Automatic laying and recovery device for dual-body cooperation requirement of underwater robot

Abstract

The invention discloses an automatic laying and recovery device for underwater robot dual-body cooperation requirements, and relates to the technical field of dual-body cooperation equipment cooperative operation, the automatic laying and recovery device comprises a split type hoisting head, an automatic lock hook and an electric control structure, the split type hoisting head is provided with an umbilical cable passing hole, and the split type hoisting head can be matched with dual-body equipment for connection and avoid umbilical cable interference; the automatic lock hook drives the buckle to move through the telescopic electric cylinder, the design of the hinge door is combined, automatic locking and unlocking of the double-body equipment are achieved, and unlocking is triggered only when the equipment reaches a preset operation state; a fixing wheel, a tensioning wheel and an encoder are arranged in the electric control structure, centering positioning and stable clamping of the umbilical cable can be guaranteed, the length of the umbilical cable is measured, automatic locking and unlocking of double-body equipment are achieved through the automatic locking hook, a traditional structure is replaced with the electric control structure, the risk of manual misoperation is eradicated, and the working efficiency is improved. The method has the effect of improving the laying and recovery efficiency and safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of double-body cooperative equipment cooperation, and particularly relates to an automatic deployment and recovery device for underwater robot double-body cooperation requirements. BACKGROUND

[0002] Double-body cooperative equipment refers to a combination of two types of equipment that need to cooperate to complete a task, wherein one type of equipment usually undertakes a task execution function, and the other type of equipment undertakes an auxiliary function, and the two can cooperate to improve the task range, efficiency and safety, and are widely used in lake and sea area tasks, such as dam repair, maritime investigation, environmental detection and channel warning fields. Underwater robots have been widely used in lake and sea area dam repair, maritime investigation, underwater search and rescue and other scenes due to their wide range of tasks, high intelligence, easy maintenance and other advantages, which significantly improve the safety and efficiency of the task. Among them, large hydropower station dams are prone to cracks, chunks and other deep defects due to water erosion, water flow impact and aging, and underwater robots are needed to check, locate and accurately measure the defects to prevent disasters; and in combination with a water surface power float, the positioning capability of the robot can be simultaneously improved, and the problem of umbilical cable deployment and winding can be solved, thereby forming the double-body cooperation core requirement of “underwater robot + power float”. This mode has great application value in dam detection, maritime investigation and underwater monitoring scenes.

[0003] However, the existing technology has obvious bottlenecks: first, underwater robots with a large self-weight usually use a latch type lifting and releasing lock device, which is prone to problems such as latch jamming and robot falling damage caused by accidental unlocking of the rope, and cannot realize cooperative lifting and releasing with the power float; second, double-body cooperation generally uses a “separate deployment and separate recovery” mode, which requires separate debugging and operation of the power float and the robot, and the operation is time-consuming, especially in complex environments such as strong wind, turbulent water flow and narrow land, the operation efficiency is greatly reduced, and the safety hazards of the lock device further increase the risk. Therefore, the existing technology cannot meet the cooperative deployment requirements in the double-body cooperation scene, and has problems such as low efficiency, poor reliability, safety risks and the like, and it is urgent to develop an automatic deployment and recovery device adapted to the double-body cooperation requirements of underwater robots. SUMMARY

[0004] The purpose of the present application is to provide an automatic deployment and recovery device for underwater robot double-body cooperation requirements to solve the problems in the prior art.

[0005] To achieve the above object, the present application provides the following technical scheme: An automatic deployment and recovery device for underwater robot double-body cooperation requirement, the automatic deployment and recovery device comprises a split type hoisting head, an automatic lock hook and an electric control structure, the split type hoisting head comprises a hoisting head one and a hoisting head two, the automatic lock hook comprises a lock hook one and a lock hook two, the hoisting head one is arranged above the lock hook one, the hoisting head two is arranged below the lock hook two, the electric control structure is arranged between the lock hook one and the lock hook two, the hoisting head one and the hoisting head two are completely consistent in structure size and shape, the lock hook one and the lock hook two have the same structure and function, the split type hoisting head is provided with a umbilical hole, the lock hook one and the lock hook two can realize locking and unlocking operations of double-body equipment, under the control of the electric control structure, uniform stress on both sides of the device is ensured, and the length of the umbilical cable is measured.

[0006] The hoisting head one and the hoisting head two are the same in structure, the hoisting head one comprises an optical axis, a hoisting boss and a limiting platform, the optical axis is arranged between the hoisting head one and the lock hook one, the hoisting boss is arranged at the upper end of the optical axis, buckles are arranged on the hoisting boss in a matched mode, the limiting platform is arranged at the middle and lower end of the optical axis, and the limiting platform is connected with the lock hook one, the optical axis is preferably a cylindrical structure, and is a core component of force transmission, one end of the optical axis is connected with the limiting platform, and the other end of the optical axis is connected with the hoisting boss, the hoisting boss is in the form of a boss with a connecting hole, and the locking state is realized through cooperation between the bosses on the two sides and the buckles.

[0007] The split type hoisting head further comprises a hoisting connecting piece and a suspension hole, the hoisting connecting piece is in a disc structure, the limiting platform is located at the connecting position of the hoisting connecting piece and the optical axis, the suspension hole is arranged on the hoisting connecting piece, the center of the hoisting boss is provided with a umbilical hole, the limiting platform forms a structure surface with a limiting function, and the structure surface is used for limiting an external component in an axial or radial direction, so that the relative position between components in the assembly process is accurate, and the hoisting reliability is avoided from being affected by deviation, the suspension hole is used for realizing the mounting and fixing of the overall structure through fasteners, a suspension device and the like, and the umbilical hole provides a through channel for the robot umbilical cable, and ensures that the umbilical cable is not disturbed by the structure in the up-down connection process of the hoisting head.

[0008] The electric control structure comprises an electric control shell right and an electric control shell left, round holes are arranged in the electric control shell right and the electric control shell left, wheel supports right and left are arranged between the electric control shell right and the electric control shell left, electric cylinder upper end fixing right and left are arranged on the wheel supports right and left, the round holes can be directly mounted on the umbilical cable without passing through the head of the umbilical cable, so that the problem that the head of the umbilical cable is too large to pass through is avoided, and the electric cylinder upper end fixing right and left are used for fixing telescopic electric cylinders.

[0009] The right wheel support and the left wheel support are provided with a fixed wheel, a tensioning wheel and an encoder, the tensioning wheel is provided with a spring fixing, the spring fixing is provided with a tensioning spring, the encoder can calculate the distance of the umbilical cable through the number of rotations of the fixed wheel and the tensioning wheel, and the tensioning spring can clamp the umbilical cable through the fixed wheel and the tensioning wheel.

[0010] The lock hook one and the lock hook two are the same structure, the lock hook one comprises an upper inner container, a lower inner container, an outer shell and an earring, the upper inner container is arranged at the upper end of the outer shell, the lower inner container is arranged at the lower end of the outer shell, the earring is arranged outside the outer shell, a bearing pad is arranged between the upper inner container and the buckle, the upper inner container and the lower inner container jointly form a cavity for accommodating the first and second hanging heads, the upper inner container is used for blocking the limiting platform of the first hanging head to realize the positioning function, the outer shell is the main support structure of the device, and the bearing pad bears the bearing load of the whole mechanism to guarantee the bearing stability.

[0011] The lock hook one further comprises a telescopic electric cylinder, an electric cylinder connector, a triangular connector, a lever plate and a pin shaft, the telescopic electric cylinder penetrates through the lower inner container, the upper end of the telescopic electric cylinder is connected with the electric cylinder connector, the lower end of the telescopic electric cylinder is connected with the electric control structure, one end of the lever plate is connected with the triangular connector, the other end of the lever plate is connected with the pin shaft, the pin shaft is arranged between the earrings, the telescopic electric cylinder serves as a power execution component and provides power for the opening and closing of the buckle, the triangular connector is a triangular transmission component, converts the movement of the electric cylinder connector into the acting force for driving the lever plate, realizes force transmission and direction conversion, the lever plate takes the pin shaft as a fulcrum and can rotate around the pin shaft when being driven by the triangular connector, and then drives the buckle to move, the buckle is a key component for locking and releasing the first and second hanging heads, is installed on the pin shaft through hole shaft cooperation and can rotate around the pin shaft, and the middle small hole is connected with the lever plate through a metal rod and is opened or closed under the driving of the lever plate to realize the unlocking or locking of the hanging head.

[0012] The side of the outer shell is provided with a hinge door, a hinge hinge is arranged between the hinge door and the outer shell, and the umbilical cable of the underwater robot can enter from the side, so that the head of the umbilical cable cannot be too large to pass through.

[0013] Compared with the prior art, the beneficial effects of the present application are: 1、The present application adopts symmetrical mechanical structure and adaptable components, such as replaceable bearing pads, adjustable telescopic electric cylinders and universal cable holes, can adapt to underwater, overwater and land double-body collaborative equipment, does not need to be designed separately for single equipment, and reduces application cost.

[0014] 2. The automatic locking / unlocking is realized by the extension of the telescopic cylinder, replacing the traditional bolt type and rope control structure. Only when the double-body device reaches the preset working state, such as the auxiliary device floating up, the working device touching the ground or entering the water, can the telescopic cylinder be controlled to retract and unlock, thereby eliminating the risk of device separation caused by manual misoperation.

[0015] 3. The device of the present application does not require excessive human intervention. The telescopic cylinder is precisely controlled by the electric control structure to realize the stable locking and separation of the hanging head and the automatic lock hook, adapt to the working requirements in complex environments such as strong wind, water flow and narrow space, and reduce the influence of environmental factors on the deployment and recovery. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a schematic diagram of the overall structure of the present application; Figure 2 is a schematic diagram of the split type hanging head structure of the present application; Figure 3 is a structure diagram of the self-unhooking of the present application; Figure 4 is a structure sectional view of the automatic lock hook of the present application; Figure 5 is a structure sectional view of the combination locking of the automatic lock hook and the split type hanging head of the present application; Figure 6 is an internal schematic diagram of the electric control structure of the present application; Figure 7 is a schematic diagram of the overall electric control structure of the present application.

[0017] In the figure: 1, split type hanging head; 1a, hanging head one; 2a, hanging head two; 2, automatic lock hook; 2a, lock hook one; 2b, lock hook two; 3, electric control structure; 4, optical axis; 5, hanging boss; 6, limiting platform; 7, hanging connecting piece; 8, suspension hole; 9, umbilical hole; 10, upper inner container; 11, lower inner container; 12, outer shell; 13, ear ring; 14, buckle; 15, bearing pad; 16, telescopic cylinder; 17, cylinder connection; 18, triangular connection; 19, lever plate; 20, pin shaft; 21, hinge door; 22, hinge hinge; 23, electric control shell right; 24, electric control shell left; 25, round hole; 26, wheel support right; 27, wheel support left; 28, cylinder upper end fixing right; 29, cylinder upper end fixing left; 30, fixed wheel; 31, tensioning wheel; 32, encoder; 33, spring fixing; 34, tensioning spring. DETAILED DESCRIPTION

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Example: Figures 1-7 As shown, the present invention provides a technical solution: an automatic deployment and retrieval device for underwater robot dual-body collaboration. The automatic deployment and retrieval device includes a split-type lifting head 1, an automatic locking hook 2, and an electrical control structure 3. The split-type lifting head 1 includes a first lifting head 1a and a second lifting head 1b. The automatic locking hook 2 includes a first locking hook 2a and a second locking hook 2b. The first lifting head 1a and the second lifting head 1b are symmetrical about the electrical control structure 3. The structural dimensions and shapes of the first lifting head 1a and the second lifting head 1b are completely identical. The first locking hook 2a and the second locking hook 2b have the same structure and function. The first lifting head 1a and the second lifting head 1b are provided with umbilical holes 9. The locking and unlocking operations of the dual-body equipment can be realized through the first locking hook 2a and the second locking hook 2b. Under the control of the electrical control structure 3, the force on both sides of the device is evenly distributed, and the length of the umbilical cable is measured.

[0020] A movable optical axis 4 is nested between the lifting head 1a and the locking hook 2a. The upper end of the optical axis 4 has a lifting boss 5 that mates with the buckle 14. The lower middle end of the optical axis 4 has a limiting platform 6, which contacts the locking hook 2a. Below the limiting platform 6 is a lifting connector 7 with four suspension holes 8. The suspension holes 8 on the lifting heads 1a and 1b are respectively connected to two types of equipment that need to work together to complete the task. Specifically, the lifting head 1a is fixedly connected to the surface buoy, and the lifting head 1b is fixedly connected to the underwater robot, serving as a connector between the surface buoy and the underwater robot during deployment. The lifting boss 5 has an umbilical hole 9 at its center for the robot's umbilical cable to pass through, providing a through-channel for the umbilical cable and ensuring that the umbilical cable is not interfered with by the structure during the connection of the lifting heads.

[0021] The upper inner container 10 is fixed on the upper end of the outer shell 12 by bolts, and the lower inner container 11 is fixed on the lower end of the outer shell 12 by bolts. The ear rings 13 are installed on the outside of the outer shell 12. The load bearing pad 15 is installed between the upper inner container 10 and the buckle 14 for bearing the entire mechanism. The telescopic electric cylinder 16 is installed on the lock hook 2a and performs telescopic movement. The telescopic electric cylinder 16 passes through the inner hole of the lower inner container 11 and is connected to the electric cylinder connection 17 at the upper end and fixed in the electric control structure 3 at the lower end. The two ends of the triangular connection 18 are respectively connected to one end of the lever plate 19, and the other end of the lever plate 19 is installed on the pin shaft 20 which is fixed between the ear rings 13.

[0022] The buckle 14 is installed on the pin shaft 20 through hole shaft cooperation and performs circumferential movement around the pin shaft 20. The small hole in the middle is connected to the lever plate 19 by a metal rod. Before work, the buckle 14 is in a closed state, and the telescopic electric cylinder 16 is in an elongated state. The telescopic electric cylinder 16 is controlled by a signal to contract, thereby driving the upper electric cylinder connection 17, further driving the triangular connection 18, and then causing the lever plate 19 to open to cause the buckle 14 to open. Then, the hoisting head 1a slides into the lock hook 2a along the umbilical cable and is matched with the inside of the lock hook 2a. When the limiting platform 6 of the hoisting head 1a is blocked by the upper inner container 10, it reaches the designated position. The telescopic electric cylinder 16 is controlled by a signal to elongate again, causing the buckle 14 to close to achieve the purpose of locking.

[0023] The hinge door 21 is installed on the side of the outer shell 12. The hinge door 21 and the outer shell 12 are provided with a hinge hinge 22, so that the umbilical cable of the underwater robot can enter from the side, avoiding the problem that the head of the umbilical cable is too large to pass through.

[0024] The electric control structure 3 includes the electric control shell right 23 and the electric control shell left 24 which are left and right symmetrical. The two shells are provided with a circular hole 25 through which the umbilical cable passes. The circular hole 25 can be directly installed on the umbilical cable without passing through the head of the umbilical cable, avoiding the problem that the head of the umbilical cable is too large to pass through. The electric control shell right 23 and the electric control shell left 24 contain the wheel support right 26 and the wheel support left 27. The two supports are provided with the electric cylinder upper end fixing right 28 and the electric cylinder upper end fixing left 29 for fixing the upper end of the telescopic electric cylinder 16.

[0025] The wheel support right 26 and the wheel support left 27 are installed with the fixed wheel 30, the tensioning wheel 31 and the encoder 32. The two wheels can ensure that the umbilical cable always remains in the middle position on the one hand, and can make the encoder 32 count and calculate how many meters the umbilical cable has passed through by rotating on the other hand. The tensioning spring 34 is installed on the spring fixing 33 on the tensioning wheel 31, so that the two wheels can tightly clamp the umbilical cable.

[0026] Working principle of the present application: Before the power buoy and the underwater robot are launched, the umbilical cable is manually threaded through the automatic launching and recovering device, and the automatic launching and recovering device is installed on the power buoy.

[0027] The telescopic cylinder 16 of the control lock hook 2b is controlled to shorten, so that the buckle 14 is opened, then the launching head 2b is installed on the umbilical cable, and then slides into the control lock hook 2b along the umbilical cable. When the limiting platform 6 is blocked by the inner liner 11 and reaches the designated position, the telescopic cylinder 16 is controlled to lengthen again, so that the buckle 14 is closed, and finally the launching boss 5 and the buckle 14 are in the locked state.

[0028] The power buoy is lifted by the lifting device, the telescopic cylinder 16 of the control lock hook 2b is controlled to shorten, so that the buckle 14 is opened, then the launching head of the underwater robot is controlled to enter the control lock hook 2b by the lifting device, and then the telescopic cylinder 16 is controlled to lengthen, so that the buckle 14 is closed and locked.

[0029] The power buoy and the underwater robot are lifted by the lifting device and put into the water.

[0030] After the underwater robot enters the water, it is in a state of zero buoyancy, so the buckle 14 of the control lock hook 2b is no longer in close contact with the launching head of the underwater robot, so the telescopic cylinder 16 is controlled to open the buckle 14, and then the underwater robot is unlocked and separated.

[0031] After the power buoy contacts the water surface, the launching head 2b is no longer in contact with the buckle 14 due to gravity, then the telescopic cylinder 16 is controlled to open the buckle 14, and then the power buoy is unlocked and separated.

[0032] The launching head 2b is lifted away by the launching device, and then the launching head 2b is manually removed from the umbilical cable.

[0033] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. An automated deployment and recovery device for underwater robot dual-body cooperative operation, characterized in that: The automatic deployment and recovery device includes a split-type lifting head (1), an automatic locking hook (2), and an electrical control structure (3). The split-type lifting head (1) includes a first lifting head (1a) and a second lifting head (1b). The automatic locking hook (2) includes a first locking hook (2a) and a second locking hook (2b). The first lifting head (1a) is located above the first locking hook (2a), and the second lifting head (1b) is located below the second locking hook (2b). The electrical control structure (3) is located between the first locking hook (2a) and the second locking hook (2b).

2. The automatic deployment and recovery device for underwater robot dual-body cooperation as described in claim 1, characterized in that: The lifting head one (1a) and lifting head two (1b) have the same structure. The lifting head one (1a) includes an optical axis (4), a lifting boss (5) and a limiting platform (6). The optical axis (4) is located between the lifting head one (1a) and the locking hook one (2a). The lifting boss (5) is located at the upper end of the optical axis (4). A buckle (14) is provided on the lifting boss (5). The limiting platform (6) is located at the lower middle end of the optical axis (4). The limiting platform (6) is connected to the locking hook one (2a).

3. An automatic deployment and recovery device for underwater robot dual-body cooperation as described in claim 2, characterized in that: The first lifting head (1a) also includes a lifting connector (7) and a suspension hole (8). The lifting connector (7) is a disc-shaped structure. The limiting platform (6) is located at the connection between the lifting connector (7) and the optical axis (4). The suspension hole (8) is provided on the lifting connector (7). The center of the lifting boss (5) is provided with an umbilical hole (9).

4. An automatic deployment and recovery device for underwater robot dual-body cooperation as described in claim 1, characterized in that: The electronic control structure (3) includes an electronic control housing right (23) and an electronic control housing left (24). A circular hole (25) is provided inside the electronic control housing right (23) and the electronic control housing left (24). A wheel bracket right (26) and a wheel bracket left (27) are provided between the electronic control housing right (23) and the electronic control housing left (24). An electric cylinder upper end fixing right (28) and an electric cylinder upper end fixing left (29) are provided on the wheel bracket right (26) and the wheel bracket left (27).

5. An automatic deployment and recovery device for underwater robot dual-body cooperation as described in claim 4, characterized in that: The right (26) and left (27) of the wheel bracket are provided with a fixed wheel (30), a tension wheel (31) and an encoder (32). The tension wheel (31) is provided with a spring fixation (33) and the spring fixation (33) is provided with a tension spring (34).

6. An automatic deployment and recovery device for underwater robot dual-body cooperation as described in claim 1, characterized in that: The locking hook one (2a) and locking hook two (2b) have the same structure. The locking hook one (2a) includes an upper inner liner (10), a lower inner liner (11), an outer shell (12), and an earring (13). The upper inner liner (10) is located at the upper end of the outer shell (12), the lower inner liner (11) is located at the lower end of the outer shell (12), and the earring (13) is located outside the outer shell (12). A load-bearing pad (15) is provided between the upper inner liner (10) and the buckle (14).

7. An automatic deployment and recovery device for underwater robot dual-body cooperation as described in claim 6, characterized in that: The locking hook (2a) also includes a telescopic electric cylinder (16), an electric cylinder connection (17), a triangular connection (18), a lever plate (19), and a pin (20). The telescopic electric cylinder (16) passes through the lower inner liner (11). The upper end of the telescopic electric cylinder (16) is connected to the electric cylinder connection (17), and the lower end of the telescopic electric cylinder (16) is connected to the electric control structure (3). One end of the lever plate (19) is connected to the triangular connection (18), and the other end of the lever plate (19) is connected to the pin (20). The pin (20) is located between the earrings (13).

8. An automatic deployment and recovery device for underwater robot dual-body cooperation as described in claim 6, characterized in that: A hinge door (21) is provided on the side of the outer shell (12), and a hinge (22) is provided between the hinge door (21) and the outer shell (12).

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