Marine target laying and recovering robot

Abstract

The utility model relates to a launching and recovering robot for a marine target, which belongs to the technical field of robot equipment and comprises a robot for launching and recovering the marine target. The robot comprises a shell, a mounting seat, two capturing arms, four fixing parts, connecting rods and electric telescopic rods, wherein the mounting seat is arranged in the shell in a sliding manner and extends out of the shell; the two capturing arms and the four fixing parts are oppositely arranged below the shell; the connecting rods are hinged between the shell and the four fixing parts; and an adjusting mechanism for adjusting the mounting seat is arranged in the shell. According to the marine target laying and recycling robot, the distance between the front capturing claw and the rear capturing claw can be adjusted, marine targets of different lengths can be clamped, the practicability and the recycling efficiency of the recycling robot are greatly improved, and therefore the advantages that the practicability is high, and the distance between the capturing claws can be adjusted according to the lengths of the marine targets are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot equipment, in particular to a deployment and recovery robot for offshore targets. Background Art

[0002] Due to the complex and changeable ocean conditions, the salvage of offshore targets has always been a difficult problem in the industry. When it is necessary to salvage a relatively large and heavy columnar target, the current operating mode is: use the existing lifting device of the mother ship to lift the columnar target at a single point, use the support arm and traction rope to lift it and place it on the sea surface outside the ship's side, and manually release the cable to complete the deployment; when recovering, a special person needs to go into the water to complete the hooking action, use the cable to complete the soft connection between the lifting device and the columnar target for single-point lifting, and with the assistance of the support arm, lift the columnar target off the sea surface and place it on the deck of the mother ship. The current workflow requires multiple people to coordinate and cooperate with each other, and a special person is required to complete the hooking and unhooking operations on the sea surface. The work is difficult and risky, and is not suitable for operations in complex sea conditions.

[0003] After searching, the announcement number CN216638619U discloses a deployment and recovery robot for marine targets, including: a capture device, which is used to capture marine targets on the water surface in a maneuverable manner and is used to connect with a towed cable; a power device for the capture device to realize maneuverability. When it is necessary to salvage the marine target, the power device can enable the capture device to realize maneuverability, so that the deployment and recovery robot can move on the water surface, and after finding the marine target, the capture device is used to capture the target. After the deployment and recovery robot captures the marine target, the deployment and recovery robot with the marine target is connected to the lifting head of the folding arm crane through the cable, and then the deployment and recovery robot and the marine target captured by the folding arm crane are lifted, and the marine target is placed in a bracket or other placement position to complete the recovery operation.

[0004] However, the distance between the front and rear capture claws of the offshore target deployment and recovery robot of the utility model is fixed and cannot be adjusted according to the length of the offshore target. The length of the offshore target will affect the clamping of the capture claws; this in turn affects the clamping effect and efficiency of the offshore target and cannot meet the use requirements. Therefore, a offshore target deployment and recovery robot is proposed to solve the above-mentioned problems. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides a deployment and recovery robot for offshore targets, which has the advantages of being highly practical and being able to adjust the spacing between capture claws according to the length of the offshore targets, thus solving the problem that the robot cannot be adjusted according to the length of the offshore targets.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: A deployment and recovery robot for offshore targets, including a robot for deploying and recovering offshore targets, the robot including a shell, a mounting seat slidably arranged inside the shell and extending outside the shell, two capture arms and four fixings arranged below the shell, a connecting rod hinged between the shell and the four fixings, and an electric telescopic rod hinged between two adjacent fixings on the left and right sides;

[0007] An adjusting mechanism for adjusting the mounting seat is arranged inside the shell, and the adjusting mechanism comprises a hydraulic cylinder fixed inside the shell and fixed to one end of the mounting seat close to the shell, and a locking structure arranged on the mounting seat and the shell.

[0008] Furthermore, the locking structure includes a servo motor arranged inside the mounting seat, a bidirectional screw fixedly mounted on the output shaft of the servo motor, two sliders threadedly connected to the outside of the bidirectional screw, two slides slidably arranged inside the mounting seat, a tooth plate fixedly mounted on the inner bottom wall of the shell, and a push rod hinged between the two sliders and the two slides, and a tooth block meshing with the tooth plate is fixedly mounted on the side of the slide away from the push rod.

[0009] Furthermore, a cavity is provided inside the mounting seat, the servo motor is fixedly mounted in the cavity, and one end of the bidirectional lead screw away from the servo motor is connected to the inner wall of the cavity through a bearing.

[0010] Furthermore, a sliding opening which is connected to the cavity and is used for the two slides to move is opened inside the mounting seat, the two slides are arranged up and down, and the two slides extend into the interior of the shell through the two sliding openings.

[0011] Furthermore, a limit assembly for guiding the two sliders is installed in the cavity, the number of the mounting seats is two, and the two mounting seats are slidably arranged at the left and right ends of the shell, and sealing gaskets are arranged at the connection between the two mounting seats and the shell.

[0012] Furthermore, a sliding rod is fixedly installed on the inner side of the sliding port, a sliding groove is opened inside the sliding seat, and the sliding rod is slidably connected to the sliding groove, the threads on the bidirectional screw are arranged oppositely, and a mounting frame for fixing the hydraulic cylinder is fixedly installed inside the shell.

[0013] Furthermore, the two capture arms are detachably mounted on four fixing members, a frame is welded on the upper surface of the shell, and a cable connecting portion is installed on the upper surface of the frame.

[0014] Compared with the prior art, the utility model provides a deployment and recovery robot for offshore targets, which has the following beneficial effects:

[0015] 1. The deployment and recovery robot for offshore targets can adjust the distance between the front and rear capture claws to clamp offshore targets of different lengths, greatly improving the practicality and recovery efficiency of the recovery robot, thereby achieving the advantages of strong practicality and being able to adjust the capture claw distance according to the length of the offshore target, solving the problem of being unable to adjust and use according to the length of the offshore target.

[0016] 2. The deployment and recovery robot of the offshore target drives the bidirectional lead screw to rotate through a servo motor. Since the threads of the bidirectional lead screw are opposite, the two sliders are relatively displaced, so that the tooth block and the tooth plate are engaged, and the mounting seat is locked and fixed, so as to better clamp the offshore target. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a front view of the structure of the utility model;

[0018] Figure 2 This is a structural sectional view of the housing of the utility model;

[0019] Figure 3 It is a partial structural schematic diagram of the utility model;

[0020] Figure 4 For this utility model Figure 2 A is a schematic diagram of the enlarged structure shown.

[0021] In the figure: 1. shell; 2. mounting seat; 3. frame; 4. cable connection part; 5. capture arm; 6. fixing piece; 7. connecting rod; 8. electric telescopic rod; 9. capture claw; 10. mounting frame; 11. hydraulic cylinder; 12. sealing gasket; 13. cavity; 14. servo motor; 15. bidirectional screw; 16. slider; 17. slide seat; 18. tooth plate; 19. tooth block; 20. push rod; 21. sliding opening; 22. slide rod; 23. slide groove. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] Embodiment 1:

[0024] See also Figure 1-4A deployment and recovery robot for offshore targets includes a robot for deploying and recovering offshore targets, the robot includes a shell 1, a mounting base 2 slidably arranged inside the shell 1 and extending outside the shell 1, two capture arms 5 and four fixings 6 arranged below the shell 1, a connecting rod 7 hinged between the shell 1 and the four fixings 6, and an electric telescopic rod 8 hinged between two adjacent fixings 6 on the left and right; an adjusting mechanism for adjusting the mounting base 2 is arranged inside the shell 1, and the adjusting mechanism includes a hydraulic cylinder 11 fixedly arranged inside the shell 1 and fixed to one end of the mounting base 2 close to the shell 1, and a locking structure arranged on the mounting base 2 and the shell 1.

[0025] In this embodiment, a cavity 13 is provided inside the mounting seat 2, a servo motor 14 is fixedly installed in the cavity 13, and one end of the bidirectional lead screw 15 away from the servo motor 14 is connected to the inner wall of the cavity 13 through a bearing. A sliding opening 21 is provided inside the mounting seat 2, which is connected to the cavity 13 and is used for the two slides 17 to move. The two slides 17 are arranged up and down, and the two slides 17 extend to the inside of the housing 1 through the two sliding openings 21.

[0026] It should be noted that a limit assembly for guiding the two sliders 16 is installed in the cavity 13, the number of the mounting seats 2 is two, and the two mounting seats 2 are slidably arranged at the left and right ends of the shell 1, and the connection between the two mounting seats 2 and the shell 1 is provided with a sealing gasket 12, which can seal the extension to prevent the entry of seawater. The hydraulic cylinder 11 can be set to two or a double-axis cylinder. A battery module is installed in the shell 1, and a waterproof sealing box is arranged outside the battery module. A driving mechanism is arranged on the frame 3.

[0027] A slide rod 22 is fixedly installed inside the sliding opening 21, a slide groove 23 is provided inside the slide seat 17, and the slide rod 22 is slidably connected to the slide groove 23, the threads on the bidirectional lead screw 15 are oppositely arranged, and the length of the slide groove 23 is adapted to the moving distance of the slide seat 17, so as to limit the position of the slide seat 17 and enable it to move stably. A mounting frame 10 for fixing the hydraulic cylinder 11 is fixedly installed inside the housing 1.

[0028] It can be understood that the two capture arms 5 are detachably mounted on the four fixing members 6, the upper surface of the housing 1 is welded with a frame 3, and the upper surface of the frame 3 is mounted with a cable connection part 4. The robot is provided with a detection module, and the detection module is provided with lighting equipment and camera equipment to better recover the target at sea. The detection module belongs to the conventional technology known to the public in the prior art, so the specific structure and working principle thereof will not be described in detail in this article.

[0029] Embodiment 2:

[0030] See also Figure 3 and Figure 4On the basis of the first embodiment, the locking structure includes a servo motor 14 arranged inside the mounting seat 2, a bidirectional lead screw 15 fixedly mounted on the output shaft of the servo motor 14, two sliders 16 threadedly connected to the outside of the bidirectional lead screw 15, two slides 17 slidably arranged inside the mounting seat 2, a tooth plate 18 fixedly mounted on the inner bottom wall of the shell 1, and a push rod 20 hinged between the two sliders 16 and the two slides 17, and a tooth block 19 meshing with the tooth plate 18 is fixedly mounted on the side of the slide 17 away from the push rod 20.

[0031] In order to better clamp the offshore target, the bidirectional lead screw 14 is driven to rotate by the servo motor 14. Since the threads of the bidirectional lead screw 15 are opposite, the two sliders 16 are relatively displaced, so that the tooth block 19 engages with the tooth plate 18 to fix the mounting seat 2, so as to better clamp the offshore target.

[0032] The working principle of the above embodiment is:

[0033] When in use, the two front and rear opposing capture claws 9 are brought closer together to clamp the target at sea through the extension and retraction of the electric telescopic rod 8, and then the robot is pulled back to the mother ship through the cable connection part 4. When it is necessary to adjust the distance between the front and rear capture claws 9, the two mounting seats 2 are driven to move by the hydraulic cylinder 11 to adjust the distance between the front and rear capture claws 9, and then the bidirectional lead screw 14 is driven to rotate by the servo motor 14. Since the threads of the bidirectional lead screw 15 are opposite, the two sliders 16 are relatively displaced, so that the tooth block 19 is engaged with the tooth plate 18, and the mounting seat 2 is fixed, so as to better clamp the target at sea.

[0034] The electrical components appearing in the article are all electrically connected to the main controller and the power supply. The main controller can be a conventional known device for control such as a computer, and the existing public power connection technology is not described in detail in the article.

[0035] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0036] Although embodiments of the present invention have been shown and described, it will be appreciated 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 that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A deployment and recovery robot for a marine target, comprising a robot for deploying and recovering a marine target, characterized in that: The robot comprises a housing (1), a mounting seat (2) slidably arranged inside the housing (1) and extending outside the housing (1), two capture arms (5) and four fixing members (6) arranged below the housing (1), a connecting rod (7) hinged between the housing (1) and the four fixing members (6), and an electric telescopic rod (8) hinged between two adjacent fixing members (6) on the left and right. An adjusting mechanism for adjusting the mounting seat (2) is arranged inside the housing (1), and the adjusting mechanism comprises a hydraulic cylinder (11) fixedly arranged inside the housing (1) and fixed to one end of the mounting seat (2) close to the housing (1), and a locking structure arranged on the mounting seat (2) and the housing (1).

2. The deployment and recovery robot for offshore targets according to claim 1, characterized in that: The locking structure comprises a servo motor (14) arranged inside a mounting seat (2), a bidirectional lead screw (15) fixedly mounted on an output shaft of the servo motor (14), two sliders (16) threadedly connected to the outside of the bidirectional lead screw (15), two slide seats (17) slidably arranged inside the mounting seat (2), a tooth plate (18) fixedly mounted on an inner bottom wall of a housing (1), and a push rod (20) hinged between the two sliders (16) and the two slide seats (17), wherein a tooth block (19) meshing with the tooth plate (18) is fixedly mounted on a side of the slide seat (17) away from the push rod (20).

3. The deployment and recovery robot for offshore targets according to claim 2, characterized in that: A cavity (13) is provided inside the mounting seat (2), the servo motor (14) is fixedly mounted in the cavity (13), and one end of the bidirectional lead screw (15) away from the servo motor (14) is connected to the inner wall of the cavity (13) via a bearing.

4. The deployment and recovery robot for offshore targets according to claim 3, characterized in that: The interior of the mounting seat (2) is provided with a sliding opening (21) which is in communication with the cavity (13) and is used for the two slide seats (17) to move. The two slide seats (17) are arranged up and down, and the two slide seats (17) extend into the interior of the housing (1) through the two sliding openings (21).

5. The deployment and recovery robot for offshore targets according to claim 3, characterized in that: A limit assembly for guiding the two sliders (16) is installed in the cavity (13); the number of the mounting seats (2) is two, and the two mounting seats (2) are slidably arranged at the left and right ends of the shell (1); and sealing gaskets (12) are arranged at the connection between the two mounting seats (2) and the shell (1).

6. The deployment and recovery robot for offshore targets according to claim 4, characterized in that: A slide rod (22) is fixedly installed on the inner side of the sliding opening (21), a slide groove (23) is provided inside the sliding seat (17), and the slide rod (22) is slidably connected to the slide groove (23), the threads on the bidirectional lead screw (15) are arranged oppositely, and a mounting frame (10) for fixing the hydraulic cylinder (11) is fixedly installed inside the housing (1).

7. The deployment and recovery robot for offshore targets according to claim 1, characterized in that: The two capture arms (5) are detachably mounted on four fixing members (6); a frame (3) is welded to the upper surface of the shell (1), and a cable connection portion (4) is mounted on the upper surface of the frame (3).

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