An underwater rescue and salvage tool and salvage apparatus

Abstract

The utility model discloses an underwater rescue salvage tool and salvage equipment. Among them, underwater rescue salvage tool includes operation arm and salvage assembly, and salvage assembly includes salvage arm, movable rod, elastic part, trigger arm and rope, and the salvage arm is set up on operation arm, and is equipped with the opening, first hinged groove and second hinged groove on the salvage arm, and the movable rod sets up at the opening of salvage arm, and is equipped with middle part rotary support pole, left end connecting support pole and right end rotary support pole on movable rod, and the middle part rotary support pole rotates and supports in first hinged groove, and right end rotary support pole and second hinged groove movable cooperation connection, and it can rotate into second hinged groove and rotate in second hinged groove or rotate from second hinged groove, and elastic part is connected with left end connecting support pole, salvage arm respectively, and trigger arm movable connection is in operation arm, and is equipped with trigger part and stop portion on trigger arm, and the rope is connected on left end connecting support pole, and the utility model has the advantages of simple structure and strong practicality.

Description

Technical Field

[0001] This utility model relates to the field of underwater salvage, specifically to an underwater rescue and salvage tool and salvage equipment. Background Technology

[0002] Underwater salvage technology is widely used in shipwreck rescue, underwater archaeology, seabed resource exploration, explosive ordnance disposal, and underwater facility maintenance. With the rapid development of unmanned underwater operation platforms such as remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs), underwater salvage operations are gradually shifting from manual diving to unmanned, automated, and intelligent processes. Currently, underwater salvage operations mainly rely on robotic arms and end effectors mounted on underwater robots to grasp, secure, and recover target objects.

[0003] The existing underwater salvage manipulators typically employ the following methods: (1) The operator controls the opening and closing mechanism of the electric manipulator to control the mechanical claw to close to grab objects and open to release objects; this method is limited because the opening and closing operations both rely on the electric control system, and in deep-sea scenarios, it is difficult for the operator to accurately judge the timing and extent of the mechanical claw's opening. (2) The mechanical claw passively opens under its own gravity or the action of a return spring after the manipulator drive system is powered off or depressurized, but this method has high requirements for the weight of the object being gripped. If the weight is large, it is difficult to complete the salvage operation by relying solely on the power of the salvage equipment itself.

[0004] Therefore, how to achieve efficient and reliable salvage of heavy objects remains a technical challenge that urgently needs to be solved in this field. Summary of the Invention

[0005] To at least partially address the shortcomings of the existing technology, the main objective of this utility model is to provide an underwater rescue and salvage tool and equipment, which has the advantages of simple structure and strong practicality.

[0006] To achieve the aforementioned main objectives, the first aspect of this utility model provides an underwater rescue and salvage tool, including a working arm and a salvage assembly, the salvage assembly being disposed at the end of the working arm; the salvage assembly includes: A salvage arm is mounted on a working arm. The salvage arm has an opening and a first hinge groove and a second hinge groove formed on opposite sides of the opening. The first hinge groove has an upper opening U-shaped structure, and the second hinge groove has a lower opening U-shaped structure. The movable rod is set at the opening of the salvage arm; the movable rod is equipped with a central rotating support rod, a left-end connecting support rod and a right-end rotating support rod. The central rotating support rod is rotatably supported in the first hinge groove, and the right-end rotating support rod is movably connected to the second hinge groove. It can be rotated into the second hinge groove and rotated in the second hinge groove or rotated out of the second hinge groove. The elastic components are connected to the left-end connecting rod and the salvage arm, respectively. A trigger arm is movably connected to the working arm; the trigger arm is provided with a trigger part corresponding to the elastic element and a stop part corresponding to the second hinge groove; The rope is attached to the connecting rod on the left end; When the trigger arm moves to the working position, the stop extends into the second hinge groove to keep the right-end rotating support rod always in the second hinge groove. The trigger part abuts against the elastic element, thereby allowing the middle rotating support rod to be moved out of the first hinge groove. The opening of the salvage arm is opened and the rope is driven to be threaded onto the salvaged object through the left-end connecting support rod.

[0007] According to a specific embodiment of the present invention, the elastic element is a straight spring, and at least one of its upper and lower ends is suspended and connected to the left connecting rod and the retrieval arm.

[0008] According to a specific embodiment of the present invention, the salvage arm is in the shape of a continuously bent truss / plate, and the trigger arm is in the shape of a continuously bent truss / plate and has the same outline as the salvage arm.

[0009] As a preferred embodiment of this solution, the trigger arm is rotatably connected to the working arm via a first rotating shaft, and can rotate to the working position under the drive of the rotary drive assembly.

[0010] As a preferred embodiment of this solution, the salvage arm is rotatably connected to the working arm via a second rotating shaft, with the first rotating shaft parallel to the second rotating shaft.

[0011] As a preferred embodiment of this solution, the rotary drive assembly includes a drive motor and a worm gear, with the worm gear located at the drive end of the drive motor; the retrieval arm is provided with a first worm gear tooth, and the trigger arm is provided with a second worm gear tooth, both of which are connected to the worm gear.

[0012] According to a specific embodiment of this utility model, the retrieval arm is a rigid retrieval arm made of metal or plastic; the trigger arm is a rigid trigger arm made of metal or plastic.

[0013] The second aspect of this utility model provides a salvage device, which includes a carrier and the underwater rescue and salvage tools as described above.

[0014] According to one specific embodiment of this utility model, the carrier is an underwater robot.

[0015] This utility model has the following beneficial effects: It provides an underwater rescue and salvage tool and salvage equipment. The underwater rescue and salvage tool includes a working arm and a salvage assembly. By utilizing the synergistic effect of the salvage arm and the elastic element in the salvage assembly, the movable rod is passed through the object to be salvaged. The trigger arm in the salvage assembly releases the constraint of the elastic element on the movable rod and simultaneously changes the fulcrum of the movable rod, thereby allowing the opening of the salvage arm to be opened. As the movable rod detaches from the object to be salvaged, the rope is automatically threaded onto the object. The entire process does not require strict control of the rope's posture, and the process of threading the rope onto the object is highly smooth, significantly improving salvage efficiency and reliability. It also has the advantages of compact structure and strong practicality.

[0016] To more clearly illustrate the purpose, technical solution, and advantages of this utility model, the following detailed description is provided in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description

[0017] Figure 1 This is a first perspective view of the underwater rescue and salvage tool of this utility model; Figure 2 This is a second perspective view of the underwater rescue and salvage tool of this utility model; Figure 3 This is a third perspective view of the underwater rescue and salvage tool of this utility model; Figure 4 This is a schematic diagram of the cooperative structure of the salvage arm, the movable rod, and the elastic element; Figure 5 This is a structural diagram of the trigger arm; Figure 6 This is a schematic diagram of the first step in the salvage component's rope-threading task; Figure 7 This is a schematic diagram of the second process of the salvage component performing the rope-threading task; Figure 8 This is a schematic diagram of the third process of the salvage component performing the rope-threading task. Detailed Implementation

[0018] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. Many specific details are set forth in the following description with reference to the embodiments in order to provide a full understanding of this utility model; however, it should be understood that the following embodiments and detailed descriptions are for illustrative purposes only and do not limit the scope of protection of this utility model.

[0019] The underwater rescue and salvage tools in the embodiments are as follows: Figure 1-3As shown, it includes a working arm 10 and a salvage assembly 20, with the salvage assembly 20 arranged at the end of the working arm 10. The working arm 10 is, for example, arranged on an underwater robot, and the underwater robot is controlled to perform the underwater rope threading task required for salvage, and the salvage task is completed in conjunction with the lifting tools in the salvage equipment.

[0020] Please combine Figure 4-5 The salvage assembly 20 includes a salvage arm 21, a movable rod 22, an elastic element 23, a trigger arm 24, and a rope 25.

[0021] The salvage arm 21 is mounted on the working arm 10. The salvage arm 21 is in the shape of a continuously bent truss / plate. To adapt to the underwater rescue environment, the salvage arm 21 is preferably made of a hard material such as metal or plastic, which has high strength and is not easily damaged during use. The salvage arm 21 is provided with an opening 211 and a first hinge groove 212 and a second hinge groove 213 formed on opposite sides of the opening 211. The first hinge groove 212 has a U-shaped structure with an upper opening 211, and the second hinge groove 213 has a U-shaped structure with a lower opening 211.

[0022] The movable rod 22 is positioned at the opening 211 of the salvage arm 21. Please refer to [link / reference]. Figure 6-7 The movable rod 22 is provided with a central rotating support rod 221, a left-end connecting support rod 222 and a right-end rotating support rod 223. The rope 25 is connected to the left-end connecting support rod 222. The central rotating support rod 221 is rotatably supported in the first hinge groove 212. The right-end rotating support rod 223 is movably connected to the second hinge groove 213. It can be rotated into the second hinge groove 213 and rotated in the second hinge groove 213 or rotated out of the second hinge groove 213.

[0023] The elastic element 23 is connected to the left end connecting rod 222 and the retrieval arm 21 respectively. Preferably, the elastic element 23 is a straight spring, and at least one of its upper and lower ends is suspended to the left end connecting rod 222 and the retrieval arm 21. Under the action of external force, the elastic element 23 can disengage, that is, disengage from the left end connecting rod 222 or the retrieval arm 21, so that the elastic element 23 no longer has a restraining force on the movable rod 22.

[0024] The trigger arm 24 is movably connected to the working arm 10, preferably using a rotational connection; please refer to the following. Figure 2-3 The trigger arm 24 is rotatably connected to the working arm 10 via the first rotating shaft 11, and can rotate to the working position under the drive of the rotary drive assembly. Preferably, the trigger arm 24 is in the shape of a continuously bent truss / plate and has the same outline as the salvage arm 21, and the trigger arm 24 is also made of a rigid material such as metal or plastic.

[0025] In this embodiment, the trigger arm 24 is provided with a trigger portion 241 corresponding to the elastic member 23 and a stop portion 242 corresponding to the second hinge groove 213; please refer to Figure 7 When the trigger arm 24 moves to the working position, the stop 242 extends into the second hinge groove 213 to keep the right-end rotating support rod 223 always within the second hinge groove 213. The trigger 241 abuts against the elastic member 23, causing the elastic member 23 to disengage, thereby allowing the middle rotating support rod 221 to move out of the first hinge groove 212, so that the opening 211 of the salvage arm 21 can be opened to release the salvaged object. Specifically, the trigger 241 and the stop 242 are preferably outwardly protruding rod / plate-like structures.

[0026] Please combine again Figure 2 , Figure 4-5 In this embodiment, the retrieval arm 21 is rotatably connected to the working arm 10 via a second rotating shaft 12, and the first rotating shaft 11 is parallel to the second rotating shaft 12. The rotary drive assembly includes a drive motor (not shown) and a worm gear 13, with the worm gear 13 positioned at the drive end of the drive motor. The retrieval arm 21 has a first worm gear tooth 214, and the trigger arm 24 has a second worm gear tooth 243. Both the first worm gear tooth 214 and the second worm gear tooth 243 are engaged with the worm gear 13. Under the rotary drive of the drive motor, the worm gear 13 rotates, driving the retrieval arm 21 and the trigger arm 24 to produce corresponding movements through the first worm gear tooth 214 and the second worm gear tooth 243.

[0027] The salvage process in this embodiment is as follows: 1) First, determine the location of the object to be salvaged. Then, control the working arm 10 to move the salvage arm 21 in the salvage assembly 20 toward the object to be salvaged (along the P1 direction) until the movable rod 22 (the section between the middle rotating support rod 221 and the right-end rotating support rod 223) collides with the object to be salvaged. Then, continue moving the salvage assembly 20. The movable rod 22 is forced to rotate around the middle rotating support rod 221 against the force of the elastic element 23, and the opening 211 of the salvage arm 21 is opened. At this time, as the salvage assembly 20 continues to move, the right-end rotating support rod 223 of the movable rod 22 no longer contacts the salvage arm 21, and the object to be salvaged enters the interior of the salvage arm 21 and gradually separates from the movable rod 22. The process is as follows. Figure 6 As shown; then, under the force of the elastic element 23, the movable rod 22 (along the R1 direction) rotates in the opposite direction to reset, so that the movable rod 22 passes through the salvaged object.

[0028] 2) Next, control the rotary drive assembly to drive the trigger arm 24 and the salvage arm 21 to rotate synchronously in opposite directions (see...). Figure 3During the process, the stop part 242 (specifically rod-shaped) extends into the second hinge groove 213 to keep the right-end rotating support rod 223 always located within the second hinge groove 213, forming a rotatable pivot point. The trigger part 241 gradually abuts against the elastic member 23, which is suspended from the elastic member 23 on the left-end connecting support rod 222 or the salvage arm 21. Under the action of the trigger part 241, the elastic member 23 is pushed away from the left-end connecting support rod 222 or the salvage arm 21 and no longer forms a connection (i.e., the elastic member 23 is forced to detach), thereby releasing the constraint between the left-end connecting support rod 222 and the salvage arm 21, and allowing the middle rotating support rod 221 to be moved out of the first hinge groove 212. The process is as follows. Figure 7 As shown, at this time, the movable rod 22 rotates around the right-end rotating support rod 223 as the rotation center and opens the opening 211 of the salvage arm 21.

[0029] 3) Finally, the entire salvage assembly 20 moves backward (along the P2 direction), and the object to be salvaged comes into contact with the movable rod 22. Since only the right-end rotating support rod 223 of the movable rod 22 has rotational constraint in its current state, the movable rod 22 rotates around the R2 direction under the impact of the object to be salvaged. At this time, the movable rod 22, along with the rope 25 on it, is threaded onto the object to be salvaged. The process is as follows. Figure 8 As shown. After the above actions are completed, the rope 25 is effectively connected to the object being salvaged, and the working arm 10 returns to the water surface with the salvage assembly 20 (including the rope 25) to complete the underwater rope threading task.

[0030] It should be noted that the shape and weight of the rope will not interfere with other components or the interference can be negligible when the working arm 10 (e.g., mounted on an underwater robot) descends to the salvage work area and during the operation of the salvage component 20. Furthermore, depending on the weight of the object being salvaged, ropes of corresponding specifications and sizes can be selectively connected to achieve adaptation to salvage objects of different weights. For example, when the weight of the object being salvaged is large, a thinner rope can be threaded first. After returning to the surface, the thinner rope can be replaced by a thicker rope that meets the corresponding strength requirements through manual transfer before the object is hoisted.

[0031] In addition, the elastic element 23 in the embodiment can be used as a consumable. Before each operation, the elastic element 23 is installed in a suitable position. During use, after being pushed by the trigger part 241, it is directly detached from the left end connecting rod 222 and the retrieval arm 21.

[0032] Although the present invention has been described above through embodiments, the above embodiments are only used to exemplarily describe possible implementations of the present invention, and are not intended to limit the scope of protection of the present invention. Any equivalent substitutions or changes made by those skilled in the art in accordance with the present invention should also be covered by the scope of protection defined by the claims of the present invention.

Claims

1. An underwater rescue and salvage tool, comprising a working arm and a salvage assembly, wherein the salvage assembly is disposed at the end of the working arm; characterized in that, The salvage assembly includes: A salvage arm is mounted on the working arm; the salvage arm is provided with an opening and a first hinge groove and a second hinge groove formed on opposite sides of the opening, the first hinge groove having an upper opening U-shaped structure and the second hinge groove having a lower opening U-shaped structure. A movable rod is provided at the opening of the salvage arm; the movable rod is provided with a central rotating support rod, a left-end connecting support rod and a right-end rotating support rod, the central rotating support rod is rotatably supported in the first hinge groove, and the right-end rotating support rod is movably connected to the second hinge groove, which can be rotated into the second hinge groove and rotated in the second hinge groove or rotated out of the second hinge groove; The elastic element is connected to the left end connecting rod and the salvage arm respectively; A trigger arm is movably connected to the working arm; the trigger arm is provided with a trigger part corresponding to the elastic element and a stop part corresponding to the second hinge groove. A rope is attached to the connecting rod at the left end; When the trigger arm moves to the working position, the stop extends into the second hinge groove to keep the right-end rotating support rod always in the second hinge groove. The trigger part abuts against the elastic element, thereby allowing the middle rotating support rod to move out of the first hinge groove. The opening of the salvage arm is opened and the rope is threaded onto the salvaged object through the left-end connecting support rod.

2. The underwater rescue and salvage tool according to claim 1, characterized in that: The elastic element is a straight spring, and at least one of its upper and lower ends is suspended and connected to the left connecting rod and the salvage arm.

3. The underwater rescue and salvage tool according to claim 1, characterized in that: The salvage arm is in the shape of a continuously bent truss / plate, and the trigger arm is in the shape of a continuously bent truss / plate and has the same outline as the salvage arm.

4. The underwater rescue and salvage tool according to claim 3, characterized in that: The trigger arm is rotatably connected to the working arm via a first rotating shaft, and can rotate to the working position under the drive of the rotary drive assembly.

5. The underwater rescue and salvage tool according to claim 4, characterized in that: The salvage arm is rotatably connected to the working arm via a second rotating shaft, and the first rotating shaft is parallel to the second rotating shaft.

6. The underwater rescue and salvage tool according to claim 5, characterized in that: The rotary drive assembly includes a drive motor and a worm gear, with the worm gear arranged at the drive end of the drive motor; the retrieval arm is provided with a first worm gear tooth portion, and the trigger arm is provided with a second worm gear tooth portion, both the first worm gear tooth portion and the second worm gear tooth portion being connected to the worm gear in cooperation.

7. The underwater rescue and salvage tool according to claim 1, characterized in that: The retrieval arm is a rigid retrieval arm made of metal or plastic; the trigger arm is a rigid trigger arm made of metal or plastic.

8. A salvage device, characterized in that... Includes the carrier and the underwater rescue and salvage tool as described in any one of claims 1-7.

9. The salvage equipment according to claim 8, characterized in that: The carrier is an underwater robot.

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