Oscillating stopper

Abstract

The utility model discloses an oscillation stopping device, relates to the field of oscillation stopping equipment, and is used for solving the technical problem that an underwater robot is easy to collide with other objects during retraction and release due to the fact that the oscillation radius of the existing oscillation stopping device is larger. The oscillation stopping device comprises a main frame, a longitudinal variable-amplitude oil cylinder, a pressing mechanism, a transverse damping oil cylinder and a pulley assembly, the main frame is used for being rotationally connected with the door frame and can longitudinally swing relative to the door frame. The longitudinal variable-amplitude oil cylinder is used for connecting the main frame and the portal frame; the pressing mechanism is rotationally connected with the main frame and can transversely swing relative to the main frame; the transverse damping oil cylinder is connected between the main frame and the pressing mechanism; the pulley assembly is connected with the main frame and swings synchronously with the main frame. When the swing stopping device works, the transverse swing radius is only the length of the pressing mechanism, compared with an existing swing stopping device, the swing radius is reduced, the situation that the underwater robot collides with a portal frame or other objects in the throwing and recycling process is avoided, and the safety and reliability of the underwater robot in the throwing and recycling process are improved.

Description

Technical Field

[0001] The utility model relates to the field of anti-swing equipment, in particular to an anti-swing device. Background Art

[0002] ROV, or remotely controlled underwater robot, is a device that can explore the underwater world without people going into the water. The underwater robot is launched and recovered in the sea through a gantry and a cable. One end of the cable is connected to the cable storage winch on the ship, and the other end is connected to the underwater robot after passing through the pulley on the gantry's stopper. The stopper is connected to the underwater robot before the underwater robot is launched. When the underwater robot needs to dive for work, the gantry moves it smoothly from the deck to the sea surface outside the ship. The underwater robot is separated from the stopper and gradually put into the sea through the cable. When the underwater robot completes the operation and returns, the cable is retracted to connect the underwater robot to the stopper, and the gantry moves it back from the sea surface to the deck.

[0003] In the related art, the anti-sway device includes a swing structure and a clamping mechanism. The swing structure generally includes an upper structure that swings longitudinally relative to the gantry and a lower structure that swings transversely relative to the upper structure. The clamping mechanism is fixed to the lower structure and is used to transfer the weight of the underwater robot to the gantry through a soft connection and to cushion the impact of the hull shaking on the underwater robot. The defects and shortcomings of the above anti-sway device are:

[0004] When the upper structure of the anti-oscillation device swings, it needs to drive the lower structure to swing, and when the lower structure swings, it will drive the clamping mechanism to swing, that is, the longitudinal swing radius of the anti-oscillation device is the total length of the upper structure, the lower structure and the clamping mechanism, and the lateral swing radius is the total length of the lower structure and the clamping mechanism. This results in a larger swing radius, especially a larger lateral swing radius, which can easily cause the underwater robot to collide with the gantry or other objects during deployment and recovery, resulting in low safety and reliability.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0006] 1. Technical issues to be solved

[0007] The utility model provides an anti-oscillation device, which at least solves the technical problem of how to reduce the swing radius of the anti-oscillation device and improve the safety and reliability of launching and recovering an underwater robot.

[0008] (II) Technical solution

[0009] In order to solve the above technical problems, the utility model provides the following technical solutions:

[0010] An anti-oscillation device, comprising:

[0011] A main frame, the main frame is used to be rotatably connected to the door frame and can swing longitudinally relative to the door frame;

[0012] A longitudinal luffing cylinder, used to connect the main frame and the gantry;

[0013] A clamping mechanism is rotatably connected to the main frame and can swing laterally relative to the main frame;

[0014] A transverse damping cylinder connected between the main frame and the clamping mechanism;

[0015] The pulley assembly is connected to the main frame and swings synchronously with the main frame.

[0016] In some embodiments, the clamping mechanism includes a connecting tube for connecting the underwater robot, a pressure plate for limiting the upward movement of the underwater robot, and a variable-length cylinder connected between the connecting tube and the pressure plate; the variable-length cylinder includes: a first connecting rod, a second connecting rod and a buffer cylinder, the first connecting rod is rotatably connected to the pressure plate, one end of the second connecting rod and the buffer cylinder are respectively rotatably connected to different connection points of the first connecting rod, and the other end is respectively rotatably connected to different connection points of the connecting tube, the buffer cylinder is tilted downward from the connecting tube toward the first connecting rod, and is located above the second connecting rod, and the first connecting rod, the second connecting rod, the buffer cylinder and the connecting tube form a quadrilateral structure.

[0017] In some embodiments, the distance between the connection points of the connecting tube, the second connecting rod and the buffer cylinder is greater than the distance between the connection points of the first connecting rod, the second connecting rod and the buffer cylinder.

[0018] In some embodiments, the pulley assembly includes a wheel frame and a pulley rotatably connected to the wheel frame, and the wheel frame is rotatably connected to the main frame and can rotate around a vertical center line relative to the main frame.

[0019] In some embodiments, the main frame includes a first connecting plate and a second connecting plate located below the first connecting plate, the wheel frame is located between the first connecting plate and the second connecting plate, the top end of the wheel frame is rotatably connected to the first connecting plate via a pin shaft, the second connecting plate is provided with a sleeve shaft coaxial with the pin shaft, the bottom end of the wheel frame is provided with a sleeve hole, and is rotatably connected to the sleeve shaft via the sleeve hole, and the sleeve shaft is provided with a yield hole for the cable.

[0020] In some embodiments, the clamping mechanism includes a connecting ring, which is located at the top of the clamping mechanism and is provided with a first connecting ear and a second connecting ear that are perpendicular to each other, and the first connecting ear is used to rotatably connect to the transverse damping cylinder; a connecting block is provided at the bottom of the main frame, and the connecting block is rotatably connected to the second connecting ear through a pin shaft.

[0021] In some embodiments, the longitudinal amplitude change cylinder is a longitudinal swing cylinder, one end of which is rotationally connected to the main frame, and the other end is rotationally connected to the gantry, and the longitudinal swing cylinder is located on the side of the main frame away from the pulley assembly.

[0022] In some embodiments, the lateral damping cylinder is a lateral swing cylinder, and there are two of them. The lateral swing cylinders are symmetrically arranged on both sides of the clamping mechanism with the clamping mechanism as the center. One end of the lateral swing cylinder is rotatably connected to the main frame, and the other end is rotatably connected to the clamping mechanism.

[0023] (III) Beneficial effects

[0024] Compared with the prior art, the anti-oscillation device provided by the utility model has the following beneficial effects:

[0025] When the stabilizer is working, the main frame can swing longitudinally relative to the gantry, and the clamping mechanism can swing laterally relative to the main frame. The longitudinal variable amplitude cylinder can buffer the impact between the main frame and the gantry, and the transverse damping cylinder can buffer the impact between the main frame and the clamping mechanism. The transverse swing radius is only the length of the clamping mechanism. Compared with the existing stabilizer, the swing radius is reduced, which is beneficial to prevent the underwater robot from hitting the gantry or other objects during launching and recovery, thereby improving the safety and reliability of the underwater robot during launching and recovery. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 2 is a perspective view of an anti-oscillation device in an embodiment.

[0027] Figure 2 It is the front view of the anti-oscillator in the embodiment.

[0028] Figure 3 for Figure 2 A perspective view of the section in the middle.

[0029] Figure 4 Schematic diagram of the change in the extension and contraction amount of the buffer cylinder when the underwater robot is unlocked in the embodiment.

[0030] Reference numerals:

[0031] Main frame 1, first connecting plate 11, second connecting plate 12, connecting block 13, sleeve shaft 120;

[0032] Longitudinal luffing cylinder 2;

[0033] The clamping mechanism 3, the connecting tube 31, the pressure plate 32, the floating buffer mechanism 33, the connecting ring 34, the first connecting rod 331, the second connecting rod 332, the buffer cylinder 333, the first connecting ear 341, and the second connecting ear 342;

[0034] Transverse damping cylinder 4;

[0035] Pulley assembly 5, wheel frame 51, pulley 52;

[0036] Gantry 6; underwater robot 7, connecting head 70; cable 8. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0038] The existing anti-oscillation device has a large swing radius, especially a large lateral swing radius, which can easily cause the underwater robot 7 to collide with the door frame or other objects during launching and recovery, and has low safety and reliability.

[0039] In order to solve the above technical problems, this embodiment provides a oscillator, see Figures 1 to 3 As shown, Figure 1 is a three-dimensional diagram of the anti-oscillation device in the embodiment, Figure 2 It is the front view of the anti-oscillation device in the embodiment, Figure 3 for Figure 2 A perspective view of the section in the middle.

[0040] The anti-oscillation device of this embodiment includes: a main frame 1, a longitudinal amplitude-changing cylinder 2, a clamping mechanism 3, a transverse damping cylinder 4 and a pulley assembly 5.

[0041] The main frame 1 is used to be rotatably connected to the gantry 6, and can swing longitudinally relative to the gantry 6; the longitudinal amplitude cylinder 2 is used to connect the main frame 1 and the gantry 6; the clamping mechanism 3 is rotatably connected to the main frame 1, and can swing laterally relative to the main frame 1; the transverse damping cylinder 4 is connected between the main frame 1 and the clamping mechanism 3; the pulley assembly 5 is connected to the main frame 1, and swings synchronously with the main frame 1.

[0042] When the stabilizer of the above technical solution is working, the main frame 1 can swing longitudinally relative to the gantry 6, the clamping mechanism 3 can swing laterally relative to the main frame 1, the longitudinal variable amplitude cylinder 2 can buffer the impact between the main frame 1 and the gantry 6, and the transverse damping cylinder 4 can buffer the impact between the main frame 1 and the clamping mechanism 3. The transverse swing radius is only the length of the clamping mechanism 3. Compared with the existing stabilizer, the swing radius is reduced, which is beneficial to prevent the underwater robot 7 from colliding with the gantry 6 or other objects during launching and recovery, thereby improving the safety and reliability of the underwater robot 7 during launching and recovery.

[0043] In the related art, the buffer cylinder of the existing clamping mechanism is connected to the accumulator and has a long stroke. When unlocking the underwater robot 7, the cable storage winch needs to pull the underwater robot 7 upward for a distance through the cable to open the locking pin that fixes the underwater robot 7. In this process, the buffer cylinder needs to be further compressed, causing the cable storage winch to overcome the larger resistance of the buffer cylinder, increasing energy consumption and the risk of cable damage. In order to solve this technical problem, in one embodiment of the above-mentioned clamping mechanism 3, refer to Figure 1 and Figure 2 As shown, the clamping mechanism 3 includes a connecting tube 31, a pressure plate 32 and a floating buffer mechanism 33. The connecting tube 31 is used to connect the underwater robot 7. The method of connecting the underwater robot 7 can be to use an existing locking structure to connect the connecting head 70 of the underwater robot 7; the pressure plate 32 is used to limit the upward movement of the underwater robot 7 and is located below the connecting tube 31. When the pressure plate 32 is circular, it is concentrically arranged with the connecting tube 31. A buffer component with elastic deformation ability, such as a rubber ring, can be installed on the pressure plate 32; the floating buffer mechanism 33 is connected between the connecting tube 31 and the pressure plate 32, and is used to buffer the underwater robot 7. The floating buffer mechanism 33 comprises: a first connecting rod 331, a second connecting rod 332 and a buffer cylinder 333. The first connecting rod 331 is rotatably connected to the pressure plate 32. One end of the second connecting rod 332 and the buffer cylinder 333 are rotatably connected to different connection points of the first connecting rod 331, and the other end is rotatably connected to different connection points of the connecting tube 31. The buffer cylinder 333 is tilted downward from the connecting tube 31 toward the direction of the first connecting rod 331, and is located above the second connecting rod 332. The first connecting rod 331, the second connecting rod 332, the buffer cylinder 333 and the connecting tube 31 form a quadrilateral structure. With such arrangement, when the underwater robot 7 shakes, it contacts the pressure plate 32, and the floating buffer mechanism 33 can absorb and disperse the impact force exerted on the pressure plate 32 by means of the obliquely arranged buffer cylinder 333, thereby protecting the underwater robot 7 from damage. Compared with the existing variable amplitude cylinder with the vertically arranged buffer cylinder 333, the oblique buffer cylinder 333 can effectively improve the radial force bearing capacity of the bottom of the clamping mechanism 3, and reduce the height of the clamping mechanism 3, thereby further reducing the swing radius of the stabilizer, thereby improving the safety and reliability of the underwater robot 7 during deployment and recovery.

[0044] For example, see Figure 2 and Figure 3 As shown, the distance between the connection points of the connecting tube 31 and the second connecting rod 332 and the buffer cylinder 333 is greater than the distance between the connection points of the first connecting rod 331 and the second connecting rod 332 and the buffer cylinder 333, that is, the side length of the quadrilateral structure on the connecting tube 31 is greater than the side length on the first connecting rod 331, presenting a trapezoidal structure.

[0045] See also Figure 4 As shown, Figure 4The schematic diagram of the change of the extension amount of the buffer cylinder when the underwater robot is unlocked in the embodiment, the dotted line in the figure is the state of the floating buffer mechanism 33 before unlocking the underwater robot, and the solid line represents the state of the floating buffer mechanism 33 when unlocking the underwater robot. Before the clamping mechanism 3 in the above embodiment unlocks the underwater robot 7, the length of the buffer cylinder 333 is 269.3 mm, and after unlocking, it is 279.8 mm. The clamping mechanism 3 uses a quadrilateral structure to make the cable pull the underwater robot 7 upward from the 80 mm position to the 180 mm position. The extension amount of the buffer cylinder 333 is only 10.5 mm. Compared with the buffer cylinder of the existing clamping mechanism, the extension amount is reduced, thereby effectively reducing the energy consumption of the cable storage winch and the risk of cable damage. At the same time, the anti-swaying force of the anti-swaying device remains basically constant, which can effectively avoid resonance with the waves. Last but not least, the cable is expensive and needs to realize the communication function. Damage to the cable should be avoided as much as possible during operation. During the process of unlocking the underwater robot 7, the anti-oscillation device of the above technical solution has a small change in the expansion and contraction amount of the buffer cylinder 333, so that the clamping force of the clamping mechanism 3 on the underwater robot 7 and the pulling force of the cable on the underwater robot 7 are basically constant, which is beneficial to ensure that the cable tension works within the rated range and reduce the risk of damage to the cable and the underwater robot.

[0046] For example, see Figure 3 As shown, the first connecting rod 331, the second connecting rod 332, the buffer cylinder 333 and the connecting tube 31 are rotatably connected through a pin shaft.

[0047] In one embodiment of the pulley assembly 5, see Figure 1 and Figure 3 As shown, the pulley assembly 5 includes a wheel frame 51 and a pulley 52 rotatably connected to the wheel frame 51. The wheel frame 51 is rotatably connected to the main frame 1 and can rotate relative to the main frame 1 around a vertical center line. It can be understood that the vertical center line is perpendicular to the swing center line of the main frame 1 and the clamping mechanism 3. Compared with the existing pulley assembly 5 fixed on the swing structure, the pulley 52 in this embodiment can not only swing the main frame 1 relative to the door frame 6, but also can swing relative to the main frame 1 through the wheel frame 51, thereby reducing the wear of the cable 8 caused by the angle formed between the cable 8 and the pulley 52 when the drum shaft of the cable storage winch is parallel to the pulley 52 shaft and the cable 8 is close to the drum end flange.

[0048] For example, see Figure 1 and Figure 3As shown, the above-mentioned wheel frame 51 can be rotatably connected to the main frame 1 in the following manner: the main frame 1 includes a first connecting plate 11 and a second connecting plate 12 located below the first connecting plate 11, the wheel frame 51 is located between the first connecting plate 11 and the second connecting plate 12, a pin hole is provided at the top of the wheel frame 51, and is rotatably connected to the pin seat on the first connecting plate 11 through a pin shaft, the second connecting plate 12 is provided with a sleeve shaft 120 coaxial with the pin shaft, a sleeve hole is provided at the bottom end of the wheel frame 51, and is rotatably connected to the sleeve shaft 120 through the sleeve hole, and the sleeve shaft 120 is provided with a make way hole for the cable 8, which can make way for the cable 8 that needs to be connected downward to the underwater robot 7 after passing through the pulley 52.

[0049] In one embodiment of the above-mentioned pressing mechanism 3 being rotatably connected to the main frame 1, see Figure 2 and Figure 3 As shown, the clamping mechanism 3 includes a connecting ring 34, which is located at the top of the clamping mechanism 3 and is connected to the above-mentioned connecting tube 31. If connected through an existing rotating structure, the connecting ring 34 and the connecting tube 31 can rotate relative to each other in the circumferential direction and be axially limited. The connecting ring 34 is provided with a first connecting ear 341 and a second connecting ear 342 which are perpendicular to each other. The first connecting ear 341 is used for rotationally connecting the transverse damping cylinder 4; a connecting block 13 is provided at the bottom of the main frame 1, and the connecting block 13 is rotationally connected to the second connecting ear 342 through a pin shaft.

[0050] For example, see Figure 1 As shown, the longitudinal amplitude-changing cylinder 2 includes a longitudinal swing cylinder, one end of which is rotationally connected to the main frame 1, and the other end is rotationally connected to the gantry 6. The longitudinal swing cylinder is located on the side of the main frame 1 away from the pulley assembly 5. The number of the longitudinal swing cylinders can be two, and the longitudinal swing cylinders are arranged in parallel and at intervals.

[0051] For example, see Figure 2 As shown, the lateral damping cylinder 4 includes at least two lateral swing cylinders, which are symmetrically arranged on both sides of the clamping mechanism 3 with the clamping mechanism 3 as the center to ensure that the clamping mechanism 3 is subjected to balanced force. One end of the lateral swing cylinder is rotatably connected to the main frame 1 through a pin shaft, and the other end is rotatably connected to the clamping mechanism 3 through a pin shaft.

[0052] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A sway stopper, characterized in that: include: A main frame, the main frame is used to be rotatably connected to the door frame and can swing longitudinally relative to the door frame; A longitudinal luffing cylinder, used to connect the main frame and the gantry; A clamping mechanism is rotatably connected to the main frame and can swing laterally relative to the main frame; A transverse damping cylinder connected between the main frame and the clamping mechanism; The pulley assembly is connected to the main frame and swings synchronously with the main frame.

2. The anti-oscillation device according to claim 1, characterized in that: The clamping mechanism includes a connecting tube for connecting the underwater robot, a pressure plate for limiting the upward movement of the underwater robot, and a floating buffer mechanism connected between the connecting tube and the pressure plate; The floating buffer mechanism includes: a first connecting rod, a second connecting rod and a buffer cylinder. The first connecting rod is rotatably connected to the pressure plate. One end of the second connecting rod and the buffer cylinder are respectively rotatably connected to different connection points of the first connecting rod, and the other ends are respectively rotatably connected to different connection points of the connecting tube. The buffer cylinder is inclined downward from the connecting tube toward the first connecting rod and is located above the second connecting rod. The first connecting rod, the second connecting rod, the buffer cylinder and the connecting tube form a quadrilateral structure.

3. The anti-oscillation device according to claim 2, characterized in that: The distance between the connection points of the connecting tube, the second connecting rod and the buffer oil cylinder is greater than the distance between the connection points of the first connecting rod, the second connecting rod and the buffer oil cylinder.

4. The anti-oscillation device according to claim 1, characterized in that: The pulley assembly comprises a wheel frame and a pulley rotatably connected to the wheel frame. The wheel frame is rotatably connected to the main frame and can rotate relative to the main frame around a vertical center line.

5. The anti-oscillation device according to claim 4, characterized in that: The main frame includes a first connecting plate and a second connecting plate located below the first connecting plate, the wheel frame is located between the first connecting plate and the second connecting plate, the top end of the wheel frame is rotatably connected to the first connecting plate via a pin shaft, the second connecting plate is provided with a sleeve shaft coaxial with the pin shaft, the bottom end of the wheel frame is provided with a sleeve hole, and is rotatably connected to the sleeve shaft via the sleeve hole, and the sleeve shaft is provided with a clearance hole for the cable.

6. The anti-oscillation device according to claim 1 or 5, characterized in that: The clamping mechanism comprises a connecting ring, which is located at the top of the clamping mechanism and is provided with a first connecting ear and a second connecting ear which are perpendicular to each other, wherein the first connecting ear is used for rotatably connecting to the transverse damping cylinder; A connecting block is provided at the bottom of the main frame, and the connecting block is rotatably connected to the second connecting ear through a pin shaft.

7. The anti-oscillation device according to claim 1, characterized in that: The longitudinal amplitude-changing cylinder is a longitudinal swing cylinder, one end of which is rotationally connected to the main frame, and the other end of which is rotationally connected to the gantry. The longitudinal swing cylinder is located on a side of the main frame away from the pulley assembly.

8. The stabilizer according to claim 1, characterized in that: The lateral damping cylinder is a lateral swing cylinder, and there are two of them. The lateral swing cylinders are symmetrically arranged on both sides of the clamping mechanism with the clamping mechanism as the center. One end of the lateral swing cylinder is rotatably connected to the main frame, and the other end is rotatably connected to the clamping mechanism.

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