Underwater robot hoisting device capable of being rapidly recycled

Abstract

The utility model discloses an underwater robot hoisting device capable of being recovered quickly, which comprises a base and a pulley, a pair of cranes is arranged at the upper end of the base, an electric winch is arranged on one side of each crane, and a hoisting rope and an umbilical cable are respectively arranged on the pair of electric winches. The lifting rope penetrates through the lifting arm and the pulley on the crane on the side to be connected to the upper end of the lifting arm, the pulley is provided with a connecting piece, the lower end of the connecting piece is provided with a sinking cone, one end of the umbilical cable penetrates through the lifting arm on the other crane to be provided with a containing box, and the side, facing the pulley, of the containing box is provided with a pair of connecting frames. A through hole is formed in the connecting frame and arranged on the outer side of the lifting rope in a sleeving mode. According to the underwater robot recovery device, the underwater robot can be rapidly recovered, shaking of the underwater robot can be avoided in the process that the underwater robot is lifted to the water surface from the water bottom, the possibility that the underwater robot collides with other objects is reduced, and the integrity of the underwater robot is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to underwater robot recycling technical field, concretely is a kind of underwater robot hoist and release device of quick recovery. BACKGROUND

[0002] When underwater robot executes underwater detection, observation or sampling task, it will collect a large amount of valuable data and information. These data need to be recycled to come up, so that subsequent analysis, processing and application are carried out. By recycling robot, the integrity and accuracy of data can be ensured, and strong support is provided for scientific research, environmental monitoring or commercial application;Among them, Chinese patent number: CN202421463071.0 discloses a simple and safe underwater robot storage device, including gantry, further including recovery assembly arranged below the gantry;The recovery assembly includes electric hoist, upper plate, connecting rod, second rotating rod, third rotating rod and middle plate, the end outside of the gantry is equipped with electric hoist;When hydraulic oil leakage occurs, the second rotating rod and the third rotating rod are in vertical direction, when the middle plate has upward moving trend, since the second rotating rod and the third rotating rod do not have component force in inclined direction, the second rotating rod and the third rotating rod conflict with each other, i.e. the position of middle plate is always in fixed state, realizes the locking function of the device.

[0003] Based on the above, the present inventor found that the following problems exist: the above device can well protect underwater robot, and can ensure the stability of robot when hydraulic oil leaks, so as to ensure the safety of robot;But it is ignored that underwater robot is lifted when the lifting operation is carried out, due to the influence of water bottom turbulent flow, the lifting path of underwater robot is deviated, so that the recovery speed of underwater robot is slow;And the swing of underwater robot can hit other objects, so that underwater robot body is damaged, and loss is caused. UTILITY MODEL CONTENT

[0004] To achieve the above objectives, this utility model provides the following technical solution: a rapidly recoverable underwater robot deployment device, comprising a base and pulleys. A pair of cranes are mounted on the upper end of the base. An electric winch is mounted on one side of each crane. A hoisting rope and an umbilical cable are mounted on each pair of electric winches. The hoisting rope passes through the boom and pulley on the crane on that side and connects to the upper end of the boom. The pulley is equipped with a connecting member, and a sinking cone is located at the lower end of the connecting member. One end of the umbilical cable passes through the boom on the other crane and is positioned in a placement box. A pair of connecting frames are mounted on the side of the placement box facing the pulleys. A through hole is opened within the connecting frame, and the through hole is fitted onto the outside of the hoisting rope. Rollers are mounted inside the through hole and on both sides of the hoisting rope. Movable cavities are opened on both sides of the through hole, and movable holes are opened at opposite ends of the movable cavities. Limiting members are provided at both ends of the rollers closest to the placement box, and these limiting members are movably positioned within the movable cavity through the movable holes. The roller furthest from the placement box is movably connected to the inner wall of the through hole.

[0005] Furthermore, the movable cavity has limiting grooves on both sides of its inner wall, a locking member inside the movable cavity, a connecting member connected to the locking member, limiting blocks on both sides of the connecting member, the limiting blocks being movably connected to the limiting grooves, and a threaded hole inside the connecting member, with an electric threaded rod threadedly connected inside the threaded hole, the end of the electric threaded rod away from the threaded hole being located on the inner wall of the movable cavity.

[0006] Furthermore, both rollers are horizontally arranged, the vertical length of the movable hole is less than the cross-sectional length of the limiting member, and the horizontal length of the movable hole is greater than the cross-sectional length of the limiting member.

[0007] Furthermore, the locking component is an arc-shaped component, and a rubber pad is provided on the side of the locking component near the limiting component.

[0008] Furthermore, the placement box contains an electric disk, and the sides of the non-electric disks in the placement box are all provided with a magnetic shielding layer.

[0009] Furthermore, the placement box has a streamlined shape.

[0010] Furthermore, the sinking cone is a conical component.

[0011] Furthermore, the sinking cone is provided with a placement cavity, an iron ball is placed inside the placement cavity, and a perforation is provided on the placement cavity.

[0012] Compared with the prior art, the beneficial effects of this utility model are: the underwater robot hoisting device that can be quickly recovered is reasonable and has the following advantages:

[0013] (1) When the underwater robot is lifting, the lifting path of the underwater robot will be deviated due to the influence of the underwater turbulence, which will slow down the underwater robot’s recovery speed. With the cooperation of the sinking cone, the hoisting rope, the connecting frame and a pair of rollers, the shaking of the placement box can be avoided, which will cause the placement box to shift. This not only improves the speed of the retrieval and lowering of the placement box and the underwater robot inside, but also avoids the underwater robot’s swinging which may collide with other objects and cause damage to the underwater robot body, ensuring the safety of the placement box, but also ensures the accurate deployment of the underwater robot, improving the accuracy of operation and reducing the operation time loss caused by errors.

[0014] (2) By fixing the placement box and the suspending rope at different heights in the water, the placement box can be kept in a stable suspended state at different depths underwater. When water flow occurs near the underwater placement box, the suspending rope will not swing with the water flow due to the effect of the sinking cone being firmly fixed to the bottom of the water, thus ensuring that the placement box will not swing with the water flow. When the underwater robot enters or leaves the placement box, the stability of the placement box can ensure that the underwater robot and the placement box can dock smoothly, avoiding the situation where the position of the placement box at the bottom of the water changes, which would increase the time of the underwater robot entering the placement box. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0016] Figure 2 This is an enlarged structural diagram of point A in this utility model;

[0017] Figure 3 This is a schematic diagram of the internal structure of the placement box of this utility model;

[0018] Figure 4 This is a cross-sectional structural diagram of the connecting frame of this utility model;

[0019] Figure 5 This is an enlarged schematic diagram of the card component of this utility model.

[0020] In the diagram: 1. Electric winch; 2. Lifting rope; 3. Base; 4. Crane; 5. Umbilical cable; 6. Sinking cone; 7. Pulley; 8. Placement box; 9. Connecting frame; 10. Electromagnetic disk; 11. Through hole; 12. Movable cavity; 13. Movable hole; 14. Limiting groove; 15. Rubber pad; 16. Roller; 17. Limiting component; 18. Clamp; 19. Connecting component; 20. Limiting block; 21. Threaded hole; 22. Electric threaded rod. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Please see Figures 1-5 The present invention provides a technical solution as follows:

[0023] Example:

[0024] In this embodiment, a rapidly recoverable underwater robot deployment device includes a base 3 and a pulley 7. A pair of cranes 4 are mounted on the upper end of the base 3. An electric winch 1 is mounted on one side of each crane 4. A lifting rope 2 and an umbilical cable 5 are respectively mounted on each pair of electric winches 1. The lifting rope 2 passes through the boom of the crane 4 on that side and connects to the upper end of the boom. The pulley 7 has a connecting member, and a sinking cone 6 is located at the lower end of the connecting member. One end of the umbilical cable 5 passes through the boom of the other crane 4 and is mounted on a placement box 8. A pair of connecting members are located on the side of the placement box 8 facing the pulley 7. The frame 9 has a through hole 11 inside, which is sleeved on the outside of the suspension rope 2. Rollers 16 are provided inside the through hole 11 and on both sides of the suspension rope 2. Movable cavities 12 are provided on both sides of the through hole 11. Movable holes 13 are provided at opposite ends of the movable cavities 12. Limiting members 17 are provided at both ends of the pair of rollers 16 that are closer to the placement box 8. The limiting members 17 are movably disposed in the movable cavity 12 through the movable hole 13. The roller 16 that is farther away from the placement box 8 is movably connected to the inner wall of the through hole 11.

[0025] With the cooperation of crane 4 and electric winch 1, the sinking cone 6 and placement box 8 can be smoothly lowered and retrieved. The sinking cone 6 and the hoisting rope 2 guide the movement of the placement box 8 underwater. The sinking cone 6, through its own shape and gravity, can be firmly fixed to the bottom surface, keeping the hoisting rope 2 taut. When it is necessary to explore a certain area, the electric winch 1 on the hoisting rope 2 is activated to lower the sinking cone 6 to the bottom of that area. Then, the electric winch 1 can be stopped, keeping the hoisting rope 2 taut. Next, the electric winch 1 connected to the umbilical cable 5 is activated to move the placement box 8 towards the bottom of the area. With the design of a pair of rollers 16 and connecting frame 9, the placement box 8 can be stably lowered underwater along the hoisting rope 2. When the placement box 8 moves to the required position on the bottom, the activation of the electric winch 1 connected to the umbilical cable 5 is stopped, and the electric threaded rod 22 is activated to firmly fix the hoisting rope 2 with the pair of rollers 16. This fixes the placement box 8 near the hoisting rope 2. Then, the electric disk 10 is turned off, and the underwater robot is started to move out of the placement box 8 to perform operations. When it is necessary to retrieve the underwater robot, the underwater robot can be put into the placement box 8, and the electric disk 10 is started again to fix the underwater robot inside the placement box 8. The electric threaded rod 22 is started in reverse to release the fixing effect between the placement box 8 and the hoisting rope 2. Then, the operation is reversed to retrieve the underwater robot smoothly. During the process of the placement box 8 rising and falling along the hoisting rope 2, the cooperation of the sinking cone 6, the hoisting rope 2, the connecting frame 9, and a pair of rollers 16 can prevent the placement box 8 from shaking and shifting its position. This not only improves the speed of the retrieval and lowering of the placement box 8 and the underwater robot inside, and ensures the safety of the placement box 8, but also ensures the accurate deployment of the underwater robot, improves the accuracy of operation, and reduces the operation time loss caused by errors.

[0026] The movable cavity 12 has limiting grooves 14 on both sides of its inner wall, a locking member 18 inside the movable cavity 12, a connecting member 19 connected to the locking member 18, limiting blocks 20 on both sides of the connecting member 19, the limiting blocks 20 being movably connected to the limiting grooves 14, and a threaded hole 21 inside the connecting member 19, an electric threaded rod 22 being threadedly connected inside the threaded hole 21, with one end of the electric threaded rod 22 away from the threaded hole 21 located on the inner wall of the movable cavity 12.

[0027] By cooperating with the limiting groove 14 and the limiting block 20, the movement of the connecting piece 19 can be limited, allowing the connecting piece 19 to move horizontally along the limiting groove 14. When the electric threaded rod 22 is activated, with the cooperation of the threaded hole 21, the limiting groove 14, and the limiting block 20, the connecting piece 19 can be pushed to move towards the roller 16 in the movable cavity 12, thereby driving the locking piece 18 to move in the same direction. The locking piece 18 pushes the limiting piece 17 to one side of the movable cavity 12, driving the roller 16 to move in the same direction, so that the distance between the pair of rollers 16 gradually closes until the lifting rope 2 is fixed in the pair of rollers 16, and at the same time, the lowering operation of the umbilical cable 5 above the placement box 8 is stopped. The roller 16 can fix the sling 2 to the placement box 8. By fixing the placement box 8 and the sling 2 at different heights in the water, the placement box 8 can maintain a stable suspended state at different depths underwater. When water flow occurs near the underwater placement box 8, the sling 2 will not swing with the water flow due to the firm fixation of the sinking cone 6 to the bottom of the water, thus ensuring that the placement box 8 will not swing with the water flow. When the underwater robot enters or leaves the placement box 8, the stability of the placement box 8 can ensure smooth docking between the underwater robot and the placement box 8, avoiding the situation where the position of the placement box 8 changes at the bottom of the water, which would increase the time of the underwater robot entering the placement box 8.

[0028] In this configuration, both rollers 16 are horizontally arranged, the vertical length of the movable hole 13 is less than the cross-sectional length of the limiting member 17, and the horizontal length of the movable hole 13 is greater than the cross-sectional length of the limiting member 17.

[0029] The design of the roller 16 makes the relative movement between the suspension rope 2 and the connecting frame 9 smoother, and the design of the movable hole 13 makes the limiting member 17 not detach from the movable cavity 12, allowing the two ends of the roller 16 to move flexibly in the movable cavity 12.

[0030] The locking component 18 is an arc-shaped component, and a rubber pad 15 is provided on the side of the locking component 18 near the limiting component 17.

[0031] The design of the rubber pad 15 can increase the friction between the limiting member 17 and the locking member 18. When the locking member 18 pushes the limiting member 17 to move, that is, when the limiting member 17 is fixed in the movable hole 13, the fixing effect of the limiting member 17 can be increased, and the surface structure of the limiting member 17 will not be damaged.

[0032] The placement box 8 contains an electric disk 10, and the sides of the non-electric disk 10 in the placement box 8 are all provided with a magnetic shielding layer.

[0033] The aforementioned placement box 8 is used to place the underwater robot, and the placement box 8 is equipped with the underwater robot's power transmission mechanism and signal transmission mechanism;

[0034] The design of the electric disk 10 allows the underwater robot to be placed on it. When the electric disk 10 is activated, the underwater robot can be firmly fixed to the upper part of the electric disk 10. Furthermore, the sides of the non-electric disk 10 inside the placement box 8 are equipped with a magnetic shielding layer, which can prevent the electric disk 10 from attracting non-underwater robot materials.

[0035] The placement box 8 has a streamlined shape;

[0036] The streamlined design of the placement box 8 reduces the resistance to underwater movement.

[0037] The sunken cone 6 is a conical component;

[0038] By designing the sinking cone 6 as a cone-shaped component, when the sinking cone 6 sinks to the bottom of the water, it can penetrate into the bottom of the water, thereby ensuring the fixed and taut effect of the sinking cone 6 and the upper suspension rope 2.

[0039] The sinking cone 6 is provided with a placement cavity, an iron ball is placed inside the placement cavity, and a perforation is provided on the placement cavity;

[0040] By incorporating iron balls within the sinking cone 6, the number of iron balls in the placement chamber can be gradually increased according to the water depth of the working area, thereby increasing the overall weight of the sinking cone 6. This ensures that the sinking cone 6 can smoothly sink to the bottom of the working area. Furthermore, the placement chamber is designed with perforations to allow water to freely enter the placement chamber, preventing air from affecting the sinking and fixing effect of the sinking cone 6.

[0041] Working principle: When it is necessary to explore a certain body of water, the electric winch 1 on the hoisting rope 2 is activated to lower the sinking cone 6 to the bottom of the water area. The electric winch 1 can then be stopped, keeping the hoisting rope 2 taut. Next, the electric winch 1 connected to the umbilical cable 5 is activated, moving the placement box 8 towards the bottom of the water area. The design of a pair of rollers 16 and the connecting frame 9 allows the placement box 8 to be stably lowered underwater along the hoisting rope 2. When the placement box 8 reaches the desired position on the bottom, the electric winch 1 connected to the umbilical cable 5 is stopped, and the electric threaded rod 22 is activated, causing the pair of rollers 16 to firmly secure the hoisting rope 2, thus fixing the placement box 8 near the hoisting rope 2. Then, the electric disk 10 is turned off, and the underwater robot moves out of the placement box 8 to begin operations. To retrieve the underwater robot, it can be placed inside the placement box 8. Then, the electric disk 10 is activated to secure the robot inside the box 8. The electric threaded rod 22 is then activated in reverse to release the fixation between the placement box 8 and the hoisting rope 2. The operation is then reversed to retrieve the underwater robot smoothly. During the ascent and descent of the placement box 8 along the hoisting rope 2, the cooperation of the sinking cone 6, the hoisting rope 2, the connecting frame 9, and a pair of rollers 16 prevents the placement box 8 from swaying and shifting its position. This not only improves the speed of retrieval and descent of the placement box 8 and the underwater robot inside, ensuring the safety of the placement box 8, but also ensures the accurate deployment of the underwater robot, improving operational accuracy and reducing operational time losses caused by errors.

[0042] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A rapidly recoverable underwater robot deployment device, comprising a base (3) and pulleys (7), characterized in that: The base (3) is equipped with a pair of cranes (4) at its upper end. An electric winch (1) is provided on one side of each crane (4). A hoisting rope (2) and an umbilical cable (5) are respectively provided on the pair of electric winches (1). The hoisting rope (2) passes through the boom and pulley (7) on the crane (4) on that side and is connected to the upper end of the boom. The pulley (7) is provided with a connector. The lower end of the connector is provided with a sinking cone (6). One end of the umbilical cable (5) passes through the boom on the other crane (4) and is provided with a placement box (8). A pair of connecting frames (9) are provided on the side of the placement box (8) facing the pulley (7). A through hole (11) is provided in the connecting frame (9). The through hole (11) is sleeved on the outside of the suspension rope (2). Rollers (16) are provided inside the through hole (11) and on both sides of the suspension rope (2). Movable cavities (12) are opened on both sides of the through hole (11). Movable holes (13) are opened at the opposite ends of the movable cavities (12). Limiting members (17) are provided at both ends of the roller (16) closer to the placement box (8). The limiting members (17) pass through the movable holes (13) and are movably disposed in the movable cavities (12). The roller (16) away from the placement box (8) is movably connected to the inner wall of the through hole (11).

2. The underwater robot deployment device capable of rapid recovery according to claim 1, characterized in that: The movable cavity (12) has a limiting groove (14) on both sides of its inner wall. The movable cavity (12) has a locking piece (18) inside. The locking piece (18) is connected to a connecting piece (19). The connecting piece (19) has a limiting block (20) on both sides. The limiting block (20) is movably connected to the limiting groove (14). The connecting piece (19) has a threaded hole (21) inside. An electric threaded rod (22) is threaded into the threaded hole (21). The end of the electric threaded rod (22) away from the threaded hole (21) is located on the inner wall of the movable cavity (12).

3. The underwater robot deployment device for rapid recovery according to claim 2, characterized in that: Both of the rollers (16) are horizontally arranged. The vertical length of the movable hole (13) is less than the cross-sectional length of the limiting member (17), and the horizontal length of the movable hole (13) is greater than the cross-sectional length of the limiting member (17).

4. The underwater robot deployment device for rapid recovery according to claim 3, characterized in that: The card (18) is an arc-shaped part, and a rubber pad (15) is provided on the side of the card (18) near the limiting part (17).

5. The underwater robot deployment device for rapid recovery according to claim 4, characterized in that: The placement box (8) is equipped with an electric disk (10), and the sides of the non-electric disks (10) in the placement box (8) are all equipped with a magnetic shielding layer.

6. The underwater robot deployment device for rapid recovery according to claim 5, characterized in that: The placement box (8) has a streamlined shape.

7. The underwater robot deployment device for rapid recovery according to claim 6, characterized in that: The sinking cone (6) is a cone-shaped component.

8. The underwater robot deployment device for rapid recovery according to claim 7, characterized in that: The sinking cone (6) is provided with a placement cavity, an iron ball is placed inside the placement cavity, and a perforation is provided on the placement cavity.

Images