking mechanism 6.
As shown in Figure 1 and Figure 2, fore body is dished out, and buoyant mass 1 is whole in pyramidal, and the small one end end face of diameter is arc transition, To reduce resistance in water;Fore body buoyant mass 1 of dishing out is equipped with towards a side surface of ontology 2 and is locked bar 101, locking One end of fixed link 101 is adhered to fore body by epoxy adhesive (such as 502 glue) and dishes out in buoyant mass 1, and the other end is cone Forming head 102, the small one end of diameter are connected towards ontology 2 for locking with connecting bar locking mechanism 6.Fore body is dished out 1 direction of buoyant mass The side surface middle part of ontology 2 is provided in the axial direction with locking limit pin hole 103.It is corresponding on fixed bracket 4 that locking limit is installed Pin shaft 105, the locking limit pin shaft 105 fore body dish out buoyant mass 1 be in locking state insertion locking limit pin hole 103 in into Row limit is fixed.Fore body dish out buoyant mass 1 towards ontology 2 side surface lower portions be equipped with lifting bolt 104, the lifting bolt 104 one end is bonded in fore body by epoxy adhesive and dishes out in buoyant mass 1, and the other end is annular in shape, is used for and shooting rope cable Rope 3 fastens connection.
Spring top clamping extrapolation supporting mechanism 5 includes outer propulsion arm 501, holds out against spring 503 and external fixed cylinder 504, this is outer Portion's fixed cylinder 504 is hollow structure, and one end is fixed on fixed bracket 4 by screw A506, and the inside of the other end is equipped with cylinder The fixing lug boss 505 of shape;One end of outer propulsion arm 501 can be relatively movably inserted in external fixed cylinder 504, and the other end is certainly By holding, one end of outer propulsion arm 501 is equipped with cricoid boss 502.The accommodated inside of outer propulsion arm 501 holds out against spring 503, should The one end for holding out against spring 503 is set in fixing lug boss 505 and fixed, 502 end of boss of the other end and outer 501 one end of propulsion arm Portion abuts.It holds out against spring 503 and holds out against boss 502 to the left, make outer propulsion arm 501 by the thrust continued to the left;When outer pushing tow When bar 501 shifts extreme position onto the left, boss 502 is held out against in limit to fixed bracket 4.One end of outer propulsion arm 501 is along axial direction Guide pin hole 507 is offered, the longitudinal center line of the guide pin hole 507 is conllinear with the longitudinal center line of fixing lug boss 505;When outer Propulsion arm 501 by fore body dish out buoyant mass 1 shift onto flushed with fixed bracket 4 when, fixing lug boss 505 is inserted into guide pin hole 507 Inside, at this point, fore body is dished out, buoyant mass 1 is adjacent to towards 2 one side plane of ontology and 2 left side plane of ontology, conical head 102 and connecting rod Retaining mechanism 6 is locked, and holds out against spring 503 and is in maximum pressured state.
As shown in Figure 1, Figure 3, connecting bar locking mechanism 6 includes release link 601, back-moving spring 602, release cam 603, connects The fixed screw rod 605 of bar and connecting rod fixture nut 606, the release cam 603 are connected to the output end of DC motor driver 7, The two sides of release cam 603 are symmetrically arranged with release link 601, and one end of the release link 601 of every side passes through connecting rod fixed wire Bar 605 is articulated on fixed bracket 4, and fixed by connecting rod fixture nut 606, and the other end of the release link 601 of every side is Open and close end;Spacing between 601 one end of two sides release link is greater than the spacing between the other end.The release link 601 of two sides it Between by back-moving spring 602 be connected.The other end of two sides release link 601 is formed with lead-in groove 716, the axial direction of lead-in groove 716 Section is tapered, and the small one end of diameter is towards inside;Conical head 102 is in locking state by importing in fore body buoyant mass 1 of dishing out Slot 716 is inserted into, and is pushed out the release link 601 of two sides during being inserted into lead-in groove 716, the release link 601 of two sides It is resetted after the insertion of conical head 102 by back-moving spring 602, the one end for keeping 716 diameter of lead-in groove small and conical head 102 are straight The big one end end face clamping of diameter, locking fore body are dished out buoyant mass 1.
As shown in Fig. 1, Fig. 4~6, DC motor driver 7 includes top type face transmission limit jacking block 701, guidance tape 703, O-ring seal 704, static sealing ring A705, locking nut 706, screw-type face pin shaft 707, end seal end cap 708, axis Hold the outer fixed cylinder 712 of end cover 709, driver, driving motor 713 and static sealing ring B714, the outer fixed cylinder 712 of the driver It is fixed on fixed bracket 4, shaft end seal end cap 709 is fixed in the upper end of the outer fixed cylinder 712 of driver, end by screw C702 End end cover 708 is fixed in the lower end of the outer fixed cylinder 712 of driver by screw E715.Driving motor 713 passes through screw D711 is fixed on the internal flange of the outer fixed cylinder 712 of driver.The lower end and shaft end of top type face transmission limit jacking block 701 are close The sealing rotation connection of lid 709 is blocked, is set between the lower end and shaft end seal end cap 709 that top type face is driven limit jacking block 701 There is guidance tape 703, prevents direct pivoting friction between top type face transmission limit jacking block 701 and shaft end seal end cap 709.Driving The output shaft of motor 713 is fixedly connected with the lower end that top type face is driven limit jacking block 701 by screw thread pair 710, top type face The upper end of transmission limit jacking block 701 is connected by screw-type face pin shaft 707 with release cam 603.Under screw-type face pin shaft 707 Portion is quartet connection type face 7071 (i.e. square block), and cylinder 7072 is in top and is formed with external screw thread, on screw-type face pin shaft 707 The cylinder in portion is passed through by release cam 603, and is locked to release cam 603 by a pair of of locking nut 706 setting up and down On screw-type face pin shaft 707, release cam 603 is enable to be directly driven by driving motor 713.Top type face transmission limit jacking block 701 upper end offers rectangular type face link slot 718, connects with the quartet connection type face 7071 of 707 lower end of screw-type face pin shaft It connects.The upper end outer edge of shaft end seal end cap 709 is along the circumferential direction evenly equipped with multiple convex screw fixed stations 719 and multiple recessed Screw fixing groove 720, each convex screw fixed station 719 and recessed 720 arranged for interval of screw fixing groove, each convex screw are fixed Screw fixed hole 717 is offered on platform 719, and DC motor driver 7 is fixed to by fixed bracket by screw fixed hole 717 On 4.
The working principle of the utility model are as follows:
The bar 101 that is locked is in locking state and is formed by 601 other end of two sides release link in fore body buoyant mass 1 of dishing out Lead-in groove 716 insertion and clamping, locking limit pin shaft 105 insertion locking limit pin hole 103 in fixes.At this point, The compression of outer propulsion arm 501 holds out against spring 503, is shifted onto left end by fore body buoyant mass 1 of dishing out and is flushed with fixation bracket 4, fixing lug boss In 505 insertion guide pin holes 507.
As shown in fig. 7, being equipped with mechanical arm 9 on lash ship 8, mechanical arm 9 can connect according to supporting to install provided by lash ship 8 Mouth and flight number demand are neatly installed or removed, to ensure the flight number to the retractable operation of underwater robot 11;Meanwhile Other equipments can be carried out hanging operation.Elevator Zhi Dang mechanism 10 is articulated with the end of mechanical arm 9 by connecting plate 13, simultaneously It is in parallel using the compound damping hydraulic cylinder 14 only swung of roll and trim, in conjunction with the circumferential revolution tuning machine in elevator Zhi Dang mechanism 10 The circumferential revolute function of structure realizes that sideway and trim only swing function.After only swinging movement, roll up using 14 Duis of damping hydraulic cylinder Yang Zhidang mechanism 10 is limited, is locked.Shooting rope mechanism 12 is mounted on the fore body of underwater robot 11, when release, by direct current Machine driver 7 drives release cam 603 to open the release link 601 of two sides, releases the limit to conical head 102;At this point, by Outer propulsion arm 501 is pushed outwardly by the spring 503 that holds out against of compression, and fore body buoyant mass 1 of dishing out is dished out by wave effect.Release The buoyant mass 1 of dishing out of fore body afterwards floats under the action of wave, drives 3 rapid deployment of shooting rope hawser.The release link 601 of two sides Pass through the elastic reset of back-moving spring 602.

Claims (10)

1. the shooting rope mechanism that a kind of underwater robot lays recovery system, it is characterised in that: including fore body dish out buoyant mass (1), Ontology (2) and the shooting rope hawser (3) being separately mounted in the ontology (2), fixed bracket (4), spring top clamping extrapolation supporting mechanism (5), connecting bar locking mechanism (6) and DC motor driver (7), wherein ontology (2) is mounted on underwater robot (11), is passed through Shooting rope hawser (3) and the fore body buoyant mass (1) of dishing out are connect, and the dish out side of buoyant mass (1) towards ontology (2) of the fore body is set Be locked bar (101);Spring top clamping extrapolation supporting mechanism (5) includes outer propulsion arm (501), holds out against spring (503) And external fixed cylinder (504), the outside fixed cylinder (504) are installed on the fixed bracket (4), accommodated inside holds out against spring (503), one end of the outer propulsion arm (501) can be relatively movably inserted in external fixed cylinder (504), and the other end is freely End, the outer propulsion arm (501) are in locking state and are compressed in external fixed cylinder (504) in fore body buoyant mass (1) of dishing out;Institute Stating connecting bar locking mechanism (6) includes release link (601), back-moving spring (602) and release cam (603), the release cam (603) it is connected to the output end of the DC motor driver (7), is equipped with the release in the two sides of release cam (603) Connecting rod (601), one end of the release link (601) of every side are articulated on the fixed bracket (4), and the other end is to open and close end, and two It is connected between the release link (601) of side by back-moving spring (602);The bar that is locked (101) is dished out in fore body Buoyant mass (1) is in locking state and is inserted into and is stuck in the end, the direct current generator driving by two sides release link (601) other end Device (7) drives release cam (603) rotation, and release link (601) described in two sides is driven to open outside, and the fore body is dished out buoyant mass (1) it is spilled over by holding out against the elastic force of spring (503), release link described in two sides (601) passes through the elastic force of back-moving spring (602) It resets.
2. underwater robot lays the shooting rope mechanism of recovery system according to claim 1, it is characterised in that: the locking is solid One end of fixed pole (101) is connected to fore body and dishes out on buoyant mass (1), and the other end is conical head (102), the small one end direction of diameter The ontology (2);The other end of release link described in two sides (601) is formed with lead-in groove (716), and the conical head (102) exists Fore body buoyant mass (1) of dishing out is in locking state and is inserted by lead-in groove (716), and the big one end of diameter is stuck in lead-in groove (716) Medial end locks the fore body and dishes out buoyant mass (1).
3. underwater robot lays the shooting rope mechanism of recovery system according to claim 2, it is characterised in that: the lead-in groove (716) axial cross section is tapered, and the small one end of diameter is towards inside;The conical head (102) is in insertion lead-in groove (716) The release link (601) of two sides is pushed out in the process, the release link (601) of two sides is after conical head (102) insertion It is resetted by back-moving spring (602), the one end and the big one end of conical head (102) diameter for keeping the lead-in groove (716) diameter small End face clamping.
4. underwater robot lays the shooting rope mechanism of recovery system according to claim 1, it is characterised in that: the fore body is thrown The side of buoyant mass (1) towards ontology (2) offers locking limit pin hole (103), corresponding installation on the fixed bracket (4) out Have locking limit pin shaft (105), the locking limit pin shaft (105) the fore body dish out buoyant mass (1) in locking state insert Enter to lock and be fixed in limit pin hole (103).
5. underwater robot lays the shooting rope mechanism of recovery system according to claim 1, it is characterised in that: the outside is solid Safety barrel (504) is hollow structure, and one end is fixed on the fixed bracket (4), and the inside of the other end is equipped with fixing lug boss (505), one end of the outer propulsion arm (501) is provided in the axial direction with guide pin hole (507);It is described to hold out against the one of spring (503) End cap is located on fixing lug boss (505) and fixed, one end end abutment of the other end and the outer propulsion arm (501);It is described solid Determine boss (505) fore body dish out buoyant mass (1) be in locking state insertion guide pin hole (507) in.
6. underwater robot lays the shooting rope mechanism of recovery system according to claim 1, it is characterised in that: released described in two sides It puts connecting rod (601) to be symmetrical arranged, one end is articulated on the fixed bracket (4) by connecting rod fixed screw rod (605), and is passed through Connecting rod fixture nut (606) is fixed;Between spacing between release link described in two sides (601) one end is greater than between the other end Away from.
7. underwater robot lays the shooting rope mechanism of recovery system according to claim 1, it is characterised in that: the direct current Machine driver (7) is connected by screw-type face pin shaft (707) with release cam (603), the lower part of the screw-type face pin shaft (707) For quartet connection type face (7071), top is cylinder (7072) and is formed with external screw thread, the screw-type face pin shaft (707) top Cylinder passed through by release cam (603), and the release cam (603) is fixedly clamped by locking nut (706).
8. underwater robot lays the shooting rope mechanism of recovery system according to claim 1, it is characterised in that: the direct current Machine driver (7) include top type face transmission limit jacking block (701), screw-type face pin shaft (707), end seal end cap (708), The outer fixed cylinder (712) of shaft end seal end cap (709), driver and driving motor (713), the outer fixed cylinder (712) of the driver are solid It connecing on fixed bracket (4), upper and lower ends are sealedly connected with shaft end seal end cap (709) and end seal end cap (708) respectively, The driving motor (713) is mounted on the inside of the outer fixed cylinder (712) of driver;Top type face transmission limit jacking block (701) lower end and shaft end seal end cap (709) sealing is rotatablely connected, and is connected with the output shaft of the driving motor (713), The upper end of top type face transmission limit jacking block (701) passes through screw-type face pin shaft (707) and release cam (603) phase Even.
9. underwater robot lays the shooting rope mechanism of recovery system according to claim 8, it is characterised in that: the top type The upper end of face transmission limit jacking block (701) offers type face link slot (718), the lower end with screw-type face pin shaft (707) The connection of type face;The upper end outer edge of the shaft end seal end cap (709) is along the circumferential direction evenly equipped with multiple convex screw fixed stations (719) and multiple recessed screw fixing grooves (720), each convex screw fixed station (719) and recessed screw fixing groove (720) Arranged for interval offers screw fixed hole (717) on each convex screw fixed station (719).
10. underwater robot lays the shooting rope mechanism of recovery system according to claim 8, it is characterised in that: the top Guidance tape (703) are equipped between the lower end and shaft end seal end cap (709) of type face transmission limit jacking block (701).
CN201821305283.0U 2018-08-14 2018-08-14 Underwater robot lays the shooting rope mechanism of recovery system Active CN208602675U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109869380A (en) * 2019-04-02 2019-06-11 中国船舶科学研究中心(中国船舶重工集团公司第七0二研究所) A kind of double cable control submersible work compound hawser interlocks

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109869380A (en) * 2019-04-02 2019-06-11 中国船舶科学研究中心(中国船舶重工集团公司第七0二研究所) A kind of double cable control submersible work compound hawser interlocks
CN109869380B (en) * 2019-04-02 2020-08-11 中国船舶科学研究中心(中国船舶重工集团公司第七0二研究所) Cable interlocking device for cooperative operation of double-cable-controlled submersible

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