CN115465425A - Water delivery tunnel underwater robot laying and recycling device and method - Google Patents
Water delivery tunnel underwater robot laying and recycling device and method Download PDFInfo
- Publication number
- CN115465425A CN115465425A CN202211190447.0A CN202211190447A CN115465425A CN 115465425 A CN115465425 A CN 115465425A CN 202211190447 A CN202211190447 A CN 202211190447A CN 115465425 A CN115465425 A CN 115465425A
- Authority
- CN
- China
- Prior art keywords
- fixer
- robot
- panel
- underwater robot
- flat plate
- Prior art date
- 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.)
- Pending
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000004064 recycling Methods 0.000 title claims abstract description 18
- 238000011084 recovery Methods 0.000 claims abstract description 27
- 239000004744 fabric Substances 0.000 claims abstract description 17
- 230000005484 gravity Effects 0.000 claims description 6
- 238000000498 ball milling Methods 0.000 claims description 3
- 238000007667 floating Methods 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000003032 molecular docking Methods 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 229910001208 Crucible steel Inorganic materials 0.000 description 1
- 239000004699 Ultra-high molecular weight polyethylene Substances 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000227 grinding Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 229920000785 ultra high molecular weight polyethylene Polymers 0.000 description 1
Images
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
- B63C3/00—Launching or hauling-out by landborne slipways; Slipways
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/10—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying boats
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Transportation (AREA)
- Underground Structures, Protecting, Testing And Restoring Foundations (AREA)
Abstract
The invention provides a water delivery tunnel underwater robot cloth recycling device and a water delivery tunnel underwater robot cloth recycling method, and belongs to the field of underwater robot cloth recycling. The problem of current water delivery tunnel underwater robot be difficult to cloth put and retrieve is solved. The cloth puts recovery unit is flat plate loading vehicle formula structure, and it includes loader module, panel and fixed establishment, loader module quantity is a plurality of, and a plurality of loader modules all set up on the panel, fixed establishment includes fixer and a plurality of fixer subassembly No. one, a fixer links to each other with the carrier bar, the carrier bar links to each other with support piece, support piece is located the axis of panel and installs in the front portion of panel, and every fixer subassembly all includes two fixers of two fixers and arranges about panel axis symmetry, installs between two sets of loader modules. The device is mainly used for laying and recovering the underwater robot.
Description
Technical Field
The invention belongs to the field of underwater robot cloth recovery, and particularly relates to a water delivery tunnel underwater robot cloth recovery device and a water delivery tunnel underwater robot cloth recovery method.
Background
The underwater robot is one of main devices for underwater searching and detection, the laying and recovery of the underwater robot are the most critical and most easily-occurring links in the whole operation process, and how to safely and effectively lay and recover the specific wading bank slope laying and recovering environment of the water delivery tunnel is a difficult problem to solve.
The current main laying and recycling modes comprise laying and recycling of a mother ship on the water surface and laying and recycling of underwater butt joint. The water surface mother ship needs to be provided with a special operation mother ship for the underwater robot during laying and recovery, and an A frame system or a suspension arm system is additionally arranged on the mother ship. The underwater docking distribution and recovery also need to be supported by a mother ship, and a platform type or docking station type docking device is carried on the mother ship. In consideration of the space limit, the water depth limit and the bank slope environment with linearly changing water depth of the tunnel environment, the robot is difficult to deploy and retrieve by the above method. Therefore, how to design a reliable deploying and retracting device and successfully deploy and retract the robot is a difficult point of research.
Disclosure of Invention
In view of this, the present invention aims to provide a water delivery tunnel underwater robot deployment and recovery device and a deployment and recovery method, so as to solve the problem that the existing water delivery tunnel underwater robot is difficult to deploy and recover.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a recovery unit is put to water delivery tunnel underwater robot cloth, recovery unit is dull and stereotyped loading vehicle formula structure, and it includes carrier module, panel and fixed establishment, carrier module quantity is a plurality of, and a plurality of carrier modules all set up on the panel, fixed establishment includes a fixer and a plurality of fixer subassembly, a fixer links to each other with the carrier bar, the carrier bar links to each other with support piece, support piece is located the axis of panel and installs at the panel front portion, and every fixer subassembly all includes two fixers, and two fixers are installed between two sets of carrier modules about panel axis symmetrical arrangement, panel front end face center is provided with the engineering lifting hook, the panel lower part is provided with rear axle and front axle, be provided with the wheel on rear axle and the front axle, the traction frame is installed at the front axle center, the ring couple is installed to the front end face of traction frame.
Furthermore, the number of the carrier modules is three, and the three carrier modules are axially arranged on the central axis of the panel.
Furthermore, the fixer subassembly includes No. two fixer subassemblies and No. three fixer subassemblies, no. two fixer subassemblies include No. two left fixers and No. two right fixers, no. two left fixers and No. two right fixers are installed in the front between two sets of carrier modules about panel axis symmetrical arrangement, no. three fixer subassemblies include No. three left fixer and No. three right fixers, no. three left fixer and No. three right fixers are installed in the middle and back between two sets of carrier modules about panel axis symmetrical arrangement.
Furthermore, the surface of the carrier module is provided with a buffer rubber pad.
Furthermore, a spring connecting piece is arranged on the circular hook.
Furthermore, a ball milling turntable is arranged on the traction frame.
Furthermore, wheels are arranged on the rear axle and the front axle through bearings.
Furthermore, the first fixer is an engineering hook.
The invention also provides a distribution method of the underwater robot distribution and recovery device for the water delivery tunnel, which comprises the following steps:
step 1: the flat plate loading vehicle runs to the position 5 meters away from the tail of the flat plate loading vehicle to the nearest wading point in a reversing mode, and binding belts between the second fixer assembly and the third fixer assembly between the robot and the flat plate loading vehicle are removed;
and 2, step: starting a shore base or a tractor to drag a winch to work, removing the circular hook, and operating the winch to enable the flat plate loading vehicle to slide downwards along the slope surface of the branch tunnel into water to further finish the laying;
and step 3: when the flat plate loading vehicle slides downwards to enter water, the robot floats upwards to the position where the propeller above the tail part is positioned on the waterline surface by virtue of gravity buoyancy difference under the assistance of human, and the winch is controlled to stop sliding downwards;
and 4, step 4: the fixing binding belt between the robot and the first fixer is removed through manual operation, so that the robot is in a free floating state;
and 5: and manually operating the light pushing robot to enable the light pushing robot to be away from the flat plate loading vehicle for a proper distance, and controlling the robot pusher to drive away from the distribution point to finish the distribution.
The invention also provides a recovery method of the underwater robot cloth recovery device for the water delivery tunnel, which comprises the following steps:
step 1: the method comprises the following steps: the robot enters a recovery area, a shore base or a tractor is operated to drag a winch to release the flat plate loading vehicle to slide down along the slope surface until the upper end surface of the bearing rod is immersed in water by 20 cm and stops sliding down;
and 2, step: controlling the robot propeller to run to the position of the tail of the robot, which is on the same vertical plane with the second fixing device assembly, and closing the propeller;
and 3, step 3: manually operating and connecting the robot and the first fixer by using a binding belt;
and 4, step 4: the winch is operated to pull, the robot is manually assisted to fall on the loader module by means of gravity buoyancy, and the standby robot completely drains water to be connected with the second fixer assembly and the third fixer assembly between the robot and the flat plate loading vehicle.
And 5: and continuously operating the winch for traction to connect the circular hooks of the flat plate loading vehicle to finish recovery.
Compared with the prior art, the invention has the beneficial effects that: the underwater robot cloth recycling device is simple in structure, stable in system and low in cost, and the underwater robot cloth recycling method is simple and convenient to operate and high in universality. The underwater robot laying and recycling system gets rid of the situation that the existing underwater robot laying and recycling needs to be supported by a mother ship, can be better applied to the environment of the water delivery tunnel, is not limited by the environment space, the water depth and the linear change of the water depth, and can lay and recycle the underwater robot in the water delivery tunnel conveniently and safely.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
FIG. 1 is a schematic view of a front view structure of a water delivery tunnel underwater robot deployment and recovery device according to the present invention;
FIG. 2 is a schematic view of a top view of a water delivery tunnel underwater robot deployment and recovery device according to the present invention;
FIG. 3 is a schematic front view of a carrier module according to the present invention;
FIG. 4 is a schematic top view of a carrier module according to the present invention;
FIG. 5 is a side view of a carrier module according to the present invention;
FIG. 6 is a schematic diagram of a main tunnel and a branch tunnel bank slope according to the present invention.
1-carrier module, 2-panel, 3-first fixer, 4-carrier bar, 5-support, 6-engineering hook, 7-rear axle, 8-wheel, 9-front axle, 10-traction frame, 11-circular hook, 12-buffer rubber pad, 13-third left fixer, 14-second left fixer, 15-spring connector, 16-third right fixer, and 17-second right fixer.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely explained below with reference to the drawings in the embodiments of the present invention. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict, and the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments.
Referring to fig. 1-6 to illustrate the embodiment, the cloth recycling device for underwater robots in water delivery tunnels is of a flat plate loading vehicle type structure and comprises a plurality of carrier modules 1, a panel 2 and a fixing mechanism, wherein the carrier modules 1 are arranged on the panel 2, the fixing mechanism comprises a first fixer 3 and a plurality of fixer assemblies, the first fixer 3 is connected with a carrier rod 4, the carrier rod 4 is connected with a supporting piece 5, the supporting piece 5 is located on a central axis of the panel 2 and is installed on the front portion of the panel 2, each fixer assembly comprises two fixers, the two fixers are symmetrically arranged about the central axis of the panel and are installed between the two sets of carrier modules 1, an engineering hook 6 is arranged in the center of the front end face of the panel 2, a rear axle 7 and a front axle 9 are arranged on the lower portion of the panel 2, wheels 8 are arranged on the rear axle 7 and the front axle 9, a traction frame 10 is installed in the center of the front axle 9, and a circular hook 11 is installed on the front end face of the traction frame 10.
This embodiment the carrier module 1 quantity is three, and three carrier module 1 is installed on panel 2 axis along the axial, the fixer subassembly includes No. two fixer subassemblies and No. three fixer subassemblies, no. two fixer subassemblies include No. two left fixers 14 and No. two right fixers 17, no. two left fixers 14 and No. two right fixers 17 are installed between two sets of carrier module 1 in the front about panel 2 axis symmetric arrangement, no. three fixer subassembly includes No. three left fixer 13 and No. three right fixer 16, no. three left fixer 13 and No. three right fixer 16 are installed between two sets of carrier module 1 in the middle and back about panel 2 axis symmetric arrangement, the surface of carrier module 1 is provided with buffering cushion 12, be provided with spring coupling spare 15 on the ring couple 11, be provided with the ball-milling carousel on the traction frame 10, all be provided with wheel 8 through the bearing on rear axle 7 and the front axle 9, fixer 3 is the engineering couple.
The carrier module 1 is formed by printing an ultra-high molecular weight polyethylene material and is responsible for carrying the underwater robot, and the size and the shape of the carrier module can be designed according to the appearance of the carried underwater robot. The load carrier module 1 is arranged on the axis of the panel 2, the installation position and the number are determined by the specific size of the underwater robot to be carried, and the load carrier module 1 is connected with the panel 2 by bolts.
The panel 2 is a panel of the flat plate loading vehicle, a main body frame of the panel is formed by welding and matching 120# national standard rectangular steel, and a table panel of the panel is a pattern plate with the thickness of 3 mm.
The first fixer 3 is an engineering hook, is arranged on the bearing rod 4 at a certain height from the panel 2 and is responsible for being connected with the underwater robot through a fixed binding belt. The bearing rod 4 is an MJ-10-100100 industrial aluminum profile, is arranged in the supporting piece 5, is connected by a T-shaped bolt and is responsible for fixing the first fixer 3 and bearing the traction force of the underwater robot in the process of laying, laying and recovering. The support piece 5 is MJ100100 sheet metal fixing anchor support pieces, is arranged on the central axis of the panel 2, has a certain distance with the front end surface of the panel 2, is connected with the panel 2 by bolts and is responsible for fixing and supporting the bearing rod 4.
The engineering lifting hook 6 is arranged in the center of the front end face of the panel 2 and is responsible for being connected with a shore base or a steel wire rope hook of a winch dragged by a tractor.
The rear axle 7 is a rear axle of the flat plate loading vehicle, the front axle 9 is a front axle of the flat plate loading vehicle, and bearings of the front axle and the front axle are Harbin bearings. The wheels 8 are flat plate loading vehicle wheels and adopt solid tires special for trailers.
The traction frame 10 is installed in the center of the front axle 9, is formed by welding 8# national standard channel steel, is responsible for being connected with a tractor to transport and move, is provided with a 500mm weighted cast steel ball grinding turntable and is responsible for steering the flat plate loading vehicle. The circular hook 11 is arranged on the front end face of the traction frame 10 and is responsible for connecting with a tractor hook.
The buffer rubber pad 12 is arranged on the surface of the carrier module 1 and is responsible for the shock absorption and the buffer effect, so that the surface abrasion of the underwater robot is reduced. The spring connecting piece 15 is arranged on the circular hook 11 and is responsible for shock absorption and buffering, and abrasion between the circular hook 11 and the traction frame 10 is reduced.
No. two left fixer 14, no. two right fixer 17, no. three left fixer 13 and No. three right fixer 16 are the wire rope buckle, no. two left fixer 14 and No. two right fixer 17 are installed in the front between two sets of carrier module 1 about panel 2 axis symmetric arrangement, and with the left and right sides terminal surface certain distance of panel 2, are responsible for underwater robot's fixed. And the third left fixer 13 and the third right fixer 16 are symmetrically arranged about the central axis of the panel 2, are arranged between the middle and rear two groups of carrier modules 1, have a certain distance with the left and right end faces of the panel 2, and are responsible for fixing the underwater robot.
The embodiment is a distribution method of the underwater robot distribution and recovery device for the water delivery tunnel, which comprises the following steps:
step 1: the flat plate loading vehicle runs to the position 5 meters away from the tail of the flat plate loading vehicle to the nearest wading point in a reversing mode, and binding belts between the second fixer assembly and the third fixer assembly between the robot and the flat plate loading vehicle are removed;
step 2: starting a shore base or a tractor to drag a winch to work, removing the circular hook 11, and operating the winch to enable the flat plate loading vehicle to slide downwards along the slope surface of the branch tunnel into water to further finish the laying;
and 3, step 3: when the flat plate loading vehicle slides down to enter water, the robot floats upwards to a position above the tail part of the flat plate loading vehicle on the water level surface by means of gravity buoyancy difference under the assistance of human, and the winch is controlled to stop sliding down;
and 4, step 4: the fixing binding belt between the robot and the first fixer 3 is removed through manual operation, so that the robot is in a free floating state;
and 5: and manually operating the light pushing robot to enable the light pushing robot to be away from the flat plate loading vehicle for a proper distance, and controlling the pusher of the robot to drive away from the distribution point to finish the distribution.
The embodiment is a recycling method of the underwater robot deployment and recycling device for the water delivery tunnel, which comprises the following steps:
step 1: the method comprises the following steps: the robot enters a recovery area, a shore base or a tractor is operated to drag a winch to release the flat plate loading vehicle to slide down along the slope surface until the upper end surface of the bearing rod 4 is immersed in water by about 20 cm and stops sliding down;
and 2, step: controlling the robot propeller to run to the position of the same vertical plane of the tail of the robot and the second fixator assembly, and closing the propeller;
and 3, step 3: the robot is connected with the first fixer 3 by a binding band through manual operation;
and 4, step 4: and (3) operating the winch to pull, manually assisting to enable the robot to fall on the loader module 1 by means of gravity buoyancy, and enabling the standby robot to completely discharge water to connect the second fixer assembly and the third fixer assembly between the robot and the flat plate loading vehicle.
And 5: and continuously operating the winch for traction to connect the circular hooks 11 of the flat plate loading vehicle to finish recovery.
The embodiments of the invention disclosed above are intended merely to aid in the explanation of the invention. The examples are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand the invention for and utilize the invention.
Claims (10)
1. The utility model provides a recovery unit is put to water delivery tunnel underwater robot cloth which characterized in that: cloth recovery unit is flat board loading vehicle formula structure, and it includes carrier module (1), panel (2) and fixed establishment, carrier module (1) quantity is a plurality of, and a plurality of carrier module (1) all set up on panel (2), fixed establishment includes fixer (3) and a plurality of fixer subassembly, fixer (3) link to each other with carrier bar (4), carrier bar (4) link to each other with support piece (5), support piece (5) are located the axis of panel (2) and install at panel (2) front portion, and every fixer subassembly all includes two fixers, and two fixers are installed between two sets of carrier module (1) about panel axis symmetric arrangement, panel (2) front end face center is provided with engineering lifting hook (6), panel (2) lower part is provided with rear axle (7) and front axle (9), be provided with wheel (8) on rear axle (7) and front axle (9), front axle (9) center is installed and is put up traction frame (10), traction frame (11) preceding couple terminal surface is installed.
2. The water transport tunnel underwater robot deployment and retrieval device of claim 1, wherein: the number of the carrier modules (1) is three, and the three carrier modules (1) are axially arranged on the central axis of the panel (2).
3. The water transport tunnel underwater robot deployment and retrieval device of claim 2, wherein: the fixer subassembly includes No. two fixer subassemblies and No. three fixer subassemblies, no. two fixer subassemblies include No. two left fixer (14) and No. two right fixer (17), no. two left fixer (14) and No. two right fixer (17) are around panel (2) axis symmetric arrangement, install in the front between two sets of loader modules (1), no. three fixer subassemblies include No. three left fixer (13) and No. three right fixer (16), no. three left fixer (13) and No. three right fixer (16) are around panel (2) axis symmetric arrangement, install in the middle of between two sets of loader modules (1) of back.
4. The water transport tunnel underwater robot deployment and retrieval device of claim 1, wherein: the surface of the carrier module (1) is provided with a buffer rubber mat (12).
5. The water transport tunnel underwater robot deployment and retrieval device of claim 1, wherein: the circular hook (11) is provided with a spring connecting piece (15).
6. The water transport tunnel underwater robot deployment and retrieval device of claim 1, wherein: and a ball milling turntable is arranged on the traction frame (10).
7. The water transport tunnel underwater robot deployment and retrieval device of claim 1, wherein: and wheels (8) are arranged on the rear axle (7) and the front axle (9) through bearings.
8. The water transport tunnel underwater robot cloth recovery device of claim 1, characterized in that: the first fixer (3) is an engineering hook.
9. A deployment method of the water-conveying tunnel underwater robot deployment and recovery device of claim 1, characterized in that: it comprises the following steps:
step 1: the flat plate loading vehicle drives to the position 5 meters away from the tail of the flat plate loading vehicle to the nearest wading point in a backing mode, and binding belts between the second fixer assembly and the third fixer assembly between the robot and the flat plate loading vehicle are removed;
step 2: starting a shore base or a tractor to drag a winch to work, removing the circular hook (11), and operating the winch to enable the flat plate loading vehicle to slide downwards along the slope surface of the branch tunnel into water to further finish the laying;
and step 3: when the flat plate loading vehicle slides downwards to enter water, the robot floats upwards to the position where the propeller above the tail part is positioned on the waterline surface by virtue of gravity buoyancy difference under the assistance of human, and the winch is controlled to stop sliding downwards;
and 4, step 4: the fixing binding belt between the robot and the first fixer (3) is removed through manual operation, so that the robot is in a free floating state;
and 5: and manually operating the light pushing robot to enable the light pushing robot to be away from the flat plate loading vehicle for a proper distance, and controlling the pusher of the robot to drive away from the distribution point to finish the distribution.
10. A recycling method of the underwater robot cloth recycling device of the water conveying tunnel according to claim 1, which is characterized in that: it comprises the following steps:
step 1: the method comprises the following steps: the robot enters a recovery area, a shore base or a tractor is operated to drag a winch to release the flat plate loading vehicle to slide down along the slope surface until the upper end surface of the bearing rod (4) is immersed in water by 20 cm and stops sliding down;
and 2, step: controlling the robot propeller to run to the position of the tail of the robot, which is on the same vertical plane with the second fixing device assembly, and closing the propeller;
and 3, step 3: the robot is connected with the first fixer (3) by a binding belt through manual operation;
and 4, step 4: the winch is operated to pull, the robot is manually assisted to fall on the loader module (1) by means of gravity buoyancy, and the standby robot completely drains water to be connected with the second fixer assembly and the third fixer assembly between the robot and the flat plate loading vehicle.
And 5: and continuously operating the winch for traction to connect the circular hooks (11) of the flat plate loading vehicle to finish recovery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211190447.0A CN115465425A (en) | 2022-09-28 | 2022-09-28 | Water delivery tunnel underwater robot laying and recycling device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211190447.0A CN115465425A (en) | 2022-09-28 | 2022-09-28 | Water delivery tunnel underwater robot laying and recycling device and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115465425A true CN115465425A (en) | 2022-12-13 |
Family
ID=84335771
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211190447.0A Pending CN115465425A (en) | 2022-09-28 | 2022-09-28 | Water delivery tunnel underwater robot laying and recycling device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115465425A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1409929A (en) * | 1972-10-23 | 1975-10-15 | Dam J Van | Device for the transportation of boats |
| US20130056955A1 (en) * | 2010-05-19 | 2013-03-07 | Sublift Ab | Boat transportation carriage |
| DE102014100845A1 (en) * | 2014-01-24 | 2015-07-30 | Axel Dahmen | Boat trailer with floating platform |
| CN108859924A (en) * | 2018-07-18 | 2018-11-23 | 高鹃 | A kind of yacht trailer |
| CN109572965A (en) * | 2018-12-03 | 2019-04-05 | 天津深之蓝海洋设备科技有限公司 | A kind of tunnel of cable control underwater robot lays method and laying system |
| CN114212216A (en) * | 2021-11-12 | 2022-03-22 | 中国船舶工业***工程研究院 | Ultra-large type underwater unmanned vehicle dock wet recovery tractor and traction method thereof |
-
2022
- 2022-09-28 CN CN202211190447.0A patent/CN115465425A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1409929A (en) * | 1972-10-23 | 1975-10-15 | Dam J Van | Device for the transportation of boats |
| US20130056955A1 (en) * | 2010-05-19 | 2013-03-07 | Sublift Ab | Boat transportation carriage |
| DE102014100845A1 (en) * | 2014-01-24 | 2015-07-30 | Axel Dahmen | Boat trailer with floating platform |
| CN108859924A (en) * | 2018-07-18 | 2018-11-23 | 高鹃 | A kind of yacht trailer |
| CN109572965A (en) * | 2018-12-03 | 2019-04-05 | 天津深之蓝海洋设备科技有限公司 | A kind of tunnel of cable control underwater robot lays method and laying system |
| CN114212216A (en) * | 2021-11-12 | 2022-03-22 | 中国船舶工业***工程研究院 | Ultra-large type underwater unmanned vehicle dock wet recovery tractor and traction method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110667802B (en) | Unmanned ship intelligent dock | |
| CN107618420B (en) | Auxiliary device convenient for launching of small river channel ship | |
| CN210174830U (en) | Multi-vehicle type electric passenger car's sharing intelligence trades power station of trading electricity fast | |
| CN210174826U (en) | Double-station battery replacement station capable of sharing intelligent and rapidly replacing batteries based on multiple vehicle types | |
| WO2019000758A1 (en) | Method for transporting ship from land to water | |
| WO2021237993A1 (en) | Laying and recovering device for underwater operation lifting cabin | |
| CN111823936A (en) | Battery replacement station for sharing intelligent quick battery replacement of electric cars of different battery replacement types | |
| US4946332A (en) | Convertible boat and vehicle trailer | |
| CN115465425A (en) | Water delivery tunnel underwater robot laying and recycling device and method | |
| CN111038662A (en) | Integrated disassembling and assembling system and method for large offshore structure | |
| CN111823941A (en) | Double-station battery replacement station for sharing intelligent quick battery replacement of multi-vehicle type electric buses | |
| CN108859923A (en) | A kind of yacht trailer | |
| CN211364878U (en) | Integrated dismounting system for large offshore structure | |
| CN221068387U (en) | Unmanned ship recovery system | |
| CN112193258B (en) | Working method of transportation system | |
| CN210310075U (en) | Special vehicle for carrying and positioning cloud rail | |
| CN108859924A (en) | A kind of yacht trailer | |
| CN114590190A (en) | Fishing boat sandy beach auxiliary device that goes ashore | |
| CN210793546U (en) | Hanging bracket and distribution and recovery system | |
| CN212047793U (en) | Laying and recycling device and navigation equipment | |
| CN109204738B (en) | Lifting type ship launching slideway | |
| JP2994935B2 (en) | Bridge overhang erection method and equipment | |
| CN220924469U (en) | Ultra-wide floating platform launching structure | |
| CN217100422U (en) | Load detection device of pulley for ship launching | |
| CN210365466U (en) | Assault boat ramp handling device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |