CN107416147A - A kind of underwater robot reclaims release device - Google Patents
A kind of underwater robot reclaims release device Download PDFInfo
- Publication number
- CN107416147A CN107416147A CN201710201956.1A CN201710201956A CN107416147A CN 107416147 A CN107416147 A CN 107416147A CN 201710201956 A CN201710201956 A CN 201710201956A CN 107416147 A CN107416147 A CN 107416147A
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- CN
- China
- Prior art keywords
- connecting rod
- hinged
- pedestal
- mechanical arm
- underwater robot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/16—Apparatus engaging vessels or objects
- B63C7/18—Apparatus engaging vessels or objects using nets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of underwater robot recovery release device,Including the pedestal being arranged on lash ship,Two mechanical arms being arranged on pedestal,It is arranged on the collecting cabin for playing storage effect of lash ship side,The fishing net being arranged between two mechanical arm tail ends,Each mechanical arm includes the connecting rod one being hinged on pedestal,The connecting rod two being hinged with connecting rod one end,The connecting rod three being hinged with the end of connecting rod two,It is arranged on the pulley of the end of connecting rod three,Driving cylinder one also be hinged on the pedestal,The output end of driving cylinder one is hinged on the middle part of connecting rod one,The end of connecting rod one is hinged with driving cylinder two,The output end of driving cylinder two is hinged on the end of connecting rod two,Connecting rod two has been arranged on hydraulic motor one with the hinged place of connecting rod three,There is hydraulic motor two in the centre position of connecting rod three in setting,The output end connection cable of hydraulic motor two,The end of hawser is connected around pulley with fishing net.Safety and stability of the present invention, response is fast, efficiency high, functional reliability are high.
Description
Technical field
The present invention relates to a kind of underwater robot to reclaim release device, belongs to underwater robot extension and retraction system technology neck
Domain.
Background technology
With the development of science and technology, the tremendous economic potentiality contained in ocean have been subjected to the concern of countries in the world, section
Skilled worker author has begun to be directed to the research and application of underwater robot, and wherein underwater robot release retracting device is underwater
A kind of visual plant in robot field, it is the important component in submarine navigation device system.Due to by marine stormy waves
Influence, release and the recovery of underwater robot are a relatively difficult job, the retracting device master of underwater robot release at present
If Hanging frame form, but the release retracting device of Hanging frame form is complicated, and response speed is slower, generally requires work
Personnel's even underwater operation on canoe, when sea situation is bad, it is impossible to ensure organism balance of the underwater robot in removal process,
Even result in release with recovery to fail, in order to improve the security of underwater robot release recovery system, success rate and operation effect
Rate, design is a kind of simple in construction, widely applicable, the safety and stability and faster release recovery system of response is significant.
The content of the invention
, can be in most of sea situations the invention aims to provide a kind of underwater robot recovery release device
Under, underwater robot is discharged from lash ship or mother is recycled to from water.
The object of the present invention is achieved like this：Including the pedestal being arranged on lash ship, two machines being arranged on pedestal
Tool arm, the collecting cabin for playing storage effect for being arranged on lash ship side, the fishing net being arranged between two mechanical arm tail ends, each
Mechanical arm includes the connecting rod one, the connecting rod two be hinged with connecting rod one end, the company being hinged with the end of connecting rod two being hinged on pedestal
Bar three, the pulley for being arranged on the end of connecting rod three, driving cylinder one also be hinged, the output end of driving cylinder one are hinged on the pedestal
The middle part of connecting rod one, the end of connecting rod one are hinged with driving cylinder two, and the output end of driving cylinder two is hinged on the end of connecting rod two, even
Bar two is arranged on the hydraulic motor one of drive link three with the hinged place of connecting rod three, has hydraulic pressure in the centre position setting of connecting rod three
Motor two, the output end connection cable of hydraulic motor two, the end of hawser are connected around pulley with fishing net.
Present invention additionally comprises some such architectural features：
1. connecting rod one, connecting rod two, connecting rod three form the mechanical arm, mechanical elbow and mechanical wrist of mechanical arm successively.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention uses the technical side of double mechanical arms work compound
Case, realizes position adjustments of the underwater robot in fishing net, namely in regulation release and removal process due to external condition and
The change in location of underwater robot, guarantees smoothly to complete releasing for underwater robot caused by the change of lash ship body oneself factor
Put and reclaim；It is simple in construction using telescoping cylinder with being hinged the pose adjustment that structure realizes mechanical arm at mechanical arm, elbow,
Bearing capacity is strong, can be used in release and recovery operation on various parent ships to most of underwater robot.And also there is peace
The advantages that complete stable, response is fast, efficiency high, high functional reliability.
Brief description of the drawings
Fig. 1 is structure diagram of the present invention；
Fig. 2 is front view of the present invention；
Fig. 3 is top view of the present invention.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
With reference to Fig. 1 to Fig. 3, a kind of underwater robot of the invention release retracting device structure is left mainly by pedestal
Right mechanical arm, fishing net three parts composition.Pedestal is arranged on parent ship side board, and the mechanical arm of left and right two is arranged on pedestal, is beaten
Dredger is arranged on the end of mechanical arm, is connected with fixed pulley guide cable, is connected respectively with the mechanical arm of left and right two, left and right mechanical arm
It is made up of mechanical arm, mechanical elbow, mechanical wrist, drive device.The present invention is cooperated using double mechanical arms and completed under water
The recovery of robot and release operation, i.e., changed double by the drive device at adjusting mechanical arm, mechanical elbow, mechanical wrist three
The anglec of rotation and speed of arm, and then change the operating attitude of this release retracting device, adjust underwater robot in fishing net
Position, the dynamic loading as caused by wave etc. can be overcome, smoothly complete the release and recovery of underwater robot；Using double
Displacement hydraulic motor and overflow valve make hawser keep constant-tension, and realizing that hawser is oriented to pulley causes fishing net and underwater
People keeps stable in release or removal process；Release is arranged on parent ship side board with retracting device, double mechanical arms and salvaging
Net can folding and unfolding completely within hull；Driven using hydraulic system, simple in construction, speed governing is convenient, can realize above-mentioned anti-bad sea
Condition function, thrust is big, can carry larger torque, can meet the release recovery operation of most of underwater robot.
The type of drive of the present invention can select according to lash ship self-condition and the due-in concrete condition for putting underwater robot
Electricity, air-liquid pressure driving, illustrate draw off gear specifically assembling and the course of work by taking hydraulic-driven as an example below：
Pedestal 1 is arranged on lash ship 7；The left end of connecting rod 1 is arranged on to the right-hand member of pedestal 1 by hinge 2；By hydraulic pressure
The left end of cylinder 1 is connected by hinge 3 with the right-hand member of pedestal 1, and right-hand member is connected by hinge 5 with the middle part of connecting rod 1；By connecting rod
2 15 left end is connected by hinge 18 with the right-hand member of connecting rod 1；The left end of hydraulic cylinder 2 17 is passed through into hinge 19 and connecting rod 1
Right-hand member connection, the other end is connected by hinge 16 with the middle part of connecting rod 2 15；Hydraulic motor 1 is arranged on connecting rod 2 15
Right-hand member；The left end of connecting rod 39 is arranged on hydraulic motor 1；Hydraulic motor 2 10 is arranged on to the middle part of connecting rod 39；Will
Pulley 12 is arranged on the right-hand member of connecting rod 39；Hawser 11 is arranged on hydraulic motor 2 10 by pulley 12；Left side mechanical arm
Installation process is identical with the installation process of right side mechanical arm；Fishing net 14 finally is installed in the end of hawser 11.Wherein 13
It is the collecting cabin that underwater robot discharges retracting device for underwater robot structure sketch, 20.
When carrying out release operation, according to residing sea situation, adjust hydraulic cylinder and hydraulic motor 4,8,17 drives parameter, driving
Left and right three-freedom mechanical arm collaboration is stretched out, and fishing net and underwater robot is steadily moved to sea from cabin is housed, through fixed pulley
It is oriented to, by the driving of the hydraulic motor 10 in end mechanical arm, fishing net and underwater robot is transferred, by drive device
(hydraulic cylinder and hydraulic motor) 4,8,17 drives mechanical arm to change the release operation that posture completes underwater robot, is finally driving
Fishing net and mechanical arm are recovered to and house cabin by device 4,8,17 under acting synergistically.
When carrying out recovery operation, stretched out by the mechanical arm of drive device 4,8,17 house cabin first, decentralization is salvaged
Net, the driving parameter of hydraulic cylinder 4,17 of driving manipulator arm, elbow is adjusted according to residing sea situation, makes first-half machinery large arm 6,15
Position held stationary, then change the driving parameter of hydraulic motor 8 so that final section mechanical arm carries fishing net completion
Salvaging to underwater robot, by the driving of hydraulic motor 10, fishing net is received, finally by drive device (hydraulic cylinder and hydraulic pressure
Motor) 4,8, the 17 whole mechanical arms of driving, make to return to house with the mechanical arm of underwater robot to complete recovery operation in cabin 20.
To sum up, the present invention designs a kind of underwater robot release retracting device, and it is mainly by pedestal, left and right machinery
Arm, fishing net three parts composition, pedestal are arranged on parent ship, and the mechanical arm of left and right two is arranged on pedestal, and fishing net is arranged on
The end of mechanical arm, it is connected respectively with the mechanical arm of left and right two；Left and right mechanical arm is by mechanical arm, mechanical elbow, mechanical wrist, drive
Dynamic device composition.The present invention is compact-sized, and space occupancy is small；It is widely applicable, it can be used on different parent ships；Drive shape
Formula is simple, can produce larger output torque；Safety coefficient is high, can be applied to various working environments；It is easy to operate, can be with
Quickly complete the release and recovery of underwater robot.
Claims (2)
1. a kind of underwater robot reclaims release device, it is characterised in that：Including be arranged on lash ship pedestal, be arranged on
Two mechanical arms on pedestal, the collecting cabin for playing storage effect for being arranged on lash ship side, it is arranged on two mechanical arm tail ends
Between fishing net, each mechanical arm includes the connecting rod two and connecting rod for being hinged on connecting rod one on pedestal, being hinged with connecting rod one end
The be hinged connecting rod three in two ends, the pulley for being arranged on the end of connecting rod three, also be hinged driving cylinder one, driving cylinder one on the pedestal
Output end be hinged on the middle part of connecting rod one, the end of connecting rod one is hinged with driving cylinder two, and the output end of driving cylinder two is hinged on
The end of connecting rod two, connecting rod two are arranged on the hydraulic motor one of drive link three, the centre of connecting rod three with the hinged place of connecting rod three
There are hydraulic motor two, the output end connection cable of hydraulic motor two in position in setting, and the end of hawser bypasses pulley and fishing net
Connection.
A kind of 2. underwater robot recovery release device according to claim 1, it is characterised in that：Connecting rod one, connect
Bar two, connecting rod three form the mechanical arm, mechanical elbow and mechanical wrist of mechanical arm successively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710201956.1A CN107416147A (en) | 2017-03-29 | 2017-03-29 | A kind of underwater robot reclaims release device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710201956.1A CN107416147A (en) | 2017-03-29 | 2017-03-29 | A kind of underwater robot reclaims release device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107416147A true CN107416147A (en) | 2017-12-01 |
Family
ID=60423864
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710201956.1A Pending CN107416147A (en) | 2017-03-29 | 2017-03-29 | A kind of underwater robot reclaims release device |
Country Status (1)
| Country | Link |
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| CN (1) | CN107416147A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108189989A (en) * | 2018-01-18 | 2018-06-22 | 蔡璟 | A kind of intelligent deepwater work system based on action simulation |
| CN109178260A (en) * | 2018-08-23 | 2019-01-11 | 杭州电子科技大学 | A kind of docking system and interconnection method of unmanned boat and AUV |
| CN111003125A (en) * | 2019-12-31 | 2020-04-14 | 中国人民武装警察部队海警学院 | Intelligent grabbing device for underwater moving target |
| CN112356988A (en) * | 2020-11-19 | 2021-02-12 | 中国舰船研究设计中心 | Universal folding and unfolding device and method for small boat and submersible vehicle |
| CN112758257A (en) * | 2021-01-27 | 2021-05-07 | 大连海事大学 | Portable folding rope net formula AUV recovery system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PL93080B1 (en) * | 1974-09-11 | 1977-05-30 | ||
| JPS52160999U (en) * | 1976-05-30 | 1977-12-06 | ||
| CN101360646A (en) * | 2006-01-20 | 2009-02-04 | Ohm有限公司 | Underwater equipment recovery |
| CN201626536U (en) * | 2009-11-24 | 2010-11-10 | 射阳远洋船舶辅机有限公司 | Concealed arm retracting and expanding structure of high-speed boat |
| CN203390930U (en) * | 2013-08-01 | 2014-01-15 | 常州金刚网络技术有限公司 | Spatial six-degree-of-freedom robot |
-
2017
- 2017-03-29 CN CN201710201956.1A patent/CN107416147A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PL93080B1 (en) * | 1974-09-11 | 1977-05-30 | ||
| JPS52160999U (en) * | 1976-05-30 | 1977-12-06 | ||
| CN101360646A (en) * | 2006-01-20 | 2009-02-04 | Ohm有限公司 | Underwater equipment recovery |
| CN201626536U (en) * | 2009-11-24 | 2010-11-10 | 射阳远洋船舶辅机有限公司 | Concealed arm retracting and expanding structure of high-speed boat |
| CN203390930U (en) * | 2013-08-01 | 2014-01-15 | 常州金刚网络技术有限公司 | Spatial six-degree-of-freedom robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108189989A (en) * | 2018-01-18 | 2018-06-22 | 蔡璟 | A kind of intelligent deepwater work system based on action simulation |
| CN108189989B (en) * | 2018-01-18 | 2020-10-09 | 马鞍山威莎自动化设备科技有限公司 | Intelligent deepwater operation system based on motion simulation |
| CN109178260A (en) * | 2018-08-23 | 2019-01-11 | 杭州电子科技大学 | A kind of docking system and interconnection method of unmanned boat and AUV |
| CN109178260B (en) * | 2018-08-23 | 2019-07-23 | 杭州电子科技大学 | A kind of docking system and interconnection method of unmanned boat and AUV |
| CN111003125A (en) * | 2019-12-31 | 2020-04-14 | 中国人民武装警察部队海警学院 | Intelligent grabbing device for underwater moving target |
| CN112356988A (en) * | 2020-11-19 | 2021-02-12 | 中国舰船研究设计中心 | Universal folding and unfolding device and method for small boat and submersible vehicle |
| CN112758257A (en) * | 2021-01-27 | 2021-05-07 | 大连海事大学 | Portable folding rope net formula AUV recovery system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171201 |
|
| RJ01 | Rejection of invention patent application after publication |