Finger claw type underwater recycling and capturing device

Abstract

A claw type underwater recycling and capturing device comprises a capturing hand, a tension adjusting device and a locking and disengaging device which are sequentially arranged in the axial direction of a main rod. The tension adjusting device is used for providing elastic force for unfolding the capturing hand and transmitting the elastic force to the capturing claw through a steel wire rope. The capturing hand is used for stretching into a butt joint hole of an external structure and is inserted and locked with an inner molded surface of the butt joint hole after being unfolded, so that the connecting force between the capturing device and the external structure is borne; the main rod is connected with an external remote control underwater robot through the locking and disengaging device, the main rod is elastically locked with an external structure through the locking and disengaging device, and after the capturing hand and the external structure are locked in an inserted mode, the locking and disengaging device is dragged by the remote control underwater robot to be separated from the external structure in the axial direction. Butt joint holes of an external structure are used for clamping and fixing, passive unlocking is adopted, accurate butt joint is not needed, and adaptability is high.

Description

TECHNICAL FIELD

[0001] The present application relates to a claw type underwater recovery capturing device, and particularly to the field of underwater bottom salvage or underwater vehicle docking. BACKGROUND

[0002] Some underwater vehicles lose the ability to navigate at the end of the navigation and finally sink into the bottom of the water. Due to poor underwater visibility, underwater terrain, complex bottom environment and high underwater water pressure, the vehicle is difficult to recover. Some vehicles also have docking connection requirements during navigation or hovering. The existing recovery method of the vehicle is to recover the vehicle by throwing a heavy object to make it reach a positive buoyancy state and then passively floating up after losing power. This method has high feasibility and can ensure that the vehicle is passively recovered when the navigation ends. However, this technical solution also has some drawbacks. The throwing of the heavy object requires the throwing mechanism to be arranged and designed in advance on the vehicle. The throwing and the throwing mechanism will occupy a certain space and weight. For some special vehicles, there is usually no installation interface or installation space or buoyancy condition for such devices. In addition, some vehicles fall to the bottom at a high speed and may sink into the mud or sand on the bottom, making it difficult to passively float up after throwing.

[0003] Some vehicles also use ROV (remote operated vehicle) and capturing claws to actively capture and recover the vehicle after falling to the bottom. The general scheme is that a medium or large ROV carries a capturing claw to grab the outside of the vehicle. After grabbing and fixing, the claw is separated from the ROV. The ROV brings the cable tied to the claw to the shore or the end of the ship, and then uses a dry land crane or a cable car to hoist and recover the vehicle. The claw is a special fixture that needs to be matched with the shape of the vehicle. Since the claw is used to grab the whole vehicle, the claw is designed to be relatively large, which requires higher carrying capacity of the ROV. For some enclosed waters, medium or large ROVs are difficult to transport to the operation site or difficult to match suitable salvage ships. SUMMARY

[0004] The technical problem solved by the present application is to overcome the shortcomings of the prior art and provide a claw type underwater recovery capturing device, which reduces the operation precision requirement of the underwater salvage tool on the ROV and uses passive unlocking without precise docking to solve the problem of complex control of the tool and strong interface specificity in the prior art.

[0005] The technical solution of the present application is:

[0006] A claw type underwater recovery capturing device, comprising a main rod, a capturing hand, a tension adjusting device and a lock release device.

[0007] The catcher, tension adjustment device, and locking release device are arranged sequentially along the axial direction of the main rod;

[0008] The tension adjustment device is used to provide the elastic force for the capture hand to unfold, which is transmitted to the capture claw via a steel wire rope;

[0009] The capture hand is used to extend into the docking hole of the external structure. After unfolding, it is inserted and locked with the inner surface of the docking hole, thereby bearing the connection force between the capture device and the external structure.

[0010] The main rod is connected to an external remotely operated underwater robot via a locking and releasing device. The main rod is elastically locked to the external structure via the locking and releasing device. After the capture hand is inserted and locked to the external structure, the locking and releasing device is towed away from the external structure along the axis by the remotely operated underwater robot.

[0011] Preferably, the capture hand includes: a rotating pin, a capture claw, a limiting plate, an unlocking ring, and a guide cap;

[0012] The guide cap and the limiting plate are sequentially installed at the head of the main rod along the axial direction;

[0013] The capture claws are hinged to the head of the main rod via a rotating pin;

[0014] Multiple capture claws are evenly distributed circumferentially on the outer side of the main shaft;

[0015] The limiting plate has a bevel on the side facing the tail of the main rod to limit the unfolding angle of the capture claws;

[0016] The unlocking ring is fitted on the outside of the capture claw, thereby folding and securing the free end of the capture claw to the head of the main rod.

[0017] Preferably, the limiting plate has a segmented structure.

[0018] Preferably, there is a space allowance between the inner wall of the free end of the capturing claw and the outer wall of the main rod, so that when the outer wall of the capturing claw is squeezed, it can move around the pivot pin axis to the outer wall of the main rod.

[0019] Preferably, after the head of the main rod extends into the docking hole of the external structure, the unlocking ring is stuck in the docking hole of the external structure and cannot continue to move with the main rod through the docking hole of the external structure.

[0020] The head of the main rod continues to move into the docking hole, the unlocking ring disengages from the capture claw, and the folding and fixing of the capture claw is released;

[0021] After the unlocking ring releases the folding and fixing of the capture claw, the free end of the capture claw flips and unfolds from the tail of the main rod to the head of the main rod under the tensioning force of the tension adjustment device.

[0022] After the capture claws are fully extended, when the main rod is pulled outward from the docking hole, the capture claws support the docking hole of the external structure, thereby driving the external structure to move together with the main rod.

[0023] Preferably, the guide cap is made of non-metallic material, and the limiting plate is made of metallic material.

[0024] Preferably, the tension adjusting device includes: a wire rope locker, a transmission pin, a spring adjusting ring, a movable ring, a tensioning spring, and a tensioning wire rope;

[0025] The spring adjusting ring, the movable ring, and the tension spring are arranged sequentially along the axial direction of the main rod;

[0026] The spring adjusting ring is threaded to the outer wall of the main rod;

[0027] The capture claw has a through hole machined in the middle position along the radial direction of the main rod as a mounting hole, and the main rod has a central through hole.

[0028] One end of the tensioning wire rope is fixedly connected to the inside of the capture claw, and the other end of the tensioning wire rope passes out from the inside of the capture claw through the mounting hole, goes around the top of the capture claw, and then passes through the center through hole of the main rod from the head of the main rod, and is fixedly connected to the wire rope locker in the through hole of the main rod.

[0029] The tension spring has a fixed connection and a movable ring at both ends;

[0030] The main rod has a waist-shaped hole, and the drive pin passes through the waist-shaped hole on the main rod to fix the movable ring to the wire rope locker.

[0031] Under the elastic force of the tension spring, the movable ring drives the wire rope locking device to move along the axis toward the tail of the main rod;

[0032] Each capture claw is equipped with a steel wire rope locking device.

[0033] Preferably, the preload of the tension spring can be adjusted by changing the rotation and position of the spring adjusting ring and the main rod.

[0034] Preferably, the capturing device further includes: a fixing frame device;

[0035] The fixing bracket is fixedly installed on the external structure, and the fixing bracket is elastically locked to the locking and unlocking device.

[0036] The mounting bracket includes: a guide cylinder and a mounting base;

[0037] The guide tube is fixedly connected to external products or structures via a mounting base;

[0038] The guide cylinder and the locking device are elastically locked.

[0039] Preferably, the locking / unlocking device includes: a locking spring and a locking / unlocking handle;

[0040] The locking release assembly is fixed to the outside of the main rod;

[0041] The locking spring is fixed on the outer wall of the locking handle. The locking spring protrudes from the outer wall of the locking handle and falls into the rectangular groove of the guide tube, so that the locking handle can be detachably snapped onto the guide tube and plays an axial flexible limiting role for the locking handle and the guide tube.

[0042] The tail of the release handle is fixedly connected to the towing cable.

[0043] Compared with the prior art, the advantages of the present invention are mainly reflected in the following aspects:

[0044] 1. The capture device of the present invention adopts an elastic passive deployment method. Except for the pose adjustment of the loaded ROV, no active control is required, which reduces the control complexity.

[0045] 2. The device of the present invention uses docking holes in the external structure for snap-fit ​​fixation, which has low requirements for the capture characteristics of the captured object, good tolerance, and can be applied to the capture and recovery of a variety of objects by adjusting the size of the claws.

[0046] 3. The device of the present invention reduces the requirements for ROV operation and load-bearing. In particular, after adding the capture device, the capture device itself will not affect the navigation safety of the ROV. Even if the capture device fails to grab, it can be jettisoned to ensure that the ROV floats up and is recovered normally. Attached Figure Description

[0047] Figure 1 To capture the system composition diagram.

[0048] Figure 2 This is a cross-sectional view of the claw-type capture device.

[0049] Figure 3 This is a side view of the claw-type capture device.

[0050] Figure 4 A cross-sectional view of the capture device mounted on the connector.

[0051] Figure 5 Side view of the capture device mounted on the connector.

[0052] Figure 6 Axonometric sectional view of the catcher, main rod, tension adjustment device, and locking release device.

[0053] Figure 7 To capture the side view of the claw.

[0054] Figure 8 To capture the cross-sectional view of the claw.

[0055] Figure 9 This is a side view of the lock release handle.

[0056] Figure 10 This is a sectional view of the lock release mechanism.

[0057] Figure 11 This is a side view of the limiting plate.

[0058] Figure 12(a) is a schematic diagram of the capture device starting to enter the tail nozzle.

[0059] Figure 12(b) is a schematic diagram of the capture claws opening.

[0060] Figure 12(c) is a schematic diagram of the capture claw of the capture device moving backward and contacting the inner surface of the engine.

[0061] Figure 12(d) is a schematic diagram of the capture device separating from the lock release handle.

[0062] In the picture:

[0063] Figure 1 : Capture device 100, ROV 200, junction box 300;

[0064] Figure 2 1. Rotating pin; 2. Capturing claw; 3. Wire rope locker; 4. Transmission pin; 5. Main rod; 6. Cable tie ring; 7. Tensioning wire rope.

[0065] Figure 3 7. Limiting plate; 8. Unlocking ring; 9. Spring adjusting ring; 10. Moving ring; 11. Guide cap; 12. Tensioning spring; 13. Positioning screw; 14. Locking spring; 15. Locking handle.

[0066] Figure 4 16. Mounting base, 17. Tensioning wire rope, 18. Guide cylinder. Detailed Implementation

[0067] To better describe the present invention, the invention will be explained in detail below with reference to schematic diagrams and examples. For example... Figure 1 As shown, the capture system consists of a capture device 100, an ROV 200, and a junction box 300.

[0068] The capture device 100 of the present invention, such as Figure 2 , 3 As shown in Figure 4, it includes: a capture hand, a main rod 5, a fixing frame device, a tension adjustment device, and a locking and releasing device.

[0069] The capture hand, tension adjustment device, and locking device are arranged sequentially along the axial direction of the main rod 5; the locking device is located at the tail of the capture device 100.

[0070] The tension adjustment device is used to provide the elastic force for the capture hand's capture claw to unfold, which is transmitted to the capture claw via a steel wire rope.

[0071] The capture hand is used to extend into the docking hole of the external structure, unfold and lock into the inner surface of the docking hole, thereby bearing the connection force between the capture device and the salvaged object (i.e., the external structure).

[0072] The main rod 5 is connected to an external remotely controlled underwater robot via a locking and releasing device, and the locking and releasing device is fixedly connected to the tail of the main rod 5.

[0073] The fixed frame device is fixedly installed on the external structure, and the fixed frame device and the locking and releasing device are elastically locked; after the capture hand is plugged and locked with the external structure, the locking and releasing device is towed by the remotely controlled underwater robot and detached from the fixed frame device along the axis.

[0074] like Figure 2 and Figure 3 As shown, the capture hand includes: a rotating pin 1, a capture claw 2, a limiting plate 7, an unlocking ring 8, and a guide cap 11.

[0075] The guide cap 11 and the limiting plate 7 are sequentially arranged along the axial direction at the head of the main rod 5; the limiting plate 7 has a split structure.

[0076] The capture claw 2 is hinged to the head of the main rod 5 via a rotating pin 1; multiple capture claws 2 are evenly distributed around the outside of the main rod 5.

[0077] The limiting plate 7 has a bevel on the side facing the tail of the main rod 5 to limit the unfolding angle of the capture claw 2.

[0078] The unlocking ring 8 is fitted on the outside of the capture claw 2, thereby folding and fixing the free end of the capture claw 2 to the head of the main rod 5; there is a space allowance between the inner wall of the free end of the capture claw 2 and the outer wall of the main rod 5, so that when the outer wall of the capture claw 2 is squeezed, it can move around the rotating pin 1 toward the outer wall of the main rod 5.

[0079] In its initial state, the capturing claw 2 is folded, and the unlocking ring 8 is wrapped around the end of the capturing hand, preventing the capturing claw 2 from unfolding outward. A structural view of the capturing claw 2 is shown below. Figure 7 As shown.

[0080] After the head of the main rod 5 extends into the docking hole of the external structure, the unlocking ring 8 is stuck in the docking hole and cannot be inserted. The head of the main rod 5 continues to move into the docking hole, and the unlocking ring 8 disengages from the capture claw 2, thus releasing the folding fixation on the capture claw 2. The structure of the unlocking ring 8 is as follows: Figure 11As shown, the outer wall of the unlocking ring 8 is provided with lugs to lock the outer end face of the docking hole of the external structure, preventing the unlocking ring 8 from penetrating the docking hole of the external structure. The inner wall of the unlocking ring 8 is provided with a limiting partition for insertion and engagement with the capturing claw 2.

[0081] The tension wire rope 17 is always kept under tension to ensure that the capture claw 2 extends outward.

[0082] After the unlocking ring 8 releases the folding and fixing of the capture claw 2, under the tension of the tensioning steel wire rope 17 in the tension adjustment device, the free end of the capture claw 2 flips and unfolds from the tail of the main rod 5 to the head of the main rod 5; after the capture claw 2 is fully unfolded, when the main rod 5 is pulled outwards from the docking hole, the capture claw 2 supports the docking hole of the external structure and moves together with the main rod 5 and drives the external structure to move together.

[0083] After the capture claws 2 are fully extended, they fit against the inclined surface on the limiting plate 7, thus providing a limiting function. Once fully extended, the inner walls of the multiple capture claws 2 envelop each other to form a cone-shaped opening facing the guide cap 11.

[0084] The top of the guide cap 11 is curved to facilitate the capture of a hand entering the docking hole. The guide cap 11 is made of non-metallic material, while the limiting plate 7 is made of metallic material.

[0085] like Figure 4 , 5 As shown, the tension adjustment device includes: a wire rope locker 3, a transmission pin 4, a tensioning wire rope 17, a spring adjusting ring 9, a movable ring 10, a tensioning spring 12, and a positioning set screw 13.

[0086] The spring adjusting ring 9, the movable ring 10, and the tension spring 12 are arranged sequentially along the axial direction;

[0087] The spring adjusting ring 9 is threaded to the outer wall of the main rod 5;

[0088] A radial through hole is machined in the middle of the capture claw 2 as a mounting hole, as shown in the figure. Figure 8 As shown. The main rod 5 is machined with a central through hole;

[0089] One end of the tensioned steel wire rope 17 is fixedly connected to the capture claw 2. Figure 2 (At the black dot position), the other end of the tensioned wire rope 17 passes out from the mounting hole of the capture claw 2, goes around the top of the capture claw 2, and then passes through the central through hole of the main rod 5 from the head of the main rod 5, and is fixedly connected to the wire rope locking device 3 inside the through hole of the main rod 5. The axial sectional view is shown below. Figure 6 As shown.

[0090] The tension spring 12 is fixedly connected to 9 and the movable ring 10 at both ends respectively;

[0091] The main rod 5 has an oblong hole, and the transmission pin 4 passes through the oblong hole on the main rod 5, thereby fixing the movable ring 10 to the wire rope locker 3. The movable ring 10 and the wire rope locker 3 can move synchronously relative to the axis of the main rod 5.

[0092] Under the elastic force of the tension spring 12, the movable ring 10 drives the wire rope locking device 3 to move along the axis toward the tail of the main rod 5; the positioning set screw 13 is used to lock the axial position between the movable ring 10 and the main rod 5 before operation.

[0093] In this embodiment of the invention, the spring adjusting ring 9 is a stationary ring, which is screwed onto the main rod 5 via a thread and is used to adjust the initial elastic force of the spring.

[0094] The movable ring 10 is a rotating ring that can slide axially on the main rod 5. The wire rope locking device 3 is connected to the movable ring 10 via the transmission pin 4. In the initial state, the tension spring 12 is compressed, pushing the movable ring 10 to move, thereby tensioning the tension wire rope 17, which transmits the unfolding force to the capture claws 2. Each capture claw 2 is equipped with a wire rope locking device 3.

[0095] The locking / unlocking device 200 includes: a cable tethering ring 6, a locking spring 14, and a locking / unlocking handle 15. The mounting bracket includes: a guide cylinder 18 and a mounting base 16.

[0096] The locking handle 15 is fixed to the outside of the main rod 5;

[0097] The locking handle 15 is detachably snap-fitted onto the guide cylinder 18; the product structure of the locking handle 15 is as follows: Figure 9 , 10 As shown.

[0098] Two locking springs 14 are symmetrically fixed on the outer wall of the locking handle 15;

[0099] The locking handle 15 has a through hole machined at the position corresponding to the locking spring 14;

[0100] The locking spring 14 protrudes from the outer wall of the release handle 15 and falls into the rectangular groove of the guide cylinder 18, thereby providing axial flexible limiting for the release handle 15 and the guide cylinder 18.

[0101] The guide cylinder 18 is fixedly connected to an external product or structure via the mounting base 16.

[0102] The tail of the locking handle 15 is fixedly connected to the drag cable via the cable tie 6; the cable is connected to the junction box.

[0103] like Figures 12(a) to 12(d)As shown, the ROV moves forward, and the capture device 100 aligns with the flare of the tail-end vessel. Guided by the flare, the capture claw 2 passes through the narrow passage. As the capture claw 2 passes through the narrow passage, because the outer envelope of the capture claw 2 is slightly larger than the inner diameter of the narrow passage, the capture claw 2 elastically contracts inward. As it continues to move forward, the unlocking ring 8 partially contacts the narrow passage and is pushed backward, thus completing the limit unlocking of the capture claw. Continuing to move forward, the capture claw 2 leaves the narrow passage and unfolds inside the docking hole, completing the docking with the submerged body.

[0104] Once the capture claw 2 engages with the docking surface, the ROV 200 moves backward, pulling the release sleeve out of the guide cylinder 18, thus separating the capture device from the ROV 200. The ROV 200 continues to move, and the capture device pulls the cable inside the junction box 300 to release it. After reaching the water surface, the ROV 200 places the recovery cable onto the boat for cable retrieval.

[0105] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make possible variations and modifications to the technical solutions of the present invention using the disclosed methods and techniques without departing from the spirit and scope of the invention. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention, without departing from the content of the technical solutions of the present invention, shall fall within the protection scope of the present invention. Where there is no conflict, the embodiments of this application and the technical features thereof can be combined with each other.

[0106] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A claw-type underwater recovery and capture device, characterized in that, include: Main rod (5), catcher, tension adjustment device and locking device; The capture hand, tension adjustment device and locking release device are arranged sequentially along the axial direction of the main rod (5); The tension adjustment device is used to provide the elastic force for the capture hand to unfold, which is transmitted to the capture claw via a steel wire rope; The capture hand is used to extend into the docking hole of the external structure. After unfolding, it is inserted and locked with the inner surface of the docking hole, thereby bearing the connection force with the external structure. The main rod (5) is connected to the external remote-controlled underwater robot through a locking and unlocking device. The main rod (5) is elastically locked to the external structure through the locking and unlocking device. After the capture hand is plugged into and locked to the external structure, the locking and unlocking device is pulled away from the external structure along the axis by the remote-controlled underwater robot.

2. The finger-claw type underwater recovery and capture device according to claim 1, characterized in that, The capture hand includes: a rotating pin (1), a capture claw (2), a limiting plate (7), an unlocking ring (8), and a guide cap (11); The guide cap (11) and the limiting plate (7) are sequentially arranged along the axial direction at the head of the main rod (5); The capture claw (2) is hinged to the head of the main rod (5) by rotating the pin (1); Multiple capture claws (2) are evenly distributed circumferentially on the outside of the main rod (5); The limiting plate (7) has a bevel on the side facing the tail of the main rod (5) to limit the unfolding angle of the capturing claw (2); The unlocking ring (8) is fitted on the outside of the capture claw (2), thereby folding and fixing the free end of the capture claw (2) to the head of the main rod (5).

3. The finger-claw type underwater recovery and capture device according to claim 2, characterized in that, There is a space between the inner wall of the free end of the capture claw (2) and the outer wall of the main rod (5), so that when the outer wall of the capture claw (2) is squeezed, it can move around the rotating pin (1) toward the outer wall of the main rod (5).

4. The finger-claw type underwater recovery and capture device according to claim 3, characterized in that, After the head of the main rod (5) is inserted into the docking hole of the external structure, the unlocking ring (8) is stuck in the docking hole of the external structure and cannot continue to move with the main rod (5) through the docking hole of the external structure. The head of the main rod (5) continues to move into the docking hole, the unlocking ring (8) disengages from the capture claw (2), and the folding and fixing of the capture claw (2) is released; After the unlocking ring (8) releases the folding and fixing of the capture claw (2), the free end of the capture claw (2) flips and unfolds from the tail of the main rod (5) to the head of the main rod (5) under the tensioning force of the tension adjustment device. After the capture claw (2) is fully extended, when the main rod (5) is pulled outward from the docking hole, the capture claw (2) supports the docking hole of the external structure, thereby driving the external structure to move together with the main rod (5).

5. A claw-type underwater recovery and capture device according to any one of claims 2-4, characterized in that, The guide cap (11) is made of non-metallic material, and the limiting plate (7) is made of metallic material.

6. A claw-type underwater recovery and capture device according to any one of claims 2-5, characterized in that, The tension adjustment device includes: a wire rope lock (3), a transmission pin (4), a spring adjustment ring (9), a movable ring (10), a tension spring (12), and a tension wire rope (17); The spring adjusting ring (9), the movable ring (10), and the tension spring (12) are arranged sequentially along the axial direction of the main rod (5); The spring adjusting ring (9) is threaded to the outer wall of the main rod (5); The capture claw (2) has a through hole machined in the middle position along the radial direction of the main rod (5) as a mounting hole, and the main rod (5) has a central through hole. One end of the tension wire rope (17) is fixedly connected to the inside of the capture claw (2), and the other end of the tension wire rope (17) passes out from the inside of the capture claw (2) through the mounting hole, goes around the top of the capture claw (2), and passes through the center through hole of the main rod (5) from the head of the main rod (5), and is fixedly connected to the wire rope lock (3) in the through hole of the main rod (5); The tension spring (12) is fixedly connected to (9) and the movable ring (10) at both ends respectively; The main rod (5) has a waist-shaped hole, and the transmission pin (4) passes through the waist-shaped hole on the main rod (5) to fix the movable ring (10) to the wire rope lock (3); Under the elastic force of the tension spring (12), the movable ring (10) drives the wire rope locking device (3) to move along the axis toward the tail of the main rod (5); Each capture claw (2) is equipped with a wire rope locking device (3).

7. The finger-claw type underwater recovery and capture device according to claim 6, characterized in that, The preload of the tension spring (12) can be adjusted by changing the rotation and position of the spring adjusting ring (9) and the main rod (5).

8. The finger-claw type underwater recovery and capture device according to claim 7, characterized in that, The capture device also includes: a mounting bracket; The fixing bracket is fixedly installed on the external structure, and the fixing bracket is elastically locked to the locking and unlocking device.

9. A claw-type underwater recovery and capture device according to claim 8, characterized in that, The mounting bracket includes: a guide tube (18) and a mounting base (16); The guide tube (18) is fixedly connected to an external product or structure via the mounting base (16); The guide tube (18) is elastically locked to the locking device.

10. A finger-type underwater recovery and capture device according to claim 9, characterized in that, The locking and releasing device (200) includes: a locking spring (14) and a locking and releasing handle (15); The locking handle (15) is fixed to the outside of the main rod (5); The locking spring (14) is fixed on the outer wall of the locking handle (15). The locking spring (14) protrudes from the outer wall of the locking handle (15) and falls into the rectangular groove of the guide cylinder (18), so that the locking handle (15) can be detachably snapped onto the guide cylinder (18) and plays an axial flexible limiting role for the locking handle (15) and the guide cylinder (18). The tail of the release handle (15) is fixedly connected to the drag cable.

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