WO2021036340A1 - Device for mounting, releasing and recovering umbilical cable of autonomous underwater vehicle - Google Patents

Abstract

A device for mounting, releasing and recovering an umbilical cable of an autonomous underwater vehicle, comprising a bobbin (1), wherein disks (2) are integrally arranged at two ends of the bobbin (1); a stator (3) is fixed at the central axis at the inner part of the bobbin (1); a winding roller (4) using the bobbin (1) as an axis to freely rotate is mounted on the outer side of the middle of the bobbin (1); the bobbin (1), the disks (2) and the winding roller (4) may be made of any one of polyvinyl chloride and lignin, and the bobbin (1) and the disks (2) are made of the same material; a plurality of annular coil grooves (31) arrayed uniformly are fixed on the outer wall of the stator (3); a coil (32) is fixed at the middle of each coil groove (31); each coil (32) is formed by winding an insulated copper wire in the same direction; two ends of each coil (32) are connected to electric contacts (33) by means of leads; the coils (32) and the stator (3) are sealed one to another using epoxy resin; the stator (3) and the bobbin (1) are made of the same material. By means of the coordinated use between the devices, the umbilical cables of the underwater vehicle are mounted, released and recovered more conveniently, the intertwining of umbilical cables is prevented, and the workload of workers is increased.

Description

Umbilical cable installation, release and recovery device for underwater robot Technical field

The invention relates to the technical field of cable release and recovery of underwater robots, in particular to an underwater robot umbilical cable installation release and recovery device.

Background technique

When the existing robot umbilical cables are installed, released, and recovered, most of them use manual methods to release and recover the umbilical cables. The process is cumbersome and cannot improve the efficiency of the installation, release and recovery of the umbilical cables. In addition, the umbilical cables are entangled during recovery. When winding the winding roller, there will be multiple layers of winding on the surface of the winding roller, and the winding roller cannot be fully wound, and it will increase the workload of the staff, which is not conducive to the efficient progress of the entire work.

technical problem

The purpose of the present invention is to provide an underwater robot umbilical cable installation, release and recovery device to solve the problem of installation, release and recovery of the umbilical cable of the existing robot proposed in the background art, which cannot be separated from manual participation, and is prone to entanglement of the umbilical cables. Circumstances will increase the workload of the staff.

Technical solutions

In order to achieve the above objective, the present invention provides the following technical solution: an underwater robot umbilical cable installation, release and recovery device, including a wire barrel, both ends of the wire barrel are provided with discs in the same body, and the inside of the wire barrel is located on the central axis A stator is fixed at the position, and a winding roller that freely rotates with the spool as an axis is installed on the outside of the middle of the spool.

Preferably, the wire barrel, the disc and the winding roller can be made of any one of polyvinyl chloride and wood, and the wire barrel and the disc are of the same material.

Preferably, the outer wall of the stator is fixed with a plurality of coil slots uniformly arranged in a ring shape, a coil is fixed at the middle of the coil slot, and the coil is made of insulated copper wire wound in the same direction, and The two ends of the coil are connected with electrical contacts through wires, the coil and the stator are sealed with epoxy resin, and the material of the stator is the same as that of the wire barrel.

Preferably, the two ends of the winding roller are fixedly connected with clamping blocks, the front view of the clamping block is T-shaped, and the side of the two discs close to the bobbin is provided with a clamping slot matching the direction of the clamping block A plurality of magnets are fixed inside the winding roller, and the plurality of magnets are uniformly ring-shaped and arranged with the same magnetic poles.

Preferably, a sliding rod is fixed on one side of the two discs close to each other, the bottom side of the outer wall of the sliding rod is provided with threads, and the outer wall of the sliding rod is installed with a limit block that can slide on the outer wall of the sliding rod.

Preferably, the end of the limit block close to the winding roller is movably connected with a roller through a rotating shaft, and both ends of the outer wall of the roller are provided with perforations, the perforations are meshed with gears, and the middle of the gear passes The deflection axis is movably connected with the limit block.

Preferably, the end of the deflection shaft away from the gear is fixed with a T-shaped buckle, the inner wall of the limit block is provided with a movable groove that matches the buckle, and the side wall of the buckle is connected to two of the movable groove. A spring is arranged between the ends, and the two ends of the spring are respectively fixed with the buckle and the movable groove.

Preferably, the thread is engaged with a threaded bolt, and the outer walls at both ends of the threaded bolt are provided with tooth grooves, and the tooth grooves are engaged with a transmission gear, and the middle part of the transmission gear on one side away from each other is welded with a rotating shaft. One end of the rotating shaft away from the transmission gear is welded to the inner wall of the limit block through a bearing.

Preferably, a movable hole is opened in the middle of both sides of the limit block, and a telescopic rod is inserted into the movable hole. The telescopic rod is located in the inner part of the limit block, and the outer wall of the movable hole is fixed with two cones. Gears, the bevel gears are matched with gears and transmission gears.

Preferably, the specific use steps are:

(A1). Before use, pass the umbilical cable of the robot between the roller and the limit block. When the umbilical cable is extended, the umbilical cable drives the spool and the disc to rotate together. During the extension of the umbilical cable, The umbilical cable drives the roller to rotate, the tooth holes at both ends of the roller drive the gear to rotate, the gear drives the transmission gear to rotate, and the transmission gear drives the threaded bolt to rotate through the mesh with the tooth groove. When the threaded bolt rotates, the threaded bolt will drive the entire limit block Follow the direction of the screw bolt rotation. When the limit block moves, the umbilical cable moves with the limit block, and the limit block is always directly above the position where the umbilical cable leaves the spool, which can ensure the umbilical cable and the limit block. There will be no stuck phenomenon during the time;

(A2). When the umbilical cable is recycled, the power supply of the coil is closed. When the coil passes current, a magnetic field will be formed around the coil and the stator. At this time, the magnet will be deflected in the magnetic field, and multiple magnets will drive the winding. When the roller rotates, the winding roller will wind the umbilical cable and give the umbilical cable a contraction force toward the winding roller;

(A3). In the process of the umbilical cable being recycled by the winding roller, the umbilical cable drives the rollers to rotate, and the limit block slides on the sliding rod. When the telescopic rod outside the limit block is against the side wall of the disc, The telescopic rod will receive a force opposite to the movement direction of the limit block. At this time, the telescopic rod will drive the bevel gear to move inside the limit block. The sharp end of the bevel gear will be inserted from the side of the connection between the gear and the transmission gear, and Separate the gear and the transmission gear. When the gear is separated from the transmission gear, the buckle at the end of the deflection shaft away from the gear will slide inside the movable groove. At this time, the spring is forced. When the gear and the transmission gear are completely separated, the cone The gear will replace the gear and mesh with the transmission gear. Under the action of the spring, the gear meshes with the bevel gear and the transmission gear;

(A4). After that, the limit block will slide on the slide bar in the opposite direction before. At this time, the umbilical cable will move with the limit block and wrap around the winding roller. When the limit block moves to the disc again When it is sideways, the other end of the telescopic rod is pressed again, and the gear and transmission gear are separated from the bevel gear, and the limit block changes the direction of movement on one side, so that the umbilical cable can be wrapped around the winding roller.

Beneficial effect

1. In the present invention, the magnetic field is generated by the energized coil, and the magnetic field causes the magnet to be forced and drives the winding roller to rotate, which can make the recovery of the umbilical cable of the robot more rapid and convenient. The limit block can make the umbilical cable to be fully wound during recovery. Line rollers, and there will be no jamming phenomenon, reducing the workload of staff to recycle cables.

2. In the present invention, epoxy resin is used to seal the coil and the coil slot, which can avoid electrochemical corrosion between the two, and can also prevent the short circuit between the coil and the coil slot, so that the entire device can operate normally.

3. In the present invention, the sliding direction of the limit block on the sliding rod can be changed by the bevel gear, so that the umbilical cable can be wound more tightly on the winding roller, and the outer wall space of the winding roller can be fully utilized.

Description of the drawings

Fig. 1 is a schematic diagram of the structure of a disc according to an embodiment of the present invention;

2 is a schematic diagram of the internal structure of a limit block according to an embodiment of the present invention;

Fig. 3 is a schematic diagram of the internal structure of the wire barrel according to the embodiment of the present invention.

In the picture: 1. spool; 2. disc; 21, card slot; 22, sliding rod; 23, thread; 231, thread bolt; 232, tooth groove; 233, transmission gear; 234, rotating shaft; 235, bearing 24. Limit block; 241. Active slot; 242. Spring; 25. Rotation shaft; 26. Roller; 261. Gear hole; 262. Gear; 263. Deflection shaft; 264. Buckle; 3. Stator; 31 32. Coil; 33. Electrical contact; 4. Winding roller; 41. Block; 42, magnet; 5. Movable hole; 6. Telescopic rod; 61. Conical gear.

Embodiments of the present invention

In order to make the installation, release and recovery of the umbilical cable of the robot more convenient, and to prevent the umbilical cables from being entangled with each other and increase the workload, a device for installing, releasing and recovering the umbilical cable of an underwater robot is proposed. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

Please refer to Figures 1-3, this embodiment provides an underwater robot umbilical cable installation, release and recovery device, including a wire barrel 1, two ends of the wire barrel 1 are provided with discs 2 in the same body, and the inside of the wire barrel 1 is located on the central axis A stator 3 is fixed at the position, and a winding roller 4 is installed on the outside of the middle of the bobbin 1 to rotate freely with the bobbin 1 as an axis.

Among them, the bobbin 1, the disc 2 and the winding roller 4 can be made of any one of polyvinyl chloride and wood, and the bobbin 1 and the disc 2 are of the same material.

The outer wall of the stator 3 is fixed with a plurality of coil slots 31 uniformly arranged in a ring shape. A coil 32 is fixed in the middle of the coil slot 31. The coil 32 is made of insulated copper wire wound in the same direction, which can make the coil 32 produce The direction of the magnetic field is the same, and the two ends of the multiple coils 32 are connected with electrical contacts 33 through wires, which can make the magnetic field intensity generated by each coil 32 consistent. The coil 32 and the stator 3 are sealed with epoxy resin, which can avoid the coil 32 Electrochemical corrosion occurs between the winding roller 31 and the stator 3 is made of the same material as the bobbin 1.

The two ends of the winding roller 4 are fixedly connected with clamping blocks 41. The front view of the clamping block 41 is T-shaped, and the side of the two discs 2 close to the bobbin 1 is provided with a clamping slot 21 matching the clamping block 41. A plurality of magnets 42 are fixed inside the winding roller 4, and the plurality of magnets 42 are uniformly ring-shaped and arranged with the same magnetic poles.

A sliding rod 22 is fixed on the side of the two discs 2 close to each other. The bottom side of the outer wall of the sliding rod 22 is provided with a thread 23. The outer wall of the sliding rod 22 is installed with a limit block 24 that can slide on the outer wall of the sliding rod 22.

One end of the limit block 24 close to the winding roller 4 is movably connected with a roller 26 through a rotating shaft 25. Both ends of the outer wall of the roller 26 are provided with tooth holes 261. The tooth holes 261 are meshed with a gear 262. The middle of the gear 262 passes through the deflection shaft. 263 is movably connected with the limit block 24.

A T-shaped buckle 264 is fixed at the end of the deflection shaft 263 away from the gear 262. The inner wall of the limit block 24 is provided with a movable groove 241 that matches the buckle 264. The side wall of the buckle 264 is at both ends of the movable groove 241. A spring 242 is arranged therebetween, and two ends of the spring 242 are respectively fixed to the buckle 264 and the movable groove 241.

The thread 23 is engaged with a threaded bolt 231. The outer walls of the two ends of the threaded bolt 231 are provided with tooth grooves 232. The tooth grooves 232 are engaged with a transmission gear 233. The middle part of the transmission gear 233 away from each other is welded with a rotating shaft 234. The rotating shaft 234 is far away from the transmission. One end of the gear 233 is welded to the inner wall of the limit block 24 through a bearing 235.

A movable hole 5 is opened in the middle of both sides of the limit block 24, and a telescopic rod 6 is inserted into the movable hole 5. The telescopic rod 6 is located in the inner part of the limit block 24, and two conical gears 61 are fixed on the outer wall of the movable hole 5. The bevel gear 61 is matched with the gear 262 and the transmission gear 233.

In this embodiment, before use, the umbilical cable of the robot is passed between the roller 26 and the limiting block 24. When the umbilical cable is extended, the umbilical cable drives the bobbin 1 and the disc 2 to rotate together, and the umbilical cable During the elongation process, the umbilical cable drives the roller 26 to rotate, the tooth holes 261 at both ends of the roller 26 drive the gear 262 to rotate, the gear 262 drives the transmission gear 233 to rotate, and the transmission gear 233 drives the screw bolt 231 to rotate by meshing with the tooth groove 232. When the threaded bolt 231 rotates, the threaded bolt 231 will drive the limit block 24 to move in the direction in which the threaded bolt 231 rotates as a whole. When the limit block 24 moves, the umbilical cable moves along with the limit block 24, and the limit block 24 It is always located directly above the position where the umbilical cable is separated from the spool 1, which can ensure that the umbilical cable and the limiting block 24 will not jam.

When the umbilical cord is recycled, the power of the coil 32 is closed. When the coil 32 passes current, a magnetic field will be formed around the coil 32 and the stator 3. At this time, the magnet 42 will receive a deflection force in the magnetic field, and the multiple magnets 42 will drive The winding roller 4 rotates, and the winding roller 4 will wind the umbilical cable and give the umbilical cable a contraction force in the direction of the winding roller 4.

When the umbilical cable is recovered by the winding roller 4, the umbilical cable drives the roller 26 to rotate and causes the stop block 24 to slide on the sliding rod 22. When the telescopic rod 6 outside the stop block 24 abuts against the side of the disc 2 When the wall is closed, the telescopic rod 6 will receive a force opposite to the movement direction of the stop block 24. At this time, the telescopic rod 6 will drive the bevel gear 61 to move inside the stop block 24, and the sharp end of the bevel gear 61 will move from the gear 262 The side of the connection with the transmission gear 233 is inserted to separate the gear 262 from the transmission gear 233. When the gear 262 is separated from the transmission gear 233, the buckle 264 at the end of the deflection shaft 263 away from the gear 262 will slide inside the movable groove 241, At this time, the spring 242 is forced. When the gear 262 and the transmission gear 233 are completely separated, the bevel gear 61 will replace the gear 262 and mesh with the transmission gear 233. Under the action of the spring 242, the gear 262 and the bevel gear 61 and The transmission gear 233 meshes.

After that, the limit block 24 will slide on the slide bar 22 in the opposite direction, and the umbilical cable will follow the limit block 24 to move together, and wrap around the winding roller 4, when the limit block 24 moves to the disc again 2, the other end of the telescopic rod 6 is pressed again, and the gear 262 and the transmission gear 233 are separated from the bevel gear 61, and the stop block 24 changes the direction of movement on one side, so that the umbilical cable can be wrapped around. Line roller 4.

Through the coordinated use of the above devices, the installation, release and recovery of the umbilical cable of the robot can be made more convenient, and the umbilical cable can be prevented from being entangled with each other, which increases the workload of the staff.

In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "vertical", "upper", "lower", "horizontal", etc. are based on the orientation or positional relationship shown in the drawings, and are only for It is convenient to describe and simplify the description of the present invention, rather than indicating or implying that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

In the description of the present invention, it should also be noted that the terms "set", "installation", "connected" and "connected" should be understood in a broad sense unless otherwise clearly specified and restricted. For example, they may be fixed connections or It can be detachable connection, or integral connection, mechanical connection, electrical connection, direct connection, or connection through an intermediate medium, or internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the present invention can be understood according to specific situations.

Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. And variations, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (10)

An underwater robot umbilical cable installation, release and recovery device, comprising a wire barrel (1), characterized in that: both ends of the wire barrel (1) are provided with discs (2) in the same body, and the wire barrel (1) A stator (3) is fixed inside the central shaft, and a winding roller (4) is installed on the outside of the middle of the bobbin (1) to rotate freely with the bobbin (1) as an axis. An underwater robot umbilical cable installation, release and recovery device according to claim 1, characterized in that: the bobbin (1), the disc (2) and the winding roller (4) are made of polyvinyl chloride and wood Any kind of material is acceptable, and the wire barrel (1) and the disc (2) are the same material. An underwater robot umbilical cable installation, release and recovery device according to claim 1, characterized in that: the outer wall of the stator (3) is fixed with a plurality of coil slots (31) uniformly arranged in a ring shape, and the coil A coil (32) is fixed in the middle of the slot (31), the coil (32) is made of insulated copper wire wound in the same direction, and the two ends of the multiple coils (32) are connected with electrical contacts ( 33), the coil (32) and the stator (3) are sealed with epoxy resin, and the material of the stator (3) is the same as the bobbin (1). The umbilical cable installation, release and recovery device of an underwater robot according to claim 1, wherein the two ends of the winding roller (4) are fixedly connected with clamping blocks (41), and the clamping blocks (41) The front view of the two discs (2) is T-shaped, and the side of the two discs (2) close to the bobbin (1) is provided with a card slot (21) matching the direction of the card block (41), and the winding roller (4) A plurality of magnets (42) are fixed in the inside of the, and the plurality of magnets (42) are uniformly ring-shaped and arranged in the same magnetic pole. The umbilical cable installation, release and recovery device of an underwater robot according to claim 1, characterized in that: a sliding rod (22) is fixed on one side of the two discs (2) close to each other, and the sliding rod ( 22) The bottom side of the outer wall is provided with a thread (23), and the outer wall of the sliding rod (22) is provided with a limit block (24) that can slide on the outer wall. An underwater robot umbilical cable installation, release and recovery device according to claim 5, characterized in that: the end of the limit block (24) close to the winding roller (4) is movably connected with the roller through the rotating shaft (25) The outer wall of the roller (26) is provided with gear holes (261) at both ends of the outer wall of the roller (26). The gear holes (261) are meshed with gears (262), and the middle of the gears (262) passes through the deflection shaft ( 263) Actively connect with the limit block (24). An underwater robot umbilical cable installation, release and recovery device according to claim 1, characterized in that: the deflection shaft (263) is fixed with a T-shaped buckle (264) at one end away from the gear (262), so The inner wall of the limit block (24) is provided with a movable groove (241) matching the buckle (264), and a spring is arranged between the side wall of the buckle (264) and the two ends of the movable groove (241) (242), the two ends of the spring (242) are respectively fixed with the buckle (264) and the movable groove (241). An underwater robot umbilical cable installation, release and recovery device according to claim 5, characterized in that: the thread (23) is engaged with a threaded bolt (231), and the outer walls at both ends of the threaded bolt (231) are provided with A tooth groove (232), the tooth groove (232) is meshed with a transmission gear (233), the middle part of the transmission gear (233) on one side away from each other is welded with a rotating shaft (234), and the rotating shaft (234) is far away One end of the transmission gear (233) is welded to the inner wall of the limit block (24) through a bearing (235). An underwater robot umbilical cable installation, release and recovery device according to claim 5, characterized in that: movable holes (5) are opened in the middle of both sides of the limit block (24), and the movable holes (5) ) Is inserted with a telescopic rod (6), the telescopic rod (6) is located in the inner part of the limit block (24), and its outer wall is fixed with two bevel gears (61), the bevel gear (61) ) Is matched with gear (262) and transmission gear (233). The umbilical cable installation, release and recovery device of an underwater robot according to claim 1, wherein the specific use steps are: (A1). Before use, pass the umbilical cable of the robot between the roller (26) and the limit block (24). When the umbilical cable is extended, the umbilical cable drives the spool (1) and the disc (2). ) Rotate together. During the extension of the umbilical cable, the umbilical cable drives the roller (26) to rotate. The perforations (261) at both ends of the roller (26) drive the gear (262) to rotate, and the gear (262) drives the transmission gear (233). ) Rotates, the transmission gear (233) drives the threaded bolt (231) to rotate through the meshing with the tooth groove (232). When the threaded bolt (231) rotates, the threaded bolt (231) will drive the limit block (24) to follow the thread as a whole The bolt (231) moves in the direction of rotation. When the stop block (24) moves, the umbilical cable moves with the stop block (24), and the stop block (24) is always at the position where the umbilical cable leaves the spool (1) It can ensure that there will be no jamming between the umbilical cable and the limit block (24); (A2). When the umbilical cord is recycled, turn on the power of the coil (32). When the coil (32) passes current, a magnetic field will be formed around the coil (32) and the stator (3). At this time, the magnet (42) ) In the magnetic field, it will be subjected to deflection force, and multiple magnets (42) drive the winding roller (4) to rotate. The winding roller (4) will wind the umbilical cable and give the umbilical cable a direction toward the winding roller (4). The force of contraction; (A3). During the recovery process of the umbilical cable by the winding roller (4), the umbilical cable drives the roller (26) to rotate, and makes the limit block (24) slide on the slide bar (22), when the limit block ( 24) When the outer telescopic rod (6) is against the side wall of the disc (2), the telescopic rod (6) will receive a force opposite to the movement direction of the limit block (24), and the telescopic rod (6) will Drive the bevel gear (61) to move inside the limit block (24), the sharp end of the bevel gear (61) will be inserted from the side of the connection between the gear (262) and the transmission gear (233), and make the gear (262) Separate from the transmission gear (233). When the gear (262) is separated from the transmission gear (233), the buckle (264) at the end of the deflection shaft (263) away from the gear (262) will slide inside the movable groove (241), At this time, the spring (242) is forced. When the gear (262) and the transmission gear (233) are completely separated, the bevel gear (61) will replace the gear (262) and mesh with the transmission gear (233). Under the action of 242), the gear (262) meshes with the bevel gear (61) and the transmission gear (233); (A4). After that, the limit block (24) will slide on the slide bar (22) in the opposite direction before. At this time, the umbilical cable will follow the limit block (24) to move together and wrap around the winding roller (4). ), when the limit block (24) moves to the side of the disc (2) again, the other end of the telescopic rod (6) is pressed again, and the gear (262) and the transmission gear (233) are in contact with the bevel gear (61) Disengaged, the limit block (24) changes the direction of movement on one side, so that the umbilical cable can be wrapped around the winding roller (4).