Robot cooperative folding and unfolding device and method

Abstract

The invention discloses a robot cooperative folding and unfolding device and method, and relates to the technical field of ships. A hanging bracket component plays a supporting role. A rolling compensation device comprises a first swing oil cylinder and a second swing oil cylinder which are horizontally arranged to realize rolling compensation of the ship body. A heave compensation device is a heave compensation winch and is used for realizing heave compensation of the ship body; a pitching compensation device comprises a first servo hydraulic cylinder and a second servo hydraulic cylinder andis used for realizing pitching compensation on the ship body; a mechanical arm winding and unwinding device is provided with a visual servo mechanical arm, a hook of a mooring rope is in butt joint with an unmanned submersible or a lifting ring, an anti-collision bottom plate is arranged at the bottom of the device, an elastic buffer device is arranged above the anti-collision bottom plate, and thus the unmanned submersible is prevented from being collided and damaged. The device has the advantages that three-degree-of-freedom compensation caused by stormy waves can be actively completed, hooking and unhooking actions are autonomously completed by means of the mechanical arm, and the unmanned submersible is automatically and intelligently recycled with high safety and high efficiency.

Description

technical field [0001] The invention relates to the technical field of ships, in particular to a robot cooperative retracting device and method. Background technique [0002] The application of various retractable systems for ships at sea has been very popular, but the research on the retractable system for ship-borne unmanned submersibles is still in its infancy, and the shaking of ships caused by high sea conditions has added difficulties to the recovery work. [0003] The existing unmanned submersible retractable device has a single function, a loose structure, and occupies a large deck area. When recovering, it only relies on the winch to recover the unmanned submersible. Without wave compensation, it is easy to cause unmanned submersibles and mother ships. The collision between the manned submersible and the retractable device will cause damage to the unmanned submersible, the retractable device and the mother ship, and will also affect the recovery efficiency of the un...

AI Technical Summary

Problems solved by technology

[0002] The application of various retractable systems for offshore ships has become very popular, but the research on the retractable system for ship-borne unmanned submersibles is still in its infancy, and the shaking of ships caused by high sea conditions has added difficulties to the recovery work

[0003] The existing unmanned submersible retractable device has a single function, a loose structure, and occupies a large deck area. When recovering, it only relies on the winch to recover the unmanned submersible. Without wave compensation, it is easy to cause the unmanned submersible and the mother ship. The collision between the manned submersible and the retractable device will cause damage to the unmanned submersible, the retractable device and the mother ship, and will also affect the recovery efficiency of the unmanned submersible; most of the existing unmanned submersible retractable devices rely on artificial Hanging the cable on the unmanned submersible puts the staff in a dangerous environment. A small number of retractable devices are assisted by mechanical arms, but relying on manual operation, not only the operation is difficult, the staff is in a dangerous environment, and improper positions will Affects recovery of unmanned submersibles

[0004] In the prior art, a crane device and a compensation method with a three-degree-of-freedom active wave compensation function are disclosed with a patent application number of 201610113746.2, which realizes real-time compensation for ship roll and pitch through three servo cylinders, and is realized by a hydraulic motor. Real-time compensation for heave, but it simply uses multiple hydraulic cylinders for compensation, the degree of freedom compensation in the heave direction is repeated with the heave compensation of the winch, there will be interference during use, and the cable is hung on the unmanned submersible manually , the operation is difficult, the cable will swing sharply during the recovery process, the collision of the unmanned submersible will cause damage, and the recovery process is unsafe

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