CN215904717U

CN215904717U - Combined type rapid laying and recycling mechanism for marine underwater robot

Info

Publication number: CN215904717U
Application number: CN202121443074.4U
Authority: CN
Inventors: 朱荣; 胡寅; 罗一夫; 沈建文; 曲杰
Original assignee: Kunming University of Science and Technology
Current assignee: Kunming University of Science and Technology
Priority date: 2021-06-28
Filing date: 2021-06-28
Publication date: 2022-02-25
Anticipated expiration: 2031-06-28

Abstract

The utility model discloses a combined type rapid deployment and recovery mechanism of an underwater robot for a ship, belonging to the technical field of deployment and recovery of underwater robots of surface ships, and comprising an underwater robot, a ship plate (A) and a water surface (B), wherein the underwater robot is settled in the water surface B, and robot lifting hooks are arranged on the right side and the top of the underwater robot; firstly, the surface ship can be provided with no crane, and can also lay and recover the underwater robot, thereby reducing the requirements of the underwater robot on the guarantee ship in use, and simultaneously laying and recovering the underwater robot at the wharf side; secondly, the manual threading of the surface ship is rapid and safe, and the threading recovery of the underwater robot hook can be carried out without the help of a small boat approaching the underwater robot; and thirdly, the hoisting and recovery safety is good, the underwater robot can not be damaged generally, and the slideway for hoisting and recovery can also be used for ship surface to carry out robot debugging and assembly, so that the underwater robot is favorable for popularization and application, and can be expanded and applied to fishing and recovery of other underwater articles.

Description

Combined type rapid laying and recycling mechanism for marine underwater robot

Technical Field

The utility model relates to the technical field of underwater robot deployment and recovery of surface ships, in particular to a combined type rapid deployment and recovery mechanism of an underwater robot for a ship.

Background

The underwater robot has the types of ROV, UUV and the like, has wide application, can be used for underwater installation and construction, underwater power supply, detection, communication relay, material supply, emergency rescue, cooperative control and detection salvage, and can be even used for special applications such as underwater fault equipment maintenance, underwater patrol, underwater latent attack and the like, and the popularization degree of the underwater robot represents the ocean equipment application capability level of a country or an enterprise. There are many safety-affecting factors in the use of underwater robots, such as safe deployment and rapid retrieval of the underwater robots from the water surface. When the underwater robot is laid on a water surface ship, a crane on the water surface support ship is used for hoisting and placing the underwater robot into water, and the underwater robot needs to be safely laid into the water and unhooked; when the underwater robot is in poor sea condition or large surge, the boat collides with the underwater robot when approaching the robot, so that the underwater robot is extremely easy to be damaged, particularly a rudder plate or a fin plate of the robot. For the reason that a large underwater robot cannot be hoisted and recovered by a surface ship (or a wharf) without a crane, a combined type rapid deployment and recovery mechanism for the underwater robot for the ship is provided.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a combined type rapid deployment and recovery mechanism for a marine underwater robot, so as to solve the problems in the background technology.

In order to achieve the purpose, the utility model provides the following technical scheme:

a combined type marine underwater robot rapid laying and recycling mechanism comprises an underwater robot, a ship plate (A) and a water surface (B), wherein the underwater robot is settled in the water surface B, a robot lifting hook is installed on the right side and the top of the underwater robot, a ship surface slideway is arranged on the top of the ship plate (A), a water inlet slideway is arranged on the right side of the ship plate (A), a first roller is installed on the inner cavity of the ship surface slideway and the inner cavity of the water inlet slideway, the first roller is in contact with the left side of the underwater robot, a ship board is fixedly connected on the right side of the ship plate (A), a ship board supporting frame is fixedly connected on the right side of the ship board supporting frame, the right side of the ship board supporting frame is connected with the left side of the water inlet slideway, a robot lifting rope is wound on the surface of the robot lifting hook, a steering pulley is installed between the water inlet slideway and the ship surface slideway, a guide pulley is installed on the left side of the top of the ship surface slideway, the utility model discloses a hydraulic lifting machine, including leading pulley, robot lifting rope, automatically controlled hoist engine, boat deck slide, the horizontal fixed knot of the equal fixedly connected with slide in one side that boat deck slide support is adjacent constructs, the inner chamber of first cylinder rotates and is connected with cylinder bracing piece structure, cylinder bracing piece structure and the horizontal fixed knot of slide fixed knot construct fixed connection, two the adjacent equal fixedly connected with slide intermediate structure of one end of the horizontal fixed knot construct of slide.

Preferably, the equal fixedly connected with two side main structures of slide in both sides at the top of the horizontal fixed knot of slide constructs, the equal fixedly connected with cylinder bearing diagonal in both sides of the two side main structure inner chamber of slide, the surface and the first cylinder of cylinder bearing diagonal rotate to be connected, the bottom fixedly connected with slide built-up connection structure of deck slide support.

Preferably, the ship board support frame comprises angle steel or channel steel, the inner cavity fixedly connected with supporting screws of the angle steel or the channel steel, the bottom fixedly connected with supporting pieces of the supporting screws, and the surfaces of the supporting screws and the supporting pieces are all sleeved with rollers.

Preferably, the surface of the robot lifting hook is provided with a lifting hook threading notch, and the inside of the lifting hook threading notch is provided with a lifting hook inner hole structure.

Preferably, the threading apparatus handle is installed at the top of slide of entrying, the right-hand member fixedly connected with threading apparatus end of threading apparatus handle, the stay cord stiff end is installed on the right side of threading apparatus end, the left side fixedly connected with stay cord fixed knot on threading apparatus handle surface constructs, the stay cord guide way has been seted up on the right side of threading apparatus end, the inner chamber of stay cord guide way runs through to install wears the rope.

Preferably, the structure of deck slide and income water slide is unanimous, all contains two side main structures of slide, cylinder bracing piece structure, slide intermediate structure, cylinder bearing diagonal and slide built-up connection structure, just lifting hook threading notch installs at top, the place ahead or the rear of underwater robot, and the notch of lifting hook threading notch upwards or backward.

Compared with the prior art, the utility model has the beneficial effects that:

firstly, the surface ship can be provided with no crane, and can also lay and recover the underwater robot, thereby reducing the requirements of the underwater robot on the guarantee ship in use, and simultaneously laying and recovering the underwater robot at the wharf side;

secondly, the manual threading of the surface ship is rapid and safe, and the threading recovery of the underwater robot hook can be carried out without the help of a small boat approaching the underwater robot;

and thirdly, the hoisting and recovery safety is good, the underwater robot can not be damaged generally, and the slideway for hoisting and recovery can also be used for ship surface to carry out robot debugging and assembly, so that the underwater robot is favorable for popularization and application, and can be expanded and applied to fishing and recovery of other underwater articles.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural diagram of a bilateral main structure of the slideway of the present invention;

FIG. 3 is a schematic view of the intermediate structure of the chute of the present invention;

FIG. 4 is a schematic view of the support screw structure of the present invention;

FIG. 5 is a schematic view of the construction of the robot hook of the present invention;

fig. 6 is a schematic structural view of a rope fixing structure according to the present invention.

In the figure: 1. an underwater robot; 2. a robot hook; 3. a first drum; 4. a water inlet slide way; 5. a ship board support frame; 6. a robot lifting rope; 7. a diverting pulley; 8. a deck ramp; 10. a guide pulley; 11. an electrically controlled winch; 12. a hull support frame; 13. a hydraulic lift truck; 14. a ship side; 15. an auxiliary handle; 16. a deck ramp support; 17. a slideway transverse fixing structure; 18. a roller support bar structure; 19. a slideway intermediate structure; 20. a main structure on both sides of the slideway; 21. the roller is supported obliquely; 22. a slideway combined connecting structure; 23. angle steel or channel steel; 24. a roller; 25. a support screw; 26. a support sheet; 27. a hook threading slot; 28. a hook inner hole structure; 29. a threader handle; 30. the end head of the threading device; 31. a pull rope fixing end; 32. a pull rope fixing structure; 33. a pull rope guide groove; 34. threading a guide rope; A. a boat deck; B. the surface of the water.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5 and fig. 6, the present invention provides a technical solution:

a combined type marine underwater robot rapid laying and recycling mechanism comprises an underwater robot 1, a ship board A and a water surface B, wherein the underwater robot 1 is settled in the water surface B, robot lifting hooks 2 are respectively arranged on the right side and the top of the underwater robot 1, a ship surface slideway 8 is arranged on the top of the ship board A, a water inlet slideway 4 is arranged on the right side of the ship board A, first rollers 3 are respectively arranged in the inner cavities of the ship surface slideway 8 and the water inlet slideway 4, the first rollers 3 are in contact with the left side of the underwater robot 1, a ship board 14 is fixedly connected with the right side of the ship board A, a ship board support frame 5 is fixedly connected with the right side of the ship board 14, the right side of the ship board support frame 5 is connected with the left side of the water inlet slideway 4, a robot lifting rope 6 is wound on the surface of the robot lifting hook 2, a steering pulley 7 is arranged between the water inlet slideway 4 and the ship surface slideway 8, a guide pulley 10 is arranged on the left side of the top of the ship surface slideway 8, auxiliary handle 15 is installed at guide pulley 10's top, robot lifting rope 6 and guide pulley 10 wiring, automatically controlled hoist engine 11 is installed to the left end of foreship slide 8, foreship support frame 12 is installed on the right side at foreship A top, the left side fixedly connected with hydraulic lift truck 13 of foreship support frame 12, the equal fixedly connected with foreship slide support 16 in both sides of slide 4 and foreship slide 8 bottom of entrying, the horizontal fixed knot of the equal fixedly connected with slide 17 in one side that two foreship slide supports 16 are adjacent, the inner chamber of first cylinder 3 rotates and is connected with cylinder bracing piece structure 18, cylinder bracing piece structure 18 and the horizontal fixed knot of slide 17 fixed connection, the equal fixedly connected with slide intermediate structure 19 of the adjacent one end of two slide horizontal fixed knot constructs 17.

Referring to fig. 4, both sides of the top of the slideway transverse fixing structure 17 are fixedly connected with slideway bilateral main structures 20, both sides of the inner cavity of the slideway bilateral main structures 20 are fixedly connected with roller inclined supports 21, the surface of the roller inclined support 21 is rotatably connected with the first roller 3, the bottom of the deck slideway support 16 is fixedly connected with a slideway combined connecting structure 22, the underwater robot has small resistance when moving on the slideway, and the interaction between the roller inclined support 21 and the slideway bilateral main structures 20 can limit the underwater robot on the slideway;

referring to fig. 4, the ship board support frame 5 includes an angle steel or channel steel 23, a support screw 25 is fixedly connected to an inner cavity of the angle steel or channel steel 23, a support sheet 26 is fixedly connected to the bottom of the support screw 25, and rollers 24 are respectively sleeved on the surfaces of the support screw 25 and the support sheet 26;

referring to fig. 5, the surface of the robot hook 2 is provided with a hook threading notch 27, and the inside of the hook threading notch 27 is provided with a hook inner hole structure 28;

referring to fig. 6, a threader handle 29 is mounted at the top of the water entry slideway 4, a threader end 30 is fixedly connected to the right end of the threader handle 29, a pull rope fixing end 31 is mounted on the right side of the threader end 30, a pull rope fixing structure 32 is fixedly connected to the left side of the surface of the threader handle 29, a pull rope guide groove 33 is formed in the right side of the threader end 30, a pull rope 34 penetrates through the inner cavity of the pull rope guide groove 33, after the robot is hung and placed and recovered, the robot lifting rope 6 can conveniently exit from the inner hole structure 28 of the lifting hook, the length of the threader handle 29 is appropriate, for example 4 meters, the pull rope fixing end 31 is used for fixing one end of the pull rope, the pull rope fixing structure 32 is used for fixing the pull rope by the threader handle to prevent the pull rope from loosening, the pull rope guide groove 33 is used for penetrating the pull rope 34 to facilitate the pull rope to enter the lifting hook threading groove 27, if necessary, a spring fastener can be arranged in the lifting hook threading groove 27 to prevent the robot lifting rope 6 from slipping out, or the threading rope 34 is thin, while the robot lifting rope 6 is thick, so that the robot lifting rope is not easy to slip out of the lifting hook threading notch 27, and the threading action is flexible and convenient because an operator is on a stable platform, thereby being beneficial to quickly threading the robot lifting hook;

referring to fig. 2, the structures of the deck slide way 8 and the entry slide way 4 are the same, and both the deck slide way and the entry slide way comprise a slide way double-side main structure 20, a roller support rod structure 18, a slide way middle structure 19, a roller inclined support 21 and a slide way combined connection structure 22, wherein a hook threading notch 27 is arranged at the top, the front or the rear of the underwater robot, and a notch of the hook threading notch 27 faces upwards or backwards;

the working principle is as follows: the utility model is characterized in that a hook threading notch 27 is arranged at the top and the center of the head of an underwater robot, the rear part can be arranged if necessary, the notch of the hook threading notch 27 is upward or high, the shape of the hook threading notch is convenient for threading by a threading device, a robot lifting rope 6 can not fall off a hook when hoisting, laying and recovering the robot, after the hanging, releasing and recovering work of the robot is completed, the robot lifting rope 6 can conveniently exit from a hook inner hole structure 28, the length of a handle 29 of the threading device is proper, such as 4 meters, a pulling rope fixing end 31 is used for fixing one end of a pulling rope, a pulling rope fixing structure 32 is used for fixing the pulling rope by the threading device handle to prevent the pulling rope from loosening, a pulling rope guide groove 33 is used for fixing a pulling rope 34 to facilitate the pulling rope to enter the hook threading notch 27, a spring fastener can be arranged at the hook threading notch 27 to prevent the robot lifting rope 6 from sliding out if necessary, or the pulling rope 34 is thin, and the robot lifting rope 6 is thick, the lifting hook threading notch 27 is not easy to slide out, and the threading action is flexible and convenient due to the fact that an operator is on a stable platform, and the quick threading of the robot lifting hook is facilitated.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a quick mechanism of retrieving of laying of modular marine underwater robot, includes underwater robot (1), ship board (A) and surface of water (B), its characterized in that: the underwater robot comprises an underwater robot (1), a robot lifting hook (2) is installed on the right side and the top of the underwater robot (1), a ship surface slide way (8) is arranged at the top of a ship plate (A), a water inlet slide way (4) is arranged on the right side of the ship plate (A), a first roller (3) is installed on the ship surface slide way (8) and an inner cavity of the water inlet slide way (4), the first roller (3) is in contact with the left side of the underwater robot (1), a ship board (14) is fixedly connected to the right side of the ship plate (A), a ship board supporting frame (5) is fixedly connected to the right side of the ship board supporting frame (5) and the left side of the water inlet slide way (4), a robot lifting rope (6) is wound on the surface of the robot lifting hook (2), a steering pulley (7) is installed between the water inlet slide way (4) and the ship surface slide way (8), a guide pulley (10) is installed on the left side of the top of the ship surface slide way (8), an auxiliary handle (15) is installed on the top of the guide pulley (10), a lifting rope (6) of the robot is in winding connection with the guide pulley (10), an electric control winch (11) is installed at the left end of the ship surface slide way (8), a ship surface support frame (12) is installed on the right side of the top of the ship plate (A), a hydraulic lifting car (13) is fixedly connected to the left side of the ship surface support frame (12), ship surface slide way supports (16) are fixedly connected to the two sides of the bottom of the ship surface slide way (8) and the water inlet slide way (4), a slide way transverse fixing structure (17) is fixedly connected to the adjacent sides of the two ship surface slide way supports (16), a roller support rod structure (18) is rotatably connected to the inner cavity of the first roller (3), and the roller support rod structure (18) is fixedly connected with the slide way transverse fixing structure (17), two the equal fixedly connected with slide intermediate structure (19) of one end that the horizontal fixed knot of slide constructs (17) is adjacent.

2. The combined marine underwater robot rapid deployment and recovery mechanism of claim 1, wherein: the equal fixedly connected with in both sides of the top of the horizontal fixed knot of slide structure (17) slide two side main structure (20), the equal fixedly connected with cylinder bearing diagonal (21) in both sides of the two side main structure of slide (20) inner chamber, the surface and the first cylinder (3) of cylinder bearing diagonal (21) rotate and are connected, the bottom fixedly connected with slide built-up connection structure (22) of foreship slide support (16).

3. The combined marine underwater robot rapid deployment and recovery mechanism of claim 1, wherein: ship board support frame (5) include angle steel or channel-section steel (23), the inner chamber fixedly connected with supporting screw (25) of angle steel or channel-section steel (23), the bottom fixedly connected with backing sheet (26) of supporting screw (25), the surface of supporting screw (25) and backing sheet (26) all is equipped with gyro wheel (24).

4. The combined marine underwater robot rapid deployment and recovery mechanism of claim 1, wherein: lifting hook threading notch (27) have been seted up on the surface of robot lifting hook (2), lifting hook hole structure (28) have been seted up to the inside of lifting hook threading notch (27).

5. The combined marine underwater robot rapid deployment and recovery mechanism of claim 1, wherein: threading apparatus handle (29) are installed at the top of income water slide (4), right-hand member fixedly connected with threading apparatus end (30) of threading apparatus handle (29), stay cord stiff end (31) are installed on the right side of threading apparatus end (30), left side fixedly connected with stay cord fixed knot on threading apparatus handle (29) surface constructs (32), stay cord guide way (33) have been seted up on the right side of threading apparatus end (30), the inner chamber of stay cord guide way (33) runs through to install and wears rope (34).

6. The combined marine underwater robot rapid deployment and recovery mechanism of claim 4, wherein: the structure of foreship slide (8) and income slide (4) is unanimous, all contains two side main structures of slide (20), cylinder bracing piece structure (18), slide intermediate structure (19), cylinder bearing diagonal (21) and slide built-up connection structure (22), just lifting hook threading notch (27) are installed at top, the place ahead or the rear of underwater robot, and the notch of lifting hook threading notch (27) is upwards or backward.