Suspended top type releasing and recycling device for ocean robot

Abstract

The suspended top type releasing and recycling device for the ocean robot comprises a frame body, a first sliding rail device is fixedly connected to the top of the frame body, the first sliding rail device is sequentially and slidably connected with a first mounting frame, a second mounting frame and a traveling block device, the first mounting frame is provided with a first rope guide wheel, and the second mounting frame is provided with a second rope guide wheel; the traveling block device is provided with a third rope guide wheel, a swing stopper and a submarine cable manager; a third sliding rail device is vertically arranged at the bottom of the frame body, and a second sliding rail device is vertically arranged on the second mounting frame close to the traveling block device; the cable storage winch, the friction traction winch, the first rope guide wheel, the second rope guide wheel, the third rope guide wheel, the oscillation stopping device and the submarine cable manager are rotationally connected in sequence through an umbilical cable. According to the suspended top type releasing and recycling device for the ocean robot, the underwater robot is moved to the position close to the water surface or below the water surface by arranging the horizontal track and the vertical track, and the problem of safe releasing and recycling of an ultra-deep water working-stage robot in a limited cabin space is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of marine recovery engineering equipment, and in particular relates to a suspended top release and recovery device for a marine robot. Background Art

[0002] As an important detection equipment for marine resource exploration and development and marine life science research, underwater robots have been widely used. As global marine resource exploration and development gradually expands to the deep sea and ultra-deep sea, and as natural gas hydrates and deep-sea mining gradually become commercialized, ultra-deepwater working-class underwater robots must be used for seabed operations, and surface release and recovery systems must be used for safe release and recovery. Ultra-deepwater working-class underwater robots are mainly stored in the engine room of the ship. In the current existing technology, when ultra-deepwater working-class robots in the engine room space are in motion, due to the limited space in the engine room, ultra-deepwater working-class robots are difficult to recover and release, causing safety hazards. Summary of the invention

[0003] The purpose of the present invention is to provide a suspended top release and recovery device for a marine robot, which solves the problem in the prior art that ultra-deepwater working-class robots are difficult to safely recover and release in limited cabin space.

[0004] The technical solution adopted by the present invention is that a suspended top release and recovery device for a marine robot includes a frame, a first slide rail device is fixedly connected to the top of the frame, the first slide rail device is slidably connected to the first mounting frame, the second mounting frame and the traveling carriage device in sequence, the first mounting frame is provided with a first guide rope wheel, the second mounting frame is provided with a second guide rope wheel, the traveling carriage device is provided with a third guide rope wheel, a stopper and a submarine cable manager; a third slide rail device is vertically provided at the bottom of the frame, and a second slide rail device is vertically provided on the second mounting frame near the traveling carriage device; it also includes a cable storage winch and a friction traction winch, the cable storage winch, the friction traction winch, the first guide rope wheel, the second guide rope wheel, the third guide rope wheel, the stopper and the submarine cable manager are rotatably connected in sequence through an umbilical cable.

[0005] The present invention is also characterized in that:

[0006] The third slide rail device is flush with an end of the first slide rail device away from the first guide rope wheel.

[0007] A number of buoyancy blocks are provided on the outer wall of the umbilical cable.

[0008] The first mounting frame is connected to the first guide rope wheel through threads, and the second mounting frame is connected to the second guide rope wheel through threads.

[0009] The second mounting frame is provided with a ladder.

[0010] The friction traction winch is provided with a first guide wheel and a second guide wheel, and the first guide wheel and the second guide wheel are arranged in the same plane.

[0011] The beneficial effects of the present invention are as follows: the present invention provides a top-hanging release and recovery device for a marine robot, which adopts a side slide rail to safely release and recover an ultra-deepwater working-class underwater robot and a submarine cable manager. In a normal storage state, all other parts of the top-hanging release and recovery device are located in the engine room. When the ultra-deepwater working-class underwater robot is lowered into the water, the submarine cable manager and the ultra-deepwater working-class underwater robot are horizontally moved to the outside of the ship as a whole through the horizontal guide rail, and the submarine cable manager and the ultra-deepwater working-class underwater robot can be vertically moved to near the water surface or below the water surface through the side fixed vertical rail, and the wave compensation device compensates for the influence of the deep waves on the release operation, which can solve the requirements for the safe release and recovery of the ultra-deepwater working-class robot with limited cabin space, and the device has a compact structure, ingenious design, small size and high degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic structural diagram of the suspended top release and recovery device used in the present invention.

[0013] In the figure, 1. frame, 2. cable storage winch, 3. friction traction winch, 4. first mounting frame, 5. first guide rope pulley, 6. second mounting frame, 7. second guide rope pulley, 8. first slide rail device, 9. traveling carriage device, 10. third guide rope pulley, 11. stopper, 12. second slide rail device, 13. submarine cable manager, 14. third slide rail device, 15. umbilical cable, 16. first guide wheel, 17. second guide wheel, 18. ladder, 19. buoyancy block. DETAILED DESCRIPTION

[0014] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0015] The present invention provides a suspended top release and recovery device for a marine robot, such as Figure 1 As shown, it includes a frame 1, a cable storage winch 2 and a friction traction winch 3.

[0016] The cable storage winch 2 can store the umbilical cable and is equipped with an automatic cable arrangement device, which can be operated automatically and manually intervened. It is equipped with a compensation device that can compensate for the heave movement caused by deep waves, and is equipped with a synchronization device that can achieve that all layers of the cable on the drum can move synchronously with the traction winch.

[0017] The friction traction winch 3 is designed with a first guide wheel 16 and a second guide wheel 17 with rope grooves. The friction traction winch 3 is driven by a motor and is equipped with a disc brake and a mechanical brake, and can be remotely operated and released in an emergency.

[0018] The first slide rail device 8 is horizontally installed on the top of the frame body 1 and the third slide rail device 14 is vertically installed on the bottom. The first slide rail device 8 is slidably connected to the first mounting frame 4, the second mounting frame 6 and the traveling car device 9 in sequence. The first mounting frame 4 is connected to the first guide rope wheel 5 by threading, and the second mounting frame 6 is threadedly connected to the second guide rope wheel 7. The second guide rope wheel 7 is placed in the second mounting frame 6. The second mounting frame 6 is also welded with a ladder 18 to facilitate maintenance and overhaul by maintenance personnel. The second mounting frame 6 is vertically installed with a second slide rail device 12 close to the traveling car device 9. By arranging the top-mounted first slide rail device 8 and the vertically movable second slide rail device 12 and the third slide rail device 14, the overhead gantry system can move horizontally in the cabin and can be moved to the side, and docked with the fixed vertical track on the side, so as to realize the vertical movement of the overhead gantry system. The traveling device includes a traveling device support, a third guide rope wheel 10, a stopper 11 and a submarine cable manager 13; the traveling device 9 lifts the working-level underwater robot and the submarine cable manager 13 to release and recover them in the cabin and on the side; the stopper 11 is used to control the position of the working-level underwater robot and the submarine cable manager 13 in the unreleased state, and can rotate 0-270 degrees in the air, and can also swing ±15 degrees sideways and ±15 degrees horizontally. The third guide rope wheel 10 can pass through the umbilical cable 15 with a buoyancy block 19, and the locking device can lock the working-level underwater robot and the submarine cable manager 13 to achieve stop and limit swing. The above-mentioned cable storage winch 2, friction traction winch 3, first guide rope wheel 5, second guide rope wheel 7, third guide rope wheel 10, stopper 11 and submarine cable manager 13 are all connected by the umbilical cable 15. The present invention is also equipped with a control room console and a wireless remote control box, which can control the entire system and display and alarm the main functions. The hydraulic power unit is designed with 2 pump groups, one for use and one as a backup. The hydraulic power unit adopts water cooling and has a start buffer device. The cooling unit is designed, including brake resistors, hydraulic power units and other equipment, and can provide heat exchangers for all components that need cooling.

[0019] The working principle of the suspended top release and recovery device for the marine robot of the present invention is as follows: the umbilical cable 15 is stored by the cable storage winch 2, and the friction traction winch 3, the first guide wheel 16 and the second guide wheel 17 drive the umbilical cable 15 to work together, and the working-level underwater robot and the submarine cable manager 13 are lifted by the umbilical cable 15, and the traveling carriage device 9 moves horizontally on the first slide rail device 8, and moves vertically on the second slide rail device 12 and the third slide rail device 14, so as to lower and recover the working-level underwater robot and the submarine cable manager 13, and the anti-sway device 11 performs 0-270 degree aerial rotation, ±15 degree side swing, ±15 degree lateral swing and other compensations to ensure the safety of release and recovery.

[0020] Example 1

[0021] The marine robot uses a suspended top release and recovery device, such as Figure 1As shown, it includes a frame 1, a first slide rail device 8 is fixedly connected to the top of the frame 1, the first slide rail device 8 is slidably connected with the first mounting frame 4, the second mounting frame 6 and the traveling car device 9 in sequence, the first mounting frame 4 is provided with a first guide rope wheel 5, the second mounting frame 6 is provided with a second guide rope wheel 7, the traveling car device 9 is provided with a third guide rope wheel 10, a stopper 11 and a submarine cable manager 13; a third slide rail device 14 is vertically provided at the bottom of the frame 1, the second mounting frame 6 is vertically provided with a second slide rail device 12 near the traveling car device 9, and also includes a cable storage winch 2 and a friction traction winch 3, the cable storage winch 2, the friction traction winch 3, the first guide rope wheel 5, the second guide rope wheel 7, the third guide rope wheel 10, the stopper 11 and the submarine cable manager 13 are rotationally connected in sequence through the umbilical cable 15.

[0022] Example 2

[0023] A first slide rail device 8 is fixedly connected to the top of the frame 1, and the first slide rail device 8 is slidably connected with the first mounting frame 4, the second mounting frame 6 and the traveling car device 9 in sequence. The first mounting frame 4 is provided with a first guide rope wheel 5, the second mounting frame 6 is provided with a second guide rope wheel 7, and the traveling car device 9 is provided with a third guide rope wheel 10, a stopper 11 and a submarine cable manager 13; a third slide rail device 14 is vertically provided at the bottom of the frame 1, and the second mounting frame 6 is vertically provided with a second slide rail device 12 near the traveling car device 9, and also includes a cable storage winch 2 and a friction traction winch 3. The cable storage winch 2, the friction traction winch 3, the first guide rope wheel 5, the second guide rope wheel 7, the third guide rope wheel 10, the stopper 11 and the submarine cable manager 13 are rotationally connected in sequence through the umbilical cable 15, the third slide rail device 14 is flush with the end of the first slide rail device 8 away from the first guide rope wheel 5, and the outer wall of the umbilical cable 15 is provided with a plurality of buoyancy blocks 19.

[0024] Example 3

[0025] A first slide rail device 8 is fixedly connected to the top of the frame 1, and the first slide rail device 8 is slidably connected to the first mounting frame 4, the second mounting frame 6 and the traveling carriage device 9 in sequence. The first mounting frame 4 is provided with a first guide rope wheel 5, the second mounting frame 6 is provided with a second guide rope wheel 7, and the traveling carriage device 9 is provided with a third guide rope wheel 10, a stopper 11 and a submarine cable manager 13; a third slide rail device 14 is vertically provided at the bottom of the frame 1, and the second mounting frame 6 is vertically provided with a second slide rail device 12 near the traveling carriage device 9, and also includes a cable storage winch 2 and a friction traction winch 3, the cable storage winch 2, the friction traction winch 3, the first guide rope wheel 5 , the second guide rope wheel 7, the third guide rope wheel 10, the stopper 11 and the submarine cable manager 13 are rotatably connected in sequence through the umbilical cable 15, the third slide rail device 14 is flush with the end of the first slide rail device 8 away from the first guide rope wheel 5, the outer wall of the umbilical cable 15 is provided with a plurality of buoyancy blocks 19, the first mounting frame 4 is connected to the first guide rope wheel 5 by threads, the second mounting frame 6 is connected to the second guide rope wheel 7 by threads, the second mounting frame 6 is provided with a ladder 18, the friction traction winch 3 is provided with a first guide wheel 16 and a second guide wheel 17, and the first guide wheel 16 and the second guide wheel 17 are arranged in the same plane.

Claims

1. A suspended top release and recovery device for a marine robot, characterized in that: The invention comprises a frame (1), wherein a first slide rail device (8) is fixedly connected to the top of the frame (1), and the first slide rail device (8) is slidably connected to a first mounting frame (4), a second mounting frame (6) and a traveling carriage device (9) in sequence, wherein the first mounting frame (4) is provided with a first guide rope wheel (5), the second mounting frame (6) is provided with a second guide rope wheel (7), and the traveling carriage device (9) is provided with a third guide rope wheel (10), a stopper (11) and a submarine cable manager (13); a third slide rail device (14) is vertically provided at the bottom of the frame (1), and a second slide rail device (12) is vertically provided near the traveling carriage device (9) on the second mounting frame (6); It also includes a cable storage winch (2) and a friction traction winch (3), wherein the cable storage winch (2), the friction traction winch (3), the first guide rope wheel (5), the second guide rope wheel (7), the third guide rope wheel (10), the stopper (11) and the submarine cable manager (13) are rotatably connected in sequence through an umbilical cable (15).

2. The overhead release and recovery device for a marine robot according to claim 1, characterized in that: The third slide rail device (14) is flush with an end of the first slide rail device (8) away from the first guide rope wheel (5).

3. The overhead release and recovery device for a marine robot according to claim 1, characterized in that: The outer wall of the umbilical cable (15) is provided with a plurality of buoyancy blocks (19).

4. The overhead release and recovery device for a marine robot according to claim 1, characterized in that: The first mounting frame (4) is connected to the first guide rope wheel (5) via threads, and the second mounting frame (6) is connected to the second guide rope wheel (7) via threads.

5. The overhead release and recovery device for a marine robot according to claim 1, characterized in that: The second mounting frame (6) is provided with a ladder (18).

6. The overhead release and recovery device for a marine robot according to claim 1, characterized in that The friction traction winch (3) is provided with a first guide wheel (16) and a second guide wheel (17). The first guide wheel (16) and the second guide wheel (17) are arranged in the same plane.

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