Salvage head of underwater salvage equipment

Abstract

The fishing head of the underwater fishing equipment comprises a small motor, the outer wall of the small motor is fixedly installed on the outer wall of a flange plate, the output end of the small motor is connected with a threaded rod, the outer wall of the threaded rod is in threaded connection with a limiting frame, and two fixing seats are fixedly and symmetrically arranged on the outer wall of the flange plate; connecting blocks and protruding plates are fixedly arranged on the outer walls of the two fixing seats correspondingly, guide rods and second positioning shafts are fixedly installed on the upper end faces of the connecting blocks and the protruding plates correspondingly, two clamping plates are arranged on the outer side of the flange plate, adjusting assemblies are arranged on the outer walls of the two clamping plates correspondingly, and each adjusting assembly comprises a positioning plate, a telescopic rod and a grabbing plate. And the four positioning plates are fixedly mounted at the upper ends and the lower ends of the two clamping plates correspondingly, so that objects of various sizes can be quickly fished and grabbed, the contact area between the clamping plates and the objects is increased, and the grabbing stability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of salvage equipment, and particularly to a salvage head of an underwater salvage equipment. Background Art

[0002] The salvage head of the underwater salvage equipment tightly grasps an object through the closing action of the claws, just like a human hand holding an item; the vacuum adsorption type salvage head utilizes the generated negative pressure to adsorb on the surface of the object and suck the object. During the lifting process, the salvage head needs to be able to stably fix the object to ensure that the object will not fall off due to factors such as water flow impact and its own gravity until the object is salvaged to the water surface or a designated position.

[0003] There are some deficiencies in the existing salvage heads of underwater salvage equipment when in use. Many salvage heads adopt a claw type structure, and the opening size is relatively fixed. When dealing with an object with a larger size, it may not be able to effectively grasp it. When the salvage head grasps the object, the object may slip during the lifting process. Since the contact area between the salvage head and the object is relatively small, there is not enough friction or clamping force, thus reducing the fast and stable salvage efficiency of the object. In view of the above problems, a salvage head of an underwater salvage equipment is proposed for improvement and upgrade. Summary of the Invention

[0004] The purpose of the present invention is to provide a salvage head of an underwater salvage equipment.

[0005] To achieve the above purpose, the present invention is implemented according to the following technical solution:

[0006] The present invention includes a small motor, the outer wall of the small motor is fixedly installed on the outer wall of the flange, the output end of the small motor is connected with a threaded rod, and the outer wall of the threaded rod is threadedly connected with a limit frame. Two fixed seats are symmetrically and fixedly arranged on the outer wall of the flange. Connecting blocks and convex plates are fixedly arranged on the outer walls of the two fixed seats. A guide rod and a second positioning shaft are respectively fixedly installed on the upper end faces of the connecting block and the convex plate. Two clamping plates are arranged outside the flange, and adjusting components are arranged on the outer walls of the two clamping plates. The adjusting component includes a positioning plate, a telescopic rod, and a gripping plate. The number of positioning plates is set to four and they are respectively fixedly installed at the upper and lower ends of the two clamping plates.

[0007] Furthermore, both sides inside the limit frame are fixedly provided with first positioning shafts, and guide plates are respectively rotatably installed on the outer walls of the two first positioning shafts, and the other ends of the guide plates are rotatably installed on the guide frames.

[0008] Furthermore, one ends of the two guide frames are respectively rotatably installed on the outer walls of the two second positioning shafts, and the other ends of the two guide frames are respectively connected to the outer walls of the two clamping plates. The two guide frames have the same size.

[0009] Furthermore, a connecting frame is rotatably installed on the outer walls of the two guide rods, and the other end of the connecting frame is rotatably connected to the outer wall of the clamping plate. Anti-slip plates are provided on the outer walls of the two clamping plates.

[0010] Furthermore, installation grooves are formed inside both groups of positioning plates, and telescopic rods are fixedly arranged inside the installation grooves. One ends of the two telescopic rods are connected to both sides of the outer wall of the grasping plate.

[0011] Furthermore, the two clamping plates are of the same size, and clamping claws are provided on the outer wall of the grasping plate.

[0012] The beneficial effects of the present invention are:

[0013] The present invention is a salvage head of an underwater salvage device. Compared with the prior art, the beneficial effects of the present invention are as follows:

[0014] 1. Components such as threaded rods, limit frames, guide plates, guide frames, and clamping plates are arranged inside the device of the present invention. By driving the small motor to drive the limit frame on the threaded rod to move, when the limit frame moves, the guide plates on the two first positioning shafts drive the two guide frames to expand outwards, so that the guide frames drive the two clamping plates to expand. When the size of the object matches the size between the two clamping plates, the threaded rod drives the limit frame to contract to bring the two clamping plates closer to grasp the object, which is beneficial for quickly salvaging and grasping objects of various sizes, improving the applicable range of the salvage head, and having a simple structure.

[0015] 2. Components such as positioning plates, telescopic rods, and grasping plates are arranged inside the device of the present invention. By driving the telescopic rods on the two groups of positioning plates to drive the grasping plate to move to clamp and salvage the object, and at the same time, anti-slip plates are provided on the outer walls of the clamping plates, which is beneficial for increasing the contact area and improving the grasping stability, avoiding problems such as slipping when the clamping plates grasp the object, and improving the object salvage efficiency. Description of the Drawings

[0016] Figure 1 is the overall structural schematic diagram of the present invention;

[0017] Figure 2 is the movement structural schematic diagram of the present invention;

[0018] Figure 3 is Figure 1 the partial split structural schematic diagram at

[0019] Figure 4 is Figure 3 the partial enlarged split structural schematic diagram at

[0020] In the figure: 1. Small motor; 2. Flange; 3. Threaded rod; 4. Limiting frame; 41. First positioning shaft; 42. Guide plate; 5. Fixed seat; 6. Adjusting assembly; 60. Clamping plate; 601. Anti-slip plate; 61. Connecting block; 62. Guide rod; 63. Connecting frame; 64. Telescopic rod; 65. Grasping plate; 66. Installation groove; 67. Positioning plate; 7. Second positioning shaft; 71. Guide frame. Detailed implementation manners

[0021] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. The illustrative embodiments and descriptions of the present invention are used to explain the present invention, but do not limit the present invention.

[0022] As Figures 1-4 shown: The present invention includes a small motor 1, the outer wall of the small motor 1 is fixedly installed on the outer wall of the flange 2, the output end of the small motor 1 is connected with a threaded rod 3, and the outer wall of the threaded rod 3 is threadedly connected with a limiting frame 4. Two fixed seats 5 are fixedly symmetrically arranged on the outer wall of the flange 2. Connecting blocks 61 and convex plates are fixedly arranged on the outer walls of the two fixed seats 5. A guide rod 62 and a second positioning shaft 7 are fixedly installed on the upper end surfaces of the connecting block 61 and the convex plate respectively. Two clamping plates 60 are arranged outside the flange 2, and adjusting assemblies 6 are arranged on the outer walls of the two clamping plates 60. The adjusting assembly 6 includes a positioning plate 67, a telescopic rod 64 and a grasping plate 65. The number of the positioning plates 67 is four and they are fixedly installed on the upper and lower ends of the two clamping plates 60 respectively.

[0023] Preferably, first positioning shafts 41 are fixedly arranged on both sides inside the limiting frame 4, guide plates 42 are rotatably installed on the outer walls of the two first positioning shafts 41 respectively, and the other ends of the guide plates 42 are rotatably installed on the guide frame 71. One ends of the two guide frames 71 are rotatably installed on the outer walls of the two second positioning shafts 7 respectively, and the other ends of the two guide frames 71 are respectively connected to the outer walls of the two clamping plates 60. The two guide frames 71 have the same size, which is convenient for driving the adjustment of the sizes of the two clamping plates 60 and facilitating the clamping of objects of different sizes.

[0024] Preferably, a connecting frame 63 is rotatably installed on the outer walls of the two guide rods 62, and the other end of the connecting frame 63 is rotatably connected to the outer wall of the clamping plate 60. Anti-slip plates 601 are arranged on the outer walls of the two clamping plates 60. Installation grooves 66 are opened inside the two groups of positioning plates 67, and telescopic rods 64 are fixedly arranged inside the installation grooves 66. One ends of the two telescopic rods 64 are connected to both sides of the outer wall of the grasping plate 65. The two clamping plates 60 are of the same size, and clamping claws are arranged on the outer wall of the grasping plate 65, which can improve the stability when fishing for objects.

[0025] Principle and process of using the present invention: When it is necessary to salvage an object in water, by connecting to an external power supply, the small motor 1 is driven to drive the movement of the limit frame 4 on the threaded rod 3, so that when the limit frame 4 moves, the guide plates 42 on the two first positioning shafts 41 drive the two guide frames 71 to expand outwards. One end of the guide frame 71 is limited by the second positioning shaft 7, and the other end drives the two clamping plates 60 to expand. At the same time, when the clamping plates 60 expand, they are rotationally limited on the guide rod 62 by the connecting frame 63. According to the size of the object, the two clamping plates 60 are extended or retracted to an appropriate size. When the size of the object matches the size between the two clamping plates 60, the threaded rod 3 drives the limit frame 4 to contract, bringing the two clamping plates 60 closer to each other to grip the object. At the same time, an anti-slip plate 601 is provided to effectively prevent the object from slipping and falling when being clamped. When encountering an object with a larger size, the telescopic rods 64 on the two groups of positioning plates 67 are driven to drive the grasping plates 65 to move to clamp and salvage the object, which can increase the contact area with the object and improve the grasping stability.

[0026] In addition, the present invention can also be equipped with a sensor integration and intelligent control system;

[0027] Installation position and type of sensors:

[0028] In the technical solution of the present invention, the following sensors will be integrated to achieve real-time monitoring and intelligent control of the salvage process:

[0029] Pressure sensor:

[0030] Installation position: On the inner surface of each clamping plate, near the grasping plate.

[0031] Type: Thin-film pressure sensor.

[0032] Function: Real-time monitor the clamping force between the clamping plate and the object, ensure that the clamping force is appropriate, avoid damaging the object, and at the same time prevent the object from slipping.

[0033] Displacement sensor:

[0034] Installation position: At the connection between the clamping plate and the guide rod.

[0035] Type: Linear variable differential transformer (LVDT).

[0036] Function: Real-time monitor the opening and closing position of the clamping plate, ensure that the clamping plate can be accurately adjusted to the required position to adapt to objects of different sizes.

[0037] Water flow sensor:

[0038] Installation position: At the front end of the salvage head, near the water flow inlet.

[0039] Type: Electromagnetic water flow sensor.

[0040] Function: Real-time monitor the water flow speed and direction, provide data support for the water flow compensation system, and ensure the stability of the salvage head in the water flow.

[0041] Water depth sensor:

[0042] Installation location: At the bottom of the salvage head.

[0043] Type: Pressure type water depth sensor.

[0044] Function: Real-time monitor the water depth where the salvage head is located, provide data support for the deep-water sealing design, and remind the operator to pay attention to the impact of water depth on the equipment when necessary.

[0045] Electromagnetic sensor (optional):

[0046] Installation location: Inside the clamping plate, used to detect metal objects.

[0047] Type: Hall effect sensor.

[0048] Function: When the clamping plate approaches a metal object, the sensor can detect the change in the magnetic field, thereby confirming whether the object is metal and providing support for the magnetic adsorption function.

[0049] Technical solution of the intelligent control system: The intelligent control system will be designed based on a microcontroller (such as Arduino or RaspberryPi), and realize automatic control by combining sensor data. The following is the detailed technical solution:

[0050] System architecture:

[0051] Core controller: Adopt a high-performance microcontroller (such as Arduino Mega or Raspberry Pi 4B) as the core of the system, responsible for data acquisition, processing and sending control instructions.

[0052] Sensor interface: Design a dedicated interface circuit for each sensor to ensure that sensor data can be accurately transmitted to the microcontroller.

[0053] Motor drive module: Connect a small motor, control the speed and direction of the motor through PWM (pulse width modulation) signals, and realize the opening and closing actions of the clamping plate.

[0054] Communication module: Integrate Wi-Fi or Bluetooth module, used for wireless communication with an external control terminal (such as a mobile phone or a computer), and realize remote monitoring and operation.

[0055] Power management module: Provide stable power for the microcontroller, sensors and communication module, and at the same time support the charging management of rechargeable batteries.

[0056] Function implementation:

[0057] Automatic clamping control:

[0058] Process: After starting the salvage task, the microcontroller obtains the initial position of the clamping plate through the displacement sensor. According to the preset object size, the microcontroller controls the small motor through the motor drive module to open the clamping plate to an appropriate position. When the clamping plate touches the object, the pressure sensor monitors the clamping force in real time. The microcontroller adjusts the motor speed according to the feedback of the pressure sensor to keep the clamping force within the preset safe range. If the object slides, the displacement sensor will detect the change in the position of the clamping plate, and the microcontroller quickly adjusts the clamping force to ensure stable clamping of the object.

[0059] Water flow compensation:

[0060] Process: The water flow sensor monitors the water flow speed and direction in real time. The microcontroller adjusts the angle or position of the clamping plate according to the water flow data through the motor drive module to offset the influence of the water flow on the salvage head and ensure the stability of the clamping action.

[0061] Remote monitoring and operation:

[0062] Process: The operator connects to the communication module of the salvage head through a control terminal (such as a dedicated APP or web interface) on a mobile phone or computer. The control terminal displays the sensor data (such as clamping force, water flow speed, water depth, etc.) in real time. The operator can send commands through the control terminal to remotely control the clamping, releasing and other actions of the salvage head.

[0063] Fault warning and protection:

[0064] Process: The microcontroller monitors the sensor data in real time. When an abnormal situation (such as a sudden drop in clamping force, motor overheating, etc.) is detected, the warning mechanism is automatically triggered. A warning signal is sent to the operator through the communication module, and protection actions are automatically executed, such as stopping the motor operation and releasing the clamping force, to prevent equipment damage or salvage failure.

[0065] System software design:

[0066] Sensor data acquisition: Write program code to regularly collect sensor data and perform filtering processing to improve data accuracy.

[0067] Implementation of control algorithm: Design a PID (Proportional-Integral-Derivative) control algorithm according to the sensor data to achieve precise control of the clamping force and clamping position.

[0068] Communication protocol design: Develop a custom communication protocol for data transmission and instruction interaction between the microcontroller and the control terminal.

[0069] User interface development: Design an intuitive graphical user interface to facilitate operators to view data in real time and send control instructions.

[0070] Through the implementation of the above technical solutions, the salvage head of your underwater salvage equipment will possess stronger intelligent functions, capable of realizing real-time monitoring and automatic control of the salvage process, and improving the salvage efficiency and reliability.

[0071] The technical solutions of the present invention are not limited to the limitations of the above specific embodiments. Any technical variations made according to the technical solutions of the present invention shall fall within the protection scope of the present invention.

Claims

1. A salvage head of an underwater salvage device, characterized in that, It includes a small motor (1), the outer wall of the small motor (1) is fixedly installed on the outer wall of a flange (2), the output end of the small motor (1) is connected to a threaded rod (3), and a limit frame (4) is threadedly connected to the outer wall of the threaded rod (3). Two fixing seats (5) are fixedly and symmetrically arranged on the outer wall of the flange (2). Connecting blocks (61) and convex plates are fixedly arranged on the outer walls of the two fixing seats (5). A guide rod (62) and a second positioning shaft (7) are fixedly installed on the upper end surfaces of the connecting block (61) and the convex plate respectively. Two clamping plates (60) are arranged outside the flange (2), and adjusting assemblies (6) are arranged on the outer walls of the two clamping plates (60). The adjusting assembly (6) includes a positioning plate (67), a telescopic rod (64) and a gripping plate (65). The number of the positioning plates (67) is four and they are respectively fixedly installed at the upper and lower ends of the two clamping plates (60).

2. The salvage head of an underwater salvage device according to claim 1, wherein, On both sides inside the limit frame (4), first positioning shafts (41) are fixedly arranged. Guide plates (42) are rotatably installed on the outer walls of the two first positioning shafts (41), and the other ends of the guide plates (42) are rotatably installed on a guide frame (71).

3. The salvage head of an underwater salvage device according to claim 2, characterized in that, One ends of the two guide frames (71) are respectively rotatably installed on the outer walls of the two second positioning shafts (7), and the other ends of the two guide frames (71) are respectively connected to the outer walls of the two clamping plates (60). The two guide frames (71) have the same size and dimensions.

4. A salvage head of an underwater salvage device according to claim 1, characterized in that, A connecting frame (63) is rotatably installed on the outer walls of the two guide rods (62), and the other end of the connecting frame (63) is rotatably connected to the outer wall of the clamping plate (60). Anti-slip plates (601) are arranged on the outer walls of the two clamping plates (60).

5. The salvage head of an underwater salvage device according to claim 1, characterized in that, Installation grooves (66) are formed inside the two groups of positioning plates (67), and telescopic rods (64) are fixedly arranged inside the installation grooves (66). One ends of the two telescopic rods (64) are connected to both sides of the outer wall of the gripping plate (65).

6. The salvage head of an underwater salvage device according to claim 1, characterized in that, The two clamping plates (60) are of the same size, and clamping claws are arranged on the outer wall of the gripping plate (65).

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