A mounting mechanism suitable for ice-gliding underwater robots

Abstract

This invention relates to the field of underwater robot technology, and particularly to a hooking mechanism suitable for ice-gliding underwater robots. It includes a frame structure and a hook assembly, wherein the frame structure is embedded inside the ice-gliding underwater robot and has a lifting frame assembly positioned below the upper surface of the robot. The hook assembly includes a hook connector, a retrieval rod, and a lifting rope, wherein the hook connector and the retrieval rod are connected by an easy-detach connection structure, and the lifting rope is fixed to the hook connector. When the hook connector is hooked to the lifting frame assembly, the easy-detach connection structure can be broken by retrieving the retrieval rod, thereby achieving the connection between the lifting rope and the ice-gliding underwater robot. This invention conceals the lifting frame assembly on the upper surface of the ice-gliding underwater robot, neither affecting ice gliding nor hindering sufficient lifting strength. The hook assembly can be adjusted in direction according to different hook heights, facilitating easy hooking and retrieval by operators under various conditions.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, and in particular to a mounting mechanism suitable for underwater robots that glide on ice. Background Technology

[0002] Traditional underwater robots are widely used for aquatic environment exploration. However, the uneven surface of ice bottoms makes it difficult for traditional underwater robots to operate effectively in the near-ice-bottom environment of polar ice caps due to their structural limitations. Traditional autonomous underwater vehicles (AUVs), remotely operated underwater vehicles (ROVs), and manned submersibles (HOVs) are unsuitable for ice-bottom navigation because their external appendages protrude from the surface and are easily interfered with by obstacles. While some rotary-shaped underwater robots can reduce collisions by minimizing appendage protrusions, their large length-to-diameter ratio still limits their gliding ability on ice. Therefore, a new frame structure is needed to enable underwater robots to flexibly adapt to the protruding shapes of ice layers and glide smoothly in complex ice-bottom environments. Furthermore, due to the requirements of this specific application scenario, the robot frame structure needs adaptive design; its lifting frame assembly must be embedded inside the submersible and not protrude beyond its upper surface. This design significantly increases the difficulty of retrieving the submersible. Therefore, there is an urgent need for a mounting mechanism suitable for underwater robots gliding on ice. Summary of the Invention

[0003] To address the aforementioned problems, the present invention aims to provide a mounting mechanism suitable for underwater robots gliding on ice. This mounting mechanism meets the special working conditions of underwater robots gliding and exploring on the ice bottom. It has a compact structure, high specific strength, flexible operation, and is easy to recover.

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

[0005] This invention provides a mounting mechanism for an ice-gliding underwater robot, comprising a frame structure and a hook assembly. The frame structure is embedded inside the ice-gliding underwater robot and has a lifting frame assembly that is lower than the upper surface of the ice-gliding underwater robot. The hook assembly includes a hook connector, a retrieval rod, and a lifting rope. The hook connector and the retrieval rod are connected by an easy-detach connection structure, and the lifting rope is fixed to the hook connector. When the hook connector is engaged with the lifting frame assembly, the easy-detach connection structure can be broken by retrieving the retrieval rod, causing the retrieval rod to detach from the hook connector, thereby achieving the connection between the lifting rope and the ice-gliding underwater robot.

[0006] The hook connector includes a main hook and a rod connector. One end of the rod connector is detachably connected to the rear end of the main hook, and one end of the rod connector and the rear end of the main hook are provided with a coaxial rope hole. One end of the lifting rope passes through the rope hole and is fixed. The other end of the rod connector is connected to the recovery rod through the easy-detach connection structure.

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

[0008] The main hook has an inwardly bent hook head at the front end, and a safety catch is hinged to the rear end of the main hook. The end of the safety catch is located inside the hook head and abuts against the hook head. The safety catch can rotate inward to the main hook and 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 mounted on the main frame.

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

[0011] The main frame is connected to two ice skates on each side, and the two ice skates are arranged in parallel and located on both sides of the lifting frame assembly.

[0012] The ice skate is a thin plate structure with unequal thickness, narrower at the top and wider at the bottom.

[0013] The advantages and positive effects of this invention are as follows:

[0014] 1. Compact structure: The frame structure of this invention fully considers the miniaturization requirements of ice-gliding underwater robots; the pre-embedded lifting frame assembly has undergone topology optimization design, achieving a reasonable design configuration within a limited space and improving space utilization.

[0015] 2. High specific strength: The pre-embedded lifting bracket assembly of the present invention optimizes the material distribution through topology optimization, and significantly improves the specific strength, enabling the robot to have good load-bearing capacity and structural reliability while ensuring lightweight design.

[0016] 3. Applicable to ice-bottom gliding detection: The structure of this invention is specifically designed for ice-bottom gliding detection, effectively solving 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 pre-embedded lifting frame assembly and support hook angle adjustment; this design not only improves operational flexibility but also simplifies the recycling process, enabling operators to complete robot recycling tasks more efficiently. Attached Figure Description

[0018] Figure 1 This is an isometric drawing of a mounting mechanism for an ice-gliding underwater robot according to the present invention.

[0019] Figure 2 This is an isometric view of the frame structure in this invention;

[0020] Figure 3 This is an isometric view of the pre-embedded lifting bracket assembly in this invention;

[0021] Figure 4 This is an isometric view of the ice skate in this invention;

[0022] Figure 5 This is a schematic diagram of the hook assembly in this invention;

[0023] Figure 6 This is an exploded view of the hook assembly in this invention;

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

[0025] In the diagram: 1-Frame structure, 101-Lifting frame assembly, 1001 Lifting ring, 1002-Lifting boom, 1003-Baffle, 102-Ice blade, 103-Main frame, 2-Hook assembly, 201-Main hook, 202-Pole joint, 203-Hook head, 204-Safety clip, 205-Recovery rod, 206-Lifting rope, 3-Ice gliding underwater robot. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] See Figures 1 to 7As shown, the present invention provides a hooking mechanism suitable for an ice-gliding underwater robot 3, including a frame structure 1 and a hook assembly 2. The frame structure 1 is embedded inside the ice-gliding underwater robot 3 and has a lifting frame assembly 101 that is lower than the upper surface of the ice-gliding underwater robot 3. The hook assembly 2 includes a hook connector, a retrieval rod 205 and a lifting rope 206. The hook connector and the retrieval rod 205 are connected by an easy-detach connection structure, and the lifting rope 206 is fixed to the hook connector. When the hook connector is hooked to the lifting frame assembly 101, the easy-detach connection structure can be broken by retrieving the retrieval rod 205, so that the retrieval rod 205 is detached from the hook connector, thereby realizing the connection between the lifting rope 206 and the ice-gliding underwater robot 3.

[0028] See Figure 2 As shown, in an embodiment of the present invention, the frame structure 1 further includes a main frame 103, a hanger assembly 101 is disposed on the main frame 103, and two ice skates 102 are respectively connected to the two sides of the main frame 103. 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 with unequal thickness, narrow at the top and wide at the bottom, and the shape of the ice blade 102 is trapezoidal, which is suitable for ice skating. This structure makes it easy to get rid of ice tracks.

[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 several auxiliary beams and plates for mounting equipment.

[0031] See Figure 3 As shown, in an embodiment of the present invention, the lifting frame 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 to the baffle 1003, and the tops of the two lifting arms 1002 are welded to the lifting ring 1001, so that the lifting ring 1001, the baffle 1003, and the two lifting arms 1002 are welded together. The two ends of the two lifting arms 1002 are respectively bolted to the four main vertical beams of the main frame 103. The lifting ring 1001 is located at the center of the ice-gliding underwater robot 3, and the lifting ring 1001 does not protrude from the upper surface of the ice-gliding underwater robot 3. Specifically, the pre-embedded lifting frame assembly 101 has undergone topology optimization design, has a large lifting strength, and its configuration meets the requirements of the ice-gliding underwater robot 3. It is contained inside the ice-gliding underwater robot 3 and does not interfere with the internal equipment, and the whole does not protrude from the upper surface of the ice-gliding underwater robot 3.

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

[0033] See Figure 5 , Figure 6 As shown in the embodiment of the present invention, the hook connector includes a main hook 201 and a rod connector 202. One end of the rod connector 202 is detachably connected to the rear end of the main hook 201 by screws, and the angle is adjustable to facilitate operation and ensure the efficiency and reliability of the system in various recycling environments. One end of the rod connector 202 and the rear end of the main hook 201 are provided with a coaxial rope hole. One end of the lifting rope 206 passes through the rope hole and is fixed for hoisting. The other end of the rod connector 202 is connected to the recycling rod 205 through an easy-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, allowing it to pass smoothly through the lifting ring 1001. The rod connector 202 has a ring array of multiple threaded holes, and the main hook 201 has four mounting through holes. By adjusting the angle between the rod connector 202 and the main hook 203, the four mounting through holes on the main hook 201 are aligned with the four threaded holes on the rod connector 202, and then secured with screws.

[0035] In this embodiment, the easy-to-detach connection structure is achieved by wrapping the rod connector 202 and the main hook 201 with disposable tape to achieve temporary fixation.

[0036] Furthermore, the front end of the main hook 201 has an inwardly bent hook head 203, 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 inward to 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 coming off after it is hooked.

[0037] See Figure 7 As shown, the present invention provides a mounting mechanism suitable for underwater robots gliding on ice, and its usage steps are as follows:

[0038] 1) Before preparing the hook, the rod joint 202 and the recovery rod 205 are bonded together with disposable tape. After the lifting rope 206 passes through the through hole on the rod joint 202 and the recovery rod 205, the rope is tied tightly.

[0039] 2) When hooking, hold the recovery rod 205 and hook the main hook 201 onto the gantry assembly 101 inside the ice-sliding underwater robot 3.

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

[0041] 4) The lifting rope 206 is used to lift the ice-sliding underwater robot 3 by a crane and then retrieve it.

[0042] This invention proposes an innovative design to address the specific needs of ice-gliding underwater robots. Unlike traditional underwater robots with lifting hooks, the pre-embedded lifting frame assembly of this invention is hidden on the upper surface of the submersible, ensuring sufficient lifting strength without affecting ice gliding. Simultaneously, the hook assembly's flexible structural design allows for direction adjustment based on different hook heights, facilitating easy hooking and retrieval by operators under various conditions, and meeting the requirements for near-ice bottom gliding detection. This invention provides a hooking mechanism for ice-gliding underwater robots, characterized by its compact structure, high specific strength, suitability for ice bottom gliding detection, flexible operation, and ease of retrieval.

[0043] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A mounting mechanism suitable for ice-gliding underwater robots, characterized in that, The system includes a frame structure (1) and a hook assembly (2), wherein the frame structure (1) is embedded inside the ice-skimming underwater robot (3), and the frame structure (1) has a lifting frame assembly (101) that is lower than the upper surface of the ice-skimming underwater robot (3); the hook assembly (2) includes a hook connector, a retrieval rod (205) and a lifting rope (206), wherein the hook connector and the retrieval rod (205) are connected by an easy-detach connection structure, and the lifting rope (206) is fixed to the hook connector; when the hook connector is hooked to the lifting frame assembly (101), the easy-detach connection structure can be destroyed by the retrieval of the retrieval rod (205), so that the retrieval rod (205) is detached from the hook connector, thereby realizing the connection between the lifting rope (206) and the ice-skimming underwater robot (3); The hook connector includes a main hook (201) and a rod connector (202), wherein one end of the rod connector (202) is detachably connected to the rear end of the main hook (201), and one end of the rod connector (202) and the rear end of the main hook (201) are provided with a coaxial rope hole, and one end of the lifting rope (206) passes through the rope hole and is fixed; the other end of the rod connector (202) is connected to the recovery rod (205) through the easy-detach connection structure. The frame structure (1) also includes a main frame (103), and the lifting frame assembly (101) is disposed on the main frame (103); the main frame (103) includes four main vertical beams, two main horizontal beams and several auxiliary beams and plates, wherein the four main vertical beams are located in the middle of the main frame, the two main horizontal beams are located at the bottom of the main frame, and the several auxiliary beams and plates are used to mount the equipment. The lifting frame 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 connected by the baffle (1003), and the tops of the two lifting arms (1002) are connected by the lifting ring (1001), so that the lifting ring (1001), the baffle (1003), and the two lifting arms (1002) are welded together. The two ends of the two lifting arms (1002) are respectively connected to the four main vertical beams of the main frame (103). The lifting ring (1001) is located at the center of the ice-skimming underwater robot (3) via bolt connection, and the lifting ring (1001) does not protrude from the upper surface of the ice-skimming underwater robot (3); the pre-embedded lifting frame assembly (101) has a topology-optimized overall configuration, which has a large lifting strength and meets the requirements of the ice-skimming underwater robot (3). It is embedded inside the ice-skimming underwater robot (3) and does not interfere with the internal equipment. The whole assembly does not protrude from the upper surface of the ice-skimming underwater robot (3).

2. The attachment mechanism for an ice-gliding underwater robot according to claim 1, characterized in that, The easy-detachable connection structure is achieved by using adhesive tape to bond and fix the rod joint (202) and the main hook (201).

3. The attachment mechanism for an ice-gliding underwater robot according to claim 1, characterized in that, The main hook (201) has an inwardly bent hook head (203) at the front end. 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 inward to the main hook (201) and is used to prevent the hook from coming off after being hooked.

4. The attachment mechanism for an ice-gliding underwater robot according to claim 1, characterized in that, The main frame (103) is connected to two ice skates (102) on both sides respectively. The two ice skates (102) are arranged in parallel and are located on both sides of the lifting frame assembly (101).

5. The attachment mechanism for an ice-gliding underwater robot according to claim 4, characterized in that, The ice skate (102) is a thin plate structure with unequal thickness, narrow at the top and wide at the bottom.

Images