CN208602649U - Underwater robot lays the elevator Zhi Dang mechanism of recovery system - Google Patents
Underwater robot lays the elevator Zhi Dang mechanism of recovery system Download PDFInfo
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- CN208602649U CN208602649U CN201821304509.5U CN201821304509U CN208602649U CN 208602649 U CN208602649 U CN 208602649U CN 201821304509 U CN201821304509 U CN 201821304509U CN 208602649 U CN208602649 U CN 208602649U
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Abstract
The utility model relates to the elevator Zhi Dang mechanisms that a kind of underwater robot lays recovery system, rotation motor is mounted on guiding buffer fixing frame by mounting rack, output shaft is connected with the lower end of rotary shaft, and the upper end of rotary shaft is fixedly connected with link block A, and hanging ring articulated linkage is equipped on link block A；Hoisting mechanism includes hawser, winching barrel, power source, bracket A and rotating cylinder branch shaft, bracket A is mounted on guiding buffer fixing frame, winching barrel is rotatably installed on bracket A by rotating cylinder branch shaft, power source is mounted on bracket A, output end is connected with one end of winching barrel, winching barrel is driven to rotate, on winching barrel, the other end is connect the one ends wound of hawser with the shooting rope hawser that underwater robot fore body is dished out.The structure design of the utility model is reasonable, and integrated level is high, it can be achieved that high automation, few peopleization operation, have largely liberated manpower, simplified the scale of test supporting team 5.
Description
Technical field
The utility model belongs to underwater robot field, and specifically a kind of underwater robot lays the volume of recovery system
Yang Zhidang mechanism.
Background technique
With the high deployment of national marine strategy, the various forms of underwater robot equipment configuration forms of marine field are more
Sample, system application functionization, scientific exploration seriation.Various underwater robots flourish in entire ocean application field
Under situation, how ocean operation lack peopleization operation require under the premise of, more efficiently underwater robot is laid safely and
Recycling is always a domestic and international generally existing general character problem.
Currently, underwater robot is laid and recycles there are mainly four types of mode:
The first is to be laid and docked under water recycling operation using floating dock type and hoistable platform, although can reduce wind
The influence of wave, but dedicated support lash ship is needed, and dedicated lash ship cost and cost of use are expensive, are not suitable for present status in China.
Second is the recycling of ship midship moon pool, can be avoided wave for laying the influence with reclaimer operation；But due to the moon
The size in pond is limited, and the underwater robot size that can support folding and unfolding is caused to be only limitted to the form of small scale and shape rule.
The third is to be lifted by crane to recycle with lash ship on the water surface, is typically necessary staff and takes motorboat close to underwater machine
Device people completion is docked with recovering mechanism；The operation mode is affected by stormy waves, is easy to appear equipment damage when sea situation difference
And the case where personal injury；It is reciprocal with recovery process to lay process.
4th kind is that the line-throwing appliance for completing the underwater robot of work mission is cast out traction rope, work by remote control command
Make personnel using fishing rope device traction rope is recycled after, imported from A type frame, and there is staff gradually to draw to lash ship stern A
The lower section of type frame；By staff on lash ship using stock hook docking, then the supporting team 5 being made of more people is in lash ship belt speed
Under the operating condition of traveling, recycling is only swung；The recovery method solves under someone ship and links up with bring dangerous problem, using at
This is lower；But the problem of there are severe sea conditions to be difficult to realize, and versatility is not strong, and more peopleization operate.
Utility model content
In order to solve existing above problem when underwater robot lays recycling, the purpose of this utility model is to provide one
Kind underwater robot lays the elevator Zhi Dang mechanism of recovery system.
The purpose of this utility model is achieved through the following technical solutions:
The utility model includes circumferential revolution adjusted device, hoisting mechanism, captures bracket and guiding buffer fixing frame, wherein
Circumferential revolution adjusted device includes hanging ring articulated linkage, link block A, mounting rack, rotation motor and rotary shaft, and the rotation motor is logical
Mounting rack is crossed to be mounted on the guiding buffer fixing frame, output shaft is connected with the lower end of the rotary shaft, the rotary shaft it is upper
End is fixedly connected with the link block A, is equipped with hanging ring articulated linkage on the link block A；The hoisting mechanism include hawser,
Winching barrel, power source, bracket A and rotating cylinder branch shaft, bracket A are mounted on the guiding buffer fixing frame, the volume
It raises roller to be rotatably installed on bracket A by rotating cylinder branch shaft, the power source is mounted on bracket A, output end and volume
The one end for raising roller is connected, driving winching barrel rotation, and the one ends wound of the hawser is on winching barrel, the other end and underwater
The recycling rope connection that robot fore body is dished out；
Oil liquid damping isolator is installed on the guiding buffer fixing frame, which includes oil liquid damping
Controller and external fixed cylinder, the external fixed cylinder are mounted on guiding buffer fixing frame, and the oil liquid damping controller holds
It is placed in the outside fixed cylinder, upper end is connect with the top of external fixed cylinder, and lower end is connected with the capture bracket；
Guiding cylinder barrel is installed on the guiding buffer fixing frame, which includes external fixed stop sleeve, interior
The fixed wear-resistant sleeve in portion and internal follower cylinder rod, the fixed stop sleeve in the outside is installed on the guiding buffer fixing frame, described
The fixed wear-resistant sleeve in inside, which is placed in external fixed stop sleeve and fixes stop sleeve with outside, to be connected, the inside with
Dynamic cylinder rod can be placed in OQ t in internal fixed wear-resistant sleeve, and lower end is connect with the capture bracket；
The one or both sides of the winching barrel are equipped with passive hawser and disperse cylinder mechanism, which disperses roller machine
Structure includes passive roller and bracket B, and the bracket B is mounted on bracket A, the passive roller rotational installation on bracket B,
Spacing between the winching barrel and passive roller is less than 2 times of cable diameter；
Hawser hold-down mechanism is installed on the guiding buffer fixing frame, which includes torsionspring, turns round
Spring support rod, link block B and hawser pressure plate, the torsional-spring supported bar are mounted on guiding buffer fixing frame by link block B,
One end of the hawser pressure plate is rotationally connected on torsional-spring supported bar, and the other end is free end, and the torsionspring is set in
On torsional-spring supported bar, both ends are abutted against with the guiding buffer fixing frame and hawser pressure plate respectively, the hawser pressure plate from
It is connected on hawser by holding by the elastic force of the torsionspring；
The hawser is pierced by by the bottom of guiding buffer fixing frame, is connected with the recycling rope that underwater robot fore body is dished out
It connects, the hawser limit plate being mounted on guiding buffer fixing frame is equipped in the outside of the hawser；
First-level buffer vibration isolator is installed, the guiding buffer fixing frame lower surface is equipped with second level on the capture bracket
Buffer vibration isolator；
Between the rotary shaft and mounting rack be equipped with to rotary shaft carry out axial limiting wear-resisting copper ring and to rotary shaft into
To the wear-resisting copper sheathing A of limit, the lower end of the rotary shaft is equipped with triangle shape connecting-type face, the output with the rotation motor for conduct
Shaft end is connected；The upper end of the rotary shaft is fixedly connected by locking nut with the bottom of link block A；
The link block A is in U-typed, and the hanging ring articulated linkage is installed on the open end of U-typed, the hanging ring articulated linkage
One end be hanging ring, the other end offers positioning lock tieholen.
The advantages of the utility model and good effect are as follows:
1. the structure design of the utility model is reasonable, integrated level is high, it can be achieved that high automation, few peopleization operate, in very great Cheng
Manpower has been liberated on degree, has simplified the scale of test supporting team 5.
2. the transmission connection of the circumferential revolution adjusted device of the utility model is connected using type face, reliable transmission, installation dimension
It protects convenient and efficient.
3. the oil liquid damping isolator vibration isolation capability of the utility model is strong, adjustable range is big, with first-level buffer vibration isolator, two
Three-level buffering isolation scheme is collectively formed in grade buffering vibration isolator, lays recovery operation under high sea conditions even if can ensure,
It can still guarantee that the safety of underwater robot lays recycling.
It 4. the utility model, which is provided with passive hawser, disperses cylinder mechanism, ensure that during elevator, will passively receive
Cable laying rope wound side by side.
5. the utility model is provided with hawser hold-down mechanism, mechanism guarantees that hawser is located always when carrying out identical tension elevator
It, will not be because of reciprocal folding and unfolding movement so that hawser is wound in impaction state.
Detailed description of the invention
Fig. 1 is one of the schematic perspective view of the utility model；
Fig. 2 is the two of the schematic perspective view of the utility model；
Fig. 3 is the three-dimensional cutaway view at the utility model circumferential direction revolution adjusted device；
Fig. 4 is one of the schematic perspective view of the utility model hoisting mechanism；
Fig. 5 is the two of the schematic perspective view of the utility model hoisting mechanism；
Fig. 6 is the three-dimensional cutaway view that the utility model is oriented to cylinder barrel；
Fig. 7 is the three-dimensional cutaway view of the utility model oil liquid damping isolator；
Fig. 8 is the working state figure that the utility model is applied on lash ship；
Wherein: 1 turns round adjusted device to be circumferential, and 101 be hanging ring bar that is articulated and connected, and 102 be link block A, and 103 be fixed plate
A, 104 be support plate A, and 105 be fixed plate B, and 106 be fixed plate C, and 107 be rotation motor, and 108 be output shaft end, and 109 are
Triangle connecting-type face, 110 be wear-resisting copper sheathing A, and 111 be rotary shaft, and 112 be locking nut, and 113 be positioning lock tieholen, and 114 are
Wear-resisting copper ring, 115 be screw A；
2 be hoisting mechanism, and 201 be hawser, and 202 be hawser limit plate, and 203 be winching barrel, and 204 be connecting flange, 205
It is hoist motor for winding speed reducing, 206,207 be bracket A, and 208 be screw C；
3 be oil liquid damping isolator, and 301 be oil liquid damping controller, and 302 be latch segment, and 303 be external fixed cylinder, 304
It is external screw thread connector B for external screw thread connector A, 305；
4 be guiding cylinder barrel, and 401 be external fixed stop sleeve, and 402 fix wear-resistant sleeve to be internal, and 403 be end flange pressure
Tight plate, 404 be internal follower cylinder rod, and 405 be internal locking screw, and 406 be screw E, and 407 be connecting flange；
5 disperse cylinder mechanism for passive hawser, and 501 be passive roller, and 502 be bracket B, and 503 be screw D；
6 be hawser hold-down mechanism, and 601 be torsionspring, and 602 be torsional-spring supported bar, and 603 be link block B, and 604 be hawser
Pressure plate, 605 be screw B；
7 be to capture bracket, and 8 be first-level buffer vibration isolator, and 9 be level 2 buffering vibration isolator, and 10 be to be oriented to buffer fixing frame, 11
For connecting plate B, 12 be lash ship, and 13 be mechanical arm, and 14 be elevator Zhi Dang mechanism, and 15 be shooting rope mechanism, and 16 be underwater robot, 17
It is damping hydraulic cylinder for connecting plate A, 18.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
As shown in Figure 1 and Figure 2, the utility model includes circumferential revolution adjusted device 1, hoisting mechanism 2, oil liquid damping isolation
Device 3, guiding cylinder barrel 4, passive hawser dispersion cylinder mechanism 5, hawser hold-down mechanism 6, capture bracket 7, first-level buffer vibration isolator 8,
Level 2 buffering vibration isolator 9 and guiding buffer fixing frame 10, wherein hoisting mechanism 2 is located in guiding buffer fixing frame 10, in elevator
The left and right sides of mechanism 2 is equipped with the oil liquid damping isolator 3 being mounted on guiding buffer fixing frame 10 and guiding cylinder barrel 4；Volume
The front side and/or rear side for raising mechanism 2 are equipped with the passive hawser dispersion cylinder mechanism 5 for making hawser 201 disperse wound side by side, hoist engine
The top of structure 2 is equipped with the hawser hold-down mechanism 6 for compressing hawser.Capture the lower section that bracket 7 is located at guiding buffer fixing frame 10, elevator
Oil liquid damping isolator 3 in mechanism 2 and guiding cylinder barrel 4 respectively with capture bracket 7 and be connected, capture bracket 7 in arcuation, and it is underwater
There is first-level buffer vibration isolator 8 in the side that robot 16 contacts, and guiding 10 lower surface of buffer fixing frame is equipped with level 2 buffering vibration isolation
Pad 9.
As shown in Figure 1, Figure 2 and Figure 3, circumferential revolution adjusted device 1 includes hanging ring articulated linkage 101, link block A102, peace
It shelves, rotation motor 107, wear-resisting copper sheathing A110, rotary shaft 111, locking nut 112 and wear-resisting copper ring 114, wherein guiding buffering
The top of fixed frame 10 is equipped with fixed plate C106, and mounting rack is fixed on the upper surface middle position of fixed plate C106, including fixation
Plate A103, support plate A104 and fixed plate B105, support plate A104 are two pieces, are arranged in parallel, the left and right ends of fixed plate A103
The top of two pieces of support plate A104 is fixed in by screw A115 respectively, in the lower section of fixed plate A103, positioned at two pieces of support plates
Between A104, the fixed plate B105 parallel with fixed plate A103 is connected with by screw.Aperture among fixed plate B105 rotates horse
The lower surface for being fixed in fixed plate B105 up to 107, output shaft end 108 is passed through by the aperture on fixed plate B105, and passes through rotation
Shaft 111 and link block A102 are rotatablely connected.It is equipped between 111 middle part outside of rotary shaft and fixed plate A103 to rotary shaft 111
The wear-resisting copper sheathing A110 radially limited, rotary shaft 111 are isolated by wear-resisting copper sheathing A110, and are constituted and turned with fixed plate A103
Dynamic secondary connection, is clearance fit between rotary shaft 111 and wear-resisting copper sheathing A10；Three are equipped on the inside of the lower end (big end) of rotary shaft 111
Angular shape connecting-type face 109 is equipped with triangle connecting-type face, rotation motor on the outside of the output shaft end 108 of rotation motor 107
107 connect transmitting torque by type face with rotary shaft 111, and the upper end of rotary shaft 111 passes through locking nut 112 and link block A102
Bottom be fixedly connected.Link block A102 is in U-typed, and the open end of the U-typed is equipped with hanging ring articulated linkage 101, hanging ring hinge
One end of connective pole 101 is hanging ring, and the other end offers positioning lock tieholen 113.It is equipped in the two sides up and down of fixed plate A103
Cover in rotary shaft 111, carry out the wear-resisting copper ring 114 of axial limiting to rotary shaft 111, rotary shaft 111 and wear-resisting copper ring 114 it
Between be clearance fit；The wear-resisting copper ring 114 being located above is fixed by locking nut 112 and fixed plate A103, underlying
Wear-resisting copper ring 114 is fixed by the big end of rotary shaft 111 with fixed plate A103；Meanwhile upper and lower two wear-resisting copper rings 114 are also to resistance to
It grinds copper sheathing A110 and carries out axial limiting.
As shown in Figure 1, Figure 2 and shown in Fig. 4, Fig. 5, hoisting mechanism 2 includes hawser 201, hawser limit plate 202, winching barrel
203, connecting flange 204, power source, bracket A207, rotating cylinder branch shaft 209 and wear-resisting copper sheathing B210, bracket A207 are fixed on
It is oriented to the bottom surface of buffer fixing frame 10, winching barrel 203 is rotatably installed on bracket A207 by rotating cylinder branch shaft 209, is moved
Power source is mounted on bracket A207, and output end is connected with one end of winching barrel 203, winching barrel 203 is driven to rotate, hawser
For 201 one ends wound on winching barrel 203, the other end is free end, the recycling rope phase dished out with underwater robot fore body
Connection.The power source of the present embodiment includes the winding speed reducing 205 and hoist motor 206 being fixedly connected by screw, the elevator
Retarder 205 is fixed on bracket A207 by screw together with hoist motor 206.203 inside left of winching barrel, which is equipped with, to be connected
Acting flange 204, the connecting flange 204 are affixed by the ring flange of screw and winding speed reducing 205；The more common axis of flanged joint
Be keyed it is relatively reliable, convenient, be conducive to maintenance.The right side of winching barrel 203 is secured to rotating cylinder branch shaft by screw C208
On 209 left side flange, rotating cylinder branch shaft 209 is established revolute pair with bracket A207 by wear-resisting copper sheathing B210 and is connect.Hawser
It is pierced by 201 holes opened up by 10 bottom of guiding buffer fixing frame, is connected with the recycling rope that underwater robot fore body is dished out,
The outside (side i.e. far from winching barrel 203) of hawser 201 is equipped with the hawser limit being mounted on guiding buffer fixing frame 10
Plate 202 makes to receive in hawser 201.
The one or both sides of winching barrel 203 are equipped with passive hawser and disperse cylinder mechanism 5, which disperses roller machine
Structure 5 includes passive roller 501 and bracket B502, and bracket B502 is mounted on bracket A207 by screw D503 or guiding buffering is fixed
On frame 10, on bracket B502, the spacing between winching barrel 203 and passive roller 501 is small for the passive rotational installation of roller 501
In 2 times of 201 diameter of hawser.The present embodiment is that a passive hawser dispersion cylinder mechanism is arranged in the front side of winching barrel 203
5, passive roller 501 and hawser during hawser 201 is wrapped in winching barrel 203, in passive hawser dispersion cylinder mechanism 5
201 contacts, make each layer of the equal wound side by side of hawser 201.The hawser 201 of the utility model is Kevlar hawser.
The top of winching barrel 203 is equipped with the hawser hold-down mechanism 6 for being mounted on guiding buffer fixing frame 10, which compresses
Mechanism 6 includes torsionspring 601, torsional-spring supported bar 602, link block B603 and hawser pressure plate 604, torsional-spring supported bar 602
Both ends are respectively equipped with link block B603, and the link block B603 at both ends passes through screw B605 respectively and is fixed in guiding buffer fixing frame 10
On, one end of hawser pressure plate 604 is rotationally connected on torsional-spring supported bar 602, and the other end is free end, and 601 sets of torsionspring
It is located on torsional-spring supported bar 602, both ends are abutted against with guiding buffer fixing frame 10 and hawser pressure plate 604 respectively, the hawser pressure
The free end of tight plate 604 is tensioned downwards by the elastic force of torsionspring 601, and hawser 201 is compressed.
As shown in Figure 1, Figure 2 and shown in Fig. 7, the left and right sides of hoisting mechanism 2, which is equipped with, to be mounted on guiding buffer fixing frame 10
Oil liquid damping isolator 3, which includes oil liquid damping controller 301, latch segment 302 and external fixed
Cylinder 303, oil liquid damping isolator 3 are fixed on guiding buffer fixing frame 10 entirely through the outer flange of external fixed cylinder 303,
Oil liquid damping controller 301 is placed in the outside fixed cylinder 303, and upper end is equipped with external screw thread connector A304, is used for and locking
Block 302 is threadedly coupled, and external fixed cylinder 303 is fixedly clamped between oil liquid damping controller 301 and latch segment 302；
The lower end of oil liquid damping controller 301 is equipped with external screw thread connector B305, for being connected with connecting plate B11, captures bracket 7 and installs
In the lower surface of connecting plate B11.The oil liquid damping controller 301 of the utility model is commercial products, is purchased in the rich sage of Germany
Science and Technology Ltd., model HBY-14/40.
As shown in Figure 1, Figure 2 and shown in Fig. 6, the left and right sides of hoisting mechanism 2, which is equipped with, to be mounted on guiding buffer fixing frame 10
Guiding cylinder barrel 4, which includes that external fixed stop sleeve 401, internal fixed wear-resistant sleeve 402, end flange compress
Plate 403, internal follower cylinder rod 404 and connecting flange 407, it is solid that the lower end of the fixed stop sleeve 401 in outside is fixed on guiding buffering
Determine on frame 10, the fixed wear-resistant sleeve 402 in inside is placed in external fixed stop sleeve 401, and upper end passes through screw E406 and end
Flange screw plate 403 is affixed, and end flange pressure plate 403 and internal fixed wear-resistant sleeve 402 are fixed together to outside
The upper end of fixed stop sleeve 401.Internal follower cylinder rod 404 can be placed in OQ t in internal fixed wear-resistant sleeve 402, be used
In realizing servo-actuated guide function, the lower end of internal follower cylinder rod 404 is equipped with internal locking screw 405, is used for internal follower cylinder
Bar 404 is connect with connecting plate B11.
The working principle of the utility model are as follows:
As shown in Fig. 1~8, mechanical arm 13 is installed on lash ship 12, mechanical arm 13 can be provided according to support lash ship 12
Installation interface and flight number demand neatly installed or removed, to ensure that the flight number grasps the folding and unfolding of underwater robot 16
Make；It is also possible to carry out hanging operation to other equipments.Link block A102 in elevator Zhi Dang mechanism 14 is fixed on mechanical arm
13 end, at the same it is in parallel using the compound damping hydraulic cylinder 18 only swung of roll and trim, in conjunction with circumferential revolution adjusted device 1
Circumferential revolute function realizes that sideway and trim only swing function.After only swinging movement, elevator is stopped using damping hydraulic cylinder 18
Mechanism 14 is swung to be limited, locked.Shooting rope mechanism 15 is mounted on the fore body of underwater robot 16, for realizing underwater robot 16
Quick shooting rope function on sea level.
After 16 mission of underwater robot, staff passes through the shooting rope mechanism of 16 fore body of remote control trigger underwater robot
15, fore body is dished out buoyant mass quick release, fore body buoyant mass of dishing out floats under the action of wave, drives shooting rope hawser quick
Expansion, then by manually picking up shooting rope hawser, be connected on the hawser 201 in elevator Zhi Dang mechanism 14, pass through mechanical arm 13, volume
Yang Zhidang mechanism 14, connecting plate A17,18 combinative movement of damping hydraulic cylinder realize the safe retrieving to underwater robot 16.
In laying removal process, rotation motor 107 works, since rotary shaft 111 and link block A102 pass through locking screw
Mother 112 connects, and because link block A102 is fixed on the end of mechanical arm 13 again, therefore rotation motor 107 drives 111 or less rotary shaft
Part (including mounting rack, guiding buffer fixing frame 10, capture bracket 7) produce relative rotation with rotary shaft 111, realize turn round
Tuning.Hoist motor 206 and winding speed reducing 205 drive winching barrel 203 to rotate, and hawser 201 is laid or recycled, into
And realize the laying or recycling relative to capture bracket 7 of underwater robot 16.Guiding cylinder barrel 4 can play guide function, oil liquid resistance
Buddhist nun's vibration isolator 3 can play buffer function, and passive hawser dispersion cylinder mechanism 5 makes the equal wound side by side of every layer of hawser 201, mechanism into
When row identical tension elevator, hawser hold-down mechanism 6 can guarantee that hawser is in impaction state always, will not act because of reciprocal folding and unfolding
So that hawser is wound.
The guiding buffer fixing frame 10 of the utility model can be according to 16 custom design of underwater robot of different shapes, at end
General-purpose interface is designed in the connecting interface at end, can flexibly be replaced according to folding and unfolding demand.
Claims (9)
1. the elevator Zhi Dang mechanism that a kind of underwater robot lays recovery system, it is characterised in that: turn round tuning machine including circumferential
Structure (1), hoisting mechanism (2) capture bracket (7) and guiding buffer fixing frame (10), wherein circumferential revolution adjusted device (1) includes
Hanging ring articulated linkage (101), link block A (102), mounting rack, rotation motor (107) and rotary shaft (111), the rotation motor
(107) it is mounted on the guiding buffer fixing frame (10) by mounting rack, the lower end phase of output shaft and the rotary shaft (111)
Even, the upper end of the rotary shaft (111) is fixedly connected with the link block A (102), is equipped with hanging ring on the link block A (102)
Articulated linkage (101)；The hoisting mechanism (2) include hawser (201), winching barrel (203), power source, bracket A (207) and
Rotating cylinder branch shaft (209), bracket A (207) are mounted on the guiding buffer fixing frame (10), the winching barrel
(203) it is rotatably installed on bracket A (207) by rotating cylinder branch shaft (209), the power source is mounted on bracket A (207)
On, output end is connected with the one end of winching barrel (203), winching barrel (203) is driven to rotate, one end of the hawser (201)
It is wrapped on winching barrel (203), the other end is connect with the shooting rope hawser that underwater robot fore body is dished out.
2. underwater robot lays the elevator Zhi Dang mechanism of recovery system according to claim 1, it is characterised in that: described to lead
Oil liquid damping isolator (3) are installed on buffer fixing frame (10), which includes oil liquid damping control
Device (301) and external fixed cylinder (303), the external fixed cylinder (303) are mounted in guiding buffer fixing frame (10), the oil
Liquid damping controller (301) is placed in the outside fixed cylinder (303), and upper end is connect with the top of external fixed cylinder (303), under
End is connected with the capture bracket (7).
3. underwater robot lays the elevator Zhi Dang mechanism of recovery system according to claim 1, it is characterised in that: described to lead
Guiding cylinder barrel (4) is installed on buffer fixing frame (10), which includes external fixed stop sleeve (401), interior
Portion fixed wear-resistant sleeve (402) and internal follower cylinder rod (404), it is slow that the outside fixed stop sleeve (401) are installed on the guiding
It rushes on fixed frame (10), internal fixed wear-resistant sleeve (402) are placed in external fixed stop sleeve (401) and outer with this
Portion fixed stop sleeve (401) is connected, and the internal follower cylinder rod (404) can be placed in OQ t internal fixed wear-resistant sleeve
(402) in, lower end is connect with the capture bracket (7).
4. underwater robot lays the elevator Zhi Dang mechanism of recovery system according to claim 1, it is characterised in that: the volume
The one or both sides for raising roller (203) are equipped with passive hawser dispersion cylinder mechanism (5), passive hawser dispersion cylinder mechanism (5)
Including passive roller (501) and bracket B (502), the bracket B (502) is mounted on bracket A (207), the passive roller
(501) on bracket B (502), the spacing between the winching barrel (203) and passive roller (501) is less than for rotational installation
2 times of hawser (201) diameter.
5. underwater robot lays the elevator Zhi Dang mechanism of recovery system according to claim 1, it is characterised in that: described to lead
Hawser hold-down mechanism (6) are installed on buffer fixing frame (10), which includes torsionspring (601), turns round
Spring support rod (602), link block B (603) and hawser pressure plate (604), the torsional-spring supported bar (602) pass through link block B
(603) it is mounted in guiding buffer fixing frame (10), one end of the hawser pressure plate (604) is rotationally connected with torsional-spring supported bar
(602) on, the other end is free end, and the torsionspring (601) is set on torsional-spring supported bar (602), both ends respectively with institute
It states guiding buffer fixing frame (10) and hawser pressure plate (604) abuts against, the free end of the hawser pressure plate (604) passes through described
The elastic force of torsionspring (601) is connected on hawser (201).
6. underwater robot lays the elevator Zhi Dang mechanism of recovery system according to claim 1, it is characterised in that: the cable
Rope (201) is pierced by by the bottom of guiding buffer fixing frame (10), is connected with the recycling rope that underwater robot fore body is dished out,
The outside of the hawser (201) is equipped with the hawser limit plate (202) being mounted in guiding buffer fixing frame (10).
7. underwater robot lays the elevator Zhi Dang mechanism of recovery system according to claim 1, it is characterised in that: described to catch
It catches and first-level buffer vibration isolator (8) is installed on bracket (7), guiding buffer fixing frame (10) lower surface is equipped with level 2 buffering
Vibration isolator (9).
8. underwater robot lays the elevator Zhi Dang mechanism of recovery system according to claim 1, it is characterised in that: the rotation
It is equipped between shaft (111) and mounting rack and the wear-resisting copper ring (114) of axial limiting is carried out to rotary shaft (111) and to rotary shaft
(111) lower end of the wear-resisting copper sheathing A (110) radially limited, the rotary shaft (111) is equipped with triangle shape connecting-type face
(109), it is connected with the output shaft end (108) of the rotation motor (107)；The upper end of the rotary shaft (111) passes through locking
Nut (112) is fixedly connected with the bottom of link block A (102).
9. underwater robot lays the elevator Zhi Dang mechanism of recovery system according to claim 1, it is characterised in that: the company
Block A (102) are connect in U-typed, the hanging ring articulated linkage (101) is installed on the open end of U-typed, the hanging ring articulated linkage
(101) one end is hanging ring, and the other end offers positioning lock tieholen (113).
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| CN201821304509.5U CN208602649U (en) | 2018-08-14 | 2018-08-14 | Underwater robot lays the elevator Zhi Dang mechanism of recovery system |
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| CN201821304509.5U CN208602649U (en) | 2018-08-14 | 2018-08-14 | Underwater robot lays the elevator Zhi Dang mechanism of recovery system |
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| CN110816755A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Winch oscillation stopping mechanism of underwater robot laying and recycling system |
| CN110937087A (en) * | 2019-12-03 | 2020-03-31 | 哈尔滨工程大学 | Underwater AUV (autonomous underwater vehicle) laying and recycling butt joint device and butt joint method |
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