Hanging mechanism suitable for underwater robot sliding under ice

Abstract

The invention relates to the technical field of underwater robots, in particular to a hanging mechanism suitable for an underwater robot sliding under ice. Comprising a frame structure and a hook assembly, the frame structure is embedded in the under-ice sliding underwater robot, and the frame structure is provided with a lifting frame assembly lower than the upper surface of the under-ice sliding underwater robot; the hook assembly comprises a hanging connector, a recovery rod and a lifting rope, the hanging connector and the recovery rod are connected through an easily-separated connecting structure, and the lifting rope is fixed to the hanging connector; after the hanging head is connected with the lifting frame assembly in a hanging mode, the easy-to-break connecting structure can be damaged through recovery of the recovery rod, and therefore connection between the lifting rope and the under-ice sliding underwater robot is achieved. The lifting frame assembly is hidden on the upper surface of the under-ice sliding underwater robot, so that under-ice sliding is not affected, and enough lifting strength is ensured; the direction of the hook assembly can be adjusted according to different hook heights, so that an operator can hook and recycle the hook smoothly under various conditions.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to a hanging mechanism suitable for an underwater robot gliding on ice. Background Art

[0002] Traditional underwater robots are widely used in water environment detection. The ice bottom has an undulating shape. Due to the limitations of their structural form, traditional underwater robots are difficult to work effectively in the near-ice bottom environment under the polar ice cap and cannot adapt to this complex environment. Traditional autonomous underwater robots (AUVs), remotely operated underwater robots (ROVs) and manned submersibles (HOVs), etc., are easily disturbed by obstacles in the near-ice bottom environment because their external appendages protrude from the surface, and are not suitable for ice bottom navigation. Although some underwater robots in the form of rotating bodies can reduce collisions by reducing the protruding parts of the appendages, their large aspect ratio still limits their ability to glide on the ice bottom. Therefore, a new frame structure is needed to enable the underwater robot to flexibly adapt to the shape of the ice layer protrusions and glide smoothly in the complex ice bottom environment. In addition, due to the requirements of this special application scenario, the robot frame structure needs to be adaptively designed, and its hoisting frame assembly must be embedded in the submersible and must not exceed its upper surface. This design greatly increases the difficulty of recovering the submersible. Therefore, there is an urgent need for a hooking mechanism suitable for underwater robots gliding under ice. Summary of the invention

[0003] In view of the above problems, the purpose of the present invention is to provide a hanging mechanism suitable for an underwater robot gliding on ice, which meets the special working conditions of the underwater robot gliding and detecting on the bottom of ice, and has a compact structure, high specific strength, flexible operation, and easy recovery.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] The present invention provides a hanging mechanism suitable for an underwater robot gliding under ice, comprising a frame structure and a hook assembly, wherein the frame structure is embedded in the interior of the underwater robot gliding under ice, and the frame structure has a lifting frame assembly lower than the upper surface of the underwater robot gliding under ice; the hook assembly comprises a hanging joint, a recovery rod and a lifting rope, wherein the hanging joint and the recovery rod are connected by an easily detachable connecting structure, and the lifting rope is fixed on the hanging joint; when the hanging joint is hung with the lifting frame assembly, the easily detachable connecting structure can be destroyed by recovering the recovery rod, so that the recovery rod can be detached from the hanging joint, thereby realizing the connection between the lifting rope and the underwater robot gliding under ice.

[0006] The hanging joint includes a main hook and a rod joint, wherein one end of the rod joint is detachably connected to the rear end of the main hook, and one end of the rod joint and the rear end of the main hook are provided with coaxial rope threading holes, and one end of the lifting rope is passed through the rope threading hole and then fixed; the other end of the rod joint is connected to the recovery rod through the easily detachable connection structure.

[0007] The easily detachable connection structure is achieved by using adhesive tape to bond and fix the rod joint and the main hook.

[0008] The front end hooking part of the main hook is provided with a hook head bent inwardly, and the rear end of the main hook is hinged with a safety card, the end of the safety card is located on the inner side of the hook head and abuts against the hook head; the safety card can be rotated toward the inner side of the main hook, and the safety card is used to prevent the hook from coming off after being hooked.

[0009] The frame structure also includes a main frame, and the hanger assembly is arranged on the main frame.

[0010] The hanger assembly includes a lifting ring, a baffle and two parallel lifting arms, the bottoms of the two lifting arms are connected by the baffle, the tops of the two lifting arms are connected by a lifting ring, the lifting ring is located at the center of the ice-gliding underwater robot, and the lifting ring does not protrude from the upper surface of the ice-gliding underwater robot.

[0011] The two sides of the main frame are respectively connected to two ice blades, and the two ice blades are arranged in parallel and are respectively located on the two sides of the lifting frame assembly.

[0012] The ice skate is a thin plate structure of unequal thickness that is narrow at the top and wide at the bottom.

[0013] The advantages and positive effects of the present invention are:

[0014] 1. Compact structure: The frame structure of the present invention fully considers the miniaturization requirements of the underwater robot gliding under the ice; the embedded lifting frame assembly is designed through topological optimization, realizing a reasonable design configuration in a limited space and improving space utilization.

[0015] 2. High specific strength: The embedded lifting frame assembly of the present invention not only optimizes the distribution of materials through topological optimization, but also significantly improves the specific strength, so that the robot has good load-bearing capacity and structural reliability while ensuring lightweight.

[0016] 3. Suitable for ice bottom sliding detection: The structural form of the present invention is specially designed for ice bottom sliding detection conditions, which effectively solves the problem that traditional underwater robots cannot navigate normally in complex ice bottom environments.

[0017] 4. Flexible operation and easy recycling: The size and configuration of the hook assembly of the present invention are precisely matched with the robot's embedded lifting frame assembly, and support hook angle adjustment; this design not only improves operational flexibility, but also simplifies the recycling process, allowing operators to complete robot recycling tasks more efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is an axonometric diagram of a hooking mechanism suitable for an underwater robot gliding under ice according to the present invention;

[0019] Figure 2 It is an axonometric view of the frame structure in the present invention;

[0020] Figure 3 It is an axonometric view of the embedded lifting frame assembly of the present invention;

[0021] Figure 4 is an axonometric view of the ice skate of the present invention;

[0022] Figure 5 It is a structural schematic diagram of the hook assembly in the present invention;

[0023] Figure 6 An exploded view of the hook assembly of the present invention;

[0024] Figure 7 It is a schematic diagram of the connection between the hook assembly and the frame structure in the present invention.

[0025] In the figure: 1-frame structure, 101-lifting frame assembly, 1001 lifting ring, 1002-lifting arm, 1003-baffle, 102-ice blade, 103-main frame, 2-hook assembly, 201-main hook, 202-rod joint, 203-hook head, 204-safety card, 205-recovery rod, 206-lifting rope, 3-underwater robot gliding under the ice. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] See also Figures 1 to 7As shown, the present invention provides a hanging mechanism suitable for an underwater robot gliding under ice, comprising a frame structure 1 and a hook assembly 2, wherein the frame structure 1 is embedded in the interior of the underwater robot 3 gliding under ice, and the frame structure 1 has a lifting frame assembly 101 lower than the upper surface of the underwater robot 3 gliding under ice; the hook assembly 2 comprises a hanging joint, a recovery rod 205 and a lifting rope 206, wherein the hanging joint and the recovery rod 205 are connected by an easily detachable connection structure, and the lifting rope 206 is fixed on the hanging joint; when the hanging joint is hung with the lifting frame assembly 101, the easily detachable connection structure can be destroyed by recovering the recovery rod 205, so that the recovery rod 205 can be detached from the hanging joint, thereby realizing the connection between the lifting rope 206 and the underwater robot 3 gliding under ice.

[0028] See also Figure 2 As shown, in an embodiment of the present invention, the frame structure 1 also includes a main frame 103, and the hanger assembly 101 is arranged on the main frame 103. The two sides of the main frame 103 are respectively connected to two ice skates 102. The two ice skates 102 are arranged in parallel and are respectively located on both sides of the hanger assembly 101.

[0029] Specifically, see Figure 4 As shown, the ice blade 102 is a thin plate structure of unequal thickness that is narrow at the top and wide at the bottom, and the shape of the ice blade 102 is trapezoidal, which is suitable for sliding on ice. This structure makes it easy to get out of ice marks.

[0030] In an embodiment of the present invention, the main frame 103 includes four main vertical beams located in the middle; two main horizontal beams located at the bottom; and a plurality of auxiliary beams and plates for carrying equipment.

[0031] See also Figure 3 As shown, in the embodiment of the present invention, the hanger assembly 101 includes a lifting ring 1001, a baffle 1003 and two parallel lifting arms 1002. The bottoms of the two lifting arms 1002 are welded through the baffle 1003, and the tops of the two lifting arms 1002 are welded through the lifting ring 1001, so that the lifting ring 1001, the baffle 1003 and the two lifting arms 1002 are welded into one. The two ends of the two lifting arms 1002 are respectively connected to the four main vertical beams of the main frame 103 by bolts. The lifting ring 1001 is located at the center of the underwater robot 3 gliding under the ice, and the lifting ring 1001 does not protrude from the upper surface of the underwater robot 3 gliding under the ice. Specifically, the overall configuration of the pre-embedded lifting frame assembly 101 is topologically optimized, and its lifting strength is large. The configuration meets the requirements of the underwater robot 3 gliding under the ice, is contained in the interior of the underwater robot 3 gliding under the ice, and does not interfere with the internal equipment. The overall structure does not protrude from the upper surface of the underwater robot 3 gliding under the ice.

[0032] In this embodiment, the hanger assembly 101 is specially designed for the underwater robot 3 gliding on the ice. Its structure is specially designed, and the components below it can be embedded in its body to save layout space; the top of the hanger assembly 101 does not exceed the upper surface of the underwater robot and does not affect gliding on the ice bottom.

[0033] See also Figure 5 , Figure 6 As shown, in the embodiment of the present invention, the hook joint includes a main hook 201 and a rod joint 202, wherein one end of the rod joint 202 is detachably connected to the rear end of the main hook 201 by screws, and the angle is adjustable, so as to make the operation easier and ensure the efficiency and reliability of the system in various recovery environments. One end of the rod joint 202 and the rear end of the main hook 201 are provided with a coaxial rope threading hole, and one end of the lifting rope 206 is fixed after passing through the rope threading hole for lifting; the other end of the rod joint 202 is connected to the recovery rod 205 through an easy-to-detach connection structure.

[0034] Specifically, the size, configuration and strength of the main hook 201 are designed to match the lifting frame assembly 101 on the ice-gliding underwater robot 3, and can smoothly pass through the lifting ring 1001. There are multiple threaded holes in a circular array on the rod joint 202, and there are four mounting through holes on the main hook 201. The angle between the rod joint 202 and the main hook 203 is adjusted, and the four mounting through holes on the main hook 201 are aligned with the four threaded holes on the rod joint 202, and fixed by screws.

[0035] In this embodiment, the easily detachable connection structure uses disposable tape to wrap and bond the rod joint 202 and the main hook 201 to achieve temporary fixation.

[0036] Furthermore, the front end hooking portion of the main hook 201 is provided with a hook head 203 bent inwardly, and the rear end of the main hook 201 is hinged with a safety card 204, the end of the safety card 204 is located on the inner side of the hook head 203 and abuts against the hook head 203; the safety card 204 can rotate toward the inner side of the main hook 201 under the action of external force, and can automatically reset when the external force disappears. The safety card 204 is used to prevent the hook from being unhooked after being hooked.

[0037] See also Figure 7 As shown, the present invention provides a hanging mechanism suitable for an underwater robot gliding on ice, and its use steps are as follows:

[0038] 1) Before preparing to hook, the rod joint 202 and the recovery rod 205 are wrapped and bonded by a disposable tape, and the lifting rope 206 passes through the through holes on the rod joint 202 and the recovery rod 205, and then the rope is tied.

[0039] 2) When hooking, hold the recovery rod 205 to hook the main hook 201 onto the hanger assembly 101 in the underwater robot 3 gliding under the ice.

[0040] 3) The recovery rod 205 is pulled back, the adhesive tape is broken, and the recovery rod 205 is separated from the hanger assembly 101.

[0041] 4) The lifting rope 206 is lifted by a crane to lift the underwater robot 3 gliding under the ice and recover it.

[0042] The present invention proposes an innovative design to meet the special needs of underwater robots gliding under ice. Different from the lifting hooks of traditional underwater machines, the embedded lifting frame assembly of the present invention is hidden on the upper surface of the submersible, which does not affect gliding under ice and ensures sufficient lifting strength. At the same time, the structural design of the hook assembly is flexible, and the direction can be adjusted according to different hook heights, which is convenient for operators to hook and recover smoothly under various conditions, and can meet the needs of gliding detection near the bottom of ice. The present invention provides a hanging mechanism suitable for underwater robots gliding under ice, which has the characteristics of compact structure, high specific strength, applicability to ice bottom sliding detection, flexible operation, and easy recovery.

[0043] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A hooking mechanism suitable for an underwater robot gliding under ice, characterized in that: The invention comprises a frame structure (1) and a hook assembly (2), wherein the frame structure (1) is embedded in an underwater robot (3) gliding under the ice, and the frame structure (1) has a lifting frame assembly (101) which is lower than the upper surface of the underwater robot (3) gliding under the ice; the hook assembly (2) comprises a hanging joint, a recovery rod (205) and a lifting rope (206), wherein the hanging joint and the recovery rod (205) are connected by an easily detachable connection structure, and the lifting rope (206) is fixed on the hanging joint; when the hanging joint is hung with the lifting frame assembly (101), the easily detachable connection structure can be destroyed by the recovery of the recovery rod (205), so that the recovery rod (205) is detached from the hanging joint, thereby realizing the connection between the lifting rope (206) and the underwater robot (3) gliding under the ice.

2. The attachment mechanism for an underwater robot gliding under ice according to claim 1, characterized in that: The hook joint comprises a main hook (201) and a rod joint (202), wherein one end of the rod joint (202) is detachably connected to the rear end of the main hook (201), and one end of the rod joint (202) and the rear end of the main hook (201) are provided with coaxial rope threading holes, and one end of the lifting rope (206) is fixed after passing through the rope threading hole; the other end of the rod joint (202) is connected to the recovery rod (205) via the easily detachable connection structure.

3. The attachment mechanism for an underwater robot gliding under ice according to claim 2, characterized in that: The easily detachable connection structure is achieved by using adhesive tape to bond and fix the rod joint (202) and the main hook (201).

4. The attachment mechanism for an underwater robot gliding under ice according to claim 2, characterized in that: The front end hooking portion of the main hook (201) is provided with a hook head (203) bent inwardly, and the rear end of the main hook (201) is hinged with a safety card (204), the end of the safety card (204) is located inside the hook head (203) and abuts against the hook head (203); the safety card (204) can rotate toward the inside of the main hook (201), and the safety card (204) is used to prevent the hook from being unhooked after being hooked.

5. The attachment mechanism for an underwater robot gliding under ice according to claim 1, characterized in that: The frame structure (1) further comprises a main frame (103), and the hanger assembly (101) is arranged on the main frame (103).

6. The attachment mechanism for an underwater robot gliding under ice according to claim 5, characterized in that: The hanger assembly (101) comprises a lifting ring (1001), a baffle (1003) and two lifting arms (1002) arranged in parallel, the bottoms of the two lifting arms (1002) are connected via the baffle (1003), the tops of the two lifting arms (1002) are connected via the lifting ring (1001), the lifting ring (1001) is located at the center of the underwater robot (3) gliding under the ice, and the lifting ring (1001) does not protrude from the upper surface of the underwater robot (3) gliding under the ice.

7. The attachment mechanism for an underwater robot gliding under ice according to claim 5, characterized in that: Both sides of the main frame (103) are respectively connected to two ice blades (102); the two ice blades (102) are arranged in parallel and are respectively located on both sides of the lifting frame assembly (101).

8. The attachment mechanism for an underwater robot gliding under ice according to claim 7, characterized in that: The ice skate (102) is a thin plate structure of unequal thickness that is narrow at the top and wide at the bottom.

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