Single-point lifting and anti-sway protection device for autonomous underwater robot deployment and retrieval

Abstract

The invention relates to a single-point lifting and anti-sway protection device for autonomous underwater robot deployment and retrieval. A lifting rod is slidably connected with a bearing body. One end of the lifting rod is connected with a mother ship crane system. Both sides of the other end of the lifting rod are provided with connecting rods. The bearing body is connected to the autonomous underwater robot at a single point to realize single-point lifting. The two sides of the bearing body are provided with anti-sway mechanisms. Each anti-sway mechanism includes an anti-sway swing lever,an anti-sway ring and a cantilever support frame. One end of the cantilever support frame is installed on a side of the bearing body. The other end of the cantilever support frame is hinged to the anti-sway swing lever. One end of the anti-sway swing lever is provided with the anti-sway ring for defining the position the autonomous underwater robot. The other end of the anti-sway swing lever is hinged to one end of the corresponding connecting rod. The other end of the connecting rod is hinged to the other end of the lifting rod. In the bearing body, an elastic buffer device for providing buffering power for the autonomous underwater robot is arranged between the other end of the lifting rod and the top of the bearing body. The single-point lifting and anti-sway protection device deploys and retrieves the autonomous underwater robot in a single-point lifting manner, thereby improving equipment safety.

Description

technical field [0001] The invention relates to the field of deployment and recovery of autonomous underwater robots, in particular to a single-point lifting and anti-swing protection device for deployment and recovery of autonomous underwater robots. Background technique [0002] Autonomous underwater robot is an underwater platform that does not depend on the power supply and autonomous control of the mother ship, can be recycled and reused, and can self-propelled and sail underwater for a long time. Due to the influence of sea conditions, the deployment and recovery of autonomous underwater robots has always been a difficult operation process. During the deployment and recovery operation, due to the influence of the pitch and roll of the mother ship, the effect of wind and waves on the sea, and even unsafe operations, the autonomous underwater robot will sway, and will collide with the hull and the retractable system when it is intense , seriously affecting the safety of...

AI Technical Summary

Problems solved by technology

In this way, although the lifting and swinging problem of the autonomous underwater robot can be reduced during deployment and recovery operations, this method requires two or more operators to unhook during deployment, and requires divers to lock two or more operators during recovery. The lifting point is tied to the bow and stern to stop the swing rope, the recovery process is complicated, the labor intensity of divers and mother ship operators is high, and the safety of deployment and recovery is poor

Images