CN103183112B - Abutting and lifting device for recovering underwater robot - Google Patents
Abutting and lifting device for recovering underwater robot Download PDFInfo
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- CN103183112B CN103183112B CN201110445863.6A CN201110445863A CN103183112B CN 103183112 B CN103183112 B CN 103183112B CN 201110445863 A CN201110445863 A CN 201110445863A CN 103183112 B CN103183112 B CN 103183112B
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Abstract
The invention belongs to the field of underwater robot recovery, and particularly relates to an abutting and lifting device for recovering an underwater robot. The device comprises a frame, a synchronous connecting bar, clamping mechanisms, trapping ropes and a guiding rope, wherein a plurality of fixed pulleys are arranged on the frame; the clamping mechanisms are respectively hinged to two sides of the frame; the tops of the two clamping mechanisms are connected by the synchronous connecting bar; each end of the synchronous connecting bar is connected with one end of a corresponding trapping rope; the other end of the trapping rope bypasses the fixed pulley and is controlled by a worker on a mother ship; a guiding tube and a suspending bar are respectively arranged on the frame; the guiding tube is positioned above the suspending bar; one end of the guiding rope is connected in a lifting seat on the underwater robot, and the other end of the guiding rope successively penetrates through the suspending bar and the guiding tube, bypasses the fixedly pulley and is controlled by the worker on the mother ship; and an abutting mechanism for abutting the lifting seat on the underwater robot is arranged on the suspending bar. The abutting and lifting device for recovering the underwater robot integrates the functions of lifting, abutting and protecting, has a pure mechanical structure and is characterized in that the device is simple and reliable in structure, and easy to operate.
Description
Technical field
The invention belongs to under-water robot and reclaim field, specifically a kind of under-water robot recovery docking lifting appliance.
Background technology
Because oceanographic condition is complicated and changeable, the recovery of under-water robot is a global difficult problem always.In order to invent a kind of do not need personnel to go ashore can the method for reliable recovery under-water robot, need a kind ofly can realize with under-water robot automatic butt and there is the derricking gear clamping and protect and only swing function.
At present, conventional docking lifting method mainly contains three kinds:
One takes advantage of motor boat near under-water robot by staff, carries out human assistance lifting docking, and be frapping line; Because sea situation is sometimes very severe, this manually-operated mode not only efficiency is very low, and danger close, very likely damages staff.
The second is the mechanical device with power plant, namely by driving bearing pin to realize shirking action with the device of hydraulic pressure, electric power or rope; The mode of this remote control not only not easily realizes automatic butt, and apparatus structure is complicated, and power cable is easily corroded or is disturbed in briny environment, thus the reliability of work and safety low.
Also have one to be mechanical docking structure, but it does not possess defencive function, cannot tackle high risk during marine operation.
Therefore a kind of collection of development lifts by crane, docks, is protected in one, adopts the automatic butt release gear of Purely mechanical structure to be necessary.
Summary of the invention
Not being suitable for solve existing derricking gear the problem that under-water robot reclaims operation, the object of the present invention is to provide a kind of under-water robot recovery to dock lifting appliance.This docking lifting appliance can realize automatically rising with under-water robot flap seat and dock and have to clamp and protect and only swing function when reclaiming operation, collect to lift by crane, dock, be protected in integrally, the automatic butt of employing Purely mechanical structure.
The object of the invention is to be achieved through the following technical solutions:
The present invention includes framework, synchronising (connecting) rod, clamping device, guide wire, suspension rod, frapping line and guide rope, its middle frame is connected with the crane on lash ship by steel rope, described framework is provided with multiple fixed pulley, be hinged with clamping device respectively in the both sides of framework, the top of two clamping devices is connected by described synchronising (connecting) rod; The two ends of described synchronising (connecting) rod are all connected with one end of frapping line, and the other end of this frapping line is passed by framework, walk around described fixed pulley is controlled by the staff on lash ship; Described guide wire and suspension rod are arranged on framework respectively, guide wire is positioned at the top of suspension rod, and one end of described guide rope is connected in the flap seat on under-water robot, and the other end is successively through suspension rod, guide wire and framework, walk around described fixed pulley, controlled by the staff on lash ship; Described suspension rod is provided with the docking mechanism docked with the flap seat on described under-water robot near the position of lower end.
Wherein: described docking mechanism comprises driving lever, pin and retracing spring, suspension rod is symmetrical near the both sides of lower end position, on axial cross section has driving lever by pin-hinges, described guide rope passes by between two driving levers, and the upper end of described two driving levers is connected with described suspension rod respectively by retracing spring; The internal via shape playing flap seat on described under-water robot is corresponding with described driving lever, and described docking lifting appliance is in deployment state, and each driving lever is all provided with T-shaped handle, and on described T-shaped handle, there is the rope that breaks off relations in system; The bottom of described framework is provided with connection pipe, and the clamping device of both sides is articulated with the two ends of this connection pipe respectively; Described guide wire and suspension rod are coaxially fixed on this connection pipe; Described framework is provided with stop gear, and described synchronising (connecting) rod is plugged in this stop gear; Described stop gear is position-limited rack, has two, is fixed in the both sides below described frame roof respectively, and the sense of motion along synchronising (connecting) rod on described position-limited rack is provided with bar-shaped trough, and described synchronising (connecting) rod is passed by the bar-shaped trough on two position-limited racks successively; Described fixed pulley is three, and the other end of the frapping line be connected with synchronising (connecting) rod two ends is walked around by the fixed pulley being positioned at both sides, and the other end of described guide rope is walked around by being positioned at middle fixed pulley; Described clamping device comprises two shapes, structure identical end handgrip, two end handgrips and described frame articulation, one end of each end handgrip is all hinged with one end of connecting rod, and the other end of each end handgrip is bare terminal, and the other end and the described synchronising (connecting) rod of two connecting rods are hinged; Extension spring is provided with between hinged place at two connecting rod other ends and the end handgrip in outside; The inner side that described two end handgrips are relative is respectively equipped with backing block; The bare terminal of each end handgrip is circular arc, and the bare terminal of two end handgrips forms the semicircle corresponding with under-water robot profile; The outside of the bare terminal of each end handgrip is all enclosed with protection leather bag.
Advantage of the present invention and good effect are:
1. integral structure of the present invention is safe and reliable, adopts Purely mechanical mechanism, considerably increases reliability and the safety of whole device; Adopt the docking mechanism of guide rope reasonable in design, the automatic butt under marine complicated sea situation can be realized.
2. the present invention is easy to install and use, and lifting part adopts steel rope, can directly be connected with crane, avoids the work of transformation crane; Operation adopts frapping line and guide rope, only needs staff rationally to drag guy tightening, simple and reliable.
3. compatibility of the present invention is good, can realize same set of device and lays under-water robot and reclaim.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present invention;
Fig. 2 is the structural representation of clamping device in Fig. 1;
Fig. 3 A to be suspension rod of the present invention with under-water robot rise one of workflow diagram that flap seat docks;
Fig. 3 B to be suspension rod of the present invention with under-water robot rise workflow diagram two that flap seat docks;
Fig. 3 C to be suspension rod of the present invention with under-water robot rise workflow diagram three that flap seat docks;
Fig. 3 D be the present invention when laying under-water robot suspension rod and under-water robot play the structural representation of flap seat;
Wherein: 1 is steel rope, 2 is fixed pulley, and 3 is framework, and 4 is synchronising (connecting) rod; 5 is stop gear, and 6 is clamping device, and 7 is guide wire, and 8 is suspension rod; 9 has been flap seat, and 10 is frapping line, and 11 is guide rope, and 12 is extension spring; 13 is end handgrip, and 14 is backing block, and 15 is protection leather bag; 16 is driving lever, and 17 is pin, and 18 is retracing spring; 19 is T-shaped handle, and 20 is connection pipe, and 21 is connecting rod.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, the present invention includes framework 3, synchronising (connecting) rod 4, stop gear 5, clamping device 6, guide wire 7, suspension rod 8, frapping line 10 and guide rope 11, the two ends at its middle frame 3 top are connected with the crane on lash ship respectively by steel rope 1, at the upper surface of framework 3 head slab, multiple fixed pulley 2 is installed, the present embodiment is three, and the lower surface of framework 3 head slab is respectively equipped with a stop gear 5 near end, two ends.The bottom of framework 3 is provided with connection pipe 20, clamping device 6 is hinged with respectively at the two ends of this connection pipe 20, the top of two clamping devices 6 is connected by described synchronising (connecting) rod 4, and this synchronising (connecting) rod 4 is passed by two stop gears 5, is limited make perpendicular movement within it by stop gear 5; Synchronising (connecting) rod 4 is all connected with one end of frapping line 10 near the position of end, two ends, the other end of two frapping lines 10 is passed by the guide hole on framework 3 head slab, walk around respectively be positioned at the left and right sides fixed pulley 2, controlled by the staff on lash ship, be responsible for only swinging and promptly under-water robot.Described guide wire 7 and suspension rod 8 are coaxially fixed in the middle part of connection pipe 20, guide wire 7 is positioned at the top of suspension rod 8, one end of guide rope 11 is fixed in the flap seat 9 on under-water robot, the other end is successively through suspension rod 8, guide wire 7, after being passed by the guide hole on framework 3 head slab, walk around again and be positioned at middle fixed pulley 2, controlled by the staff on lash ship, be responsible for guiding docking lifting appliance and playing docking of flap seat 9.Suspension rod 8 is provided with the docking mechanism docked with the flap seat 9 on under-water robot near the position of lower end, as shown in Fig. 3 A ~ 3D, this docking mechanism comprises driving lever 16, pin 17 and retracing spring 18, suspension rod 8 is symmetrical near the both sides of lower end position, on axial cross section is hinged with driving lever 16 by pin 17, driving lever 16 freely can rotate around pin 17, described guide rope 11 passes by between two driving levers 16, and the upper end of two driving levers 16 is connected with suspension rod 8 respectively by retracing spring 18; The endoporus playing flap seat 9 on under-water robot is stepped hole, and the shape of endoporus is corresponding with driving lever 16; When docking lifting appliance and being in deployment state, each driving lever 16 is all provided with T-shaped handle 19, described T-shaped handle 19 inserts driving lever 16 by the mounting hole that suspension rod 8 is offered, and is have the rope that breaks off relations on T-shaped handle 19; When carrying out the laying of under-water robot, T-shaped handle 19 throws off docking mechanism in order to the long-range driving lever 16 that pulls open.
Stop gear 5 of the present invention is position-limited rack, and position-limited rack is provided with bar-shaped trough along the sense of motion of synchronising (connecting) rod 4, and described synchronising (connecting) rod 4 is passed by the bar-shaped trough on two position-limited racks successively.
As shown in Figure 2, clamping device 6 comprises two shapes, structure identical end handgrip 13, carries out safety precaution for firmly grasping under-water robot and only swings; Connection pipe 20 bottom the middle part of two end handgrips 13 and described framework 3 is hinged, one end of each end handgrip 13 is all hinged with one end of connecting rod 21, the other end of each end handgrip 13 is bare terminal, and the other end and the described synchronising (connecting) rod 4 of two connecting rods 21 are hinged; Extension spring 12 is provided with between hinged place at two connecting rod 21 other ends and the end handgrip 13 in outside, this extension spring 12 makes end handgrip 13 be in normally open, when docking mechanism docks successfully, driving synchronising (connecting) rod 4 to move by staff by frapping line 10 makes two end handgrips 13 close, hold robot tightly, play and anti-swayly only swing effect.Each end handgrip 13 with connection pipe 20 hinged place above inner side be equipped with backing block 14, after holding robot tightly, make end handgrip 13 stop tightening up, prevent with all strength dragging frapping line 10 and make end handgrip 13 tension, under-water robot is damaged.The bare terminal of each end handgrip 13 is circular arc, and the bare terminal of two end handgrips 13 forms the semicircle corresponding with under-water robot profile; The outside of the bare terminal of each end handgrip 13 is all enclosed with protection leather bag 15, when preventing from reclaiming operation and robot to collide infringement under-water robot.
Principle of work of the present invention is:
As shown in Figure 1, before in use, the present invention reclaims under-water robot, first frapping line 10 one end is fixed on synchronising (connecting) rod 4, the other end through framework 3 head slab guide hole, respectively by two, left and right fixed pulley 2, controlled by staff; Suspension rod 8 is assembled into the recovery pattern shown in Fig. 3 A, does not namely use T-shaped handle.
When reclaiming operation, the guide rope 11 risen in flap seat 9 of under-water robot is salvaged after to lash ship, guide rope 11 is penetrated bottom suspension rod 8, control along guide wire 7 in staff's hand by middle fixed pulley 2, in whole removal process, staff drag tight guide rope 11 guide docking lifting appliance along guide rope 11 complete with under-water robot play the docking of flap seat 9; Docking lifting appliance is hung on the crane of lash ship by steel rope 1, until under-water robot is drawn after near lash ship, crane rises, docking lifting appliance is driven to move to above under-water robot, crane drives docking lifting appliance slowly to fall along guide rope 11, in the process, control frapping line 10 and make clamping device 6 all the time just to under-water robot; When crane falls to suspension rod 8 and under-water robot rises after a flap seat 9 completes and dock, crane continues whereabouts one segment distance, now use frapping line 10 controlling party to, catch under-water robot, then drag tight frapping line 10, and drive synchronising (connecting) rod 4 along the bar-shaped trough upward movement on position-limited rack, synchronising (connecting) rod 4 drives two ends totally four connecting rods 21, make two pairs of end handgrips 13 inwardly clamped closed, hold under-water robot tightly, play and anti-swayly only swing effect; Finally, crane rises, and uses docking lifting appliance to reclaim under-water robot, in the process, tightly drags frapping line 10 and causes recovery difficult to strengthen with acutely waving of under-water robot under preventing severe sea condition.
Suspension rod 8 with play the docking operation of flap seat 9 as shown in fig.3 a 3 c, as Fig. 3 A when suspension rod 8 does not dock with the flap seat 9 on under-water robot; Along with crane falls, suspension rod 8 has contacted flap seat 9 under guide rope 11 guides, and under gravity, driving lever 16 bottom is limited by the endoporus playing flap seat 9, and driving lever 16 is rotated around pin 17, and the retracing spring 18 on driving lever 16 top is stretched, as shown in Figure 3 B; Crane continues to fall, and owing to playing the internal via shape change of flap seat 9, driving lever 16 does contrarotation around pin 17 under the pulling force effect of retracing spring, makes driving lever 16 bottom enter flap seat 9 completely; Crane continues to fall, because the lower end head of suspension rod 8 makes suspension rod 8 can not continue to decline with the restriction playing flap seat 9 endoporus, as shown in Figure 3 C; Crane rises afterwards, and driving lever 16 lifts by crane plane and the load plane contact playing flap seat 9 inside, under-water robot of slinging.
When carrying out deployment, its process is contrary with recovery operation.First suspension rod 8 is docked with the flap seat 9 that rises on under-water robot, T-shaped handle 19 is arranged on driving lever 16, and be two ropes that break off relations respectively, note now not using guide rope 11; After under-water robot is hung out lash ship, slowly fall to sea, use frapping line 10 to carry out the protection laid in process in the process; After under-water robot is drop to sea, crane continues whereabouts one segment distance, then drag tight two ropes that break off relations makes driving lever 16 rotate around pin 17 under the effect of T-shaped handle 19 simultaneously, now rise crane, because driving lever 16 bottom is retracted in suspension rod 8, suspension rod 8 rises under crane drives, and has departed from flap seat 9, docking lifting appliance is separated with under-water robot, and what complete under-water robot lays work.
Claims (10)
1. a under-water robot reclaims with docking lifting appliance, it is characterized in that: comprise framework (3), synchronising (connecting) rod (4), clamping device (6), guide wire (7), suspension rod (8), frapping line (10) and guide rope (11), its middle frame (3) is connected with the crane on lash ship by steel rope (1), described framework (3) is provided with multiple fixed pulley (2), clamping device (6) is hinged with respectively in the both sides of framework (3), the top of two clamping devices (6) is connected by described synchronising (connecting) rod (4), the two ends of described synchronising (connecting) rod (4) are all connected with one end of frapping line (10), and the other end of this frapping line (10) is passed by framework (3), walk around described fixed pulley (2) is controlled by the staff on lash ship, described guide wire (7) and suspension rod (8) are arranged on framework (3) respectively, guide wire (7) is positioned at the top of suspension rod (8), one end of described guide rope (11) is connected in the flap seat (9) on under-water robot, the other end is successively through suspension rod (8), guide wire (7) and framework (3), walk around described fixed pulley (2), controlled by the staff on lash ship, described suspension rod (8) is provided with the docking mechanism docked with the flap seat (9) on described under-water robot near the position of lower end.
2. by under-water robot recovery docking lifting appliance according to claim 1, it is characterized in that: described docking mechanism comprises driving lever (16), pin (17) and retracing spring (18), suspension rod (8) is symmetrical near the both sides of lower end position, on axial cross section is hinged with driving lever (16) by pin (17), described guide rope (11) passes by between two driving levers (16), and the upper end of described two driving levers (16) is connected with described suspension rod (8) respectively by retracing spring (18).
3. by under-water robot recovery docking lifting appliance according to claim 2, it is characterized in that: the internal via shape playing flap seat (9) on described under-water robot is corresponding with described driving lever (16), described docking lifting appliance is in deployment state, each driving lever (16) is all provided with T-shaped handle (19), there is the rope that breaks off relations in the upper system of described T-shaped handle (19).
4. reclaim with docking lifting appliance by the under-water robot described in claim 1 or 2, it is characterized in that: the bottom of described framework (3) is provided with connection pipe (20), the clamping device (6) of both sides is articulated with the two ends of this connection pipe (20) respectively; Described guide wire (7) and suspension rod (8) are coaxially fixed on this connection pipe (20).
5. by under-water robot recovery docking lifting appliance according to claim 1, it is characterized in that: described framework (3) is provided with stop gear (5), described synchronising (connecting) rod (4) is plugged in this stop gear (5).
6. by under-water robot recovery docking lifting appliance according to claim 5, it is characterized in that: described stop gear (5) is position-limited rack, there are two, be fixed in the both sides below described framework (3) top respectively, described position-limited rack is provided with bar-shaped trough along the sense of motion of synchronising (connecting) rod (4), and described synchronising (connecting) rod (4) is passed by the bar-shaped trough on two position-limited racks successively.
7. by under-water robot recovery docking lifting appliance according to claim 1, it is characterized in that: described fixed pulley (2) is three, the other end of the frapping line (10) be connected with synchronising (connecting) rod (4) two ends is walked around by the fixed pulley being positioned at both sides, and the other end of described guide rope (11) is walked around by being positioned at middle fixed pulley.
8. reclaim with docking lifting appliance by the under-water robot described in claim 1,2,5 or 6, it is characterized in that: described clamping device (6) comprises two shapes, structure identical end handgrip (13), two end handgrips (13) are hinged with described framework (3), one end of each end handgrip (13) is all hinged with one end of connecting rod (21), the other end of each end handgrip (13) is bare terminal, and the other end and the described synchronising (connecting) rod (4) of two connecting rods (21) are hinged; Extension spring (12) is provided with between the hinged place of two connecting rod (21) other ends and the end handgrip (13) being positioned at outside.
9. dock lifting appliance by under-water robot recoverys according to claim 8, it is characterized in that: the relative inner side of described two end handgrips (13) is respectively equipped with backing block (14).
10. by under-water robot recovery docking lifting appliance according to claim 8, it is characterized in that: the bare terminal of each end handgrip (13) is circular arc, the bare terminal of two end handgrips (13) forms the semicircle corresponding with under-water robot profile; The outside of the bare terminal of each end handgrip (13) is all enclosed with protection leather bag (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110445863.6A CN103183112B (en) | 2011-12-28 | 2011-12-28 | Abutting and lifting device for recovering underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110445863.6A CN103183112B (en) | 2011-12-28 | 2011-12-28 | Abutting and lifting device for recovering underwater robot |
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| Publication Number | Publication Date |
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| CN103183112A CN103183112A (en) | 2013-07-03 |
| CN103183112B true CN103183112B (en) | 2015-06-10 |
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| CN201110445863.6A Active CN103183112B (en) | 2011-12-28 | 2011-12-28 | Abutting and lifting device for recovering underwater robot |
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