CN209667332U - A kind of underwater robot recycling cone rod-type docking traction mechanism - Google Patents
A kind of underwater robot recycling cone rod-type docking traction mechanism Download PDFInfo
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- CN209667332U CN209667332U CN201822145874.2U CN201822145874U CN209667332U CN 209667332 U CN209667332 U CN 209667332U CN 201822145874 U CN201822145874 U CN 201822145874U CN 209667332 U CN209667332 U CN 209667332U
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- docking
- underwater robot
- flap seat
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- cone bar
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Abstract
It is recycled the utility model discloses a kind of underwater robot and docks traction mechanism with cone rod-type, the traction mechanism includes docking cone bar (3), clamping device (4), resetting-mechanism (5), plays flap seat (6), image sonar system (7) and haulage cable (8), wherein, docking cone bar (3) is rigidly connected by bolt and underwater robot (1) tail portion；The fixed clamping device (4) of four sets of hinges is uniformly installed on the circumference for playing flap seat (6) for clamping docking cone bar (3), every set clamping device (4) corresponding position, which is equipped with resetting-mechanism (5), ensures that docking cone bar (3) is reliably docked with flap seat (6) are played, and the other end for playing flap seat (6) is connect by haulage cable (8) with surface mother ship.The utility model overall structure is safe and reliable, using Purely mechanical mechanism, considerably increases the reliability and safety of whole device, can be realized the automatic butt under marine complicated sea situation.
Description
Technical field
The utility model relates to underwater robot recovery technology fields, more particularly to are a kind of underwater robot recycling cones
Rod-type docks traction mechanism.
Background technique
With the continuous development of marine cause, activity of the mankind in seabed is more and more frequent, and underwater robot is answered extensively
For army, coast guard, maritime affairs, customs, nuclear power, water power, offshore oil, fishery, marine salvage, pipeline detection and ocean section
Learn the every field such as research.
In the underwater robot of deepwater work, there is unpredictability, underwater robot since working environment is complicated and changeable
Recycling be always problem.At present frequently with method be abandon dive pouring weight, localizer beacon etc. make robot by itself
Positive buoyancy float to the water surface, to complete recycling task.
When underwater robot is snarled by fishing net, sea cable etc. to get away, the above method will be ineffective.Therefore one is developed
It kind does not need personnel and goes ashore that the mechanism of reliable recovery underwater robot can be realized, and carry out relevant underwater mating technical research
It is very urgent and be of great significance.
Summary of the invention
In order to solve the problems, such as that underwater robot is snarled Emergency recovery operation when can not get away by fishing net, sea cable etc., this
Utility model is designed to provide a kind of underwater robot recycling cone rod-type docking traction mechanism.The docking traction mechanism
Be able to achieve when recycling operation to dock and have with underwater robot automatically and pull traction function, using purely mechanical structure from
Dynamic docking, considerably increases the reliability and safety of whole device.
The purpose of this utility model is achieved through the following technical solutions: a kind of underwater robot recycling cone rod-type
Traction mechanism is docked, the traction mechanism includes docking cone bar 3, clamping device 4, resetting-mechanism 5, plays flap seat 6, image sonar system
System 7 and haulage cable 8, wherein the docking cone bar 3 is the conical structure that center has through-hole, and docking cone bar 3 is along machine
The armored cable 2 of device people's communication moves to the tail portion installation end face of underwater robot 1, and rigid using bolt and robot 1 tail portion
Property is connected as a body；It rises and has through-hole among flap seat 6, and four sets of hinges fixed clamping device 4 is uniformly installed on circumference and is used for
Clamping docking cone bar 3；Every 4 corresponding position of set clamping device is equipped with the resetting-mechanism 5 of adjustable tension, it is ensured that docking cone bar 3 with
It plays flap seat 6 reliably to dock, the other end for playing flap seat 6 is connect by haulage cable 8 with surface mother ship；Image sonar system 7 will
The real-time condition of underwater mating is transmitted to the control centre of surface mother ship.
Further, band taper one end of the docking cone bar 3 is set there are two ring groove is limited, and raising connects cone 3 quilt of bar
The reliability that clamping device 4 clamps.
Further, the clamping device 4 includes end handgrip 9 and pin 10, and handgrip 9 one end in end is adopted with flap seat 6 is played
Hinged with pin 10, back is compressed by the resetting-mechanism 5 of adjustable tensile force, for buckling the limit ring groove of docking cone bar 3.
Further, the resetting-mechanism 5 includes mandril 11, pressure spring 12, travelling nut 13 and fine tuning screw rod 14, the top
11 front end of bar is pressed on the back of end handgrip 9, and 11 rear end of mandril is equipped with fine tuning screw rod 14, between mandril 11 and fine tuning screw rod 14
Equipped with pressure spring 12 and travelling nut 13.
The working principle of the utility model is as follows: the traction mechanism includes docking cone bar 3, clamping device 4, resetting-mechanism
5, the components such as flap seat 6 and haulage cable 8 are played.Before underwater robot is lauched, docking cone bar 3 passes through bolt and underwater robot
1 tail portion is rigidly connected；The fixed clamping device 4 of four sets of hinges is uniformly installed 90 ° on the circumference for playing flap seat 6, as shown in Fig. 2,
For clamping the ring groove of docking cone bar 3, every set clamping device corresponding position is equipped with resetting-mechanism 5, as shown in figure 3, logical
Crossing fine tuning screw rod pushes travelling nut to realize that pressure spring pressure size is adjusted, it is ensured that docking cone bar is docked with the reliable of flap seat is played；It rises
The other end of flap seat is connect by haulage cable with surface mother ship, after docking cone bar is reliably docked with a flap seat, by the water surface
Staff on lash ship starts hoist engine, and the underwater machine that can not get away will be snarled by fishing net, sea cable etc. by haulage cable
Device people emergency is towed back on lash ship deck；On lash ship deck, the fixing pin of manual removal clamping device handgrip realizes cone rod-type
Docking traction mechanism is freed.The docking mechanism lifting end is designed using traction steel wire rope structure, can the direct and water surface
The connection of the equipment such as crane, hoist engine on lash ship, avoids the work of transformation crane, while can be realized under marine complicated sea situation
Automatic butt.
Compared with prior art, the utility model has the following beneficial effects: (1) the utility model overall structure safely may be used
It leans on, using Purely mechanical mechanism, considerably increases the reliability and safety of whole device, can be realized under marine complicated sea situation
Automatic butt.(2) the utility model is easily installed and uses, and lifting part uses haulage cable, can the direct and water surface
The connection of the equipment such as crane, hoist engine on lash ship, avoids the work of transformation crane.(3) the utility model good compatibility, can
Realize that same covering device lays underwater robot and Emergency recovery.
Detailed description of the invention
Fig. 1 is the utility model docking mechanism structural schematic diagram；
Fig. 2 is the clamping device structural schematic diagram；
Fig. 3 is described flap seat appearance diagram；
Fig. 4 is the resetting-mechanism structural schematic diagram；
Fig. 5 is underwater robot operation schematic diagram；
Fig. 6 is that stranded robot schematic diagram is rescued in starting；
Fig. 7 is that docking mechanism lays schematic diagram；
Fig. 8 is utility model works flow diagram；
Under the effect of gravity for the utility model, armored cable prepares the state of docking with docking to Fig. 8 (a) between cone bar 3
Schematic diagram；
Under the effect of gravity for the utility model, armored cable bores the signal of the just mated condition of bar 3 with docking to Fig. 8 (b)
Figure；
Fig. 8 (c) be the utility model under the effect of gravity, armored cable with dock bore bar 3 just in the signal of mated condition
Figure；
Fig. 8 (d) the utility model under the effect of gravity, armored cable with dock signal of the cone bar 3 to state after connecting
Figure；
Fig. 9 is that underwater robot pulls schematic diagram；
Marked in the figure: 1-underwater robot, 2-communication armored cables, 3-docking cone bars, 4-clamping devices, 5-is multiple
Position mechanism, 6-flap seats, 7-image sonar systems, 8-haulage cables, 9-end handgrips, 10-pins, 11-mandrils,
12-pressure springs, 13-travelling nuts, 14-fine tuning screw rods, 15-control centres.
Specific embodiment
The utility model will be further described below with reference to the accompanying drawings, but is not subject in any way to the utility model
Limitation instructs made any transformation based on the utility model, each falls within the protection scope of the utility model.
Embodiment 1
As shown in Fig. 1 ~ Fig. 3, the present embodiment docking structure includes docking cone bar 3, clamping device 4, resetting-mechanism 5, lifting
Seat 6, image sonar system 7 and haulage cable 8, wherein before underwater robot is lauched, docking cone bar 3 passes through bolt and underwater
1 tail portion of robot is rigidly connected integral；The clamping device 4 that 90 ° of distributing installations, four sets of hinges are fixed on the circumference of flap seat 6 is played,
For clamping the ring groove of docking cone bar 3, every 4 corresponding position of set clamping device is equipped with resetting-mechanism 5, by adjusting reset
Fine tuning screw rod 14 in mechanism 5 pushes travelling nut 13 to adjust 12 Tensity size of pressure spring, and then adjusts the displacement of mandril 11, really
It protects docking cone bar 3 reliably to dock with flap seat 6 is played, the other end for playing flap seat 6 is connect by haulage cable 6 with surface mother ship；It is right
The band taper one end for connecing cone bar 3 is respectively equipped with two limit ring grooves, and raising connects cone bar 3 and is clamped the reliable of the clamping of mechanism 4
Property.
Clamping device 4 includes the identical end handgrip 9 of 4 shape, structures, for promptly docking cone 3 stop collar of bar
Type groove, the end of four end handgrips 9 use pin 10 hingedly fixed with flap seat 6 is played, and handgrip 9 back in end is by resetting-mechanism 5
Mandril 11 compress.
As shown in figure 4, resetting-mechanism 5 includes the identical spring pressure micro-adjusting mechanism of 4 shape, structures and mandril
11, spring pressure micro-adjusting mechanism is used to adjust the reset of end handgrip 9 that mandril 11 compresses clamping device 4.Spring pressure freqency fine adjustment machine
Structure includes fine tuning screw rod 14, pressure spring 12 and travelling nut 13.11 rear end of mandril is equipped with fine tuning screw rod 14, mandril 11 and fine tuning
Pressure spring 12 and travelling nut 13 are equipped between screw rod 14.
The underwater robot recycling is as follows with the work flow of cone rod-type docking traction mechanism:
(1) as shown in figure 5, before underwater robot is lauched operation, on lash ship deck, the docking by center with through-hole is bored
Bar 3 installs end face along the tail portion that the armored cable 2 of robot communication moves to underwater robot 1, and uses bolt and machine
1 tail portion of people is rigidly connected integral, in the lifting tripping in water operation of lash ship crane.
(2) as shown in fig. 6, when underwater robot is snarled by fishing net, sea cable etc. to get away, lash ship control centre 15 is opened
It is dynamic to rescue measure.On lash ship around cable mechanism, underwater robot is pulled by the armored cable 2 of robot communication, with level
Direction is (size of θ is calculated by combined factors such as tensile strength, the submerged depths of armored cable) into θ angle.
(3) as shown in fig. 7, docking traction mechanism is transferred along armored cable 2, docking cone bar 3(design realization pair is slided to
The gravity of traction mechanism is connect much larger than the sum of buoyancy and water resistance).
(4) such as Fig. 8 (a), 8(b), 8(c) and it is 8(d) shown, under the effect of gravity, plays 6 center of flap seat and be equipped with through-hole, along
With cone bar 3 is docked oblique impact percussion movement occurs for armored cable.
(5) as shown in figure 9, the real-time condition of underwater mating is transmitted in the control of surface mother ship by image sonar system 7
The heart, after docking successfully, the crane on lash ship will be snarled the water that can not get away by haulage cable 8 by fishing net or sea cable etc.
Lower robot strength pulls disembarkation.
(6) after underwater robot hangs the bracket being back on lash ship deck, manual removal clamping device end handgrip 9 is consolidated
Rationed marketing nail 10, realization cone rod-type docking traction mechanism and underwater robot are freed.
Claims (4)
1. a kind of underwater robot recycling cone rod-type docks traction mechanism, it is characterised in that: the traction mechanism includes docking
It bores bar (3), clamping device (4), resetting-mechanism (5), play flap seat (6), image sonar system (7) and haulage cable (8),
In, docking cone bar (3) is the conical structure that center has through-hole, and docking bores bar (3) along the armour of robot communication
Dress cable (2) move to underwater robot (1) tail portion installation end face, and using bolt and robot (1) tail portion it is rigidly connected at
One；It rises and has through-hole among flap seat (6), and four sets of hinges fixed clamping device (4) is uniformly installed for clamping on circumference
Docking cone bar (3)；Every set clamping device (4) corresponding position is equipped with the resetting-mechanism (5) of adjustable tension, it is ensured that docking cone bar
(3) it is reliably docked with flap seat (6), the other end for playing flap seat (6) is connect by haulage cable (8) with surface mother ship；Image
The real-time condition of underwater mating is transmitted to the control centre of surface mother ship by sonar system (7).
2. underwater robot recycling cone rod-type as described in claim 1 docks traction mechanism, it is characterised in that: the docking
Cone bar (3) band taper one end set there are two limit ring groove, improve docking cone bar (3) be clamped mechanism (4) clamping can
By property.
3. underwater robot recycling cone rod-type as described in claim 1 docks traction mechanism, it is characterised in that: the clamping
Mechanism (4) includes end handgrip (9) and pin (10), and handgrip (9) one end in end uses pin (10) hingedly with flap seat (6) are played,
Handgrip (9) back in end is compressed by the resetting-mechanism (5) of adjustable tensile force, and the limit for buckling docking cone bar (3) is ring-like recessed
Slot.
4. underwater robot recycling cone rod-type as claimed in claim 3 docks traction mechanism, it is characterised in that: the reset
Mechanism (5) includes mandril (11), pressure spring (12), travelling nut (13) and fine tuning screw rod (14), and mandril (11) front end compresses
The back of handgrip (9) in end, mandril (11) rear end are equipped with fine tuning screw rod (14), set between mandril (11) and fine tuning screw rod (14)
There are pressure spring (12) and travelling nut (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822145874.2U CN209667332U (en) | 2018-12-20 | 2018-12-20 | A kind of underwater robot recycling cone rod-type docking traction mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822145874.2U CN209667332U (en) | 2018-12-20 | 2018-12-20 | A kind of underwater robot recycling cone rod-type docking traction mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN209667332U true CN209667332U (en) | 2019-11-22 |
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| CN201822145874.2U Active CN209667332U (en) | 2018-12-20 | 2018-12-20 | A kind of underwater robot recycling cone rod-type docking traction mechanism |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436240A (en) * | 2018-12-20 | 2019-03-08 | 中国船舶重工集团公司七五0试验场 | A kind of underwater robot recycling cone rod-type docking traction mechanism |
| CN112429630A (en) * | 2020-11-27 | 2021-03-02 | 广东智能无人系统研究院 | Automatic docking and unlocking device for marine hoisting of large equipment |
| CN113581380A (en) * | 2021-06-25 | 2021-11-02 | 中国船舶重工集团公司第七一三研究所 | Automatic capturing and traction device for unmanned boat recovery |
| CN115120166A (en) * | 2022-07-11 | 2022-09-30 | 湖南省华芯医疗器械有限公司 | Endoscope handle and endoscope |
| CN116142390A (en) * | 2023-03-02 | 2023-05-23 | 大连海事大学 | Anti-swing docking device and underwater equipment hanging and recovering system thereof |
-
2018
- 2018-12-20 CN CN201822145874.2U patent/CN209667332U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436240A (en) * | 2018-12-20 | 2019-03-08 | 中国船舶重工集团公司七五0试验场 | A kind of underwater robot recycling cone rod-type docking traction mechanism |
| CN109436240B (en) * | 2018-12-20 | 2024-07-19 | 中国船舶重工集团公司七五0试验场 | Cone rod type butt joint traction mechanism for recycling underwater robot |
| CN112429630A (en) * | 2020-11-27 | 2021-03-02 | 广东智能无人系统研究院 | Automatic docking and unlocking device for marine hoisting of large equipment |
| CN113581380A (en) * | 2021-06-25 | 2021-11-02 | 中国船舶重工集团公司第七一三研究所 | Automatic capturing and traction device for unmanned boat recovery |
| CN113581380B (en) * | 2021-06-25 | 2023-09-01 | 中国船舶重工集团公司第七一三研究所 | Automatic capturing traction device for unmanned ship recovery |
| CN115120166A (en) * | 2022-07-11 | 2022-09-30 | 湖南省华芯医疗器械有限公司 | Endoscope handle and endoscope |
| CN116142390A (en) * | 2023-03-02 | 2023-05-23 | 大连海事大学 | Anti-swing docking device and underwater equipment hanging and recovering system thereof |
| CN116142390B (en) * | 2023-03-02 | 2023-09-05 | 大连海事大学 | Anti-swing docking device and underwater equipment hanging and recovering system thereof |
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