Hoisting butt joint device with butt joint positioning detection function

Abstract

The utility model relates to a lifting butt joint device with a butt joint positioning detection function, which is used for being in butt joint with a lifted object and comprises a base, a visual acquisition mechanism, a visual target, a locking mechanism, a connecting piece, a connecting positioning detection mechanism and a processing control mechanism. Comprising a visual camera capable of shooting the lower portion of a base, a visual target is fixedly arranged on a hung object, a connecting piece is arranged on the hung object, a positioning connection position allowing the connecting piece to enter is arranged in the base, and a connection positioning detection mechanism is arranged on the base. The connecting piece entering the positioning and connecting position can be detected; the locking mechanism is arranged on the base and can be connected with the connecting piece entering the positioning connecting position in a locking mode or disconnected from the connecting piece entering the positioning connecting position. The visual acquisition mechanism and the connection positioning detection mechanism are both in communication connection with the processing control mechanism, and the processing control mechanism is in control connection with the locking mechanism.

Description

Technical Field

[0001] The utility model relates to the technical field of lifting operations, in particular to a lifting and docking device with a docking positioning detection function. Background Art

[0002] Lifting operations play a crucial role in various engineering operations, particularly underwater operations such as underwater equipment recovery, underwater structure installation, and underwater rescue. These operations often require the precise and stable attachment of a specific docking device to a target object underwater, followed by a sling system to lift it to the surface or a designated location. This process not only tests the precision of the operator but also relies heavily on an efficient and reliable connection mechanism between the docking device and the target object.

[0003] Traditional underwater lifting and docking methods often rely on manual intervention by divers. Although this method can meet operational needs to a certain extent in shallow waters due to its intuitiveness and flexibility, its limitations become increasingly prominent as the operating depth increases. The deepwater environment places extremely high demands on the physical fitness, professional skills, and equipment of divers, greatly increasing the risks and costs of operations. Manual docking methods also face the problems of complex and time-consuming operation processes. Each link requires careful planning and strict monitoring, which not only increases the uncertainty of the operation but also limits the improvement of operational efficiency. Especially in emergency rescue or time-sensitive projects, this direct human intervention method is obviously not the best choice.

[0004] Therefore, developing a technical solution that can be automatically or remotely controlled, can operate underwater, and can achieve fast, accurate and stable docking between the lifting docking device and the hoisted object has become a technical problem that needs to be urgently solved in the current field of underwater lifting operations. Utility Model Content

[0005] In view of the shortcomings of the prior art described above, the technical problem to be solved by the present invention is to provide a lifting docking device with a docking positioning detection function, which can complete the docking by visual detection and automatically complete the connection locking.

[0006] To achieve the above-mentioned purpose, the utility model provides a lifting docking device with a docking positioning detection function, which is used for docking with a suspended object, including a base, a visual acquisition mechanism, a visual target, a locking mechanism, a connector, a connection positioning detection mechanism and a processing control mechanism. The visual acquisition mechanism is arranged on the base, and includes a visual camera capable of photographing the bottom of the base. The visual target is fixedly arranged on the suspended object, and the connector is arranged on the suspended object. A positioning connection position for the connector to enter is provided in the base, and the connection positioning detection mechanism is arranged on the base and can detect the connector entering the positioning connection position; the locking mechanism is arranged on the base and can lock or release the connection with the connector entering the positioning connection position; the visual acquisition mechanism and the connection positioning detection mechanism are both communicatively connected to the processing control mechanism, and the processing control mechanism is control-connected to the locking mechanism.

[0007] Furthermore, a lock head is provided on the upper portion of the connecting member, and a locking surface is provided on the lower side of the lock head. The locking mechanism includes a lock pin movably mounted on the base, and a driving assembly for driving the lock pin to move. The driving assembly can drive the lock pin to move to a locked position or an unlocked position, and when the lock pin is in the locked position, it enters the lower side of the locking surface of the lock head located at the positioning connection position, and when the lock pin is in the unlocked position, it leaves the lower side of the locking surface of the lock head located at the positioning connection position.

[0008] Furthermore, the locking pin is hinged to the base, and the driving assembly includes a telescopic power cylinder hingedly mounted on the base, and a piston rod of the telescopic power cylinder is hinged to the locking pin.

[0009] Furthermore, it also includes a lock pin state detection mechanism for detecting whether the lock pin is in a locked position, and the processing control mechanism is communicatively connected to the lock pin state detection mechanism.

[0010] Furthermore, the lock pin state detection mechanism includes a first position sensor, and the first position sensor detects when the lock pin is in the locked position.

[0011] Furthermore, the lock pin state detection mechanism further includes a second position sensor, and the lock pin is in the unlocked position when detected by the second position sensor.

[0012] Furthermore, the connection positioning detection mechanism includes a proximity inductive sensor, and the proximity inductive sensor can detect when the lock head of the connector enters the positioning connection position.

[0013] Furthermore, the visual target includes an H-shaped marking point.

[0014] Furthermore, when the connecting member is located at the positioning connection position, the visual target is located directly below the visual camera.

[0015] As described above, the lifting and docking device of the present invention has the following beneficial effects:

[0016] By setting up a visual acquisition mechanism and a visual target, during the docking process with the suspended object, it is possible to judge whether the positioning connection position on the base and the connecting piece on the suspended object are kept aligned through visual image judgment, thereby completing accurate positioning, thereby ensuring that the connecting piece can smoothly enter the positioning connection position, and ensure that the connecting piece is accurately in place through the connection positioning detection mechanism, so that the locking mechanism can smoothly and stably lock the connecting piece, thereby ensuring a stable connection with the suspended object. The positioning and locking connection can be automatically completed during the entire docking process. The entire operation process is simple to operate, and only requires appropriate adjustment of the relative position of the base or the suspended object. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the lifting and docking device of the present utility model.

[0018] Figure 2 This is a schematic diagram of the operation of the locking mechanism of the present invention when it is locked with the connecting piece.

[0019] Figure 3 The figure is a working diagram of the lifting and docking device of the present invention when docking with a lifted object.

[0020] Figure 4 This is a working schematic diagram of the lifting and docking device of the utility model being docked with the lifted object.

[0021] Explanation of Figure Numbers

[0022] 1 base

[0023] 101 Locating the connection location

[0024] 2 Vision Cameras

[0025] 3 visual targets

[0026] 4 Locking mechanism

[0027] 401 Lock Pin

[0028] 402 telescopic power cylinder

[0029] 5 Connectors

[0030] 501 Lock

[0031] 6. Connect the positioning detection mechanism

[0032] 7 Processing Control Agency

[0033] 8 First position sensor

[0034] 9 Suspended objects DETAILED DESCRIPTION

[0035] The following describes the implementation of the present invention through specific embodiments. People familiar with this technology can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0036] It should be noted that the structures, proportions, sizes, etc. depicted in the drawings of this specification are only used to match the contents disclosed in this specification for the understanding and reading of those familiar with this technology, and are not used to limit the conditions for the implementation of this utility model. Therefore, they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed in this utility model without affecting the efficacy and purpose of the utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle", etc. quoted in this specification are only for the convenience of description and are not used to limit the scope of the implementation of this utility model. Changes or adjustments in their relative relationships should also be considered as the scope of the implementation of this utility model without substantially changing the technical content.

[0037] See also Figures 1 to 4 The utility model provides a lifting docking device with a docking positioning detection function, which is used to dock with a suspended object 9 and lift it. The lifting docking device includes a base 1, a visual acquisition mechanism, a visual target 3, a locking mechanism 4, a connector 5, a connection positioning detection mechanism 6 and a processing control mechanism 7. The visual acquisition mechanism is arranged on the base 1, including a visual camera 2 that can take pictures below the base 1, the visual target 3 is fixedly arranged on the suspended object 9, and the connector 5 is arranged on the suspended object 9. A positioning connection position 101 for the connector 5 to enter is provided in the base 1, and the connection positioning detection mechanism 6 is arranged on the base 1, which can detect the connector 5 entering the positioning connection position 101; the locking mechanism 4 is arranged on the base 1, and can lock or release the connection with the connector 5 entering the positioning connection position 101; the visual acquisition mechanism and the connection positioning detection mechanism 6 are both communicated with the processing control mechanism 7, and the processing control mechanism 7 is control-connected to the locking mechanism 4.

[0038] The main working principle of the lifting docking device involved in the present invention is: the lifting docking device can be used to dock with various objects to be lifted and lift them, especially for lifting objects underwater or in deep pits. Figure 3 and Figure 4 , where the hoisted object 9 is an underwater robot operating underwater, the working process of the hoisting docking device is described using it as an example. When the underwater robot needs to be retrieved for hoisting, the hoisting docking device is first lowered by a sling or other means to a certain position range above the hoisted object 9, see Figure 3, wherein the connector 5 and the visual target 3 are preferably both arranged at a position near the middle of the top of the suspended object 9, and the visual camera 2 is used to shoot the bottom and transmit the shot image to the processing and control mechanism 7, so that the position of the visual target 3 in the image can be obtained, and the relative position of the suspended object 9 and the lifting docking device is judged by the position of the visual target 3 in the image, so as to judge whether the upper positioning connection position 101 and the connector 5 are kept relatively aligned up and down. Specifically, the image shot by the visual camera 2 when the positioning connection position 101 and the connector 5 are kept relatively aligned up and down is first set as the positioning reference image. The processing and control mechanism 7 can compare and analyze the position of the visual target 3 in the image shot by the visual camera 2 during the docking operation with the position of the visual target 3 in the positioning reference image to determine whether the alignment is maintained. The processing and control mechanism 7 can also transmit the image data to the external control center on the water, and determine whether the positioning connection position 101 and the connector 5 are in the relatively aligned range through comparative analysis by the operator, see Figure 3 As shown, if the alignment is confirmed, the lifting docking device continues to descend, so that the connector 5 smoothly enters the positioning connection position 101. If the alignment is not correct, the position of the base 1 or the hoisted object 9 is adjusted in time and judged again until the alignment is maintained. When the connector 5 enters the positioning connection position 101, it is detected by the connection positioning detection mechanism 6, see Figure 4 As shown, the connection positioning detection mechanism 6 sends a signal to the processing control mechanism 7, which determines that the docking is complete and can be locked and connected. The processing control mechanism 7 controls the locking mechanism 4 to operate and lock the connection with the connector 5. At this point, the docking device is stably connected to the suspended object 9 through the lifting, and the suspended object 9 can be lifted and retrieved.

[0039] See also Figures 1 to 4 The present invention is further described below with reference to several specific embodiments:

[0040] In this embodiment, see Figure 1 and Figure 2As a preferred design, a lock head 501 is provided on the upper part of the connector 5, and a locking surface is provided on the lower side of the lock head 501. A cylindrical positioning connection cavity is provided in the base 1, and the positioning connection position 101 is set in the positioning connection cavity. After the connector 5 enters the positioning connection cavity, it can smoothly reach the positioning connection position 101 under its guidance. The locking mechanism 4 includes a lock pin 401 movably mounted on the base 1, and a driving component for driving the lock pin 401 to move. The driving component can drive the lock pin 401 to move to the locked position or the unlocked position, and the lock pin 401 When the lock pin 401 is in the unlocking position, it leaves the lower side of the locking surface of the lock head 501 at the positioning connection position 101, and the locking mechanism 4 is disconnected from the lock head 501, so that the lock head 501 can smoothly move downward away from the positioning connection position 101.

[0041] In this embodiment, see Figure 1 and Figure 2 As a preferred design, the locking pin 401 is hinged to the base 1, and the drive assembly includes a telescopic power cylinder 402 hingedly mounted on the base 1. The telescopic power cylinder 402 is an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder. The piston rod of the telescopic power cylinder 402 is hinged to the locking pin 401, and the locking pin 401 is driven to rotate by the linear motion of the piston rod. In other embodiments, the locking pin 401 can also adopt linear movement or other motion methods to achieve the above-mentioned movement to the locked position or unlocked position, and the drive assembly can also adopt other existing suitable designs. When the lifting and docking device is used underwater, if the drive assembly adopts electric drive, good watertightness should be maintained.

[0042] In this embodiment, see Figure 1 and Figure 2As a preferred design, the lifting docking device further includes a lock pin state detection mechanism for detecting whether the lock pin 401 is in the locked position. The processing control mechanism 7 is communicatively connected to the lock pin state detection mechanism and can transmit a signal to the processing control mechanism 7. The lock pin state detection mechanism includes a first position sensor 8. When the lock pin 401 is in the locked position, it is detected by the first position sensor 8, thereby triggering the first position sensor to send a corresponding signal. When the lock pin 401 leaves the locked position, it no longer triggers the second position sensor. The lock pin state detection mechanism also includes a second position sensor (not shown in the drawings). When the lock pin 401 is detected by the second position sensor as being in the unlocked position, the second position sensor can control the specific position of the lock pin 401 in the unlocked position, so that it is away from the positioning connection cavity, and the lock head 501 moves in and out of the positioning connection position 101. The first position sensor 8 and the second position sensor can be contact sensors. When the lock pin 401 rotates to the locked position or the unlocked position, it contacts the first position sensor 8 and the second position sensor respectively. Based on the detection signals of the first position sensor 8 and the second position sensor, it can be ensured that the lifting docking device and the suspended object 9 are stably connected. The first position sensor 8 and the second position sensor may also be non-contact proximity inductive sensors. When the hoisting docking device is used underwater, the first position sensor 8 and the second position sensor need to ensure good water tightness.

[0043] In this embodiment, see Figure 1 and Figure 2 As a preferred design, the connection positioning detection mechanism 6 includes a proximity inductive sensor arranged next to the positioning connection position 101. The lock head 501 of the connector 5 is preferably a conical boss structure, and its side has a circular surface with high dimensional accuracy. When the lock head 501 enters the positioning connection position 101, the circular surface can be detected by the proximity inductive sensor, and the signal is transmitted to the processing and control mechanism 7. According to the signal, it can be determined that the lock head 501 has accurately entered the positioning connection position 101 and is waiting to be locked. At this time, the processing and control mechanism 7 can control the locking mechanism 4 to operate and accurately lock and connect with the lock head 501.

[0044] In this embodiment, see Figure 1 As a preferred design, the visual target 3 includes an H-shaped marking point. When used underwater, the visual target 3 is made of a material resistant to seawater corrosion. When the connector 5 is located in the positioning connection position 101, the visual target 3 is located directly below the visual camera 2 and remains directly opposite.

[0045] In this embodiment, the processing and control mechanism 7 can adopt an existing hardware structure, including a processor and an information transmission module, etc., and has data processing and control functions. It can receive and process data signals from the visual acquisition mechanism and the lock pin status detection mechanism, and can also send control instructions to the locking mechanism 4. When used underwater, the processing and control mechanism 7 is completely encapsulated and adopts a design structure that is resistant to water pressure, vibration, and impact. The processing and control mechanism 7 is also equipped with a battery to provide power to the electrical components such as the visual acquisition mechanism, the connection and positioning detection mechanism 6, and the lock pin status detection mechanism, and can also provide power to the drive components of the electrically driven locking mechanism 4. The signal data can be transmitted to an external control system via the information transmission module.

[0046] In this embodiment, when used underwater, the visual camera 2 and other components used in the visual acquisition mechanism are suitable for use in seawater, and adopt a design structure that is waterproof, resistant to water pressure, resistant to vibration, resistant to impact, and has low energy consumption. The visual acquisition mechanism includes a light source to provide lighting for the visual camera 2 to shoot.

[0047] As can be seen from the above, the lifting and docking device involved in the utility model has the following beneficial effects:

[0048] 1. By setting up a visual acquisition mechanism and a visual target 3, during the docking process with the suspended object 9, the positioning connection position 101 on the base 1 and the connector 5 on the suspended object 9 can be aligned through visual image judgment to complete accurate positioning, thereby ensuring that the connector 5 can smoothly enter the positioning connection position 101, and the connection positioning detection mechanism 6 is used to ensure that the connector 5 is accurately in place, so that the locking mechanism 4 can smoothly and stably lock and connect the connector 5, thereby ensuring a stable connection with the suspended object. The positioning and locking connection can be automatically completed during the entire docking process. The entire operation process is simple to operate, and only requires appropriate adjustment of the relative position of the base 1 or the suspended object 9.

[0049] 2. The lock pin state detection mechanism can detect whether the locking mechanism 4 and the connector 5 are in a locked connection state or a released connection state, thereby ensuring stability and safety during docking and lifting.

[0050] In summary, the present invention effectively overcomes various shortcomings of the prior art and has high industrial utilization value.

[0051] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed in the present invention are intended to be covered by the claims of the present invention.

Claims

1. A lifting docking device with docking positioning detection function, used for docking with a suspended object (9), characterized in that: The invention comprises a base (1), a visual acquisition mechanism, a visual target (3), a locking mechanism (4), a connector (5), a connection positioning detection mechanism (6) and a processing control mechanism (7), wherein the visual acquisition mechanism is arranged on the base (1) and comprises a visual camera (2) capable of photographing the bottom of the base (1), the visual target (3) is fixedly arranged on the suspended object (9), the connector (5) is arranged on the suspended object (9), a positioning connection position (101) capable of being entered by the connector (5) is provided in the base (1), the connection positioning detection mechanism (6) is arranged on the base (1) and can detect the connector (5) entering the positioning connection position (101); the locking mechanism (4) is arranged on the base (1) and can lock or release the connection with the connector (5) entering the positioning connection position (101); the visual acquisition mechanism and the connection positioning detection mechanism (6) are both communicatively connected to the processing control mechanism (7), and the processing control mechanism (7) is control-connected to the locking mechanism (4).

2. The lifting and docking device according to claim 1, characterized in that: The connecting member (5) is provided with a lock head (501) on the upper part, and the lower side of the lock head (501) has a locking surface. The locking mechanism (4) includes a lock pin (401) movably mounted on the base (1), and a driving component for driving the lock pin (401) to move. The driving component can drive the lock pin (401) to move to a locked position or an unlocked position, and when the lock pin (401) is in the locked position, it enters the lower side of the locking surface of the lock head (501) located at the positioning connection position (101), and when the lock pin (401) is in the unlocked position, it leaves the lower side of the locking surface of the lock head (501) located at the positioning connection position (101).

3. The lifting and docking device according to claim 2, characterized in that: The locking pin (401) is hinged to the base (1), and the driving assembly comprises a telescopic power cylinder (402) hingedly mounted on the base (1), wherein the piston rod of the telescopic power cylinder (402) is hinged to the locking pin (401).

4. The lifting and docking device according to claim 2, characterized in that: It also includes a lock pin state detection mechanism for detecting whether the lock pin (401) is in a locked position, and the processing control mechanism (7) is communicatively connected to the lock pin state detection mechanism.

5. The lifting and docking device according to claim 4, characterized in that: The lock pin state detection mechanism comprises a first position sensor (8), and the first position sensor (8) detects when the lock pin (401) is in a locked position.

6. The lifting and docking device according to claim 5, characterized in that: The lock pin state detection mechanism further includes a second position sensor, and the lock pin (401) is in an unlocked position when detected by the second position sensor.

7. The lifting and docking device according to claim 5, characterized in that: The connection positioning detection mechanism (6) includes a proximity inductive sensor, and when the lock head (501) of the connection member (5) enters the positioning connection position (101), it can be detected by the proximity inductive sensor.

8. The lifting and docking device according to claim 1, characterized in that: The visual target (3) includes an H-shaped marking point.

9. The lifting and docking device according to claim 1 or 8, characterized in that: When the connecting member (5) is located at the positioning connection position (101), the visual target (3) is located directly below the visual camera (2).

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