CN2923515Y - On-water automatic butt-joint interlinking device - Google Patents

On-water automatic butt-joint interlinking device Download PDF

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Publication number
CN2923515Y
CN2923515Y CN 200620091002 CN200620091002U CN2923515Y CN 2923515 Y CN2923515 Y CN 2923515Y CN 200620091002 CN200620091002 CN 200620091002 CN 200620091002 U CN200620091002 U CN 200620091002U CN 2923515 Y CN2923515 Y CN 2923515Y
Authority
CN
China
Prior art keywords
claw
framework
fork
unblanking
spring
Prior art date
Application number
CN 200620091002
Other languages
Chinese (zh)
Inventor
康守权
周保德
Original Assignee
中国科学院沈阳自动化研究所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国科学院沈阳自动化研究所 filed Critical 中国科学院沈阳自动化研究所
Priority to CN 200620091002 priority Critical patent/CN2923515Y/en
Application granted granted Critical
Publication of CN2923515Y publication Critical patent/CN2923515Y/en

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Abstract

The utility model discloses a water surface automatic docking interlocking device which is applied with a symmetrical structure, and installed in a frame; The utility model mainly includes a frame, a claw, a swing rod, a locking and unlocking mechanism, a lift hoisting ring, a connection rod and a stopper. The claw is installed cooperatively at a claw pin, and the claw pin is fastened at a front and back box wall of the frame; The swing rod is installed cooperatively at a swing rod pin, and the swing rod pin is fastened at the front and back box walls; A poke pin hinge is connected at the claw and the swing rod; The locking and unlocking mechanism is installed at a back box wall of the frame; The connection rod is hinged respectively with a unlock pull rod and a swing rod through a connection rod pin; The stopper is disposed at the front and back box wall of the frame; The lift hoisting ring is disposed at the top of frame. The utility model is applied to achieve the automatic docking interlocking by the underwater robot and other underwater devices with safety and reliability without the dependence with divers.

Description

A kind of water surface automatic butt interlock system

Technical field

The utility model relates to Robotics, specifically a kind of be applicable to under-water robot carry out the automatic butt interlock system at the water surface.

Background technology

Under-water robot is the specialized robot of operation in a kind of environment under water, in the process that Qi Xiashui reclaims, especially under abominable sea situation, under-water robot must be docked lock together with its retractable equipment, the butt joint interlocking can carry out under water, also can carry out, but both technology have bigger difference at the water surface.For the cable underwater robot that has of conventional formula, interlocking is docked in employing under water usually, though safe and reliable, need be with the source signal transmission having the armouring cable of lifting function and the support of repeater simultaneously; For the portable that does not have armouring cable and repeater cable underwater robot is arranged, at present methods that adopt by diver's hook more, because the influence of the harshness of water conditions, diver's operation is abnormally dangerous, sometimes even can't finish the work.

The utility model content

Under-water robot is docking interlocking at the water surface in the water removal process down, is unblanking dangerous and unreliability and the technical matters strong to diver's dependence in the prior art in order to solve, characteristics according to under-water robot operation at sea, the purpose of this utility model provides a kind ofly carries out the automatic butt interlock system at the water surface to under-water robot, and its safe and reliable and releasable is to diver's dependence.

The technical solution of the utility model comprises: framework, claw, finger, fork, shut and unlocking mechanism, hoisting ring, connecting rod, limiting stopper, be specially: described framework antetheca middle part has the up/down perforation groove; Described claw is assemblied in inside of frame, and install with the claw bearing pin running-fit on the front and back tank wall that is fixed in framework its underpart, and keep appropriate gap with the framework tank wall; Claw links with fork by finger is in the same place; Described fork is assemblied in inside of frame, and install with the fork bearing pin running-fit that is fixed on the tank wall of framework front and back on its top, and keep appropriate gap with the framework tank wall; Described shutting with unlocking mechanism is made up of spring perch, the pull bar of unblanking, spring, spring perch gland, wherein spring perch is fixed on the rear box wall of framework, described spring is installed on the external diameter of the pull bar of unblanking and is assemblied in together in the inner chamber of spring perch, and described spring perch gland and spring perch are fixed together; Described connecting rod links with fork with the pull bar of unblanking respectively by connecting rod pin is in the same place; Described limiting stopper is installed on the side box wall of framework, make its under Interlock Status with claw upper surface butt; Described hoisting ring is installed in the top of framework;

Integral structure left-right symmetric wherein, described claw bearing pin, claw, finger, fork, fork bearing pin and connecting rod are 2; The bottom of fork has elongated hole; Claw bearing pin and fork bearing pin equal length; Spring is cylindrical pressing spring; The pull bar top annular distance of unblanking is connected with the stay cord of unblanking; Hoisting ring is connected with the lifting hawser.

The utility model adopts by deadweight and realizes the automatic butt interlocking along dashing under the under-water robot umbilical cables with the collision of under-water robot lifting circular cone, when making under the under-water robot water, spur the pull bar of unblanking by the operator by rope, under-water robot separates with the butt joint interlock system.For guaranteeing being perfectly safe of under-water robot, the butt joint interlock system must have auto-lock function, does not have to eliminate and does not have to spur under the situation of the pull bar of unblanking at the pressure that is acted on by interlocking equipment on the claw, and the butt joint interlock system can not be unblanked.

The utlity model has following advantage:

1, the utility model adopts self-locking structure, finishes under the butt joint Interlock Status, has only by interlocking equipment to act on the gravity elimination on the claw and spur the pull bar motion of unblanking when putting in place, just can unblank.So it is safe and reliable.

2, the utility model adopts and shuts and unlocking mechanism, can realize shutting automatically and unblanking, and has freed the dependence to the diver

3, the utility model adopts symmetrical structure, the both sides stress balance of device when butt joint is interlocked and unblanked.

4, framework of the present utility model is welded by six block plates, and processability is good, is convenient to guarantee precision.

5, of the present utility model shutting with unlocking mechanism is installed on the rear box wall of framework, and the layout of connecting rod is also pressed close to the rear box wall of framework, do not have any interference in when interlocking butt joint with under-water robot lifting circular cone.

Description of drawings

Fig. 1 is the utility model butt joint interlock system structural representation.

Fig. 2 is the utility model butt joint interlock system Interlock Status scheme drawing.

Fig. 3 is the utility model butt joint interlock system unlocking condition scheme drawing.

The specific embodiment

Below in conjunction with drawings and Examples the utility model is described in further detail.

The utility model has one unit of one's own, by the lifting hawser the utility model is hung on weight-lifting equipment, and is docked interlock system with under-water robot umbilical cables, the lifting circular cone formation water surface.The utility model adopts symmetrical structure, as shown in Figure 1, form by framework 1, claw bearing pin 2, claw 3, finger 4, fork 5, fork bearing pin 6, spring perch 7, the pull bar 8 of unblanking, spring 9, hoisting ring 10, screw 11, spring perch gland 12, connecting rod pin 13, connecting rod 14, limiting stopper 15, specifically be connected to:

Described framework 1 is the support frame that is made of six block plates welding, and its antetheca middle part has up/down perforation groove (with the paper is benchmark, before vertical paper outwards is, after vertical paper inwardly be).

Described claw 3 is assemblied in the inside of framework 1, and the cylindrical hole of claw 3 bottoms and claw bearing pin 2 running-fits are installed, and keeps appropriate gap with framework 1 tank wall, and the two ends of claw bearing pin 2 are fixed on the front and back tank wall of framework 1.Described fork 5 is assemblied in the inside of framework 1, the cylindrical hole on fork 5 tops and fork bearing pin 6 running-fits are installed, and keep appropriate gap with framework 1 tank wall, the two ends of fork bearing pin 6 are fixed on the front and back tank wall of framework 1, and claw bearing pin 2 is equal to fork bearing pin 6 length.Described finger 4 passes through the cylindrical hole on claw 3 tops and the elongated hole of fork 5 bottoms simultaneously, claw 3 is linked with fork 5 be in the same place.

Be made up of spring perch 7, the pull bar 8 of unblanking, spring 9, screw 11 and spring perch gland 12 and shut and unlocking mechanism, for claw 3 being recovered or keeping shutting state, spring 9 provides suitable application force all the time.

Described spring perch 7, spring 9, pull bar 8 and the spring perch gland 12 of unblanking constitute and shut and unlocking mechanism, wherein said spring perch 7 usefulness screws 11 are fixed on the rear box wall of framework 1, spring 9 is installed on the external diameter of the pull bar 8 of unblanking and is assemblied in the inner chamber of spring perch 7 together, and spring perch gland 12 usefulness screws 11 and spring perch 7 are fixed together.

Described two connecting rods 14 link together with pull bar 8 forks 5 of unblanking respectively by 3 connecting rod pins 13.The stay cord of unblanking is connected with pull bar 8 upper holes of unblanking.

Described two limiting stoppers 15 are welded on the left and right sides tank wall of framework 1, make its under Interlock Status with claw 3 upper surface butts, limit the overexercise of claw 3 and form the structure self-locking, finish under the butt joint Interlock Status, have only by interlocking equipment to act on the pressure elimination on the claw and spur the pull bar motion of unblanking when putting in place, just can unblank.

Described two hoisting rings 10 are welded on the top tank wall of box frame 1, play hanger rope and are connected with two hoisting rings 10 simultaneously.

Principle of work of the present utility model:

Its operation process is divided into the butt joint interlocking and two links of unblanking.

Referring to Fig. 2, butt joint interlocking process is as follows: when under-water robot fulfil assignment emerge after, under-water robot is near below weight-lifting equipment, the umbilical cables of tension under-water robot, the utility model butt joint interlock system is enclosed within on the umbilical cables, the lifting circular cone is equipped with in the umbilical cables lower end, the utility model glides along umbilical cables by gravity, when the lifting circular cone of under-water robot hits when coming between two claws 3, under the effect of impulse force, the claw 3 on the left side rotates counterclockwise, the claw 3 on the right clockwise rotates, promote circular cone this moment and continue upward movement, when reaching interlocking position, two claws 3 recover the state that shuts rapidly and finish the butt joint interlocking under the effect of spring.

Referring to Fig. 3, the process of unblanking is as follows: when under the under-water robot during water, to dock the lifting circular cone interlocking of interlock system and under-water robot above deck, by weight-lifting equipment under-water robot is hung on the water surface, because the weight of under-water robot in water is zero substantially, the gravity that under-water robot acts on the claw 3 disappears, spur the pull bar 8 of unblanking by the operator by the stay cord of unblanking this moment, make upwards swing of connecting rod 14, again by fork 5 transmissions, drive claw 3 and unblank, pulling promotes circular cone and withdraws from Interlock Status by under-water robot.

Owing to the utlity model has auto-lock function, can be referred to as safety butt joint interlock system.

Claims (6)

1. water surface automatic butt interlock system is characterized in that: comprise framework (1), claw (3), finger (4), fork (5), shut and unlocking mechanism, hoisting ring (10), connecting rod (14), limiting stopper (15), be specially:
Described framework (1) antetheca middle part has the up/down perforation groove; Described claw (3) is assemblied in the inside of framework (1), and install with claw bearing pin (2) running-fit on the front and back tank wall that is fixed in framework (1) its underpart, and keep appropriate gap with framework (1) tank wall; Claw (3) links together by finger (4) and fork (5); Described fork (5) is assemblied in the inside of framework (1), and install with fork bearing pin (6) running-fit that is fixed on the tank wall of framework (1) front and back on its top, and keep appropriate gap with framework (1) tank wall; Described shutting with unlocking mechanism is made up of spring perch (7), the pull bar of unblanking (8), spring (9), spring perch gland (12), wherein spring perch (7) is fixed on the rear box wall of framework (1), described spring (9) is installed on the external diameter of the pull bar of unblanking (8) and is assemblied in together in the inner chamber of spring perch (7), and described spring perch gland (12) is fixed together with spring perch (7); Described connecting rod (14) links together with pull bar of unblanking (8) and fork (5) respectively by connecting rod pin (13); Described limiting stopper (15) is installed on the side box wall of framework (1), make its under Interlock Status with claw (3) upper surface butt; Described hoisting ring (10) is installed in the top of framework (1).
2. according to the described automatic butt interlock system of claim 1, it is characterized in that: the integral structure left-right symmetric, described claw bearing pin (2), claw (3), finger (4), fork (5), fork bearing pin (6) and connecting rod (14) are 2.
3, according to the described automatic butt interlock system of claim 1, it is characterized in that: the bottom of fork (5) has elongated hole.
4, according to the described automatic butt interlock system of claim 1, it is characterized in that: claw bearing pin (2) and fork bearing pin (6) equal length.
5, according to the described automatic butt interlock system of claim 1, it is characterized in that: spring (9) is cylindrical pressing spring.
6, according to the described automatic butt interlock system of claim 1, it is characterized in that: the pull bar of unblanking (8) top annular distance is connected with the stay cord of unblanking; Hoisting ring (10) is connected with the lifting hawser.
CN 200620091002 2006-05-26 2006-05-26 On-water automatic butt-joint interlinking device CN2923515Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 200620091002 CN2923515Y (en) 2006-05-26 2006-05-26 On-water automatic butt-joint interlinking device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 200620091002 CN2923515Y (en) 2006-05-26 2006-05-26 On-water automatic butt-joint interlinking device

Publications (1)

Publication Number Publication Date
CN2923515Y true CN2923515Y (en) 2007-07-18

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN 200620091002 CN2923515Y (en) 2006-05-26 2006-05-26 On-water automatic butt-joint interlinking device

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102935972A (en) * 2012-10-29 2013-02-20 中国海洋石油总公司 Docking device for lifting and recovering underwater heavy-duty operation equipment
CN103129723A (en) * 2013-03-05 2013-06-05 中国船舶重工集团公司第七○二研究所 Securing device of one man atmospheric diving apparatus
CN103213662A (en) * 2013-04-16 2013-07-24 浙江海洋学院 Slave-main type marine environment detection intelligent robot
CN110203357A (en) * 2019-06-20 2019-09-06 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 docking of ROV approximately level and release device

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102935972A (en) * 2012-10-29 2013-02-20 中国海洋石油总公司 Docking device for lifting and recovering underwater heavy-duty operation equipment
CN103129723A (en) * 2013-03-05 2013-06-05 中国船舶重工集团公司第七○二研究所 Securing device of one man atmospheric diving apparatus
CN103129723B (en) * 2013-03-05 2015-07-08 中国船舶重工集团公司第七○二研究所 Securing device of one man atmospheric diving apparatus
CN103213662A (en) * 2013-04-16 2013-07-24 浙江海洋学院 Slave-main type marine environment detection intelligent robot
CN103213662B (en) * 2013-04-16 2015-07-15 浙江海洋学院 Slave-main type marine environment detection intelligent robot
CN110203357A (en) * 2019-06-20 2019-09-06 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 docking of ROV approximately level and release device
CN110203357B (en) * 2019-06-20 2020-05-05 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) ROV near-water surface butt joint and release device

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

Effective date of abandoning: 20090708

C25 Abandonment of patent right or utility model to avoid double patenting