CN213442969U - Foldable recovery device for underwater robot - Google Patents
Foldable recovery device for underwater robot Download PDFInfo
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- CN213442969U CN213442969U CN202022201252.4U CN202022201252U CN213442969U CN 213442969 U CN213442969 U CN 213442969U CN 202022201252 U CN202022201252 U CN 202022201252U CN 213442969 U CN213442969 U CN 213442969U
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Abstract
The utility model relates to a foldable recovery device for underwater robots, which comprises a mesh grid and a foldable frame arranged at the opening end of the mesh grid, wherein the foldable frame is a polygon, an elbow is arranged at each vertex of the polygon, and two ends of each edge of the polygon are respectively hinged with two adjacent elbows; the connector, the connecting pipe and the connector of the side connecting pipe with the sleeve are sequentially welded and then hinged with the elbow, and the connector, the connecting pipe and the connector of the side connecting pipe without the sleeve are sequentially welded and then hinged with the elbow; the connecting pipe connector on the side of the belt sleeve is flexibly connected with the connecting pipe connector on the side of the non-sleeve through a connecting rope, a fixing sleeve is sleeved on the connecting pipe connector on the side of the belt sleeve, and the fixing sleeve is fixedly connected with the connecting pipe connector on the side of the non-sleeve after being moved to the position where the connecting pipe connector on the side of the non-sleeve is inserted, so that the connecting pipe connector on the side of the belt sleeve is rigidly connected with the connecting pipe connector on the side of the non. The utility model has the characteristics of portable, collapsible, easy and simple to handle, low cost.
Description
Technical Field
The utility model belongs to ocean robot retrieves the field, and specifically speaking is a collapsible recovery unit for underwater robot.
Background
In recent years, the country has increased the investment in ocean exploration and research, and various types of ocean robots, whether the types or the number of the ocean robots, reach unprecedented scales, including ROVs (remote-controlled underwater robots), AUVs (autonomous underwater robots), ARVs (autonomous remote controls), gliders, and the like. Various ocean robots are high-precision equipment which is researched and developed by scientific researchers by spending a large amount of manpower, material resources and financial resources, and the safe recovery of the ocean robots after ocean exploration is very important. At present, the recovery of the marine robot is mainly carried out in the following ways:
(1) the combined recovery mode of the fishing rod, the fishing ring and the nylon rope is as follows: the recovery equipment in the mode needs a sea condition below three levels, a mother ship is highly matched with personnel, the recovery is completed by manpower or matching of a crane and a winch after the equipment is sleeved by a salvaging ring, the investment of personnel is large, and the risk coefficient is high; in addition, the recovery equipment in the mode is greatly influenced by the appearance structure of the equipment, and has no universality.
(2) The mother ship is followed manpower recovery equipment to the skiff: the mode is a recovery mode which has to be adopted under the extremely severe sea conditions, the mother ship approaches to recovery and can cause impact on equipment, the non-recovery can cause loss of assets, and even political outturn problems can be caused in some sensitive areas; the method has extremely high comprehensive quality requirements on experimenters, and the risk level is self-evident.
(3) Clamping and recovering device: the clamping recovery device needs the cooperation of a hydraulic system, so that more limitation requirements are required for a recovered mother ship, and the use cost is high; moreover, the marine high-salt and high-humidity environment has extremely high requirements on the reliability of a hydraulic system, and once a certain link has a problem, the recovery is failed, and the loss cannot be estimated; in addition, the recycling in this manner is greatly affected by the overall size and structure of the apparatus itself, and is not versatile.
At present, the existing recovery scheme has many defects in practical use and has limitations.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem that the recovery of scientific investigation equipment on the current marine scientific investigation ship is difficult, personnel's operation danger coefficient is big, boats and ships porthole is high, sea condition is abominable, the utility model aims to provide a collapsible recovery unit for underwater robot. The recovery device is suitable for recovering small underwater robots, and all functional components are matched with each other and are simply and freely collected and released.
The purpose of the utility model is realized through the following technical scheme:
the utility model comprises a mesh grid and a foldable frame arranged at the opening end of the mesh grid, wherein the foldable frame is a polygon, an elbow is arranged at each vertex of the polygon, each side of the polygon has the same structure, and two ends of each side are respectively hinged with two adjacent elbows; each side of the polygon comprises a connector, a connecting pipe connector with a sleeve side, a fixed sleeve, a connecting rope and a connecting pipe connector without a sleeve side, one end of the connecting pipe connector with the sleeve side is connected with one end of one connecting pipe, the other end of the connecting pipe is connected with one end of one connector, and the other end of the connecting pipe is hinged with the elbow; one end of the connecting head of the connecting pipe without the sleeve pipe side is connected with one end of the other connecting pipe, the other end of the other connecting pipe is connected with one end of the other connecting head, and the other end of the other connecting head is hinged with the other adjacent elbow; the other end of the connecting pipe connector at the side of the belt sleeve is flexibly connected with the other end of the connecting pipe connector at the side without the sleeve through a connecting rope, a fixing sleeve capable of moving relatively is sleeved on the connecting pipe connector at the side of the belt sleeve, and the fixing sleeve moves until the connecting pipe connector at the side without the sleeve is inserted and then is fixedly connected with the connecting pipe connector at the side without the sleeve, so that the other end of the connecting pipe connector at the side of the belt sleeve is rigidly connected with the other end of the connecting pipe connector at the side without the sleeve; each side of the polygon is connected with the opening end of the mesh grid.
Wherein: the inside of elbow is equipped with and supplies connector male recess, the both ends of this recess all opened with connector articulated connecting hole A, still opened lifting eye on the elbow.
The elbow is connected with the connector through a bolt, and the connector is arranged in the groove and performs 90-degree rotary motion by taking the bolt as the center, so that folding is realized.
One end of the connector is a column, the other end of the connector is a flat block, and a connecting hole B hinged with the elbow is formed in the flat block; the cylinder is a stepped shaft, and a groove A welded with the other end of the connecting pipe is arranged at the diameter-changing position of the cylinder.
The connecting pipe is of a hollow tubular structure, and two ends of the connecting pipe are provided with grooves B used for welding with the connectors and the connectors of the connecting pipe with the sleeve side.
Take sleeve pipe side connecting pipe connector to be equipped with along the axial respectively and be used for injecing fixed sleeving mobility scope and with fixed sleeving's jump ring groove and arch, the one end of taking sleeve pipe side connecting pipe connector be equipped with be used for with connecting pipe welded groove C, the other end seted up be used for with connecting rope threaded connection's screw hole A.
The fixed sleeve is of a hollow tubular structure, an opening for fixing the sleeve-free side connecting pipe connector is formed in the fixed sleeve, and the opening is formed from one end part close to the sleeve-free side connecting pipe connector, is formed along the axial direction firstly, is formed along the radial direction secondly and is formed along the axial direction reversely finally.
One end of the connecting head of the sleeve-free side connecting pipe is provided with a groove D used for being welded with the connecting pipe, the other end of the connecting head of the sleeve-free side connecting pipe is provided with a threaded hole C used for being in threaded connection with the connecting rope, and the connecting head of the sleeve-free side connecting pipe is provided with a threaded hole B used for being fixed with the fixing sleeve.
Each edge of the polygon is provided with a lantern ring used for being connected with the woven net. The polygon is a regular polygon, preferably a square.
The utility model discloses an advantage does with positive effect:
1. the folding type solar energy water heater can be folded: the utility model provides a frame adopts folding mechanical structure, and the folding frame of recovery unit is 3000 mm's of length of side square structure after expanding, is diameter 400mm after folding, and height 1600 mm's cylinder structure is convenient for transport and deposits.
2. The operation is simple: the utility model discloses a folding and expansion action only need operate a part "fixed sleeve" and can accomplish, to the user, recovery unit easy operation accepts the study easily.
3. The cost is low: the metal structure in the utility model is made of 316 materials, the process required by the part processing is simple, and the universal parts are designed and utilized to the maximum extent, so that the types of the parts are reduced, and the manufacturing cost is low; the fragile structure of the utility model is a woven net which is easy to repair and has low later use and maintenance cost; the utility model discloses manpower and materials that at the during operation input are low, reduce use cost.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic structural view of the woven mesh of the present invention;
FIG. 3A is a schematic structural view of the connection joint with the sleeve side connection pipe, the fixed sleeve, the connection rope and the connection joint without the sleeve side connection pipe of the present invention, which is changed from flexible connection to rigid connection;
FIG. 3B is a schematic structural view of the connecting joint with the casing side connecting pipe, the fixed casing, the connecting rope and the connecting joint without the casing side connecting pipe of the present invention after rigid connection by flexible connection;
FIG. 4 is a partial enlarged view of the elbow and the joint of the present invention;
fig. 5A is a schematic perspective view of the elbow of the present invention;
fig. 5B is a front sectional view of the elbow of the present invention;
FIG. 5C is a right side view of FIG. 5B;
fig. 6A is a schematic perspective view of the connector of the present invention;
fig. 6B is a front view of the connector of the present invention;
FIG. 6C is a cross-sectional view A-A of FIG. 6B;
fig. 7 is a sectional view of the connecting tube of the present invention;
FIG. 8A is a cross-sectional view of the structure of the connecting joint with the side connecting pipe of the casing of the present invention;
FIG. 8B is a partial enlarged view of the portion B in FIG. 8A;
fig. 9A is a schematic perspective view of the fixing sleeve of the present invention;
fig. 9B is a front view of the fixing sleeve according to the present invention;
FIG. 9C is a cross-sectional view C-C of FIG. 9B;
FIG. 9D is a top view of FIG. 9B;
FIG. 10 is a sectional view of the connecting joint of the connecting tube without the casing side according to the present invention;
wherein: 1 is an elbow, 101 is a connecting hole A, 102 is a lifting hole, 103 is a groove, and 104 is an inclined plane; 2, a connector is shown, 201 is a flat block, 202 is a connecting hole B, 203 is a groove A, and 204 is a column; 3 is a connecting pipe, and 301 is a groove B; 4, a connecting pipe connector with a sleeve side, 401, 402, a clamp spring groove and 403, wherein the connecting pipe connector is a threaded hole A; 5 is a fixed sleeve, 501 is an opening; 6 is a connecting rope; 7, a connecting pipe connector at the side without a sleeve pipe, 701, 702 and 703 are groove D, threaded hole B and threaded hole C respectively; 8 is a lantern ring; 9 is a woven net.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, fig. 2, fig. 3A, fig. 3B and fig. 4, the utility model discloses a mesh grid 9 and install in the collapsible frame of this mesh grid 9 open end, wherein collapsible frame is the polygon, and every apex of polygon all is equipped with elbow 1, and every limit structure of polygon is the same, and the both ends on every limit are articulated with two adjacent elbows 1 respectively. Each polygonal side comprises a connector 2, a connecting pipe 3, a connecting pipe connector 4 with a sleeve side, a fixing sleeve 5, a connecting rope 6 and a connecting pipe connector 7 without a sleeve side, one end of the connecting pipe connector 4 with the sleeve side is connected with one end of one connecting pipe 3, the other end of the connecting pipe 3 is connected with one end of one connector 2, and the other end of the connector 2 is hinged to the elbow 1. One end of the connecting pipe connector 7 at the non-sleeve side is connected with one end of another connecting pipe 3, the other end of the other connecting pipe 3 is connected with one end of another connector 2, and the other end of the other connector 2 is hinged with the other adjacent elbow 1. The other end of taking sleeve side connecting pipe connector 4 and the other end of no sleeve side connecting pipe connector 7 realize flexonics through being connected rope 6, the cover is equipped with but relative movement's fixed sleeve 5 on taking sleeve side connecting pipe connector 4, this fixed sleeve 5 removes to no sleeve side connecting pipe connector 7 and inserts the back, with this no sleeve side connecting pipe connector 7 rigid coupling, and then realize taking the other end of sleeve side connecting pipe connector 4 and the other end rigid connection of no sleeve side connecting pipe connector 7. Each side of the polygon is connected with the opening end of the mesh grid 9, in this embodiment, a collar 8 is arranged on each side of the polygon, and the collar 8 is connected with the port of the mesh grid 9.
As shown in fig. 5A to 5C, the inner side of the elbow 1 of the present embodiment is provided with a groove 103 for inserting the connection head 2, and both ends of the groove 103 are opened with connection holes a101 hinged with the connection head 2. The elbow 1 is further provided with a lifting hole 102, the lifting hole 102 is arranged on the arc section of the elbow 1, and the lifting hole 102 can be tied with lifting belts with equal length. The elbow 1 of the embodiment is connected with the connector 2 through a bolt, and the connector 2 performs 90-degree rotation movement in the groove 103 by taking the bolt as a center, so that folding is realized.
As shown in fig. 6A to 6C, in this embodiment, one end of the connector 2 is a column 204, the other end is a flat block 201, the column 204 is a stepped shaft, when the connector is connected to the connecting pipe 3, the column 204 is inserted into the connecting pipe 3, and a bevel a203 welded to the other end of the connecting pipe 3 is provided at a diameter-variable portion of the column 204. The top of the flat block 201 is arc-shaped, the front and back surfaces are both planes, and the thickness of the flat block 201 is smaller than the diameter of the cylinder 204; the flat block 201 is provided with a connecting hole B202 hinged with the elbow 1, when the connector 2 is connected with the elbow 1, the flat block 201 is inserted into the groove 103 at one end of the elbow 1 and penetrates through the connecting hole A101 on the elbow 1 and the connecting hole B202 on the flat block 201 through a pin shaft.
As shown in fig. 7, the connecting pipe 3 of the present embodiment is a hollow round pipe structure, and both ends of the connecting pipe are provided with grooves B301 for welding with the connector 2 and the connecting pipe connector 4 with the sleeve side.
As shown in fig. 8A and 8B, the connecting joint 4 with the casing side of the present embodiment is provided with a jump ring groove 402 and a protrusion 403 along the axial direction, respectively, for limiting the moving range of the fixing casing 5 and fixing the fixing casing 5, the one end of the connecting joint 4 with the casing side is a reducing end, that is, the diameter of the one end of the connecting joint 4 with the casing side is smaller than the diameter of other parts, a groove C401 for welding with the connecting pipe 3 is provided at the reducing position of the connecting joint 4 with the casing side, the small end is inserted into the connecting pipe 3 when being connected with the connecting pipe 3, and a threaded hole a404 for connecting with the connecting rope 6 is provided at the other end of the connecting joint 4 with the casing side.
As shown in fig. 9A to 9D, the fixing sleeve 5 of the present embodiment is a hollow circular tubular structure, and the inner diameter is larger than the diameter of the connecting tube connector 4 with the sleeve side and the connecting tube connector 7 without the sleeve side; the fixed sleeve 5 is provided with an opening 501 for fixing with the connecting pipe connector 7 at the non-sleeve side, and the opening 501 is formed from the end part close to one end of the connecting pipe connector 7 at the non-sleeve side, and is formed along the axial direction, then along the radial direction, and finally along the axial direction in the reverse direction.
As shown in fig. 10, one end of the connection joint 7 of the connection pipe on the non-sleeve side in this embodiment is a reducing end, that is, the diameter of one end of the connection joint 7 of the connection pipe on the non-sleeve side is smaller than the diameters of other parts, a groove D701 for welding with the connection pipe 3 is provided at the reducing position of the connection joint 7 of the connection pipe on the non-sleeve side, the end with the small diameter is inserted into the connection pipe 3 when being connected with the connection pipe 3, a threaded hole C703 for threaded connection with the connection rope 6 is provided at the other end of the connection joint 7 of the connection pipe on the non-sleeve side, and a threaded hole B702 for fixing with the.
The utility model discloses a polygon is regular polygon, and this embodiment is the preferred square.
The utility model discloses an installation and theory of operation do:
taking the foldable frame of the embodiment as a square as an example, the four posts 204 with the grooves a203 of the connectors 2 are respectively connected with the grooves B301 at the other ends of the four connecting pipes 3 in a socket welding manner to form four groups with the code a; connecting grooves B301 at one end of four groups of intra-group connecting pipes 3 with the code A with grooves C401 on a connecting pipe connector 4 with a sleeve side together in a socket welding mode to form a group with the code B; sleeving the fixed sleeve 5 into the group B through one side of the connector 2 in the group with the code B to form four groups with the code C; when the fixing sleeve 5 is inserted, the end with the opening 501 is used as a first end, and the connecting pipe connector 4 with the sleeve side is provided with the clamp spring groove 402, the protrusion 403 and the threaded hole a404, so that the fixing sleeve 5 is limited to move and be fixed in a set range on a group with the code B and cannot fall off.
The four connectors 2 are respectively connected with the grooves B301 at the other ends of the four connecting pipes 8 in a socket welding mode to form four groups with the code of D, and the grooves B301 at one ends of the four groups with the code of D in the connecting pipes 3 and the grooves D701 on the connecting pipe connector 7 at the non-sleeve side are connected together in a socket welding mode to form four groups with the code of E.
Forming four groups of E and C into four groups of F flexible connection groups (as shown in FIG. 3A) by connecting ropes 6, sliding the fixed sleeve 5 to one side of the groups of E along the groups of B and the connecting ropes 6, and converting the four groups of F flexible connection groups into rigid connection groups (as shown in FIG. 3B); then, the fixing sleeve 5 is fixed to the sleeveless side joint pipe connector 7 by inserting bolts into the screw hole B702 of the sleeveless side joint pipe connector 7 and the opening 501 of the fixing sleeve 5.
The lantern rings 8 are evenly sleeved on four rigid connection groups with the code number of F to form four rigid middle groups with the code number of G.
Four elbows 1 are connected with four connectors 2 in the rigid middle group with the code G by pin shafts to form a foldable frame with the code H, as shown in figures 1 and 4.
Finally, the nylon mesh grid 9 is connected with a foldable frame with the code number of H through a lantern ring 8 to form a final foldable recovery device for the underwater robot with the code number of I; the mesh grid 10 has a square opening structure of a predetermined size, a 50mm rectangular grid structure, and a reinforcing structure at the joint.
When the foldable recovery device is used, lifting holes 102 in four elbows 1 are tied with equal-length lifting straps, a ship side deck crane is used for lifting the foldable recovery device, a mother ship runs to a position about 50 meters away from the offshore recovery device, a crane is used for lowering the recovery device to a position where a foldable frame enters the position 100cm below the water surface, the mother ship runs at a speed about one section and slowly approaches until the equipment to be recovered enters the foldable recovery device, the lifting holes are slowly lifted to the upper side of the deck and slowly descends, and recovery is completed.
The utility model discloses a collapsible design theory provides a recovery unit for portable, collapsible, easy and simple to handle, low cost's underwater robot, can reach the work load that reduces marine staff, reduce marine staff's danger coefficient, improve equipment recovery's success rate, promote recovery unit's friendship degree, improve effect such as customer's use satisfaction. The utility model discloses structural configuration is novel unique, compact, work safe and reliable, can satisfy small-size underwater robot's marine demand of retrieving.
Claims (10)
1. The utility model provides a collapsible recovery unit for underwater robot which characterized in that: the foldable frame is polygonal, an elbow (1) is arranged at each vertex of the polygon, each side of the polygon is identical in structure, and two ends of each side are respectively hinged with two adjacent elbows (1); each side of the polygon comprises a connector (2), a connecting pipe (3), a connecting pipe connector (4) with a pipe side, a fixed sleeve (5), a connecting rope (6) and a connecting pipe connector (7) without a pipe side, one end of the connecting pipe connector (4) with the pipe side is connected with one end of one connecting pipe (3), the other end of the connecting pipe (3) is connected with one end of one connector (2), and the other end of the connector (2) is hinged with the elbow (1); one end of the connecting pipe connector (7) at the side without the sleeve is connected with one end of the other connecting pipe (3), the other end of the other connecting pipe (3) is connected with one end of the other connector (2), and the other end of the other connector (2) is hinged with the other adjacent elbow (1); the other end of the connecting pipe connector (4) with the sleeve side is flexibly connected with the other end of the connecting pipe connector (7) without the sleeve side through a connecting rope (6), a fixing sleeve (5) capable of moving relatively is sleeved on the connecting pipe connector (4) with the sleeve side, the fixing sleeve (5) moves until the connecting pipe connector (7) without the sleeve side is inserted, and is fixedly connected with the connecting pipe connector (7) without the sleeve side, and then the other end of the connecting pipe connector (4) with the sleeve side is rigidly connected with the other end of the connecting pipe connector (7) without the sleeve side; each side of the polygon is respectively connected with the opening end of the mesh grid (9).
2. The foldable recovery device for underwater robots according to claim 1, characterized in that: the inner side of the elbow (1) is provided with a groove (103) for inserting the connector (2), two ends of the groove (103) are provided with connecting holes A (101) hinged with the connector (2), and the elbow (1) is also provided with lifting holes (102).
3. The foldable recovery device for underwater robots according to claim 2, characterized in that: elbow (1) and connector (2) pass through bolted connection, and this connector (2) are in use the bolt to carry out 90 rotary motion as the center in recess (103), realize folding.
4. The foldable recovery device for underwater robots according to claim 1, characterized in that: one end of the connector (2) is a column (204), the other end of the connector is a flat block (201), and a connecting hole B (202) hinged with the elbow (1) is formed in the flat block (201); the column body (204) is a stepped shaft, and a groove A (203) welded with the other end of the connecting pipe (3) is arranged at the diameter-variable position of the column body (204).
5. The foldable recovery device for underwater robots according to claim 1, characterized in that: connecting pipe (3) are cavity tubular structure, both ends all be equipped with be used for with connector (2) and take sleeve side connecting pipe connector (4) welded groove B (301).
6. The foldable recovery device for underwater robots according to claim 1, characterized in that: take sleeve side connecting pipe connector (4) to be equipped with along the axial respectively and be used for injecing anchor sleeve (5) moving range and with fixed jump ring groove (402) and protruding (403) that anchor sleeve (5) are fixed, the one end of taking sleeve side connecting pipe connector (4) is equipped with be used for with connecting pipe (3) welded groove C (401), the other end seted up be used for with connecting rope (6) threaded connection's screw hole A (404).
7. The foldable recovery device for underwater robots according to claim 1, characterized in that: the fixed sleeve (5) is of a hollow tubular structure, an opening (501) for fixing the sleeve-free side connecting pipe connector (7) is formed in the fixed sleeve, the opening (501) is formed from one end part close to the sleeve-free side connecting pipe connector (7), and the opening is formed axially, radially and reversely.
8. The foldable recovery device for underwater robots according to claim 1, characterized in that: one end of the sleeve-free side connecting pipe connector (7) is provided with a groove D (701) used for being welded with the connecting pipe (3), the other end of the sleeve-free side connecting pipe connector is provided with a threaded hole C (703) used for being in threaded connection with the connecting rope (6), and a threaded hole B (702) used for being fixed with the fixing sleeve (5) is arranged on the sleeve-free side connecting pipe connector (7).
9. The foldable recovery device for underwater robots according to claim 1, characterized in that: each edge of the polygon is provided with a lantern ring (8) which is connected with a woven net (9).
10. The foldable recovery device for underwater robots according to claim 1, characterized in that: the polygon is a regular polygon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022201252.4U CN213442969U (en) | 2020-09-30 | 2020-09-30 | Foldable recovery device for underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022201252.4U CN213442969U (en) | 2020-09-30 | 2020-09-30 | Foldable recovery device for underwater robot |
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| CN213442969U true CN213442969U (en) | 2021-06-15 |
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| CN202022201252.4U Active CN213442969U (en) | 2020-09-30 | 2020-09-30 | Foldable recovery device for underwater robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112224341A (en) * | 2020-09-30 | 2021-01-15 | 中国科学院沈阳自动化研究所 | Foldable recovery device for underwater robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112224341A (en) * | 2020-09-30 | 2021-01-15 | 中国科学院沈阳自动化研究所 | Foldable recovery device for underwater robot |
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