Underwater robot unhooking recovery device

Abstract

The utility model provides an underwater robot unhooking recovery device. The underwater robot unhooking recovery device comprises a hanging assembly, a cable assembly and a clamping assembly. The hanging ring is connected to the mounting seat; the hanging ring is used for being hung by an external hanging arm; the cable is sleeved on the drag hook of the underwater robot and penetrates through the mounting seat; the cable is used for connecting the underwater robot; the underwater robot drag hook is used for being connected with the joint of the underwater robot; the underwater robot drag hook is provided with a first clamping piece; the clamping assembly is arranged on one side of the hanging assembly; the clamping assembly is provided with a second clamping piece, the second clamping piece is rotatably connected to the mounting base and can be clamped with or separated from the first clamping piece, and when the second clamping piece is separated from the first clamping piece, the clamping assembly and the hanging assembly are separated from the cable assembly, so that the clamping assembly and the hanging assembly are conveniently recycled, and the cable assembly is still connected with the underwater robot; the clamping assembly and the hanging assembly are prevented from being soaked in water all the time, and the performance of the hanging assembly is guaranteed.

Description

Technical Field

[0001] This utility model relates to the technical field of underwater robot unhooking and recovery devices, and in particular to an underwater robot unhooking and recovery device. Background Technology

[0002] With the development of technology, underwater robots are being applied in industry for operations on water. In existing technology, underwater robots are suspended by an external crane arm. However, when the underwater robot is placed in water, the suspension components of the external crane arm cannot automatically detach and retrieve the robot, causing the suspension components to remain submerged and affecting their performance. Utility Model Content

[0003] The purpose of this utility model is to provide an underwater robot detachment and recovery device. The suspension assembly includes a mounting base and a suspension ring, with the suspension ring connected to the mounting base. The suspension ring is used to be suspended by an external boom. A cable assembly is located on one side of the suspension assembly. The cable assembly includes an underwater robot hook and a cable. The cable is sleeved on the underwater robot hook and passes through the mounting base. The cable is used to connect to the underwater robot. The underwater robot hook is used to connect to the connection point of the underwater robot. The underwater robot hook has a first engaging member. An engaging assembly is located on one side of the suspension assembly. The engaging assembly has a second engaging member, which is rotatably connected to the mounting base and can engage or disengage from the first engaging member. When the second engaging member disengages from the first engaging member, the engaging assembly and the suspension assembly disengage from the cable assembly, thereby facilitating the recovery of the engaging assembly and the suspension assembly. The cable assembly remains connected to the underwater robot, preventing the engaging assembly and the suspension assembly from being continuously submerged in water and ensuring the performance of the suspension assembly.

[0004] To achieve the above objectives, this utility model provides the following technical solution: an underwater robot detachment and recovery device, comprising:

[0005] A suspension assembly includes a mounting base and a suspension ring, the suspension ring being connected to the mounting base; the suspension ring is used to be suspended by an external boom.

[0006] A cable assembly is disposed on one side of the suspension assembly; the cable assembly includes an underwater robot hook and a cable; the cable is sleeved on the underwater robot hook and passes through the mounting base; the cable is used to connect the underwater robot; the underwater robot hook is used to connect to the connection point of the underwater robot; the underwater robot hook is provided with a first engaging element;

[0007] A locking assembly is disposed on one side of the hanging assembly; the locking assembly is provided with a second locking member, which is rotatably connected to the mounting base and can lock or disengage from the first locking member.

[0008] Optionally, the engaging assembly further includes a movable seat, a first connecting rod, and a rotating shaft;

[0009] The movable seat is movably mounted on the mounting base and relative to the mounting base;

[0010] The two ends of the first connecting rod are respectively connected to the movable seat and the rotating shaft, and the rotating shaft is connected to the second engaging member;

[0011] The rotating shaft rotates relative to the mounting base as the movable seat moves, causing the second engaging member to swing relative to the mounting base.

[0012] Optionally, the mounting base is provided with a rotating hole, and the rotating shaft is sleeved in the rotating hole and rotates along the axis of the rotating hole.

[0013] Optionally, a bearing is provided between the rotating shaft and the mounting base, the bearing being located within the rotating hole and fitted onto the rotating shaft.

[0014] Optionally, the first engaging component has a first engaging portion; the second engaging component has a second engaging portion, and the second engaging portion engages with the first engaging portion.

[0015] Optionally, there are two second engaging members, which are arranged on both sides of the first engaging member and can engage with the second engaging member.

[0016] Optionally, the engaging assembly further includes a floating block, which is disposed on one side of the mounting base and connected to the movable base; the floating block is capable of floating on the water surface.

[0017] When the floating block is underwater, it is subjected to an upward buoyancy force, which causes the moving base to move upward.

[0018] Optionally, the engaging assembly further includes an elastic element located between the mounting base and the movable base, which applies a downward elastic force to the movable base.

[0019] Optionally, the upward floating force on the floating block is greater than the downward elastic force on the movable seat.

[0020] Optionally, the elastic element is a spring.

[0021] Compared with the prior art, the beneficial effects of this utility model are:

[0022] This utility model provides an underwater robot detachment and recovery device. The suspension assembly includes a mounting base and a suspension ring, with the suspension ring connected to the mounting base. The suspension ring is used to be suspended by an external boom. A cable assembly is located on one side of the suspension assembly. The cable assembly includes an underwater robot hook and a cable. The cable is sleeved on the underwater robot hook and passes through the mounting base. The cable is used to connect to the underwater robot. The underwater robot hook is used to connect to the connection point of the underwater robot. The underwater robot hook has a first engaging component. An engaging component is located on one side of the suspension assembly. The engaging component has a second engaging component, which is rotatably connected to the mounting base and can engage or disengage from the first engaging component. When the second engaging component disengages from the first engaging component, the engaging component and the suspension assembly disengage from the cable assembly, thereby facilitating the recovery of the engaging component and the suspension assembly. The cable assembly remains connected to the underwater robot, preventing the engaging component and the suspension assembly from being continuously submerged in water and ensuring the performance of the suspension assembly. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0024] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings. In the following description, the same reference numerals denote the same parts.

[0025] Figure 1 A schematic diagram of the underwater robot unhooking and recovery device according to the present application is shown in use.

[0026] Figure 2 It shows Figure 1 A magnified view of a portion of point A in the middle.

[0027] Figure 3 A cross-sectional view of an underwater robot unhooking and recovery device according to the present application is shown.

[0028] Figure 4 It shows Figure 3 A magnified view of a section at point B in the middle.

[0029] Figure Labels

[0030] 100. Underwater robot unhooking and recovery device;

[0031] 10. Hanging assembly; 11. Mounting base; 11a. Rotating hole; 111. Bearing; 12. Hanging ring;

[0032] 20. Cable assembly; 21. Underwater robot hook; 211. First locking component; 2111. First locking part; 22. Cable;

[0033] 30. Engaging assembly; 31. Second engaging component; 311. Second engaging part; 32. Movable seat; 33. First connecting rod; 34. Rotating shaft; 35. Floating block; 36. Elastic element. Detailed Implementation

[0034] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0035] Please refer to the attached document. Figures 1-4 This utility model provides an underwater robot unhooking and recovery device 100, which is used to recover the locking component 30 and the hanging component 10 when the underwater robot is placed in the water.

[0036] Please refer to the attached document. Figures 1-4 In this application, the underwater robot detachment and recovery device 100 includes a suspension assembly 10, a cable assembly 20, and a locking assembly 30. The suspension assembly 10 includes a mounting base 11 and a hanging ring 12, with the hanging ring 12 connected to the mounting base 11. The hanging ring 12 is used to be suspended by an external boom. The cable assembly 20 is disposed on one side of the suspension assembly 10. The cable assembly 20 includes an underwater robot hook 21 and a cable 22. The cable 22 is sleeved on the underwater robot hook 21 and passes through the mounting base 11. The cable 22 is used to connect the underwater robot. The underwater robot hook 21 is used to connect the connection point of the underwater robot. The hook 21 is provided with a first engaging member 211; the engaging assembly 30 is provided on one side of the hanging assembly 10; the engaging assembly 30 is provided with a second engaging member 31, which is rotatably connected to the mounting base 11 and can engage or disengage from the first engaging member 211. When the second engaging member 31 disengages from the first engaging member 211, the engaging assembly 30 and the hanging assembly 10 disengage from the cable assembly 20, thereby facilitating the recovery of the engaging assembly 30 and the hanging assembly 10, while the cable assembly 20 remains connected to the underwater robot, thus preventing the engaging assembly 30 and the hanging assembly 10 from being constantly immersed in water and ensuring the performance of the hanging assembly 10.

[0037] Please refer to the attached document. Figures 1-2In this application, the hanging assembly 10 includes a mounting base 11 and a hanging ring 12. The hanging ring 12 is connected to the mounting base 11 so that the mounting base 11 is fixed to the hanging ring 12. The hanging ring 12 is used to be suspended by an external boom so that the hanging assembly 10 can be suspended by the external boom through the hanging ring 12, thereby facilitating the external boom to move the hanging assembly 10.

[0038] Please refer to the attached document. Figures 1-2 In this application, the cable assembly 20 is disposed on one side of the hanging assembly 10; the cable assembly 20 includes an underwater robot hook 21 and a cable 22; the cable 22 is sleeved on the underwater robot hook 21 and passes through the mounting base 11; the cable 22 is used to connect the underwater robot so that an external power source can provide power and communication to the underwater robot through the cable 22; the underwater robot hook 21 is used to connect the connection point of the underwater robot so that the underwater robot hook 21 is fixedly connected to the underwater robot; the underwater robot hook 21 is provided with a first engaging member 211.

[0039] Please refer to the attached document. Figures 1-2 In this application, the engaging component 30 is disposed on the outside of the hanging component 10; the engaging component 30 is provided with a second engaging member 31, which is rotatably connected to the mounting base 11 to facilitate adjustment of the position of the second engaging member 31 relative to the mounting base 11. The second engaging member 31 can engage or disengage from the first engaging member 211. When the second engaging member 31 disengages from the first engaging member 211, the engaging component 30 and the hanging component 10 disengage from the cable assembly 20, thereby facilitating the recovery of the engaging component 30 and the hanging component 10, while the cable assembly 20 remains connected to the underwater robot, thus preventing the engaging component 30 and the hanging component 10 from being continuously immersed in water and ensuring the performance of the hanging component 10. When the second locking component 31 engages with the first locking component 211, the underwater robot can connect to the mounting base 11 through the cooperation of the first locking component 211 and the second locking component 31. This facilitates the connection between the underwater robot and the sling assembly 10, allowing the external boom to suspend the underwater robot via the sling ring 12, thus enabling the external boom to move the underwater robot. When the underwater robot needs to be recovered, it surfaces, and the sling assembly 10 is slowly lowered by the external boom. Under its own weight, the sling assembly 10 connects to the first locking component 211 of the underwater robot through the guide cable 22, thereby achieving the recovery of the underwater robot.

[0040] Please refer to the attached document. Figures 1-4The engaging assembly 30 also includes a movable seat 32, a first connecting rod 33, and a rotating shaft 34. The movable seat 32 is disposed on the outside of the mounting base 11 and is movably mounted on the mounting base 11. Relative to the mounting base 11, the movable seat 32 moves vertically along the mounting base 11 to adjust its position. The two ends of the first connecting rod 33 are respectively connected to the movable seat 32 and the rotating shaft 34, so that the movable seat 32 drives the rotating shaft 34 to rotate during movement. The rotating shaft 34 is connected to the second engaging member 31. The rotating shaft 34 rotates relative to the mounting base 11 as the movable seat 32 moves, so as to adjust its position relative to the mounting base 11. The rotating shaft 34 drives the second engaging member 31 to swing relative to the mounting base 11, so that the second engaging member 31 engages or disengages from the first engaging member 211 during swinging, thereby facilitating the engagement or disengagement of the second engaging member 31 with the movement of the movable seat 32.

[0041] Please refer to the attached document. Figures 1-2 The mounting base 11 is provided with a rotating hole 11a, and the rotating shaft 34 is sleeved in the rotating hole 11a and rotates along the axis of the rotating hole 11a, so that the rotating shaft 34 can rotate relative to the mounting base 11 through the rotating hole 11a, thus ensuring the rotation effect of the rotating shaft 34.

[0042] Please refer to the attached document. Figures 1-2 A bearing 111 is placed between the rotating shaft 34 and the mounting base 11. The bearing 111 is located in the rotating hole 11a and the rotating shaft 34 is sleeved on it so that the rotating shaft 34 can rotate relative to the mounting base 11 under the action of the bearing 111, thereby improving the smoothness of the rotation of the rotating shaft 34 relative to the mounting base 11.

[0043] Please refer to the attached document. Figures 3-4 The first engaging component 211 is provided with a first engaging portion 2111; the second engaging component 31 is provided with a second engaging portion 311, and the second engaging portion 311 is engaged with the first engaging portion 2111 so that the second engaging portion 311 can be detachably connected with the first engaging portion 2111 by engaging, thereby facilitating the second engaging component 31 to engage or disengage with the first engaging component 211 through the cooperation of the second engaging portion 311 and the first engaging portion 2111, thereby facilitating the connection or disengagement of the hanging assembly 10 to the underwater robot.

[0044] Please refer to the attached document. Figures 3-4 There are two second locking components 31, which are arranged on both sides of the first locking component 211 and can be locked onto the second locking component 31. By clamping the first locking component 211 with the two second locking components 31, the locking stability of the second locking component 31 relative to the first locking component 211 is improved.

[0045] Please refer to the attached document. Figures 3-4The engaging assembly 30 also includes a floating block 35, which is disposed on the outside of the mounting base 11 and connected to the movable base 32. The floating block 35 can float on the water surface. When the floating block 35 is underwater, it is subjected to an upward buoyancy force, which drives the movable base 32 to move upward, thereby enabling the movable base 32 to move upward relative to the mounting base 11. During the upward movement, the movable base 32 drives the second engaging member 31 to swing relative to the mounting base 11 via the first connecting rod 33 and the rotating shaft 34, thereby facilitating the second engaging member 31 to disengage from the first engaging member 211 during the swing, and causing the hanging assembly 10 and the engaging assembly 30 to disengage from the cable assembly 20. This ensures that when the floating block 35 is subjected to an upward buoyancy force, it drives the second engaging member 31 to disengage from the first engaging member 211.

[0046] Please refer to the attached document. Figures 1-2 The engaging assembly 30 also includes an elastic element 36, which is located between the mounting base 11 and the movable base 32. The elastic element 36 applies a downward elastic force to the movable base 32, allowing the movable base 32 to move downward relative to the mounting base 11 under the elastic force of the elastic element 36. This facilitates the second engaging element 31 engaging the first engaging element 211 under the downward force of the movable base 32, ensuring that the second engaging element 31 always engages the first engaging element 211 when the movable base 32 is not subjected to external force. Optionally, the elastic element 36 is a spring.

[0047] The upward floating force on the floating block 35 is greater than the downward elastic force on the movable seat 32. When the floating block 35 experiences an upward floating force, it compresses the elastic element 36 to allow the movable seat 32 to move upward, thus facilitating the upward movement of the movable seat 32 relative to the mounting base 11. As the movable seat 32 moves upward, it causes the second engaging member 31 to swing, disengaging it from the first engaging member 211. When the floating block 35 does not experience an upward floating force, the elastic element 36 applies a downward elastic force to the movable seat 32, causing it to move downward, thus facilitating the downward movement of the movable seat 32 relative to the mounting base 11. As the movable seat 32 moves downward, it causes the second engaging member 31 to swing, engaging the first engaging member 211.

[0048] Compared with the prior art, the beneficial effects of this utility model are:

[0049] This utility model provides an underwater robot detachment and recovery device 100. The suspension assembly 10 includes a mounting base 11 and a suspension ring 12, with the suspension ring 12 connected to the mounting base 11. The suspension ring 12 is used for being suspended by an external boom. A cable assembly 20 is disposed on one side of the suspension assembly 10. The cable assembly 20 includes an underwater robot hook 21 and a cable 22. The cable 22 is sleeved on the underwater robot hook 21 and passes through the mounting base 11. The cable 22 is used to connect to the underwater robot. The underwater robot hook 21 is used to connect to the underwater robot's connection point. The underwater robot hook 21 has a first engagement mechanism. Component 211; The engaging component 30 is disposed on one side of the suspension component 10; The engaging component 30 is provided with a second engaging component 31, which is rotatably connected to the mounting base 11 and can engage or disengage from the first engaging component 211. When the second engaging component 31 disengages from the first engaging component 211, the engaging component 30 and the suspension component 10 are disengaged from the cable assembly 20, thereby facilitating the recovery of the engaging component 30 and the suspension component 10, while the cable assembly 20 remains connected to the underwater robot, thus preventing the engaging component 30 and the suspension component 10 from being continuously immersed in water and ensuring the performance of the suspension component 10.

[0050] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture. If the specific posture changes, the directional indicator will also change accordingly.

[0051] It should also be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or may be connected to an intermediary component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component through an intermediary component.

[0052] Furthermore, the use of terms such as "first" and "second" in this utility model is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0053] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. An underwater robotic unhooking and recovery apparatus, characterized by, The utility model relates to a kind of underwater robot lifting device, including: Hanging assembly, including mounting seat and hanging ring, the hanging ring is connected to the mounting seat; The hanging ring is used to be hung by external boom; Cable assembly is arranged on one side of the hanging assembly;The cable assembly includes underwater robot drag hook and cable;The cable is sleeved on the underwater robot drag hook, and is threaded through the mounting seat;The cable is used to connect underwater robot;The underwater robot drag hook is used to connect the connection of underwater robot;The underwater robot drag hook is equipped with first clamping part; Clamping assembly is arranged on one side of the hanging assembly;The clamping assembly is equipped with second clamping part, and the second clamping part is rotatably connected to the mounting seat, and can be clamped or separated from first clamping part.

2. The remotely operated vehicle unhooking and recovery apparatus of claim 1, wherein, The clamping assembly further includes moving seat, first connecting rod, pivot; The moving seat is movably mounted on the mounting seat, and relative to the mounting seat; Two ends of the first connecting rod are connected to the moving seat and the pivot respectively, and the pivot is connected to the second clamping part; The pivot rotates relative to the mounting seat along with the movement of the moving seat, and drives the swing of the second clamping part relative to the mounting seat.

3. The remotely operated vehicle unhooking and recovery apparatus of claim 2, wherein, The mounting seat is provided with rotating hole, and the pivot is sleeved in the rotating hole and rotates along the axis of the rotating hole.

4. The remotely operated vehicle unhooking and recovery apparatus of claim 3, wherein, Between the pivot and the mounting seat bearing, the bearing is in the rotating hole, and the pivot is sleeved.

5. The underwater robotic unhooking recovery apparatus of any one of claims 2 to 4, wherein, The first clamping part is provided with first clamping part;Second clamping part is provided with second clamping part, and the second clamping part is clamped with the first clamping part.

6. The remotely operated vehicle unhooking and recovery apparatus of claim 5, wherein, The second clamping part has two, two second clamping parts are arranged on the two sides of the first clamping part, and can be clamped in the second clamping part.

7. The underwater robotic unhooking recovery apparatus of any one of claims 2 to 4, wherein, The clamping assembly further includes floating block, and the floating block is arranged on one side of the mounting seat and connected to the moving seat;The floating block can float on water surface; When the floating block is underwater, the floating block is subjected to upward floating force, and drives the moving seat to move upward.

8. The remotely operated vehicle unhooking and recovery apparatus of claim 7, wherein, The clamping assembly further includes elastic element, and the elastic element is between the mounting seat and the moving seat, and exerts downward elastic force on the moving seat.

9. The underwater robotic unhooking recovery apparatus of claim 8, wherein, The upward floating force received by the floating block is greater than the downward elastic force received by the moving seat.

10. The underwater robotic unhooking recovery apparatus of claim 8, wherein, The elastic element is spring.

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