CN109911768A - For arranging and recycling the connector of underwater robot - Google Patents
For arranging and recycling the connector of underwater robot Download PDFInfo
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- CN109911768A CN109911768A CN201910307736.6A CN201910307736A CN109911768A CN 109911768 A CN109911768 A CN 109911768A CN 201910307736 A CN201910307736 A CN 201910307736A CN 109911768 A CN109911768 A CN 109911768A
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- frame body
- opening
- closing element
- connector
- support frame
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- 238000004064 recycling Methods 0.000 title claims abstract description 20
- 230000000694 effects Effects 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims description 32
- 230000000452 restraining effect Effects 0.000 claims description 7
- 238000010276 construction Methods 0.000 claims description 3
- 239000000837 restrainer Substances 0.000 claims 2
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000005484 gravity Effects 0.000 abstract description 4
- 235000001674 Agaricus brunnescens Nutrition 0.000 description 24
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 17
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
The present invention provides a kind of for arranging and recycling the connector of underwater robot, which includes the first frame body, and the first frame body includes support frame, has the cavity extended along first axle inside support frame；Opening and closing element, the opening and closing element are arranged around the first axle；Wherein, which can be connected to the support frame, and can be with respect to the support frame from open position activity to closed position, when the opening and closing element is located at the open position, which has the first current area；When the opening and closing element is located at the closed position, which has the second current area, which is greater than the second current area.The present invention at least has the advantages that the gravity of ROV is undertaken by connector, rather than armoured cable undertakes, and can avoid armoured cable and is drawn bad or broken；It can not be influenced by environment storm load when arranging or recycling ROV for rigid connection between ROV and connector, be maintained at stable state.
Description
Technical field
The present invention relates to technical field of underwater operation more particularly to a kind of for arranging and recycling the connection of underwater robot
Device.
Background technique
Currently, industrial robot using more and more common, application range is also increasingly wider.In ocean development field, by
Badly dangerous in underwater environment, the diving depth of people is limited, so underwater robot has become the important tool of exploitation ocean.
Fig. 1 shows a kind of method arranged in the prior art with recycling underwater robot (hereinafter referred to as ROV).In pedestal
Cantilever crane is provided on (can be land, ship etc.), the end of cantilever crane is provided with pulley, armoured cable C is arranged on pulley.ROV
Top be connected with mushroom head T, armoured cable C is fixed in mushroom head T, so as to which underwater robot (ROV) is suspended in cantilever crane
Lower section.By folding and unfolding armoured cable C, ROV can be arranged under water or be recovered on pedestal under water.That is, in the prior art, ROV
Gravity act directly on armoured cable C, due to being flexible connection between armoured cable C and ROV, ROV will enter water
In (arrangement ROV during) or when will leave the water surface (during recycling ROV), due to the influence of environment storm load, ROV without
Method keeps stable posture.In addition, in removal process, when ROV will leave the water surface, due to the disappearance of buoyancy, armour
The pulling force that dress cable C is born increases suddenly, and armoured cable C, which exists, is drawn the bad risk being even pulled off.After armoured cable C is drawn badly,
It repairs complex；After being pulled off, ROV has the risk being lost in water.
Summary of the invention
It is an object of the present invention to improve arrangement and recycle the convenience of ROV.
For this purpose, the present invention provides a kind of for arranging and recycling the connector of underwater robot, the connector includes
First frame body, first frame body include: support frame, have the cavity extended along first axle inside support frame as described above, described
The extending direction of first axle is the short transverse of support frame as described above, and the cavity has opening in the bottom end of support frame as described above；
Opening and closing element, the opening and closing element are arranged around the first axle；Wherein, the opening and closing element can be connected to the support
Frame, and can with respect to support frame as described above from open position activity to closed position, when the opening and closing element is located at the open position,
The cavity has the first current area；When the opening and closing element is located at the closed position, the cavity has second to pass through
Area, the described first current area are greater than the described second current area.
Optionally, the opening and closing element is hinged on support frame as described above, when portion of the opening and closing element towards the first axle
When dividing by upward thrust, the opening and closing element turns to the open position from the closed position；Wherein, the opening and closing element
It can be freely rotated from the closed position to the open position.
Optionally, first frame body further includes draw-off mechanism, and the draw-off mechanism can close the opening and closing element from described
Coincidence, which is set, is pulled to the open position.
Optionally, the draw-off mechanism is oil cylinder, and the oil cylinder has first end and in the longitudinal direction with described the
The opposite second end in one end, for the relatively described first end of the second end closer to the first axle, the first end is hinged
In support frame as described above, the second end is provided with the sliding slot of the length direction extension along the oil cylinder, is arranged on the opening and closing element
There is the pin shaft that can be slided along the sliding slot.
Optionally, first frame body further includes resetting-mechanism, and the resetting-mechanism is can be by opening and closing element from the unlatching
Position is pushed to the elastic construction of the closed position.
Optionally, the quantity of the opening and closing element is multiple, and multiple opening and closing elements are arranged around the first axle interval.
Optionally, the position-limit mechanism being additionally provided in support frame as described above above the cavity, the position-limit mechanism can
It is movably arranged as on support frame as described above, and can be with respect to support frame as described above from restraining position activity to access position；From vertical institute
It states and is seen on the view of first axle, when the limiting device is located at the restraining position, the position-limit mechanism is at least partly
Cover the described second current area；When the limiting device is located at the access position, the position-limit mechanism does not cover described
First current area.
Optionally, the position-limit mechanism includes the more gag lever posts radially extended along the cavity, the gag lever post edge
Its length direction is movably disposed on support frame as described above.
Optionally, the connector further includes the second frame body being connected to above first frame body, second frame body
On be provided with hinged shaft, second frame body can be hinged by the hinged shaft with external structure, wherein the axis edge of the hinged shaft
Horizontal direction extends.
Optionally, the connector further includes two the first beat oil cylinders, one end of each first beat oil cylinder and institute
It states the second frame body to be hinged, the other end of each first beat oil cylinder is hinged with the external structure；Two described first
Beat oil cylinder is used to that second frame body to be driven to rotate relative to the external agency around the axis of the hinge axis hole.
Optionally, the connector further includes the revolution dress being set between first frame body and second frame body
It sets, is rotatablely connected between first frame body and second frame body by the slewing equipment, the revolution of the slewing equipment
Axis is overlapped with the first axle.
Optionally, the connector further includes pulley gear, and the pulley gear includes pulley and is used to support described
The pulley yoke of pulley, the pulley are located at the top of first frame body, the pulley groove of the pulley and the first axle
Extension line is tangent.
Optionally, the pulley yoke is rotatably arranged on second frame body, and the connector further includes second inclined
Oil cylinder is put, the second beat oil cylinder is described for driving the pulley yoke to rotate relative to second frame body around second axis
Second axis is perpendicular to the first axle and perpendicular to the axis of the hinged shaft.
Optionally, the connector further includes being connected to the third frame body for being sheathed on the external side of the first, and described
The upper end of triframe body is fixedly connected with first frame body, the lower end of the upper end of first frame body and first frame body
It is connected between portion by elastomeric element.
Optionally, after underwater robot is recovered in the connector, the elastomeric element is in compressive state.
Compared in the prior art, the present invention is at least had the advantages that
(1) ROV is from the water surface is detached to during being recycled to deck, and gravity is undertaken by connector, rather than armoured cable is held
Therefore load can avoid armoured cable and be drawn bad or be broken；
It (2) is rigid connection between ROV and connector 1, ROV is will enter in water (arrangement ROV during) or will
When leaving the water surface (during recycling ROV), it can not be influenced by environment storm load, be maintained at stable state.
Detailed description of the invention
Fig. 1 schematically illustrates the method arranged in the prior art with recycling ROV；
Fig. 2, which is schematically illustrated, utilizes connector arrangement provided in an embodiment of the present invention and the method for recycling ROV；
Fig. 3 is the structure chart of connector provided in an embodiment of the present invention；
Fig. 4 a is the structure chart of the first frame body of connector provided in an embodiment of the present invention (opening and closing element is located at closed position)；
Fig. 4 b is the structure chart of the first frame body of connector provided in an embodiment of the present invention (opening and closing element is located at open position)；
Fig. 5 is connector slewing equipment structure chart provided in an embodiment of the present invention；
Fig. 6 is the another structure chart of connector provided in an embodiment of the present invention；
Fig. 7 a is the structure chart of connector third frame body provided in an embodiment of the present invention；
Fig. 7 b is the top view of Fig. 7 a；
Fig. 7 c is the A-A cross-sectional view of Fig. 7 b.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this specification
Revealed content is understood other advantages and efficacy of the present invention easily.Although description of the invention will combine preferred embodiment
It introduces together, but this feature for not representing the invention is only limitted to the embodiment.On the contrary, being invented in conjunction with embodiment
The purpose of introduction is to be possible to the other selections extended or transformation to cover based on claim of the invention.In order to mention
For that will include many concrete details in depth understanding of the invention, being described below.The present invention can also be thin without using these
Section is implemented.In addition, in order to avoid confusion or obscuring emphasis of the invention, some details will be omitted in the de-scription.
With reference to Fig. 2~Fig. 4 b, present embodiments provide a kind of for arranging and recycling the connector 1 of underwater robot ROV.
Connector 1 includes the first frame body 11, and the first frame body 11 includes support frame 112 and multiple opening and closing elements 111.Wherein, support frame 112
Inside there is the cavity M that extends along first axle S1, the extending direction of first axle S1 (illustrate X to) is parallel to support frame
112 short transverse, cavity M have opening in the bottom end of support frame 112.Opening and closing element 111 is arranged around first axle S1, that is, opens
Closing member 111 is arranged along the direction perpendicular to first axle S1 with the interval first axle S1.Further, opening and closing element 111 is movable
Ground is connected to support frame 112, and can open with respect to support frame 112 from open position activity to closed position when opening and closing element 111 is located at
When opening position, cavity M has the first current area；When opening and closing element 111 is located at closed position, cavity M has the second current face
Product, the first current area are greater than the second current area.
It introduces to following exemplary using the present embodiment provides the methods that connector 1 recycles ROV.Firstly, will by cantilever crane
The decentralization of connector 1 pulls ROV to move upwards it, when mushroom head T enters in the first frame body 11 to the water surface by armoured cable C
When cavity M, opening and closing element 111 is from closed position activity to open position, so that cavity M has the first current area, to make mushroom
Mushroom head T is upwardly through cavity M and is at least partially situated at the top of opening and closing element 111.Then, opening and closing element 111 is manipulated from open position
Set and be back to closed position so that cavity M has the second current area less than the first current area, with prevent mushroom head T from
It drops out in connector 1.At this point, promoting connector 1 by cantilever crane, ROV can be recycled in deck in ship structure.That is, ROV is from disengaging
The water surface is to during being recycled to deck, and gravity is undertaken by connector 1, rather than armoured cable C undertakes, and therefore, can avoid armouring
Cable C is drawn bad or is broken.
Meanwhile different from the flexible connection in the prior art between armoured cable C and ROV, in the present embodiment, as mushroom head T
It is rigid connection between ROV and connector 1 into after the first frame body 11, ROV will enter in water (arrangement ROV process
In) or when will leave the water surface (recycling ROV during), can not be influenced by environment storm load, be maintained at stable state.
In the present embodiment, the quantity of opening and closing element 111 is multiple (the present embodiment is 4).Multiple opening and closing elements 111 are around first
The setting of the interval axis S1.Preferably, multiple opening and closing elements 111 are centrosymmetric setting about first axle S1.
With reference to Fig. 4 a and Fig. 4 b, opening and closing element 111 is hinged on support frame 112 by hinge D, when opening and closing element 111 is towards
When the part of one axis S1 is by upward thrust, opening and closing element 111 turns to closed position from open position.In other words, exist
During opening and closing element 111 is opened, opening and closing element 111 is opened upward, i.e., in opening procedure, opening on the left of first axle S1
Closing member 111 rotates counterclockwise, and the opening and closing element 111 on the right side of first axle S1 rotates clockwise.Further, opening and closing element 111 can be from
Closed position is freely rotated to open position.That is, opening and closing element 111 can be in the case where substantially not by resistance from closure position
It sets and turns to open position.The benefit being arranged in this way is, during recycling ROV, passes through the pulling of armoured cable C, mushroom head T
Opening and closing element 111 can be voluntarily opened upwards, without additional unlatching driving device is arranged.Mushroom head T pass through opening and closing element 111 it
Afterwards, opening and closing element 111 can automatically reset to closed position, be located at mushroom head T on opening and closing element 111.
Optionally, opening and closing element 111 is the plate of the extension along first axle S1.Opening and closing element 111 has towards first axle
The inner side edge L1 of S1 setting, inner side edge L1 is extended obliquely upward, so that multiple opening and closing elements 111 can surround the loudspeaker expanded downwards
Mouth O.During recycling ROV, when mushroom head T pushing tow opening and closing element 111, horn mouth O can provide guiding for mushroom head T
Effect.Further, when 111 upper inner of opening and closing element has step structure, when opening and closing element 111 is in the close position, step
Face L2 is vertical with first axle S1, i.e., when connector 1 is just put, step surface L2 is horizontal plane, so as to provide surely for mushroom head T
Fixed support.
First frame body 11 further includes draw-off mechanism 113, and opening and closing element 111 can be pulled to by draw-off mechanism 113 from closed position
Open position.When arranging ROV, cantilever crane is first passed through by the decentralization of connector 1 to the water surface, then passes through the pulling of draw-off mechanism 113,
Opening and closing element 111 is set to turn to open position from closed position, to make cavity M that there is the first current area, so that mushroom head T can
To be dropped in water from connector 1.
With reference to Fig. 4 a and Fig. 4 b, in the present embodiment, draw-off mechanism 113 is oil cylinder, and oil cylinder has first in the longitudinal direction
The 113a and second end 113b opposite with first end 113a is held, second end 113b is with respect to first end 113a closer to first axle
Line S1, first end 113a are articulated with support frame 112, and second end 113b is provided with the sliding slot of the length direction extension along oil cylinder
113c, be provided on opening and closing element 111 can 113c sliding along the chute pin shaft 111a.Further, when opening and closing element 111 is located at closure
When position, pin runner 113c is abutted against close to one end of first axle S1 with pin shaft 111a.
With reference to Fig. 4 a and Fig. 4 b, in the present embodiment, the first frame body 11 is additionally provided with resetting-mechanism 114, and resetting-mechanism 114 is
Opening and closing element 111 can be pushed from open position to the elastic construction of initial position.Specifically, in the present embodiment, resetting-mechanism 114
For the spring that 113 top of draw-off mechanism is arranged in, one end of spring is fixedly connected with opening and closing element 111, the other end and support frame 112
It is fixedly connected.
Illustrate to following exemplary to recycle ROV and arranges the process of ROV.
During recycling ROV, when mushroom head T pushing tow opening and closing element 111, pin shaft 111a can 113c free skating along the chute
It is dynamic, so that opening and closing element 111 almost unobstructed turns to open position from closed position under the promotion of mushroom head T.Work as mushroom
After mushroom head T is in place, opening and closing element 111 is reset to closed position under the action of resetting-mechanism 114.In the present embodiment, the first frame body
11 further include limit plate, and limit hole 116 is offered on limit plate；Correspondingly, limit pin shaft is fixedly installed on opening and closing element 111
111b.As shown in fig. 4 a, when opening and closing element 111 is reset to closed position, limit pin shaft 111b and the hole wall of limit hole 116 offset
It connects, so that opening and closing element 111 is maintained at closed position.
During arranging ROV, first tightening armoured cable C moves up mushroom head T, and then the piston rod of oil cylinder retracts, and leads to
Cross and pull the pin shaft 111a that is connected in sliding slot 113c, opening and closing element 111 can be pulled to open position from closed position, then under
Putting armoured cable C makes mushroom head T fall into the water, and then, cylinder piston rod stretches out, effect of the opening and closing element 111 in resetting-mechanism 114
It is lower to restore to closed position.
Further, the position-limit mechanism 115 being additionally provided in support frame 112 above cavity M, position-limit mechanism 115 can
It is movably arranged as on support frame 112, and can be with respect to support frame 112 from restraining position activity to open position.From vertical first
It is seen on the view of axis S1, when position-limit mechanism 115 is located at restraining position, it is logical that position-limit mechanism 115 at least partly covers second
Row area, to prevent mushroom head T to be upwardly separated from the first frame body 11.When position-limit mechanism 115 is located at open position, position-limit mechanism
115 do not cover the first current area, to pull out upwards, be convenient for from the first frame body 11 by mushroom head T when to need repairing
Maintenance operation.
Optionally, position-limit mechanism 115 is set to the structure shown in Fig. 4 a and Fig. 4 b.Position-limit mechanism 115 includes more (these
Embodiment is 4) the gag lever post 115a that extends along the radial R of chamber, gag lever post 115a is movably disposed along its length
On support frame as described above 112.When gag lever post 115a is displaced outwardly, position-limit mechanism 115 can be made to be moved to passage from restraining position
Position；Conversely, position-limit mechanism 115 can be made to be moved to restraining position from access position when gag lever post 115a is moved inward.
With reference to Fig. 2 and Fig. 3, in the present embodiment, connector 1 further includes the second frame body for being connected to 11 top of the first frame body
12, hinged shaft 121 is provided on the second frame body 12, the second frame body 12 can be hinged by hinged shaft 121 with external structure, wherein hinge
The axis of axis 121 is horizontally extending.I.e. in the present embodiment, the first frame body 11 is connected to external structure by the second frame body 12
On (for example, cantilever crane), and between the second frame body 12 and external agency be hinged relationship, so as to for connector 1 provide one around
Horizontal axis rotational freedom.During pitching, pitch angle (i.e. the angle of cantilever crane and horizontal plane) constantly changes cantilever crane.Ginseng
The partial enlarged view in Fig. 2 is examined, setting through this embodiment can be according to the pitch angle phase of cantilever crane during cantilever crane pitching
Corner of the connector 1 with respect to cantilever crane should be adjusted, so that connector 1, which can remain at, just sets state, so as to hang ROV
Relatively upright state is remained during dress.In addition, when recycling ROV, by adjusting the turning with respect to cantilever crane of connector 1
Angle can adjust the direction of 11 horn mouth O of the first frame body, be conducive to smoothly recycle ROV.In the present embodiment, the second frame body 12 is A word
The top of the second frame body 12 is arranged in shape bracket, hinged shaft 121.
Further, connector 1 further includes two the first beat oil cylinders 13, one end and second of each first beat oil cylinder 13
Frame body 12 is hinged, and the other end is hinged with external structure (for example, cantilever crane).In the present embodiment, two the first beat oil cylinders 13
For driving 12 opposite outer mechanism of the second frame body to rotate around the axis of hinged shaft 121, that is, the first beat oil cylinder 13 is adjustment connection
The driving mechanism of 1 posture of device.With reference to Fig. 3, the extension line of the axis of two the first beat oil cylinders 13 converges in the lower section of hinged shaft 121
It hands over, and the axis perpendicular of plane determined by the axis of two the first beat oil cylinders 13 and the hinged shaft 121.
With reference to Fig. 3 and Fig. 5, in the present embodiment, connector 1 further includes being set between the first frame body 11 and the second frame body 12
Slewing equipment 14, be rotatablely connected between the first frame body 11 and the second frame body 12 by slewing equipment 14, slewing equipment 14 returns
Shaft is overlapped with first axle S1.That is, slewing equipment 14 is that connector 1 provides another rotational freedom, pass through
The setting can adjust the direction of ROV during lifting ROV, so that ROV is recovered to deck according to the direction of setting
Above or it is arranged into water.
With continued reference to Fig. 3, connector 1 further includes pulley gear 15, and pulley gear 15 includes pulley 151 and is used to support
The pulley yoke 152 of pulley 151, pulley 151 are located at the top of the first frame body 11, and the pulley groove of pulley 151 is with first axle S1's
Extension line is tangent.Connect in this way, armoured cable C can bypass pulley 151 and penetrate into the first frame body 11 with mushroom head T-phase.
Pulley yoke 152 is rotatably arranged on the second frame body 12, and connector 1 further includes the second beat oil cylinder 17, and second
Beat oil cylinder 17 for driving pulley frame 152 with respect to the second frame body 12 around second axis S2 rotation, second axis S2 is perpendicular to the
One axis S1 and perpendicular to the axis of hinged shaft 121.The difference being provided with conducive to armoured cable C is adapted it to of pulley gear 15 goes out
Rope angle.
With reference to Fig. 6, in the present embodiment, connector 1 further includes being connected to the third frame body for being sheathed on 11 outside of the first frame body
16, the upper end 161 of third frame body 16 is fixedly connected with the first frame body 11, the 161 third frame body 16 of upper end of third frame body 16
Lower end 162 between by elastomeric element be connected.When recycling ROV, during ROV is moved upwards, and if third
Frame body 16 collides, and the elastomeric element in third frame body 16 can provide buffering for it.In addition, when underwater robot ROV is returned
After receiving into connector 1, elastomeric element is in compressive state.I.e. when recycling ROV, when mushroom head T is contained to first
After in body 11, the lower end of third frame body 16 can push ROV ontology, so that ROV can steadily be fitted in 1 bottom end of connector.
In the present embodiment, with reference to Fig. 7 a~Fig. 7 c, elastomeric element includes being set to the first elastomeric element 163 of inner ring and setting
It is placed in the second elastomeric element 164 of outer ring, the first elastomeric element 163 is spring, and the second elastomeric element 164 is air buffer.
Further, the first elastomeric element 163 includes equally circumferentially spaced 4 spring along third frame body 16, the second elastic portion
Part 164 includes equally circumferentially spaced 4 air buffer along third frame body 16,4 springs and 4 air buffer edges
The radial R of third frame body 16 is aligned one by one.
In conclusion provided by the invention, the above-described embodiments merely illustrate the principles and effects of the present invention, rather than
For limiting the present invention.Any person skilled in the art all without departing from the spirit and scope of the present invention, to above-mentioned reality
It applies example and carries out modifications and changes.Therefore, such as those of ordinary skill in the art without departing from disclosed
Spirit with technical idea under all equivalent modifications or change for being completed, should be covered by the claims of the present invention.
Claims (15)
1. a kind of for arranging and recycling the connector of underwater robot, which is characterized in that the connector includes the first frame body,
First frame body includes:
Support frame, support frame as described above inside have the cavity extended along first axle, and the extending direction of the first axle is institute
The short transverse of support frame is stated, the cavity has opening in the bottom end of support frame as described above；
Opening and closing element, the opening and closing element are arranged around the first axle；
Wherein, the opening and closing element can be connected to support frame as described above, and can be with respect to support frame as described above from open position activity
To closed position, when the opening and closing element is located at the open position, the cavity has the first current area；When the opening and closing
When part is located at the closed position, the cavity has the second current area, and it is logical that the described first current area is greater than described second
Row area.
2. connector according to claim 1, which is characterized in that the opening and closing element is hinged on support frame as described above, works as institute
When stating part of the opening and closing element towards the first axle by upward thrust, the opening and closing element is turned to from the closed position
The open position；Wherein, the opening and closing element can be freely rotated from the closed position to the open position.
3. connector according to claim 2, which is characterized in that first frame body further includes draw-off mechanism, described to lead
The opening and closing element can be pulled to the open position from the closed position by drawing mechanism.
4. connector according to claim 3, which is characterized in that the draw-off mechanism is oil cylinder, and the oil cylinder is in length
On direction have first end and the second end opposite with the first end, the relatively described first end of the second end closer to
The first axle, the first end are articulated with support frame as described above, and the second end is provided with the length direction along the oil cylinder
The sliding slot of extension is provided with the pin shaft that can be slided along the sliding slot on the opening and closing element.
5. connector according to claim 3, which is characterized in that first frame body further includes resetting-mechanism, described multiple
Position mechanism is that can push opening and closing element to the elastic construction of the closed position from the open position.
6. connector according to claim 1, which is characterized in that the quantity of the opening and closing element be it is multiple, it is multiple described to open
Closing member is arranged around the first axle interval.
7. connector according to claim 1, which is characterized in that be additionally provided in support frame as described above on the cavity
The position-limit mechanism of side, the position-limit mechanism is movably disposed on support frame as described above, and can be with respect to support frame as described above from limit
Position activity is to access position；
From the view of the vertical first axle, when the limiting device is located at the restraining position, the position restrainer
Structure at least partly covers the described second current area；When the limiting device is located at the access position, the position restrainer
Structure does not cover the described first current area.
8. connector according to claim 7, which is characterized in that the position-limit mechanism includes the more diameters along the cavity
To the gag lever post of extension, the gag lever post is movably disposed on support frame as described above along its length.
9. connector according to claim 1, which is characterized in that the connector further includes being connected to first frame body
Second frame body of top is provided with hinged shaft on second frame body, and second frame body can pass through the hinged shaft and external structure
It is hinged, wherein the axis of the hinged shaft is horizontally extending.
10. connector according to claim 9, which is characterized in that the connector further includes two the first beat oil cylinders,
One end of each first beat oil cylinder is hinged with second frame body, the other end of each first beat oil cylinder with it is described
External structure is hinged；
Two the first beat oil cylinders are for driving the relatively described external agency of second frame body around the axis of the hinge axis hole
Line rotation.
11. connector according to claim 9, which is characterized in that the connector further includes being set to the first
Slewing equipment between body and second frame body passes through the slewing equipment between first frame body and second frame body
Rotation connection, the rotating shaft of the slewing equipment are overlapped with the first axle.
12. connector according to claim 9, which is characterized in that the connector further includes pulley gear, the pulley
Device includes pulley and the pulley yoke for being used to support the pulley, and the pulley is located at the top of first frame body, described
The pulley groove of pulley and the extension line of the first axle are tangent.
13. connector according to claim 12, which is characterized in that the pulley yoke is rotatably arranged in described second
On frame body, the connector further includes the second beat oil cylinder, and the second beat oil cylinder is for driving the pulley yoke with respect to institute
It states the second frame body to rotate around second axis, the second axis is perpendicular to the first axle and perpendicular to the axis of the hinged shaft
Line.
14. connector according to claim 1, which is characterized in that the connector further includes being sheathed on the first
The third frame body of external side, the upper end of the third frame body are fixedly connected with first frame body, first frame body it is upper
It is connected between end and the lower end of first frame body by elastomeric element.
15. connector according to claim 14, which is characterized in that when underwater robot is recovered in the connector
Later, the elastomeric element is in compressive state.
Priority Applications (1)
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| CN111252669A (en) * | 2020-02-11 | 2020-06-09 | 深圳市德润水下工程有限公司 | ROV lock and hoisting accessory |
| CN111960278A (en) * | 2020-08-31 | 2020-11-20 | 合肥市神雕起重机械有限公司 | Easy-to-operate anti-deflection crane |
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| CN104401866A (en) * | 2014-11-14 | 2015-03-11 | 中国船舶科学研究中心上海分部 | Hoisting cable automatic connection device for underwater robot |
| CN210286508U (en) * | 2019-04-17 | 2020-04-10 | 上海振华重工(集团)股份有限公司 | Connector for arranging and recovering underwater robot |
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| CN111252669A (en) * | 2020-02-11 | 2020-06-09 | 深圳市德润水下工程有限公司 | ROV lock and hoisting accessory |
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| CN111960278A (en) * | 2020-08-31 | 2020-11-20 | 合肥市神雕起重机械有限公司 | Easy-to-operate anti-deflection crane |
| CN111960278B (en) * | 2020-08-31 | 2023-11-21 | 安徽神雕智能科技有限公司 | Easy-to-operate anti-deflection crane |
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