CN108216522A - A kind of unmanned underwater robot retracting device and its recovery method - Google Patents
A kind of unmanned underwater robot retracting device and its recovery method Download PDFInfo
- Publication number
- CN108216522A CN108216522A CN201611129257.2A CN201611129257A CN108216522A CN 108216522 A CN108216522 A CN 108216522A CN 201611129257 A CN201611129257 A CN 201611129257A CN 108216522 A CN108216522 A CN 108216522A
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- block
- recycling
- underwater robot
- hawser
- shaft
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Classifications
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- 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
- B63C7/02—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects in which the lifting is done by hauling
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Underground Or Underwater Handling Of Building Materials (AREA)
Abstract
The invention belongs to unmanned underwater robot field, specifically a kind of unmanned underwater robot retracting device and its recovery method, when unmanned underwater robot navigates by water under water, electromagnet powers on, and weight and recycling block are sucked；When needing recycling after unmanned underwater robot completes appointed task, control electromagnet power-off, recycling block and hawser are floated to the water surface after being released together at this time, weight is slid from electromagnet fixed block inclined-plane into water under self gravitation effect simultaneously, after operating personnel on lash ship will recycle block and hawser salvaging, external force is applied by operating personnel and all discharges hawser, and draw near underwater robot to lash ship, hawser is hung on the boom hoisting of lash ship, completes the recycling of underwater robot.The present invention is suitable for light-duty, Portable unmanned underwater robot and other middle-size and small-size underwater robots, and using modularized design, structure design is compact, easy to operate, recycling convenience, good economy performance, easy to maintain, versatile.
Description
Technical field
The invention belongs to unmanned underwater robot field, specifically a kind of unmanned underwater robot retracting device and its
Recovery method.
Background technology
Unmanned underwater robot is a kind of submarine navigation device that can perform assignment task under water, is mainly used in
The multiple fields such as marine technology, oceanographic survey and research, sea floor exploration, pipeline detection.In most cases, in nothing
People's underwater robot needs to be recycled after completing appointed task；Since oceanographic condition is complicated, especially when sea situation is poor, under water
The recycling presence of robot carrier is more highly difficult.Therefore, how quickly, safely, conveniently, reliably recycling have become unmanned water
One primary study content of lower robot technology.
At present, the recovery method of unmanned underwater robot substantially has following three kinds：The first be taken by professional it is small
Ship carries out artificial lifting docking and completes reclaimer operation near underwater robot carrier；When sea situation is poor, it is susceptible to people
Member's injury and the situation of equipment damage.Second is to lay recovery system by dedicated underwater robot to complete returning for carrier
It receives, such as the unmanned underwater robot recovery system of crane-type, frame-type, this recovery system is complicated, lash ship is required
Height, operation and maintenance expense are larger.The third makes underwater robot dish out automatically hawser in the water surface when being recycling, and by lash ship
Operating personnel hawser is salvaged after operated accordingly；And existing line-throwing appliance is generally made using priming system and gas cylinder
For power source, the problems such as dangerous property is high, cost is higher, complicated for operation.
Therefore, it is necessary to it is a kind of it is easy to operate, recycling is convenient, high, easy to maintain, good economy performance the retracting device of reliability and
Recovery method.
Invention content
In order to solve the above problem existing for existing unmanned underwater robot recycling, the purpose of the present invention is to provide one kind
Unmanned underwater robot retracting device and its recovery method.
The purpose of the present invention is achieved through the following technical solutions：
The retracting device of the present invention includes passive winch, electromagnet fixed block, recycling block and weight, wherein passive winch
Side is installed on unmanned underwater robot carrier, and the lower part of opposite side is connect with the electromagnet fixed block, which consolidates
Determine to be embedded with electromagnet on block；The recycling block is located at the top of electromagnet fixed block opposite side, by the electromagnet being powered
Absorption is fixed, and is connected with the hawser in the passive winch, the weight be fixed in recycling block and electromagnet fixed block it
Between；
The passive winch includes frame, wheel hub, mounting flange, shaft and filling buoyancy material block, the frame and is mounted on nothing
On people's underwater robot carrier, shaft rotational installation connects at the both ends on the outside of frame respectively on frame
The mounting flange of axially position is carried out, the wheel hub is installed in shaft, is interlocked with shaft, opened on the circumference of the wheel hub
There is spill limiting slot, multiple filling buoyancy material blocks on frame are evenly equipped in the external peripheral surface of the frame；It is described
One end of hawser is connected in the groove opened up in shaft and is wound in shaft, the other end of the hawser and the recycling
Block connects；The either end of the shaft is square structure, and rotation handle can be connected when recycling the hawser；
The bottom of the recycling block is equipped with sucker, and the dented space for housing the weight is formed around the sucker, described
It recycles block and is equipped with limited block towards the side of passive winch；The passive winch is equipped with the shaft of winding hawser, in the shaft
Gearing has the wheel hub with spill limiting slot, and the limited block is embedded in spill limiting slot, limits the rotation of the wheel hub and shaft；
The lower surface of the recycling block tilts with horizontal plane, has angle, the lower surface of the sucker and the lower surface of the recycling block
It flushes；Circular hole is provided on the weight, the sucker is inserted into the circular hole, is adsorbed in the electromagnet, and the diameter of the circular hole is big
In the diameter of the sucker, the thickness of the weight is less than the depth of the dented space；The material of the recycling block is pressure resistance
Buoyancy material is identical with weight in the water of the weight；
The upper surface of the electromagnet fixed block be inclined-plane, electromagnet insertion be mounted on the electromagnet fixed block after with it is described
The upper surface of electromagnet fixed block is coplanar；The lower surface of the recycling block tilts with horizontal plane, has angle, the recycling block
The sum of angle between the upper surface of angle and the electromagnet fixed block between lower surface and horizontal plane and horizontal plane is
180°；The electromagnet fixed block and recycling block form complete streamline shape, i.e., the electromagnet fixed block and recycling block is outer
Side surface forms a complete cambered surface；
The recovery method of unmanned underwater robot retracting device of the present invention is：
When robot completes appointed task recycling under water, the electromagnet power-off, recycling block is together with pre- in passive winch
The hawser stayed is floated to the water surface after being released, the weight is slid from the inclined-plane of electromagnet fixed block to water under the effect of gravity
In, recycling block is salvaged by the operating personnel on lash ship, applying external force by operating personnel all discharges hawser, and draw underwater
Near robot to lash ship, hawser is hung on the boom hoisting of lash ship, completes the recycling of unmanned underwater robot；
Wherein：In in the shaft in passive winch, the other end is connect the one ends wound of the hawser with the recycling block, and
The hawser of setting length is reserved in the passive winch；Being interlocked in the shaft has wheel hub, which passes through the recycling block
The limited block limiting of upper setting, avoiding the shaft, robot completes to rotate in task process under water；When the recycling block quilt
After release, the wheel hub loses limiting, and the shaft interlocked with the wheel hub is free to rotate, and then discharges hawser.
Advantages of the present invention is with good effect：
It is 1. compact-sized, control is simple, reliability is high；The retracting device of the present invention utilizes passive winch and high-speed double electromagnet
The retracting device of carrier, it is simple and compact for structure, the release of recycling hawser, control letter are realized by the absorption and disconnection of electromagnet
Single, reliability is high.
2. have a wide range of application, is versatile；The retracting device that the present invention designs is modularized design, be may be designed to different floating
Power state is generally configured to neutral buoyancy state in water, can be used according to demand as apolegamy module, and without to former underwater
People's counterweight again, suitable for light-duty, Portable unmanned underwater robot and other middle-size and small-size underwater robots.
It is 3. safe；Recovery method of the present invention need to only be salvaged by the operating personnel on lash ship in removal process and be recycled
Block carries out reclaimer operation without lower canoe close to carrier；Priming system can also be substituted to dish out hawser, personnel's processing safety is significantly
It improves.
It is 4. at low cost；The structural member configuration of retracting device of the present invention is simple, processing, maintenance and later stage use cost
It is very low.
Description of the drawings
Fig. 1 is the structure diagram of retracting device of the present invention；
Fig. 2 is the structure diagram of the passive winch of the present invention；
Fig. 3 A are one of removal process flow chart of the present invention；
Fig. 3 B are the two of removal process flow chart of the present invention；
Wherein：1 is passive winch, and 2 be hawser, and 3 be electromagnet, and 4 be electromagnet fixed block, and 5 be recycling block, and 6 be weight,
7 be frame, and 8 be wheel hub, and 9 be mounting flange, 10 is shaft, 11 is filling buoyancy material block, 12 be sucker, and 13 limit for spill
Slot, 14 be dented space, and 15 be limited block, and 16 be circular hole, and 17 be groove, and 18 be unmanned underwater robot carrier.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, retracting device of the invention uses tower structure, including passive winch 1, hawser 2, electromagnetism
Iron 3, electromagnet fixed block 4, recycling block 5 and weight 6, wherein passive winch 1 includes frame 7, wheel hub 8, mounting flange 9, shaft
10th, filling buoyancy material block 11 and sucker 12, retracting device are installed on unmanned underwater robot entirely through the rear side flange of frame 7
The fore body of carrier 18.
The both ends rotational installation of shaft 10 is being connected separately with fixation on frame 7 positioned at the both ends in 7 outside of frame
Flange 9 carries out axially position using the mounting flange 9 of both sides；Further respectively have wheel hub 8 at the both ends of shaft 10, the wheel hub 8 with
10 affixed gearing of shaft, is provided with spill limiting slot 13 on the circumference of wheel hub 8.The external peripheral surface of frame 7 is evenly equipped with multiple peaces
Filling buoyancy material block 11 on frame 7, it is possible to provide required buoyancy.One end of hawser 2 is connected among shaft 10 and opens up
Groove 17 in and be wound in shaft 10, the other end of hawser 2 is fixed on recycling block 5 towards passive 1 one side surface of winch
Kong Zhong.The either end of shaft 10 is square structure, and rotation handle can be connected when recycling hawser 2.
Electromagnet fixed block 4 is fixed in the lower part in the outside of frame 7, and the upper surface of electromagnet fixed block 4 is inclined-plane, electromagnet
3 insertions are mounted on the electromagnet fixed block 4, and after electromagnet 3 is installed, the upper surface of electromagnet fixed block 4 is coplanar still to keep
Surface is smooth (i.e. the upper surface of electromagnet 3 and the upper surface of electromagnet fixed block 4 is coplanar).
Recycling block 5 is adsorbed by the electromagnet 3 being powered in the upper surface of electromagnet fixed block 4, recycles block 5 and electromagnetism ferropexy
Block 4 forms complete streamline shape, i.e. the outer surface of the electromagnet fixed block 4 and recycling block 5 forms a complete cambered surface.It returns
The bottom for receiving block 5 is equipped with sucker 12, forms the dented space 14 of accommodating weight 6 around the sucker 12, and recycling block 5 is towards passive
The side of winch 1 is equipped with limited block 15, and when recycling block 5 is adsorbed by electromagnet 3 when on electromagnet fixed block, limited block 15 is embedding
Enter in the spill limiting slot 13 of wheel hub 8, limit wheel hub 8 and shaft 10 rotates.Lower surface and the horizontal plane for recycling block 5 tilt,
With angle, the lower surface of sucker 12 is flushed with the lower surface of the recycling block 5, between the lower surface and the horizontal plane that recycle block 5
The sum of angle between the upper surface and horizontal plane of angle and electromagnet fixed block 4 is 180 °.
Weight 6 is fixed between recycling block 5 and electromagnet fixed block 4, circular hole 16 is provided on weight 6, sucker 12 is inserted into
In the circular hole 16, electromagnet 3 is adsorbed in, the diameter of the circular hole 16 is more than the diameter of sucker 12.It is empty that the thickness of weight 6 is less than recess
Between 14 depth.The material for recycling block 5 is overpressure resistant buoyance material, identical with weight in the water of weight 6.
The recycling block 5 of the present invention and the material of filling buoyancy material block 11 are that buoyancy material is (commercially available to be placed in the striking resistance to science and technology in Beijing
Co., Ltd).
The present invention recovery method be：
As shown in Fig. 3 A, Fig. 3 B, the one ends wound of hawser 2 is in the shaft 10 in passive winch 1, and the other end is with recycling block
5 connections, and the hawser for setting length is reserved in passive winch 1.When robot completes appointed task recycling under water, electromagnet
3 power-off, recycling block 5 are floated to the water surface after being released together with the hawser 2 reserved in passive winch 1, weight 6 under the effect of gravity from
It is slid on the inclined-plane of electromagnet fixed block 4 into water, wheel hub 8 loses limiting, and the shaft 10 interlocked with the wheel hub 8 can freely turn
It is dynamic, and then discharge hawser 2.The posture of underwater robot is not changed by the floating of recycling block 5.By the operation people on lash ship
Member salvages recycling block 5, and applying external force by operating personnel all discharges hawser 2, and draw near underwater robot to lash ship,
Hawser 2 is hung on the boom hoisting of lash ship, using only swinging bar underwater robot is swung and protected into whereabouts during lifting,
Complete the recycling of unmanned underwater robot.
The present invention is suitable for light-duty, Portable unmanned underwater robot and other middle-size and small-size underwater robots.
Claims (10)
1. a kind of unmanned underwater robot retracting device, it is characterised in that：Including passive winch (1), electromagnet fixed block (4),
Block (5) and weight (6) are recycled, wherein the side of passive winch (1) is installed on unmanned underwater robot carrier (18), opposite side
Lower part connect with the electromagnet fixed block (4), be embedded with electromagnet (3) on the electromagnet fixed block (4)；The recycling block
(5) positioned at the top of electromagnet fixed block (4) opposite side, adsorbed and fixed by the electromagnet (3) being powered, and with it is described passive
Hawser (2) in winch (1) is connected, and the weight (6) is fixed between recycling block (5) and electromagnet fixed block (4).
2. unmanned underwater robot retracting device according to claim 1, it is characterised in that：Passive winch (1) packet
Frame (7), wheel hub (8), mounting flange (9), shaft (10) and filling buoyancy material block (11) are included, the frame (7) is mounted on nobody
On underwater robot carrier (18), the shaft (10) rotational installation is on frame (7), and in two on the outside of frame (7)
End connects the mounting flange (9) for carrying out axially position respectively, and the wheel hub (8) is installed in shaft (10) and shaft
(10) it interlocks, is provided with spill limiting slot (13) on the circumference of the wheel hub (8), is evenly distributed in the external peripheral surface of the frame (7)
There are multiple filling buoyancy material blocks (11) on frame (7).
3. unmanned underwater robot retracting device according to claim 2, it is characterised in that：One end of the hawser (2)
Be connected in the groove (17) that is opened up in shaft (10) and be wound in shaft (10), the other end of the hawser (2) with it is described
Block (5) is recycled to connect；The either end of the shaft (10) is square structure, and rotation hand can be connected when recycling hawser (2)
Handle.
4. unmanned underwater robot retracting device according to claim 1, it is characterised in that：The bottom of the recycling block (5)
Portion is equipped with sucker (12), and the dented space (14) for housing the weight (6), the recycling block are formed around the sucker (12)
(5) it is equipped with limited block (15) towards the side of passive winch (1)；The passive winch (1) is equipped with the shaft of winding hawser (2)
(10), being interlocked in the shaft (10) has the wheel hub (8) with spill limiting slot (13), the embedded spill limiting slot of the limited block (15)
(13) in, the rotation of the wheel hub (8) and shaft (10) is limited.
5. unmanned underwater robot retracting device according to claim 4, it is characterised in that：Under the recycling block (5)
Surface tilts with horizontal plane, has angle, and the lower surface of the sucker (12) is flushed with the lower surface of the recycling block (5).
6. unmanned underwater robot retracting device according to claim 4, it is characterised in that：It is provided on the weight (6)
Circular hole (16), the sucker (12) are inserted into the circular hole (16), are adsorbed in the electromagnet (3), and the diameter of the circular hole (16) is big
Diameter in the sucker (12), the thickness of the weight (6) are less than the depth of the dented space (14)；The recycling block
(5) material is overpressure resistant buoyance material, identical with weight in the water of the weight (6).
7. unmanned underwater robot retracting device according to claim 1, it is characterised in that：The electromagnet fixed block
(4) upper surface is inclined-plane, electromagnet (3) is embedded be mounted on the electromagnet fixed block (4) afterwards with the electromagnet fixed block (4)
Upper surface it is coplanar；The lower surface of the recycling block (5) tilts with horizontal plane, has angle, the lower surface of the recycling block (5)
The sum of angle between the upper surface of angle and the electromagnet fixed block (4) between horizontal plane and horizontal plane is 180 °.
8. unmanned underwater robot retracting device according to claim 7, it is characterised in that：The electromagnet fixed block
(4) and recycling block (5) forms complete streamline shape, the i.e. outer surface of the electromagnet fixed block (4) and recycling block (5) composition
One complete cambered surface.
9. the recovery method of unmanned underwater robot retracting device, feature described in a kind of claim 1 to 8 any claim
It is：When robot completes appointed task recycling under water, electromagnet (3) power-off, recycling block (5) is together with passive winch
(1) hawser (2) reserved in is floated to the water surface after being released, and the weight (6) is under the effect of gravity from electromagnet fixed block (4)
Inclined-plane on slide in water, recycling block (5) is salvaged by the operating personnel on lash ship, external force is applied by hawser by operating personnel
(2) all release, and drawing near underwater robot to lash ship, hawser (2) is hung on the boom hoisting of lash ship, completes nobody
The recycling of underwater robot.
10. recovery method according to claim 9, it is characterised in that：The one ends wound of the hawser (2) is in passive winch
(1) in the shaft (10) in, the other end is connect with the recycling block (5), and setting length is reserved in the passive winch (1)
Hawser；Being interlocked on the shaft (10) has wheel hub (8), which recycles the limited block set on block (5) by described
(15) it limits, avoiding the shaft (10), robot completes to rotate in task process under water；When the recycling block (5) is released
Afterwards, the wheel hub (8) loses limiting, and the shaft (10) interlocked with the wheel hub (8) is free to rotate, and then discharges hawser (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611129257.2A CN108216522B (en) | 2016-12-09 | 2016-12-09 | A kind of unmanned underwater robot recyclable device and its recovery method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611129257.2A CN108216522B (en) | 2016-12-09 | 2016-12-09 | A kind of unmanned underwater robot recyclable device and its recovery method |
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| Publication Number | Publication Date |
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| CN108216522A true CN108216522A (en) | 2018-06-29 |
| CN108216522B CN108216522B (en) | 2019-07-26 |
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ID=62637145
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| CN109302201A (en) * | 2018-07-30 | 2019-02-01 | 上海大学 | A kind of small ocean communication switching unit and its application |
| CN110329465A (en) * | 2019-07-11 | 2019-10-15 | 海南中控科技有限公司 | Submersible automatic hanging fills recovery system |
| CN111319740A (en) * | 2020-03-18 | 2020-06-23 | 哈尔滨工程大学 | Deep-sea extensible boat body underwater vehicle |
| CN111688827A (en) * | 2020-06-18 | 2020-09-22 | 中国计量大学 | Repeater transceiver |
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|---|---|
| CN108216522B (en) | 2019-07-26 |
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