CN215622562U - Underwater robot hoisting and recovering system - Google Patents
Underwater robot hoisting and recovering system Download PDFInfo
- Publication number
- CN215622562U CN215622562U CN202121858875.7U CN202121858875U CN215622562U CN 215622562 U CN215622562 U CN 215622562U CN 202121858875 U CN202121858875 U CN 202121858875U CN 215622562 U CN215622562 U CN 215622562U
- Authority
- CN
- China
- Prior art keywords
- underwater robot
- shell
- underwater
- locking cover
- locking
- 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.)
- Active
Links
- 238000011084 recovery Methods 0.000 claims abstract description 28
- 235000001674 Agaricus brunnescens Nutrition 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 10
- 238000000034 method Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000009189 diving Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Landscapes
- Load-Engaging Elements For Cranes (AREA)
Abstract
An underwater robot hoisting and recovering system. The utility model comprises the following steps: the top end of the shell is provided with a locking cover, a fixing ring is arranged below the locking cover, and the fixing ring, the shell and the locking cover form an open type recovery device; a buoyancy ball is arranged between the shell and the fixing ring, the upper end of the buoyancy ball is connected with a pull rod, and the pull rod penetrates through the locking cover; the lower end of the buoyancy ball is connected with one end of a connecting rod, the connecting rod penetrates through the locking cover to be connected with a locking block, the locking block is installed inside the shell through a pin, and the underwater robot connecting device is placed inside the shell. The utility model realizes the lifting and recovery of various types and levels of underwater equipment, thereby realizing the purposes of high interchangeability and standardization and reducing the manufacturing and maintenance cost.
Description
The technical field is as follows:
the utility model relates to the technical field of robots, in particular to a hoisting and recycling system of an underwater robot.
Background art:
the traditional underwater robot has the following operation modes:
(1) the whole process is of a manpower participation type: when in hoisting work, on a platform or a mother ship, an operator connects and locks a hoisting device (or a lifting hook) with the underwater equipment, the underwater equipment is hoisted to a working area by means of hoisting equipment, and a diving operator enters water and moves to the vicinity of the underwater equipment to manually unlock the set-down equipment and the lifting hook;
when the underwater equipment is recovered, the underwater equipment floats upwards to the position near a mother ship or a platform, a diving operator enters water, moves to the position near the underwater equipment to manually connect and lock the underwater equipment and a lifting hook, the underwater equipment is lifted to a recovery and placement area of the mother ship or the platform by means of lifting equipment, and the lifting device (or the lifting hook) and the underwater equipment are unlocked and unhooked by the operator;
the whole-process manpower participation needs to hire professional diving operators to enter and leave water, so that the labor cost is high, the operation time is long, and the efficiency is low. And manual unlocking and locking modes are influenced by severe weather of the water surface, the working difficulty is increased, and the life danger of divers is increased aiming at special working conditions (such as the conditions of nuclear radiation water areas and the like).
(2) A specially-made hydraulic or electric operation hoisting and recovering device is adopted: when in hoisting work, on a platform or a mother ship, an operator connects and locks a hoisting device (or a lifting hook) with the underwater equipment, the underwater equipment is hoisted to a working area by means of hoisting equipment, and a hydraulic mechanism or an electric mechanism finishes unhooking action;
during recovery work, the underwater equipment floats to the position near the mother ship or the platform, after the recovery device is in butt joint with the underwater equipment, a hydraulic mechanism or an electric mechanism completes connection of a lifting hook and locking action, the underwater equipment is lifted to a recovery placement area of the mother ship or the platform by means of lifting equipment, and an operator connects, unlocks and separates the lifting device (or the lifting hook) and the underwater equipment;
the mechanical structure used in this operation mode is relatively complex, the hydraulic mechanism adds necessary hydraulic components, the electric mechanism adds necessary electric actuators, and the volume, weight and manufacturing cost of the recovery device are indirectly increased.
(3) Hook locking and unhooking processes in hoisting recovery by using mechanical spring, sliding block and buoyancy block
The hoisting process and the recovery process are substantially the same as described above;
when the spring lock hook is adopted, the lock hook unhooking device combined by the spring and the sliding block is unstable in the working process, the conditions of spring unhooking, failure (losing elasticity, breakage, deformation and the like) and the like are very easy to occur, and hidden dangers are brought to the hoisting and recovery process.
When the buoyancy block lock hook is adopted, the scheme can only lift and recover light underwater equipment, and because the buoyancy material is formed by powder, the strength, hardness and rigidity of the buoyancy material are poor, and the buoyancy material cannot lift medium-sized or even heavy underwater equipment.
The utility model has the following contents:
the utility model aims to provide a hoisting and recovering system and a hoisting and recovering method for an underwater robot, which can realize hoisting and recovering of various types and levels of underwater equipment under the standard volume and weight sizes, thereby realizing the purposes of high interchangeability and standardization.
The above purpose is realized by the following technical scheme:
an underwater robot hoisting and recovery system comprising: the top end of the shell is provided with a locking cover, a fixing ring is arranged below the locking cover, and the fixing ring, the shell and the locking cover form an open type recovery device;
a buoyancy ball is arranged between the shell and the fixing ring, the upper end of the buoyancy ball is connected with a pull rod, and the pull rod penetrates through the locking cover;
the lower end of the buoyancy ball is connected with one end of a connecting rod, the connecting rod penetrates through the locking cover to be connected with a locking block, the locking block is installed inside the shell through a pin, and the underwater robot connecting device is placed inside the shell.
The underwater robot lifting and recovering system is characterized in that the shell is connected with the locking cover through a lifting bolt.
The underwater robot hoisting and recovering system is characterized in that the underwater robot connecting device is of a mushroom head structure, a through hole is formed in the center of the underwater robot connecting device, and the through hole penetrates through an umbilical cable.
The underwater robot hoisting and recovering system is characterized in that the underwater robot connecting device comprises a head conical structure, a connecting structure and a tail structure, and the tail structure is connected with the underwater robot.
The underwater robot hoisting and recovering system is characterized in that the underwater robot connecting device is fixedly arranged at the top of the underwater robot.
The underwater robot lifting and recovering system is characterized in that a limit stop is arranged in the shell, and the limit stop and the shell are of an integral structure.
The underwater robot lifting and recovering system is characterized in that the locking block is provided with an adjusting long hole, and the connecting rod is arranged in the adjusting long hole.
The utility model has the beneficial effects that:
the utility model avoids the water inlet and outlet work of divers, reduces the process of manual operation to the maximum extent, saves the labor cost, avoids the occurrence of personal accidents, realizes high industrial automation, improves the operation efficiency, and can realize the lifting and recovery of various types and levels of underwater equipment under the standard volume and weight size, thereby realizing the purposes of high interchangeability and standardization and reducing the manufacturing and maintenance cost.
Description of the drawings:
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a top view of fig. 1.
Fig. 3 is a schematic view of the locking block of the present invention in a locked state.
Fig. 4 is a schematic view of the locking block of the present invention in a released state.
Fig. 5 is a schematic structural view of the locking block of the present invention.
The specific implementation mode is as follows:
in order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The utility model provides a hoisting and recovering system of an underwater robot, which comprises the following components as shown in the attached figure 1: a hoisting and recovering system of an underwater robot comprises: the underwater robot locking device comprises a locking cover 1, a lifting ring screw 2, a buoyancy ball 3, a shell 4, a pull rod 5, a fixing ring 6, a connecting rod 7, a locking block 8, a pin 9 and an underwater robot connecting device 10.
The top end of the shell 4 is provided with a locking cover 1, a fixing ring 6 is arranged below the locking cover 1, and the fixing ring 6, the shell 4 and the locking cover 1 form an open type recovery device;
a buoyancy ball 3 is arranged between the shell 4 and the fixing ring 6, the upper end of the buoyancy ball 3 is connected with a pull rod 5, and the pull rod 5 penetrates through the locking cover 1;
the lower end of the buoyancy ball 3 is connected with one end of a connecting rod 7, the other end of the connecting rod 7 and a locking block 8 are placed inside the shell through a pin 9, the connecting rod is driven to move under the action of buoyancy in water, the connecting rod 7 penetrates through the locking cover 1 to be connected with the locking block 8, the locking block 8 is installed inside the shell through the pin 9, and an underwater robot connecting device 10 is placed inside the shell.
The shell 4 is connected with the locking cover 1 through a lifting ring screw 2, and the recovery device is formed into a whole by the shell 4, the locking cover 1 and the fixing ring 6 through the lifting ring screw 2.
Underwater robot connecting device 10 be mushroom head structure, mushroom head structure be the device of fixed mounting at the ROV top under water underwater robot connecting device 10 center open and to have the through-hole to pass the umbilical cable.
The underwater robot connecting device 10 comprises a head conical structure, a connecting structure and a tail structure, wherein the tail structure is connected with an underwater robot.
The underwater robot connecting device 10 is fixedly installed at the top of the underwater robot.
The shell 4 is internally provided with a limit stop 11, and the limit stop 11 and the shell 4 are of an integral structure.
The locking block 8 is provided with an adjusting long hole, and the connecting rod 7 is arranged in the adjusting long hole.
The working principle is as follows:
when deployment of an underwater ROV is required:
(1) the recovery device is placed on the tail structure of the underwater robot connecting device 10, and the locking block 8 is pushed open and smoothly penetrated through by the head conical structure at the top end of the underwater robot connecting device 10 under the action of gravity;
(2) under the action of hoisting equipment, a rope is fixed through a lifting ring screw 2, the recovery device is hoisted, at the moment, under the action of gravity, the lower surface of a locking block 8 props against an internal limit stop block of a shell 4, and the upper surface of the locking block props against the lower end of a conical structure at the head part of an underwater robot connecting device 10, so that the purposes of locking and fixing are achieved;
(3) under the action of hoisting equipment, the underwater ROV is integrally hoisted into water, at the moment, the underwater ROV vertically propels to move underwater, water rushes into an open buoyancy cabin formed by the shell 4 and the locking cover 1 and the fixing ring 6, at the moment, the buoyancy ball 3 floats upwards under the action of buoyancy and drives the locking block 8 to move through the connecting rod 7, the unlocking purpose is achieved, at the moment, the underwater ROV continues to move underwater, and the underwater robot connecting device 10 is smoothly unhooked.
When it is desired to recover the underwater ROV:
(1) under the action of hoisting equipment, hoisting the recovery device to an underwater ROV area;
(2) aligning the recovery device with the underwater robot connecting device 10 and inserting the recovery device, wherein the locking block 8 is pushed open by a conical structure at the top of the underwater robot connecting device 10 and enters the recovery device;
(3) the hoisting equipment lifts by crane, the locking blocks 8 respectively support the limit stop blocks inside the shell and the underwater robot connecting device 10 under the action of gravity, and the hoisting operation is realized;
(4) when the hoisting equipment lifts the underwater ROV to the platform or mother ship, an operator lifts the pull rod 5 to drive the buoyancy ball 3 and the connecting rod 7 to move upwards, and meanwhile, the locking block 8 is unlocked, and the recovery device is separated from the underwater ROV.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. The utility model provides an underwater robot hangs puts recovery system which characterized in that includes: the device comprises a shell (4), wherein a locking cover (1) is installed at the top end of the shell (4), a fixing ring (6) is installed below the locking cover (1), and the fixing ring (6), the shell (4) and the locking cover (1) form an open type recovery device;
a buoyancy ball (3) is arranged between the shell (4) and the fixing ring (6), the upper end of the buoyancy ball (3) is connected with a pull rod (5), and the pull rod (5) penetrates through the locking cover (1);
the lower extreme and connecting rod (7) one end of buoyancy ball (3) be connected, connecting rod (7) pass locking lid (1) be connected with latch segment (8), latch segment (8) are installed inside the casing through pin (9), the inside underwater robot connecting device (10) of having placed of casing.
2. The underwater robot lifting and recovery system according to claim 1, wherein said housing (4) is connected to said locking cover (1) by means of a lifting bolt (2).
3. The underwater robot lifting and recovering system according to claim 1, wherein the underwater robot connecting device (10) is of mushroom head structure, and a through hole is formed in the center of the underwater robot connecting device (10) and penetrates through an umbilical cable.
4. The underwater robot lifting and recovery system according to claim 1, wherein the underwater robot connection device (10) comprises a head cone structure, a connection structure and a tail structure, and the tail structure is connected with the underwater robot.
5. The underwater robot hoisting and recovery system of claim 1, wherein the underwater robot connection device (10) is fixedly mounted on the top of the underwater robot.
6. The underwater robot lifting and recovering system according to claim 1, wherein a limit stop (11) is arranged inside the housing (4), and the limit stop (11) and the housing (4) are of an integral structure.
7. The underwater robot hoisting recovery system of claim 1, wherein said locking block (8) has an adjustment elongated hole, and said connecting rod (7) is installed in said adjustment elongated hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121858875.7U CN215622562U (en) | 2021-08-10 | 2021-08-10 | Underwater robot hoisting and recovering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121858875.7U CN215622562U (en) | 2021-08-10 | 2021-08-10 | Underwater robot hoisting and recovering system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215622562U true CN215622562U (en) | 2022-01-25 |
Family
ID=79896976
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121858875.7U Active CN215622562U (en) | 2021-08-10 | 2021-08-10 | Underwater robot hoisting and recovering system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215622562U (en) |
-
2021
- 2021-08-10 CN CN202121858875.7U patent/CN215622562U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3574149B1 (en) | A method and tool for installation of an offshore wind turbine | |
| US7992275B1 (en) | Method for thruster withdrawal for maintenance or vessel transit without the need for an external crane, remote operated vehicle, or diver | |
| CN107541732B (en) | It is a kind of marine to stretch anode system and its installation method | |
| CN110761315B (en) | Method for constructing suction anchor by using drilling ship | |
| CN113401289A (en) | Underwater robot hoisting and recovering system and hoisting and recovering method | |
| CN215622562U (en) | Underwater robot hoisting and recovering system | |
| CN113401283A (en) | Double-portal frame folding and unfolding device and operation method thereof | |
| KR101808290B1 (en) | Ship with raising apparatus and raising method thereof | |
| CN112339947B (en) | Deep sea emergency disposal tool laying device | |
| EP2610160B1 (en) | System for lifting thrusters for providing maintenance to thrusters of floating vessels | |
| CN115520757A (en) | Lifting appliance for lifting reactor core guide column | |
| CN113120172A (en) | Retracting device for underwater equipment | |
| CN215402550U (en) | Adjustable lifting tool with lifting angle positioning function | |
| CN220527979U (en) | Module sliding installation structure for offshore suspension cable photovoltaic | |
| CN217201604U (en) | Equipment is used in installation of ocean production tree | |
| CN214879516U (en) | Hoisting device | |
| CN221144909U (en) | Automatic bolt lock device of underwater ditching cable laying robot | |
| CN114919716B (en) | Butt-joint enclasping system for recovering underwater glider | |
| CN113830268B (en) | Automatic release docking device for manned submersible vehicle and operation method | |
| CN212609055U (en) | Hoist and mount auxiliary device and lifting device | |
| CN112429630A (en) | Automatic docking and unlocking device for marine hoisting of large equipment | |
| CN115072548B (en) | Independently lift by crane structure of remote control underwater robot | |
| CN214245611U (en) | Automatic hanging and releasing beam of electric cylinder | |
| CN218317229U (en) | Underwater dismounting module for mooring accessory | |
| CN110979560B (en) | Mooring chain underwater installation platform attached to anchor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: Building 43, Zone A, Energy Conservation and Environmental Protection Innovation Park, No. 199, Hongwu Avenue, Tangqiao Town, Zhangjiagang City, Suzhou City, Jiangsu Province, 215600 Patentee after: Hagong Chufan (Suzhou) Intelligent Technology Co.,Ltd. Address before: 3 / F, Xindeng incubator office building, Yungang Road, Chenglingji Xingang District, Yueyang City, Hunan Province, 414000 Patentee before: Hunan Hagong Chufan Intelligent Technology Co.,Ltd. |
|
| CP03 | Change of name, title or address |