A system and method for disassembly of subcomponents within a constrained space of an underwater vehicle

Abstract

The application relates to a kind of underwater robot constraint space inside group component dismounting tool and method, wherein robot frame is supported by support seat, mobile lifting platform is arranged at one side of robot frame, beam tool is suspended to the above of mobile lifting platform by sling, the beam tool includes balance beam body, upper counterweight group and lower counterweight group, wherein the front end of balance beam body is provided with connecting frame, upper counterweight group is provided with base capable of adjusting position along the length direction of balance beam body, and the both ends of the base are provided with upper fixed plate with upper limiting screw, a number of upper counterweights are arranged between two side upper fixed plates along the width direction of balance beam body, lower counterweight group is provided with two lower fixed plates capable of adjusting position along the length direction of balance beam body, lower limiting screw is arranged on the lower fixed plate, and a number of lower counterweights are arranged between two lower fixed plates along the length direction of balance beam body. The application solves the problem that group component is difficult to dismount in robot constraint space.

Description

Technical Field

[0001] This invention relates to the field of underwater robot assembly, specifically to a system and method for assembling and disassembling components within a constrained space of an underwater robot. Background Technology

[0002] The assembly of large underwater robots often requires the insertion of components from the side openings of the frame. However, due to the constraints of the opening position and angle, the components cannot be disassembled by vertical lifting and lowering. Furthermore, because the components are also large in size and weight, they cannot be lifted and pushed into the frame opening by manual lifting. Therefore, the existing assembly methods cannot meet the assembly requirements of the components within the constrained space of the underwater robot, making actual assembly very difficult. Summary of the Invention

[0003] The purpose of this invention is to provide a system and method for disassembling and assembling components within the constrained space of an underwater robot, which solves the problem of difficulty in disassembling and assembling components within the robot's constrained space.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] An assembly and disassembly system for underwater robots within a constrained space includes a mobile lifting platform, a beam-type fixture, and a support base. The robot frame is supported by the support base, the mobile lifting platform is located on one side of the robot frame, and the beam-type fixture is suspended above the mobile lifting platform by a sling. The beam-type fixture includes a balance beam, an upper counterweight assembly, and a lower counterweight assembly. The front end of the balance beam has a connecting frame fixed to the assembly components. The upper counterweight assembly has a base whose position can be adjusted along the length of the balance beam, and both ends of the base have upper fixing plates. The upper fixing plates have upper limit screws, and an adjustable number of upper counterweights are arranged between the two upper fixing plates along the width of the balance beam. The lower counterweight assembly has two lower fixing plates whose position can be adjusted along the length of the balance beam, and the lower fixing plates have lower limit screws. An adjustable number of lower counterweights are arranged between the two lower fixing plates along the length of the balance beam.

[0006] The base has an I-shaped cross-section, and the upper counterweight has a first limiting part on both sides of its lower end, and the first limiting part is inserted into the corresponding side groove of the base.

[0007] The upper side of the base is provided with multiple sets of third bolt holes, and the upper fixing plate is fixed to the corresponding set of third bolt holes by bolts.

[0008] The cross-section of the balance beam is I-shaped, and the upper ends of the lower counterweight are provided with second limiting parts on both sides, and the second limiting parts are inserted into the corresponding side grooves of the balance beam.

[0009] The balance beam includes an upper top plate and a lower bottom plate. The top plate is provided with multiple sets of first bolt holes, and the bottom plate is provided with multiple sets of second bolt holes. The base of the upper counterweight block group is fixed to the corresponding set of first bolt holes by bolts, and the lower fixing plate of the lower counterweight block group is fixed to the corresponding set of second bolt holes by bolts.

[0010] The base is located on the upper rear side of the balance beam, and the lower fixing plate is located on the lower rear side of the balance beam.

[0011] The rear end of the balance beam is equipped with a tooling handrail.

[0012] The front end of the balance beam is provided with a head end lifting lug and the rear end is provided with a tail end lifting lug. The front part of the balance beam is provided with a mounting lug. During leveling and installation, the head end lifting lug and the mounting lug are connected to the sling. After installation, the sling on the mounting lug is removed and fixed to the tail end lifting lug.

[0013] A method for assembling and disassembling components within a constrained space of an underwater robot, comprising the following steps:

[0014] Step 1: Connect the head end lifting lug and installation lifting lug on the balance beam to the lifting strap, then lift the beam-type tooling to the same height as the connecting frame and the assembly, and fix the connecting frame and the assembly.

[0015] Step 2: Install the upper counterweight assembly. During installation, first install the base on the upper side of the balance beam, then install the upper counterweight on the base, then install the fixing plates on both ends of the base, and then tighten the upper limit screws to fix the upper counterweight. The beam-type tooling and assembly components can be roughly leveled by adjusting the position of the base and the number of upper counterweights.

[0016] Step 3: After rough leveling, lift the beam fixture to the set height using slings and observe the leveling status of the beam fixture. If the leveling status does not meet the requirements, repeat Step 2 until the leveling status meets the requirements.

[0017] Step 4: Install the lower counterweight assembly. During installation, first install the lower counterweight on the underside of the balance beam, and adjust the position and number of the lower counterweight to level the beam fixture and assembly components as a whole. Then, install the lower fixing plate on the underside of the balance beam and tighten the lower limit screws to fix the lower counterweight.

[0018] Step 5: Use slings to lift the beam-type tooling to one side of the robot frame and adjust its height to be the same as the opening on the side of the robot frame;

[0019] Step Six: The operator stands on the mobile lifting platform. The mobile lifting platform is raised to send the operator to the installation height. Then the operator adjusts the assembly components to align with the opening on the side of the robot frame.

[0020] Step 7: The slings move the beam-type tooling to install the assembly into the opening of the robot frame;

[0021] Step 8: Raise the mobile lifting platform so that the upper surface of the mobile lifting platform supports the beam-type tooling. Then, the operator disassembles the connecting frame and assembly components, and removes the lifting straps at the installation lugs and fixes them to the tail end lugs.

[0022] Step 9: Use slings to lift the beam-type fixture and return it to its original position.

[0023] The advantages and positive effects of this invention are as follows:

[0024] 1. This invention designs a flexible and convenient beam-type tooling and uses it to design a method for disassembling and assembling components, which solves the problems of not being able to lift components vertically and having difficulty fitting them into the side opening of the robot frame when installing components in the robot's constrained space.

[0025] 2. The present invention can flexibly adjust the center of gravity according to the actual size and weight of the components. The present invention uses the upper counterweight block group to achieve coarse leveling of the center of gravity of the beam tooling and the overall center of gravity of the components, and then uses the lower counterweight block group to achieve precise leveling of the center of gravity of the beam tooling and the overall center of gravity of the components, which greatly broadens the scope of application of the present invention.

[0026] 3. The present invention has a simple structure and is easy to operate. It not only improves assembly efficiency, but also allows for repeated operation, which can meet the on-site installation requirements. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the usage state of the present invention.

[0028] Figure 2 for Figure 1 Main view of the beam-type tooling in the middle.

[0029] Figure 3 for Figure 2 Enlarged schematic diagram of the upper and lower counterweight groups.

[0030] Figure 4 for Figure 1 A schematic diagram showing the fit between the beam-type tooling and the assembly components.

[0031] Figure 5 for Figure 4 A schematic diagram of the lifting state of the beam-type tooling after it has been detached from the assembly components.

[0032] Among them, 1 is a mobile lifting platform, 2 is a beam-type tooling, 21 is a balance beam, 211 is a connecting frame, 212 is a head end lifting lug, 213 is an installation lifting lug, 214 is a tail end lifting lug, 215 is a tooling handrail, 216 is a top plate, 2161 is the first bolt hole, 217 is a bottom plate, 2171 is the second bolt hole, 22 is an upper counterweight block assembly, 221 is a base, 222 is an upper counterweight block, 2221 is the first limiting part, 223 is an upper fixing plate, 224 is an upper limit screw, 23 is a lower counterweight block assembly, 231 is a lower fixing plate, 232 is a lower counterweight block, 233 is a lower limit screw, 3 is a support base, 4 is a lifting strap, 5 is a component assembly, and 6 is a robot frame. Detailed Implementation

[0033] The invention will now be described in further detail with reference to the accompanying drawings.

[0034] like Figures 1-5 As shown, the disassembly and assembly system of the present invention includes a mobile lifting platform 1, a beam-type fixture 2, and a support base 3. The robot frame 6 is supported by the support base 3. The mobile lifting platform 1 is located on one side of the robot frame 6. The beam-type fixture 2 is suspended and moved above the mobile lifting platform 1 by a sling 4. Figures 2-4 As shown, the beam-type fixture 2 includes a balance beam 21, an upper counterweight block group 22, and a lower counterweight block group 23. The front end of the balance beam 21 is provided with a connecting frame 211 that is connected to the assembly 5 to be installed by bolts. The upper counterweight block group 22 is provided with a base 221 whose position can be adjusted along the length direction of the balance beam 21. The base 221 is located on the upper rear part of the balance beam 21. An adjustable number of upper counterweight blocks 222 are arranged on the base 221 along the width direction of the balance beam 21. The lower counterweight block group 23 is provided with two lower fixing plates 231 whose position can be adjusted along the length direction of the balance beam 21. The lower fixing plates 231 are located on the lower rear part of the balance beam 21. An adjustable number of lower counterweight blocks 232 are arranged between the two lower fixing plates 231 along the length direction of the balance beam 21.

[0035] like Figure 4 As shown, the base 221 has an I-shaped cross-section, and the base 221 is perpendicular to the balance beam 21, as... Figure 3As shown, the upper counterweight 222 has a first limiting part 2221 on both sides of its lower end. The first limiting part 2221 is inserted into the corresponding side groove of the base 221 to prevent the upper counterweight 222 from detaching from the base 221. At the same time, it does not affect the upper counterweight 222 from sliding into or out of the base 221 to achieve quantity adjustment. The upper side of the base 221 has an adjustable upper fixing plate 223 at both ends. Each upper counterweight 222 is located between two upper fixing plates 223. The upper fixing plate 223 is provided with an upper limit screw 224. The upper limit screw 224 abuts against the adjacent upper counterweight 222 to achieve axial positioning of each upper counterweight 222.

[0036] like Figure 4 As shown, the cross-section of the balance beam 21 has an I-shaped structure, as... Figure 3 As shown, similar to the upper counterweight 222, the lower counterweight 232 has a second limiting part on both sides of its upper end. The second limiting part is inserted into the corresponding side groove of the balance beam 21 to prevent the lower counterweight 232 from detaching from the balance beam 21. At the same time, it does not affect the lower counterweight 232 from sliding into or out of the balance beam 21 to achieve quantity adjustment. Each lower counterweight 232 is located between two lower fixing plates 231. The lower fixing plate 231 is provided with a lower limiting screw 233. The lower limiting screw 233 abuts against the adjacent lower counterweight 232 to achieve axial positioning of each lower counterweight 232.

[0037] like Figure 4 As shown, the balance beam 21 includes an upper top plate 216 and a lower bottom plate 217. The top plate 216 has multiple sets of first bolt holes 2161, and the bottom plate 217 has multiple sets of second bolt holes 2171. After the position of the base 221 of the upper counterweight assembly 22 is determined, it is fixed by inserting bolts into the corresponding set of first bolt holes 2161. Similarly, after the position of the lower fixing plate 231 of the lower counterweight assembly 23 is determined, it is fixed by inserting bolts into the corresponding set of second bolt holes 2171. Additionally, as shown... Figure 4 As shown, the upper side of the base 221 is provided with multiple sets of third bolt holes. After the position of the upper fixing plate 223 is determined, it is fixed by inserting bolts into the corresponding set of third bolt holes.

[0038] like Figure 2 As shown, the front end of the balance beam 21 is provided with a head end lifting lug 212 and the rear end is provided with a tail end lifting lug 214. The front part of the balance beam 21 is provided with a mounting lug 213, as shown. Figure 4 As shown, during leveling and installation, the head end lifting lug 212 and the installation lifting lug 213 are connected to the lifting strap 4. At this time, the leveling operation of the beam-type tooling 2 is achieved by adjusting the upper counterweight block group 22 and the lower counterweight block group 23 at the rear of the balance beam 21. Figure 5As shown, after installation, the mobile lifting platform 1 is first raised so that the upper surface of the platform supports the beam-type fixture 2. Then, the connecting bolts between the connecting frame 211 and the assembly 5 are removed, separating them. At this time, the center of gravity of the beam-type fixture 2 falls outside the head lifting lug 212 and the mounting lifting lug 213. If it is lifted, the fixture will be unstable. Therefore, the lifting strap 4 needs to be removed from the mounting lifting lug 213 and fixed to the tail lifting lug 214. The lifting strap 4 is connected to the lifting equipment, which can realize the overall movement of the beam-type fixture 2. This is a well-known technology in the field. In addition, the mobile lifting platform 1 and the support base 3 are both well-known technologies in the field and are commercially available products.

[0039] like Figure 2 As shown, the rear end of the balance beam 21 is provided with a tooling handle 215 to facilitate the operator to hold and fine-tune the angle of the component 5 during installation.

[0040] The working principle of this invention is as follows:

[0041] The use of this invention includes the following steps:

[0042] Step 1: Connect the head end lifting lug 212 and installation lifting lug 213 on the balance beam 21 to the lifting strap 4. Then lift the beam-type tooling 2 to the same height as the connecting frame 211 and the assembly 5. Then use bolts to fix the connecting frame 211 and the assembly 5 together. At the same time, the side of the assembly 5 abuts against the connecting frame 211, thereby realizing the hoisting and fixing of the assembly 5.

[0043] Step 2: Install the counterweight block group 22 and roughly adjust the overall center of gravity of the beam tooling 2 and the group component 5.

[0044] To ensure lifting balance, the center of gravity of the entire lifting system should be maintained in the middle position between the head lifting lug 212 and the installation lifting lug 213. Therefore, to level the beam-type tooling 2, a counterweight block assembly 22 needs to be installed at the rear end of the balance beam 21. During installation, first, the base 221 is installed in a suitable position on the balance beam 21, then an appropriate number of upper counterweight blocks 222 are installed on the base 221, and then the fixing plates 223 are installed in suitable positions at both ends of the base 221. Finally, the upper limit screws 224 on the fixing plates 223 are tightened to fix each upper counterweight block 222 axially. During the installation of the upper counterweight block assembly 22, the rough leveling of components 5 with different weight groups can be achieved by adjusting the position of the base 221 and the number of upper counterweight blocks 222.

[0045] Step 3: After rough leveling, lift the beam fixture 2 to the set height and observe the leveling status of the beam fixture 2. If the leveling status does not meet the requirements, repeat step 2 to readjust the position of the base 221 of the upper counterweight block group 22 and the number of upper counterweight blocks 222 until the leveling status of the beam fixture 2 meets the requirements after lifting. After preliminary leveling, the beam fixture 2 should be slightly lower on the side connected to the assembly component 5.

[0046] Step 4: Install the lower counterweight block group 23 and fine-tune the overall center of gravity of the beam tooling 2 and the group component 5.

[0047] During installation, first install the lower counterweight 232 on the lower side of the balance beam 21, and adjust the position and number of the lower counterweight 232 to make the beam fixture 2 completely level. Then install the lower fixing plate 231 to the appropriate position on the lower side of the balance beam 21 so that each lower counterweight 232 is placed between the two lower fixing plates 231. Then tighten the lower limit screw 233 to fix each lower counterweight 232 axially.

[0048] Step 5: Use sling 4 to hoist the beam fixture 2 to one side of the robot frame 6 and adjust its height to be at the same level as the opening on the side of the robot frame 6.

[0049] Step Six: The operator stands on the mobile lifting platform 1. The mobile lifting platform 1 is raised to send the operator to the installation height. Then, the operator holds the tooling handrail 215 at the rear end of the balance beam 21 and fine-tunes the angle of the component 5 so that it is aligned with the side opening of the robot frame 6.

[0050] Step 7: The sling 4 moves the beam tooling 2 to send the assembly 5 into the opening position of the robot frame 6 to complete the installation of the assembly 5.

[0051] Step 8: Raise the mobile lifting platform 1 so that the upper surface of the mobile lifting platform 1 supports the beam-type tooling 2. Then, the operator removes the bolts at the connection between the connecting frame 211 and the assembly 5, and removes the lifting strap 4 at the installation lug 213 and fixes it at the tail end lug 214.

[0052] Step 9: Lifting strap 4 lifts beam fixture 2 and returns it to its original position on the ground, completing the entire assembly process.

[0053] The disassembly of component 5 is the reverse process of the above steps.

Claims

1. A component assembly and disassembly system for an underwater robot within a constrained space, characterized in that: The system includes a mobile lifting platform (1), a beam fixture (2), and a support base (3). The robot frame (6) is supported by the support base (3). The mobile lifting platform (1) is located on one side of the robot frame (6). The beam fixture (2) is suspended above the mobile lifting platform (1) by a sling (4). The beam fixture (2) includes a balance beam (21), an upper counterweight block group (22), and a lower counterweight block group (23). The balance beam (21) has a connecting frame (211) at the front end that is fixed to the assembly component (5). The upper counterweight block group (22) has a base (221) that can be adjusted along the length of the balance beam (21). The base (221) is provided with upper fixing plates (223) at both ends. The upper fixing plates (223) are provided with upper limit screws (224). An adjustable number of upper counterweights (222) are arranged between the upper fixing plates (223) on both sides along the width direction of the balance beam (21). The lower counterweight group (23) is provided with two lower fixing plates (231) whose positions can be adjusted along the length direction of the balance beam (21). The lower fixing plates (231) are provided with lower limit screws (233). An adjustable number of lower counterweights (232) are arranged between the two lower fixing plates (231) along the length direction of the balance beam (21). The base (221) has an I-shaped cross section, and the upper counterweight (222) has a first limiting part (2221) on both sides of its lower end, and the first limiting part (2221) is inserted into the corresponding side groove of the base (221); The upper side of the base (221) is provided with multiple sets of third bolt holes, and the upper fixing plate (223) is fixed in the corresponding set of third bolt holes by bolts; The cross section of the balance beam (21) is I-shaped. The upper end of the lower counterweight (232) is provided with a second limiting part on both sides, and the second limiting part is inserted into the groove on the corresponding side of the balance beam (21). The balance beam (21) includes an upper top plate (216) and a lower bottom plate (217). The top plate (216) is provided with multiple sets of first bolt holes (2161), and the bottom plate (217) is provided with multiple sets of second bolt holes (2171). The base (221) of the upper counterweight block group (22) is fixed in the corresponding set of first bolt holes (2161) by bolts, and the lower fixing plate (231) of the lower counterweight block group (23) is fixed in the corresponding set of second bolt holes (2171) by bolts. The front end of the balance beam (21) is provided with a head end lifting lug (212) and the rear end is provided with a tail end lifting lug (214). The front part of the balance beam (21) is provided with an installation lifting lug (213). When leveling and installing, the head end lifting lug (212) and the installation lifting lug (213) are connected to the lifting strap (4). After installation, the lifting strap (4) on the installation lifting lug (213) is removed and fixed to the tail end lifting lug (214).

2. The underwater robot component assembly and disassembly system within the constrained space according to claim 1, characterized in that: The base (221) is located on the upper rear side of the balance beam (21), and the lower fixing plate (231) is located on the lower rear side of the balance beam (21).

3. The assembly and disassembly system for underwater robots within a constrained space according to claim 1, characterized in that: The rear end of the balance beam (21) is provided with a tooling handrail (215).

4. A method for assembling and disassembling components within a constrained space of an underwater robot according to claim 1, characterized in that: Includes the following steps: Step 1: Connect the head end lifting lug (212) and installation lifting lug (213) on the balance beam (21) to the lifting strap (4), then lift the beam tool (2) to the same height as the connecting frame (211) and the assembly (5), and fix the connecting frame (211) and the assembly (5) together. Step 2: Install the upper counterweight assembly (22). During installation, first install the base (221) on the upper side of the balance beam (21), then install the upper counterweight (222) on the base (221), then install the fixing plates (223) on both ends of the base (221), and then tighten the upper limit screws (224) to fix the upper counterweight (222). The beam fixture (2) and the assembly (5) as a whole achieve rough leveling by adjusting the position of the base (221) and the number of upper counterweights (222). Step 3: After rough leveling, lift the beam fixture (2) to the set height using the sling (4) and observe the leveling status of the beam fixture (2). If the leveling status does not meet the requirements, repeat step 2 until the leveling status meets the requirements. Step 4: Install the lower counterweight assembly (23). During installation, first install the lower counterweight (232) on the lower side of the balance beam (21), and adjust the position and number of the lower counterweight (232) to make the beam fixture (2) and assembly components (5) level as a whole. Then install the lower fixing plate (231) on the lower side of the balance beam (21), and tighten the lower limit screw (233) to fix the lower counterweight (232). Step 5: Use slings (4) to lift the beam fixture (2) to one side of the robot frame (6) and adjust its height to be the same as the opening on the side of the robot frame (6); Step 6: The operator stands on the mobile lifting platform (1), the mobile lifting platform (1) is raised to send the operator to the installation height, and then the operator adjusts the assembly component (5) to align with the side opening of the robot frame (6); Step 7: The sling (4) moves the beam tool (2) to install the assembly (5) into the opening position of the robot frame (6); Step 8: Raise the mobile lifting platform (1) so that the upper surface of the mobile lifting platform (1) supports the beam fixture (2). Then the operator separates the connecting frame (211) from the assembly (5) and removes the sling (4) at the installation lug (213) and fixes it at the tail lug (214). Step 9: The sling (4) lifts the beam fixture (2) and puts it back in place.

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