A fully electric underwater equipment deployment gantry and anti-sway device

Abstract

The present application belongs to the technical field of underwater equipment deployment, and specifically relates to a fully electric underwater equipment deployment gantry and anti-sway device. The deployment gantry includes a mounting base, a leg drive assembly, a rotating leg, and a swing drive assembly. The leg drive assembly includes a motor 1 arranged on the mounting base, a right-angle transmission mechanism 1 connected to the motor 1, and a bearing base arranged on the mounting base. The bearing base is used to install the right-angle transmission mechanism 1. The drive device of the deployment gantry is directly changed to a motor drive, and no additional hydraulic power unit is required. This not only improves the transmission efficiency of the equipment, but also increases the degree of freedom of the angle adjustment of the equipment, and saves installation space on the ship deck. In addition, the structure of the entire equipment is simplified, there is no dead point of movement, and the equipment can achieve stepless adjustment of the angle of deployment and recovery during deployment and recovery operations, thereby meeting the actual demand for stepless adjustment of the angle of deployment and recovery according to actual working conditions.

Description

Technical Field

[0001] The present application belongs to the technical field of underwater equipment deployment, and specifically relates to a fully electric underwater equipment deployment gantry and an anti-swing device. Background Art

[0002] The anti-sway device is a device used to reduce or eliminate the shaking of underwater equipment caused by water flow, waves and other factors during operation. Its main function is to maintain the stability of underwater equipment and ensure the accuracy and safety of operation. When the underwater equipment is lowered into the sea level or recovered out of the sea level, it will shake due to the influence of waves and currents, pulling the winding cable to shake. When the winding cable frequently contacts the cable channel, the left and right pressure detection areas will detect an increase in pressure. According to the detected pressure changes, the moving part will drive the docking bracket to move to drag the underwater equipment back to the original operating sea level, ensuring that the underwater equipment always shakes near the original operating sea level and is controlled within a reasonable shaking range.

[0003] At present, the existing gantry is hydraulically driven, and the hydraulic cylinder is used to drive the movement of the gantry legs. It is necessary to configure a hydraulic power station and lay corresponding hydraulic pipelines, etc., which not only increases the cost of the entire ROV deployment and recovery equipment, increases the workload of equipment installation, commissioning and maintenance, but also occupies more valuable space resources on the ship's deck. In addition, since the hydraulically driven A-type gantry has a basic structural form of a connecting rod structure composed of multiple groups of cylinders, this connecting rod mechanism inevitably has dead points. In addition, since the stroke of the cylinder is limited, it is easy to cause the deployment and recovery angles to be limited during the deployment and recovery of the ROV, and it is impossible to achieve stepless adjustment of the deployment and recovery angles. In addition, the hydraulically driven A-type gantry uses hydraulic oil as the driving medium, which not only has low transmission efficiency and slow response, but also is complicated to disassemble and assemble, and the hydraulic oil remaining in the hydraulic oil pipe circuit during disassembly and assembly pollutes the deck and the ocean. Summary of the invention

[0004] The technical problem to be solved by the present application is to provide a fully electric underwater equipment deployment gantry and anti-sway device, and directly change the driving mechanism of the deployment gantry to motor drive, without the need for additional hydraulic power unit, which not only improves the transmission efficiency of the equipment and increases the angle adjustment freedom of the equipment, but also saves equipment costs and saves installation space on the ship deck.

[0005] The present application provides a fully electric underwater equipment deployment gantry, comprising:

[0006] Install the base;

[0007] The outrigger driving assembly comprises a motor 1 arranged on a mounting base, a right-angle transmission mechanism 1 drivingly connected to the motor 1, and a bearing base arranged on the mounting base, wherein the bearing base is used to install the right-angle transmission mechanism 1;

[0008] The rotating leg is connected to the right-angle transmission mechanism 1, and the right-angle transmission mechanism 1 is used to drive the rotating leg to swing back and forth;

[0009] The swing drive assembly includes a second motor arranged near the front end of the rotating leg, a second right-angle transmission mechanism driven and connected to the second motor, and a rotating shaft driven and connected to the second right-angle transmission mechanism. The second right-angle transmission mechanism is arranged on the rotating leg, the rotating shaft is rotatably connected to the rotating leg, and the rotating shaft is used to install a stabilizer.

[0010] Optionally, the right-angle transmission mechanism includes a worm gear arranged on a bearing base, a coupling gear having two ends respectively connected to the worm gear and a motor, a worm wheel meshing with the worm gear, and a main shaft coaxially connected to the worm wheel, wherein both ends of the main shaft are rotatably connected to the bearing base, and the main shaft is connected to a rotating support leg.

[0011] Optionally, external splines are provided at positions near both ends of the main shaft, and the rotating leg includes two symmetrically arranged support plates, both support plates are provided with spline sleeves, and the spline sleeves cooperate with the external splines;

[0012] And / or, the leg drive assembly also includes an intermediate bearing seat, the peripheral wall of the intermediate bearing seat is provided with four bearing mounting holes for installing four mounting bearings, and the four mounting bearings are respectively matched with worm gear 1 and main shaft fixed axis in pairs, and the intermediate bearing seat and the bearing base cooperate to enclose worm gear 1 and worm wheel 1 in a relatively sealed space.

[0013] Optionally, the deployment gantry also includes a protective cover 1, which is arranged on the mounting base and covers the leg driving assembly, and the protective cover 1 has a clearance groove for avoiding the rotating legs.

[0014] Optionally, the rotating leg comprises a support column, a linear reciprocating drive mechanism 1 arranged on the support column, and a telescopic column slidably connected to the end of the support column, the linear reciprocating drive mechanism 1 drives the telescopic column to adjust the telescopic length along the support column, and the rotating shaft is arranged at one end of the telescopic column away from the support column;

[0015] And / or, the second right-angle transmission mechanism includes a second worm gear that is fixedly rotated on a rotating leg, a second coupling whose two ends are respectively connected to a second motor and the second worm gear, and a second worm wheel that meshes with the second worm gear, and the second worm wheel is centered with the rotating shaft.

[0016] Optionally, the linear reciprocating drive mechanism 1 includes a motor 3 arranged inside the support column, a screw rod 1 drivingly connected to the motor 3, and the screw rod 1 is threadedly connected to the telescopic column;

[0017] And / or, the rotating shaft is connected to the second worm gear via a spline fit;

[0018] And / or, at least two inductive limit switches are provided at one end of the support column, and at least two inductive switch triggering devices are provided on the telescopic column. When the inductive switch triggering device triggers the inductive limit switch, the linear reciprocating drive mechanism stops driving the telescopic column.

[0019] Optionally, at least two sides of the telescopic column have grooves, and an inductive switch trigger device is arranged in each of the grooves. The inductive switch trigger device includes a fixed seat arranged in the groove, a trigger plate hinged at one end to the fixed seat, and a tension spring respectively connected to the fixed seat and the trigger plate at both ends. The tension spring is used to pull the trigger plate to reset, and the trigger plate is used to contact an inductive limit switch.

[0020] The present application also provides an underwater equipment anti-swing device, including an anti-swing device and the deployment portal frame as described above, wherein the anti-swing device is arranged on a swing drive assembly of the deployment portal frame, and the swing drive assembly is used to drive the anti-swing device to swing.

[0021] Optionally, the anti-sway device includes a swing shaft arm arranged on the swing drive assembly, a mounting frame slidably sleeved on the end of the swing shaft arm, a linear reciprocating drive mechanism 2 arranged on the swing shaft arm and drivingly connected to the swing shaft arm, a pulley mounting frame arranged on the swing shaft arm, a pulley arranged on the pulley mounting frame, a meter arranged on the pulley mounting frame, a docking frame arranged at the bottom of the mounting frame, and a latch device arranged on the docking frame, wherein the latch device is used to capture and release underwater equipment, and the meter counter cooperates with the pulley to measure the retracted and released length of the cable.

[0022] Optionally, the second linear reciprocating drive mechanism comprises a fourth motor arranged inside the mounting frame, a second screw rod drivingly connected to the fourth motor, and the second screw rod is screwed to the swing shaft arm;

[0023] And / or, the docking frame includes a fixing frame connected to the mounting frame, an upper bushing and a lower bushing fixedly inserted in the center of the fixing frame, the upper bushing and the lower bushing are used to pass the cable, the upper bushing is an upward trumpet structure, and the lower bushing is a cylindrical structure as a whole;

[0024] And / or, the latch device includes a fixed block arranged on the docking frame, a clamping head 1 rotatably connected to one end of the fixed block, a clamping head 2 rotatably connected to the other end of the fixed block, a linear expander with two ends hinged to one end of the clamping head 1 and the clamping head 2 respectively, two elastic expandable parts hinged to the side walls of the clamping head 1 and the clamping head 2 respectively, a mounting bracket arranged on the docking frame, and a plurality of inductive switches arranged on the mounting bracket, the two elastic expandable parts are used to provide a pre-tightening force for the locking of the latch device, the linear expander is used to drive the clamping head 1 and the clamping head 2 to cooperate to complete the opening and closing action to capture and release the underwater equipment, and the plurality of inductive switches are used to detect the opening and closing status of the clamping head 1 and the clamping head 2 respectively.

[0025] The beneficial effect of the present application is that the driving device of the deployment gantry is directly changed to a motor drive, and there is no need to configure an additional hydraulic power unit, which not only improves the transmission efficiency of the equipment and the degree of freedom of angle adjustment of the equipment, but also saves equipment costs and saves installation space on the ship deck. Since the driving device of the deployment gantry adopts a motor as the driving force, the structure of the entire equipment is simplified, there is no dead point of movement, and through high-precision control of the driving motor, the equipment can achieve stepless adjustment of the deployment and recovery angles during deployment and recovery operations. Thereby meeting the practical needs of stepless adjustment of the deployment and recovery angles according to actual working conditions. Compared with hydraulic drive, the deployment gantry with a full electric drive does not need to lay the corresponding hydraulic pipelines and hydraulic oil. The entire equipment is more convenient to disassemble and assemble, the operation process is simplified, and the pollution of the ship deck and the marine environment due to the leakage of hydraulic oil is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the structure of the underwater equipment anti-sway device provided in this application;

[0027] Figure 2 A schematic diagram of the exploded structure of the outrigger drive assembly provided for this application;

[0028] Figure 3 Schematic diagram of the exploded structure of the rotating leg provided for this application;

[0029] Figure 4 A schematic diagram of the structure of the telescopic column provided for this application;

[0030] Figure 5 A schematic diagram of the structure of an inductive limit switch 1 provided in this application;

[0031] Figure 6 A schematic diagram of the structure of the induction switch trigger device 1 provided in this application;

[0032] Figure 7 A schematic diagram of the exploded structure of the rotation angle detection device 1 provided in this application;

[0033] Figure 8 A schematic diagram of the structure of the rotating shaft provided in this application;

[0034] Fig. 9 A schematic diagram of the explosion structure of the anti-oscillation device provided in this application;

[0035] Fig.10 A schematic diagram of the structure of the installation framework provided for this application;

[0036] Fig.11 A schematic diagram of the structure of the pulley mounting frame provided for this application;

[0037] Fig.12 A schematic diagram of the structure of the docking frame provided for this application;

[0038] Fig.13 A schematic diagram of the structure of the docking frame provided in this application from a bottom perspective;

[0039] Fig.14 A schematic diagram of the structure of the upper bushing provided for this application;

[0040] Fig.15 A schematic diagram of the structure of the lower bushing provided for this application;

[0041] Fig.16 A schematic diagram of the structure of the latch device provided in this application.

[0042] In the figure: 100, laying the gantry; 110, installing the base; 120, the outrigger drive assembly; 121, the motor 1; 1221, the worm 1; 1222, the coupling 1; 1223, the worm gear 1; 1224, the main shaft; 1225, the external spline; 1226, the end bearing seat; 1227, installing the bearing; 123, the bearing base; 1241, installing the end cover 1; 1242, the angle sensor 1; 1243, the sensor coupling; 1244, the pin 1; 125, the intermediate bearing seat; 1251, bearing mounting hole; 126, protective cover 1; 1261, clearance groove; 130, rotating leg; 131, support plate; 1311, spline sleeve; 132, support column; 1321, fixing bolt; 1322, fixing nut; 1323, protective cover 1; 133, linear reciprocating drive mechanism 1; 1331, motor 3; 1332, screw rod 1; 134, telescopic column; 1341, groove; 135, inductive limit switch 1; 136, inductive switch trigger device 1, 1361, fixed seat; 1362, trigger plate; 1363, tension spring; 140, swing drive assembly; 141, motor 2; 1421, worm 2; 1422, coupling 2; 1423, worm gear 2; 143, rotating shaft; 144, worm gear protective cover; 145, protective cover 2; 150, rotation angle detection device 2; 200, stopper; 210, swing shaft arm; 220, mounting frame; 221, protective cover 2; 231, motor 4; 232, Screw rod 2; 240, pulley mounting frame; 250, pulley; 260, meter; 270, docking frame; 271, fixing frame; 272, upper bushing; 273, lower bushing; 274, buffer pad; 280, latch device; 281, fixing block; 282, chuck 1; 283, chuck 2; 284, linear expansion joint; 285, elastic expansion member; 286, mounting bracket; 287, inductive switch; 291, inductive limit switch 2; 292, inductive switch trigger device 2. DETAILED DESCRIPTION

[0043] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] like Figure 1-8As shown, the present application provides a fully electric underwater equipment deployment gantry, including: a mounting base 110, a leg drive assembly 120, a rotating leg 130, and a swing drive assembly 140; wherein the leg drive assembly 120 includes a motor 121 arranged on the mounting base 110, a right-angle transmission mechanism 1 driven and connected to the motor 121, and a bearing base 123 arranged on the mounting base 110, and the bearing base 123 is used to install the right-angle transmission mechanism 1; the rotating leg 130 is driven and connected to the right-angle transmission mechanism 1, and the right-angle transmission mechanism 1 is used to drive the rotating leg 130 to swing back and forth; the swing drive assembly 140 includes a motor 2 141 arranged near the front end of the rotating leg 130, a right-angle transmission mechanism 2 driven and connected to the motor 2 141, and a rotating shaft 143 driven and connected to the right-angle transmission mechanism 2, the right-angle transmission mechanism 2 is arranged on the rotating leg 130, the rotating shaft 143 is rotatably connected to the rotating leg 130, and the rotating shaft 143 is used to install the anti-swing device 200.

[0045] Compared with the prior art, the fully electric underwater equipment deployment gantry 100 provided by the present application directly changes the driving device of the deployment gantry 100 to a motor drive, and does not require an additional hydraulic power unit, which not only improves the transmission efficiency of the equipment and the degree of freedom of angle adjustment of the equipment, but also saves equipment costs and saves installation space on the ship deck. Since the driving device of the deployment gantry 100 uses a motor as a driving force, the structure of the entire equipment is simplified, there is no dead point of movement, and through high-precision control of the driving motor, the equipment can achieve stepless adjustment of the deployment and recovery angles during the deployment and recovery operations. Thereby meeting the actual demand for stepless adjustment of the deployment and recovery angles according to actual working conditions. Compared with hydraulic drive, the deployment gantry 100 with a fully electric drive does not need to lay corresponding hydraulic pipelines and hydraulic oil, and the entire equipment is more convenient to disassemble and assemble, which simplifies the operation process and avoids the pollution of the ship deck and the marine environment due to the leakage of hydraulic oil.

[0046] In this embodiment, the mounting base 110 is fixed to the deck of the work boat by anchor bolts. The right-angle transmission mechanism 1 reverses the rotational power of the output shaft of the motor 121 at a right angle. By connecting the two transmission output positions on the right-angle transmission mechanism 1 with the rotating leg 130, the swing stability of the rotating leg 130 can be improved. At the same time, the right-angle transmission mechanism 1 also has a first-stage speed change function, thereby providing the rotating leg 130 with a suitable torque and rotation speed. The two leg driving assemblies 120 synchronously drive the two rotating legs 130 distributed side by side. The two rotating legs A motor 141 and a right-angle transmission mechanism 130 are provided on each of the two rotating legs 130. The two ends of a rotating shaft 143 are respectively connected to the ends of the two rotating legs 130 through two shafts. The two motors 141 synchronously drive the right-angle transmission mechanism 143 to drive the rotating shaft 143 to reciprocate. The position of the stabilizer 200 is adjusted through the reciprocating swing of the rotating legs 130 and the reciprocating rotation of the rotating shaft 143, and a certain buffering effect is played, so that the cable bypassing the stabilizer 200 is kept within a suitable tension range, and the underwater equipment (such as ROV) hoisted by the cable can be deployed more stably.

[0047] In this embodiment, the motor 1 121 and the motor 2 141 are servo motors, stepper motors or reduction motors.

[0048] In one embodiment, Figure 2 As shown, the right-angle transmission mechanism 1 includes a worm 1221 disposed on a bearing base 123, a coupling 1222 whose two ends are respectively connected to the worm 1221 and the motor 121, a worm wheel 1223 meshing with the worm 1221, and a main shaft 1224 coaxially connected to the worm wheel 1223. Both ends of the main shaft 1224 are rotatably connected to the bearing base 123, and the main shaft 1224 is connected to the rotating leg 130. Specifically, the motor 121 is connected to the worm 1221 through the coupling 1222, driving the worm wheel 1223 on the main shaft 1224 to rotate the main shaft 1224, and the two ends of the main shaft 1224 are respectively rigidly connected to two positions of the rotating leg 130, thereby driving the rotating leg 130 to swing back and forth, and the worm 1221 and the main shaft 1224 are installed and fixed through the bearing base 123, the intermediate bearing seat 125 and the end bearing seat 1226. It should be particularly pointed out that the motor 121 is a servo motor with a brake.

[0049] In one embodiment, external splines 1225 are provided near both ends of the main shaft 1224, and the rotating leg 130 includes two symmetrically arranged support plates 131, and both support plates 131 are provided with spline sleeves 1311, and the spline sleeves 1311 cooperate with the external splines 1225. The main shaft 1224 and the two support plates 131 are driven and matched through the two spline sleeves 1311 and the two external splines 1225, which is conducive to improving the stability and efficiency of the transmission, and also facilitates the disassembly and assembly of the main shaft 1224 and the rotating leg 130.

[0050] In some embodiments, the main shaft 1224 and the rotating leg 130 may also be fixedly connected by bolts.

[0051] In one embodiment, the outrigger drive assembly 120 further includes an intermediate bearing seat 125, and the peripheral wall of the intermediate bearing seat 125 is provided with four bearing mounting holes 1251 for mounting four mounting bearings 1227, and the four mounting bearings 1227 are respectively matched with the worm 1221 and the main shaft 1224 in pairs, and the intermediate bearing seat 125 cooperates with the bearing base 123 to enclose the worm 1221 and the worm wheel 1223 in a relatively sealed space. In this way, foreign matter can be prevented from entering the interior of the right-angle transmission mechanism 1, and grease can be filled.

[0052] In one embodiment, the deployment gantry 100 further includes a protective cover 126, which is disposed on the mounting base 110 and covers the outrigger drive assembly 120. The protective cover 126 has a clearance groove 1261 for avoiding the rotating outrigger 130. In this way, foreign matter can be prevented from entering the interior of the outrigger drive assembly 120.

[0053] In one embodiment, the rotating leg 130 includes a support column 132, a linear reciprocating drive mechanism 133 disposed on the support column 132, and a telescopic column 134 slidably connected to the end of the support column 132. The linear reciprocating drive mechanism 133 drives the telescopic column 134 to adjust the telescopic length along the support column 132. The rotating shaft 143 is disposed at one end of the telescopic column 134 away from the support column 132. Two support plates 131 are fixedly connected to both sides of the support column 132 through fixing bolts 1321 and fixing nuts 1322. Specifically, the telescopic column 134 is driven to linearly move relative to the support column 132 by the linear reciprocating drive mechanism 133, so as to adjust the length of the entire rotating leg 130 within a certain range. The linear reciprocating drive mechanisms 133 on the two rotating legs 130 operate synchronously, so as to adjust the length of the entire deployment gantry 100, thereby adjusting the position of the anti-sway device 200, so as to adapt to underwater equipment of different specifications, and can appropriately adjust the tension of the cable to make the deployment of underwater equipment more stable.

[0054] In this embodiment, the support column 132 and the telescopic column 134 are both rectangular columns; of course, in some embodiments, the support column 132 and the telescopic column 134 are both circular columns.

[0055] In one embodiment, Figure 3 As shown, the linear reciprocating drive mechanism 133 includes a motor 3 1331 disposed inside the support column 132, a screw 1332 connected to the motor 3 1331, and the screw 1332 is screwed to the telescopic column 134. Specifically, the motor 3 1331 is installed inside the support column 132 near the bottom end, and is connected to the screw 1332 through a coupling. The center of the telescopic column 134 is provided with a threaded hole matching the screw 1332, and the center of the support column 132 is a hollow structure matching the shape of the telescopic column 134, so that the telescopic column 134 can achieve reciprocating linear motion through the screw 1332, that is, the telescopic adjustment length of the rotating leg 130 is achieved. It should be particularly pointed out that the motor 3 1331 is a servo motor with an electronic brake to ensure the self-locking protection function. The motor 3 1331 can also be a stepper motor or a reduction motor.

[0056] In one embodiment, in order to prevent external foreign matter from entering the motor three 1331, a protective cover plate 1323 is installed on both sides of the slot where the motor three 1331 is installed on the support column 132 to protect the motor three 1331.

[0057] In one embodiment, at least two inductive limit switches 135 are provided at one end of the support column 132, and at least two inductive switch triggering devices 136 are provided on the telescopic column 134. When the inductive switch triggering device 136 triggers the inductive limit switch 135, the linear reciprocating drive mechanism 133 stops driving the telescopic column 134. Specifically, in order to perform limit detection protection on the telescopic column 134, two inductive limit switches 135 are installed on both sides of the support column 132, and two corresponding limit inductive switch triggering devices 136 are installed on the telescopic column 134. When the telescopic column 134 moves to the two limit protection positions at both ends, the limit inductive switch triggering device 136 can pop out from the telescopic column 134, thereby triggering the two inductive limit switches 135 respectively, and controlling the motor 3 1331 to stop running.

[0058] In one embodiment, Figure 4-6As shown, at least two sides of the telescopic column 134 have grooves 1341, and an inductive switch trigger device 136 is arranged in each groove 1341. The inductive switch trigger device 136 includes a fixed seat 1361 arranged in the groove 1341, a trigger plate 1362 with one end hinged on the fixed seat 1361, and a tension spring 1363 with two ends respectively connected to the fixed seat 1361 and the trigger plate 1362. The tension spring 1363 is used to pull the trigger plate 1362 to reset, and the trigger plate 1362 is used to contact the inductive limit switch 135. Specifically, the entire induction switch trigger device 136 is fixed in the groove 1341 of the telescopic column 134 through the fixing seat 1361 and the screw. The trigger plate 1362 fixing seat 1361 can limit the rotation angle of the trigger plate 1362. Specifically, when the trigger plate 1362 moves upward to 90° under the tension of the tension spring 1363, it contacts the semicircular ring-shaped boss on the end face of the fixing seat 1361, thereby limiting the trigger plate 1362 from continuing to rotate, and then the trigger plate 1362 triggers the limit induction switch. When the telescopic column 134 retracts inward along the support column 132, the support column 132 presses the trigger plate 1362 into the groove 1341 of the telescopic column 134.

[0059] In one embodiment, Figure 3 and Figure 8 As shown, the right-angle transmission mechanism 2 includes a worm 1421 that is fixedly rotated and arranged on the rotating leg 130, a coupling 1422 that connects the motor 141 and the worm 1421 at both ends, and a worm wheel 1423 that meshes with the worm 1421. The worm wheel 1423 is centered with the rotating shaft 143. Specifically, a slot for installing the worm 1421 and the worm wheel 1423 is provided at the front end of the telescopic column 134. The motor 141 is connected to the worm 1421 through the coupling 1422. The worm 1421 drives the worm wheel 1423. The center of the worm wheel 1423 is a spline structure that matches the spline structure of the shaft end of the rotating shaft 143, so that the rotation of the motor 141 drives the swing stop 200. It should be particularly pointed out that the motor 141 is a servo motor with a brake. Of course, the motor 141 can also be a stepper motor or a reduction motor.

[0060] In some embodiments, the rotating shaft 143 and the worm gear 2 1423 may also be fixedly connected by screws.

[0061] In one embodiment, a worm gear protective cover 144 is provided on the telescopic column 134, and the worm gear protective cover 144 is fixed to the telescopic column 134 by screws to form a relatively sealed space, surrounding the worm 1421 and the worm wheel 1423, so as to prevent external foreign matter from entering the worm 1421 and the worm wheel 1423.

[0062] In one embodiment, a second protective cover 145 is provided on the telescopic column 134 . The second protective cover 145 is fixed to the telescopic column 134 by screws, and covers the second motor 141 and the entire second right-angle transmission mechanism to prevent external foreign matter from entering.

[0063] In one embodiment, Figure 2 and Figure 7 As shown, a rotation angle detection device 1 is provided on the end face of the end bearing seat 1226, and the rotation angle detection device 1 includes an installation end cover 1241, an angle sensor 1242, a sensor coupling 1243, and a pin 1244. The installation end cover 1241 is fixed on the end face of the end bearing seat 1226 by screws, and the angle sensor 1242 is fixed on the installation end cover 1241 by screws. The measuring shaft of the angle sensor is connected to the pin 1244 installed at the end of the main shaft 1224 through the sensor coupling 1243. When the main shaft 1224 rotates, the measuring shaft of the angle sensor 1242 can be driven to rotate, thereby detecting the rotation angle of the main shaft 1224, and then detecting the swing angle of the rotating leg 130.

[0064] In one embodiment, Figure 1 As shown, a second rotation angle detection device 150 is provided at the end of the telescopic column 134. The second rotation angle detection device 150 includes a second mounting end cap, a second angle sensor, a second sensor coupling 1243, and a first pin 1244. The second mounting end cap is fixedly mounted on the telescopic column 134 by screws. The second angle sensor is fixedly mounted on the second mounting end cap by screws. The measuring shaft of the second angle sensor is connected to the second pin installed at the end of the rotating shaft 143 by the second sensor coupling 1243. When the rotating shaft 143 rotates, the measuring shaft of the second angle sensor can be driven to rotate, thereby detecting the rotation angle of the rotating shaft 143, and then detecting the swing angle of the anti-oscillator 200. The first rotation angle detection device has the same composition and structure as the second rotation angle detection device 150.

[0065] The present application also provides an underwater equipment anti-sway device, including an anti-sway device 200 and the above deployment portal frame 100, wherein the anti-sway device 200 is arranged on the swing drive assembly 140 of the deployment portal frame 100, and the swing drive assembly 140 is used to drive the anti-sway device 200 to swing. The main function of the anti-sway device 200 is to be able to dock with the underwater equipment when deploying and recovering the underwater equipment and ensure the safety and reliability of the docking.

[0066] In one embodiment, Figure 9-11As shown, the anti-oscillation device 200 includes a swing shaft arm 210 arranged on the swing drive assembly 140, a mounting frame 220 slidably sleeved on the end of the swing shaft arm 210, a linear reciprocating drive mechanism 2 arranged on the swing shaft arm 210 and drivingly connected to the swing shaft arm 210, a pulley mounting frame 240 arranged on the swing shaft arm 210, a pulley 250 arranged on the pulley mounting frame 240, a meter 260 arranged on the pulley mounting frame 240, a docking frame 270 arranged at the bottom end of the mounting frame 220, and a latch device 280 arranged on the docking frame 270, wherein the latch device 280 is used for capturing and releasing underwater equipment, and the meter 260 cooperates with the pulley 250 to measure the retracted and released length of the cable.

[0067] Specifically, the pulley mounting frame 240 and the docking frame 270 are both fixed on the mounting frame 220 by bolts, the pulley 250 is installed on the pulley mounting frame 240 by a connecting shaft and can rotate freely along the connecting shaft, and the latch device 280 is fixed on the docking frame 270. The horizontal axis of the swing shaft arm 210 is a hollow structure, and the spline structures at both ends of the horizontal axis match the spline structures at both ends of the rotating shaft 143. The swing of the swing shaft arm 210 driven by the rotating shaft 143 can be achieved by rotating the rotating shaft 143, that is, the overall swing of the anti-swing device 200. In order to make it easier for the anti-swing device 200 to dock with the ROV (underwater robot) during the process of deploying and recovering the ROV, the docking part (docking frame 270, latch device 280) of the anti-swing device 200 is designed to have a telescopic function: it is achieved by respectively arranging a linear reciprocating drive mechanism 2 in the notches of the left and right vertical beams of the mounting frame 220. In order to allow the cable for hoisting the ROV to pass through the stabilizer 200 conveniently, a pulley 250 is designed on the stabilizer 200, wherein the pulley 250 is mounted on the pulley mounting frame 240 through the pulley 250 axis and can rotate freely along the pulley 250 axis. When the ROV is deployed and recovered, the cable for hoisting the ROV is wound around the pulley 250.

[0068] In one embodiment, the linear reciprocating drive mechanism 2 includes a motor 231 disposed inside the mounting frame 220, a screw rod 232 connected to the motor 231, and the screw rod 232 is screwed to the swing shaft arm 210. Specifically, the motor 231 drives the screw rod 232 to rotate through a coupling, and the centers of the two vertical beams of the swing shaft arm 210 are provided with threaded holes matching the screw rod 232. The vertical beam of the mounting frame 220 is a hollow structure, and matches the vertical axis shape of the swing shaft arm 210, so that the swing shaft arm 210 can reciprocate along the center of the vertical beam of the mounting frame 220 under the drive of the screw rod 232, so as to realize the telescopic movement of the anti-swing device 200 during the docking process with the ROV, so as to facilitate the docking of the anti-swing device 200 with the ROV. It should be particularly noted that the motor 231 is a servo motor with an electronic brake to realize the self-locking function. Of course, the motor 231 can also be a stepper motor or a reduction motor.

[0069] At the same time, in order to monitor the retracted and extended length of the cable hoisting the ROV when deploying and recovering the ROV, a meter counter 260 is installed on the mounting frame 220. The roller of the meter counter 260 is close to the pulley 250. During the deployment and recovery of the ROV, the friction between the roller of the meter counter 260 and the pulley 250 causes the pulley 250 to drive the roller of the meter counter 260 to rotate, thereby detecting the retracted and extended length of the cable.

[0070] In order to safely and reliably fix the ROV on the stabilizer 200 after successful docking with the ROV to prevent the ROV from falling off, the stabilizer 200 is designed with a latch device 280, and the latch device 280 is fixedly connected to the docking frame 270.

[0071] In one embodiment, in order to prevent external foreign matter from entering the motor four 231, a protective cover plate 221 is installed on both sides of the slot on which the motor four 231 is installed on the mounting frame 220 to protect the motor four 231.

[0072] In one embodiment, in order to perform limit detection protection on the extension and retraction of the stopper 200, two notches are opened on the left vertical beam of the swing shaft arm 210, and two inductive switch trigger devices 292 are installed respectively. Correspondingly, two inductive limit switches 2 are installed respectively on the left vertical beam of the mounting frame 220. When the mounting frame 220 moves to the limit protection positions at both ends, the inductive switch trigger device 292 can pop out from the mounting frame 220, thereby triggering the corresponding inductive limit switch 291, and controlling the motor 4 231 to stop running. The structure of the inductive switch trigger device 292 is similar to that of the inductive switch trigger device 1 136, and the structure of the inductive limit switch 2 is similar to that of the inductive limit switch 1, which will not be repeated here.

[0073] In one embodiment, Figure 12-15 As shown, the docking frame 270 includes a fixing frame 271 connected to the mounting frame 220, an upper bushing 272 and a lower bushing 273 fixedly inserted in the center of the fixing frame 271, the upper bushing 272 and the lower bushing 273 are used to pass cables, the upper bushing 272 is an upward horn structure, and the lower bushing 273 is a cylindrical structure as a whole. Specifically, the upper bushing 272 and the lower bushing 273 are fixed to the fixing frame 271 by bolts, and the fixing frame 271 is fixed to the mounting frame 220 by bolts. When deploying and recovering the ROV, the cable for hoisting the ROV passes through the upper bushing 272 and the lower bushing 273, and the cable for hoisting the ROV is restricted by the combination of the upper bushing 272 and the lower bushing 273 to prevent the cable for hoisting the ROV from jumping out of the stopper 200 due to shaking.

[0074] In one embodiment, Fig.16As shown, the latch device 280 includes a fixed block 281 arranged on the docking frame 270, a clamp head 282 rotatably connected to one end of the fixed block 281, a clamp head 283 rotatably connected to the other end of the fixed block 281, a linear retractor 284 whose two ends are respectively hinged to one end of the clamp head 282 and the clamp head 283, two elastic retractable members 285 respectively hinged on the side walls of the clamp head 282 and the clamp head 283, a mounting bracket 286 arranged on the docking frame 270, and a plurality of inductive switches 287 arranged on the mounting bracket 286, the two elastic retractable members 285 are used to provide a pre-tightening force for the locking of the latch device 280, the linear retractor 284 is used to drive the clamp head 282 and the clamp head 283 to cooperate to complete the opening and closing action to capture and release the underwater equipment, and the plurality of inductive switches 287 are respectively used to detect the opening and closing states of the clamp head 282 and the clamp head 283. Specifically, the bottom of the lower bushing 273 is designed with a bottom boss to place the fixing block 281 of the latch device 280, and a threaded hole is opened in the cylinder wall above the bottom boss of the lower bushing 273 so that the fixing block 281 is fixed to the lower bushing 273 by bolts. In addition, two notches are opened in the cylinder wall above the bottom boss of the lower bushing 273 so that the clamp head 1 282 and the clamp head 2 283 can move freely inside the lower bushing 273. It should be particularly pointed out that the linear retractor 284 is a servo electric cylinder with an electronic brake to achieve a self-locking function.

[0075] In this embodiment, the elastic expansion member 285 is an oil-gas spring or a gas spring.

[0076] In one embodiment, in order to prevent the buoyancy material of the ROV from being damaged by the hard contact and collision between the oscillator 200 and the ROV when the oscillator 200 is docked with the ROV, a plurality of buffer pads 274 are installed under the fixing frame 271 of the oscillator 200 for buffering and collision avoidance. The buffer pads 274 are made of rubber.

[0077] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0078] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A fully electric underwater equipment deployment gantry, characterized in that: include: Mounting base (110); The outrigger driving assembly (120) comprises a motor (121) disposed on a mounting base (110), a right-angle transmission mechanism (1) drivingly connected to the motor (121), and a bearing base (123) disposed on the mounting base (110), wherein the bearing base (123) is used to mount the right-angle transmission mechanism (1); The rotating leg (130) is drivingly connected to a right-angle transmission mechanism 1, wherein the right-angle transmission mechanism 1 is used to drive the rotating leg (130) to swing back and forth; The swing drive assembly (140) comprises a second motor (141) arranged near the front end of the rotating leg (130), a second right-angle transmission mechanism driven and connected to the second motor (141), and a rotating shaft (143) driven and connected to the second right-angle transmission mechanism, wherein the second right-angle transmission mechanism is arranged on the rotating leg (130), the rotating shaft (143) is rotatably connected to the rotating leg (130), and the rotating shaft (143) is used to install a swing stopper (200).

2. The deployment gantry according to claim 1, characterized in that: The right-angle transmission mechanism comprises a worm gear (1221) disposed on a bearing base (123), a coupling (1222) whose two ends are respectively connected to the worm gear (1221) and a motor (121), a worm wheel (1223) meshing with the worm gear (1221), and a main shaft (1224) coaxially connected to the worm wheel (1223), wherein both ends of the main shaft (1224) are rotatably connected to the bearing base (123), and the main shaft (1224) is connected to a rotating support leg (130).

3. The deployment gantry according to claim 2, characterized in that: External splines (1225) are arranged near the two ends of the main shaft (1224); the rotating support leg (130) comprises two symmetrically arranged support plates (131); both support plates (131) are provided with spline sleeves (1311); the spline sleeves (1311) cooperate with the external splines (1225); And / or, the outrigger drive assembly (120) further comprises an intermediate bearing seat (125), the peripheral wall of the intermediate bearing seat (125) being provided with four bearing mounting holes (1251) for mounting four mounting bearings (1227), and the four mounting bearings (1227) are respectively matched with the worm gear 1 (1221) and the main shaft (1224) in pairs, and the intermediate bearing seat (125) and the bearing base (123) are matched to enclose the worm gear 1 (1221) and the worm wheel 1 (1223) in a relatively sealed space.

4. The deployment gantry according to claim 1, characterized in that: It also includes a protective cover (126), which is arranged on the mounting base (110) and covers the outrigger driving assembly (120), and has a clearance groove (1261) on the protective cover (126) for avoiding the rotating outrigger (130).

5. The deployment gantry according to claim 1, characterized in that: The rotating leg (130) comprises a support column (132), a linear reciprocating drive mechanism (133) disposed on the support column (132), and a telescopic column (134) slidably connected to the end of the support column (132), wherein the linear reciprocating drive mechanism (133) drives the telescopic column (134) to adjust the telescopic length along the support column (132), and the rotating shaft (143) is disposed at one end of the telescopic column (134) away from the support column (132); And / or, the second right-angle transmission mechanism comprises a second worm (1421) rotatably arranged on the rotating leg (130), a second coupling (1422) whose two ends are respectively connected to the second motor (141) and the second worm (1421), and a second worm wheel (1423) meshing with the second worm (1421), wherein the second worm wheel (1423) is centered with the rotating shaft (143).

6. The deployment gantry according to claim 5, characterized in that: The linear reciprocating drive mechanism 1 (133) comprises a motor 3 (1331) disposed inside the support column (132), a screw rod 1 (1332) drivingly connected to the motor 3 (1331), and the screw rod 1 (1332) is threadedly connected to the telescopic column (134); And / or, the rotating shaft (143) is connected to the second worm gear (1423) via a spline fit; And / or, at least two inductive limit switches (135) are disposed at one end of the support column (132), and at least two inductive switch trigger devices (136) are disposed on the telescopic column (134); when the inductive switch trigger device (136) triggers the inductive limit switch (135), the linear reciprocating drive mechanism (133) stops driving the telescopic column (134).

7. The deployment gantry according to claim 6, characterized in that: At least two sides of the telescopic column (134) are provided with grooves (1341), and an inductive switch trigger device (136) is arranged in each of the grooves (1341). The inductive switch trigger device (136) comprises a fixed seat (1361) arranged in the groove (1341), a trigger plate (1362) with one end hinged on the fixed seat (1361), and a tension spring (1363) with two ends respectively connected to the fixed seat (1361) and the trigger plate (1362), wherein the tension spring (1363) is used to pull the trigger plate (1362) to reset, and the trigger plate (1362) is used to contact the inductive limit switch (135).

8. An anti-sway device for underwater equipment, characterized in that: It comprises a stabilizer (200) and a deployment portal frame (100) according to any one of claims 1 to 7, wherein the stabilizer (200) is arranged on a swing drive assembly (140) of the deployment portal frame (100), and the swing drive assembly (140) is used to drive the stabilizer (200) to swing.

9. The anti-sway device according to claim 8, characterized in that: The swing stopper (200) comprises a swing shaft arm (210) arranged on a swing drive assembly (140), a mounting frame (220) slidably sleeved on the end of the swing shaft arm (210), a linear reciprocating drive mechanism 2 arranged on the swing shaft arm (210) and drivingly connected to the swing shaft arm (210), a pulley mounting frame (240) arranged on the swing shaft arm (210), a pulley (250) arranged on the pulley mounting frame (240), a meter (260) arranged on the pulley mounting frame (240), a docking frame (270) arranged at the bottom end of the mounting frame (220), and a latch device (280) arranged on the docking frame (270), wherein the latch device (280) is used for capturing and releasing underwater equipment, and the meter (260) cooperates with the pulley (250) to measure the retracted and released length of the cable.

10. The anti-sway device according to claim 9, characterized in that: The second linear reciprocating drive mechanism comprises a fourth motor (231) disposed inside the mounting frame (220), and a second screw rod (232) drivingly connected to the fourth motor (231), wherein the second screw rod (232) is threadedly connected to the swing shaft arm (210); And / or, the docking frame (270) comprises a fixing frame (271) connected to the mounting frame (220), an upper bushing (272) and a lower bushing (273) fixedly inserted in the center of the fixing frame (271), the upper bushing (272) and the lower bushing (273) being used for threading cables, the upper bushing (272) being an upwardly facing trumpet structure, and the lower bushing (273) being an overall cylindrical structure; And / or, the latch device (280) comprises a fixed block (281) arranged on the docking frame (270), a first clamp (282) rotatably connected to one end of the fixed block (281), a second clamp (283) rotatably connected to the other end of the fixed block (281), a linear retractor (284) whose two ends are respectively hinged to one end of the first clamp (282) and the second clamp (283), two elastic retractable members (285) respectively hinged to the side walls of the first clamp (282) and the second clamp (283), and a retractable member (285) arranged on the second clamp (283). A mounting bracket (286) on the docking frame (270), and a plurality of inductive switches (287) arranged on the mounting bracket (286); the two elastic telescopic members (285) are used to provide a pre-tightening force for locking the latch device (280); the linear telescopic device (284) is used to drive the first clamp (282) and the second clamp (283) to cooperate to complete an opening and closing action to capture and release underwater equipment; and the plurality of inductive switches (287) are respectively used to detect the opening and closing status of the first clamp (282) and the second clamp (283).

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