阅读说明：本技术 水下机器人吊放回收系统及吊放、回收方法 (Underwater robot hoisting and recovering system and hoisting and recovering method ) 是由 张川 于 2021-08-10 设计创作，主要内容包括：水下机器人吊放回收系统及吊放、回收方法。本发明包括：壳体,所述的壳体顶端安装有锁紧盖,所述的锁紧盖下方安装有固定环,所述的固定环与壳体、锁紧盖形成开放式的回收装置；所述的壳体与所述的固定环之间安装有浮力球,所述的浮力球的上端与拉杆连接,所述的拉杆穿过所述的锁紧盖；所述的浮力球的下端与连杆一端连接,所述的连杆穿过所述的锁紧盖与锁紧块连接,锁紧块通过销钉安装在壳体内部,所述的壳体内部放置有水下机器人连接装置。本发明实现各种类、各级别水下设备的吊放回收,从而实现高度互换性与标准化的目的,降低制造、维护成本。(Provided are a hoisting and recovering system and a hoisting and recovering method for an underwater robot. The invention comprises the following steps: the top end of the shell is provided with a locking cover, a fixing ring is arranged below the locking cover, and the fixing ring, the shell and the locking cover form an open type recovery device; a buoyancy ball is arranged between the shell and the fixing ring, the upper end of the buoyancy ball is connected with a pull rod, and the pull rod penetrates through the locking cover; the lower end of the buoyancy ball is connected with one end of a connecting rod, the connecting rod penetrates through the locking cover to be connected with a locking block, the locking block is installed inside the shell through a pin, and the underwater robot connecting device is placed inside the shell. The invention realizes the lifting and recovery of various types and levels of underwater equipment, thereby realizing the purposes of high interchangeability and standardization and reducing the manufacturing and maintenance cost.)

1. The utility model provides an underwater robot hangs puts recovery system which characterized in that includes: the device comprises a shell (4), wherein a locking cover (1) is installed at the top end of the shell (4), a fixing ring (6) is installed below the locking cover (1), and the fixing ring (6), the shell (4) and the locking cover (1) form an open type recovery device;

a buoyancy ball (3) is arranged between the shell (4) and the fixing ring (6), the upper end of the buoyancy ball (3) is connected with a pull rod (5), and the pull rod (5) penetrates through the locking cover (1);

the lower extreme and connecting rod (7) one end of buoyancy ball (3) be connected, connecting rod (7) pass locking lid (1) be connected with latch segment (8), latch segment (8) are installed inside the casing through pin (9), the inside underwater robot connecting device (10) of having placed of casing.

2. The underwater robot lifting and recovery system according to claim 1, wherein said housing (4) is connected to said locking cover (1) by means of a lifting bolt (2).

3. The underwater robot lifting and recovering system according to claim 1, wherein the underwater robot connecting device (10) is of mushroom head structure, and a through hole is formed in the center of the underwater robot connecting device (10) and penetrates through an umbilical cable.

4. The underwater robot lifting and recovery system according to claim 3, wherein the underwater robot connection device (10) comprises a head cone structure, a connection structure and a tail structure, and the tail structure is connected with the underwater robot.

5. The underwater robot hoisting and recovery system of claim 4, wherein the underwater robot connection device (10) is fixedly mounted on the top of the underwater robot.

6. The underwater robot lifting and recovering system according to claim 2, wherein a limit stop (11) is arranged inside the housing (4), and the limit stop (11) and the housing (4) are of an integral structure.

7. The underwater robot hoisting recovery system of claim 1, wherein said locking block (8) has an adjustment elongated hole, and said connecting rod (7) is installed in said adjustment elongated hole.

8. A hoisting method using the underwater robot hoisting recovery system of any one of claims 1 to 7, characterized in that when it is desired to deploy an underwater ROV:

(1) the recovery device is placed on the tail structure of the underwater robot connecting device (10), and the head conical structure at the top end of the underwater robot connecting device (10) pushes the locking block (8) open and penetrates smoothly under the action of gravity;

(2) under the action of hoisting equipment, a rope is fixed through a lifting eye screw (2), the recovery device is hoisted, at the moment, under the action of gravity, the lower surface of a locking block (8) props against a limit stop block inside a shell (4), and the upper surface of the locking block props against the lower end of a conical structure at the head part of an underwater robot connecting device (10), so that the purposes of locking and fixing are achieved;

(3) under the effect of hoisting equipment, the underwater ROV is integrally hoisted into water, at the moment, the underwater ROV vertical propeller works to move underwater, water rushes into an open buoyancy cabin formed by the shell (4) and the locking cover (1) and the fixing ring (6), at the moment, the buoyancy ball (3) floats upwards under the action of buoyancy and drives the locking block (8) to move through the connecting rod (7), the unlocking purpose is achieved, at the moment, the underwater ROV continues to move underwater, and the underwater robot connecting device (10) is smoothly unhooked.

9. A recovery method using the underwater robot suspended recovery system of any one of claims 1 to 7, wherein when it is desired to recover the underwater ROV:

(1) under the action of hoisting equipment, hoisting the recovery device to an underwater ROV area;

(2) aligning the recovery device with the underwater robot connecting device (10) and inserting the recovery device, wherein the locking block (8) is jacked open by a conical structure at the top of the underwater robot connecting device (10) and enters the recovery device;

(3) the hoisting equipment lifts, and the locking blocks (8) respectively support a limit stop inside the shell and an underwater robot connecting device (10) under the action of gravity, so that the hoisting operation is realized;

(4) when the hoisting equipment lifts the underwater ROV to the platform or mother ship, an operator lifts the pull rod (5) to drive the buoyancy ball (3) and the connecting rod (7) to move upwards, and meanwhile, the locking block (8) is unlocked, and the recovery device is separated from the underwater ROV.

The technical field is as follows:

the invention relates to the technical field of robots, in particular to a hoisting and recycling system and a hoisting and recycling method for an underwater robot.

Background art:

the traditional underwater robot has the following operation modes:

(1) the whole process is of a manpower participation type: when in hoisting work, on a platform or a mother ship, an operator connects and locks a hoisting device (or a lifting hook) with the underwater equipment, the underwater equipment is hoisted to a working area by means of hoisting equipment, and a diving operator enters water and moves to the vicinity of the underwater equipment to manually unlock the set-down equipment and the lifting hook;

when the underwater equipment is recovered, the underwater equipment floats upwards to the position near a mother ship or a platform, a diving operator enters water, moves to the position near the underwater equipment to manually connect and lock the underwater equipment and a lifting hook, the underwater equipment is lifted to a recovery and placement area of the mother ship or the platform by means of lifting equipment, and the lifting device (or the lifting hook) and the underwater equipment are unlocked and unhooked by the operator;

the whole-process manpower participation needs to hire professional diving operators to enter and leave water, so that the labor cost is high, the operation time is long, and the efficiency is low. And manual unlocking and locking modes are influenced by severe weather of the water surface, the working difficulty is increased, and the life danger of divers is increased aiming at special working conditions (such as the conditions of nuclear radiation water areas and the like).

(2) A specially-made hydraulic or electric operation hoisting and recovering device is adopted: when in hoisting work, on a platform or a mother ship, an operator connects and locks a hoisting device (or a lifting hook) with the underwater equipment, the underwater equipment is hoisted to a working area by means of hoisting equipment, and a hydraulic mechanism or an electric mechanism finishes unhooking action;

during recovery work, the underwater equipment floats to the position near the mother ship or the platform, after the recovery device is in butt joint with the underwater equipment, a hydraulic mechanism or an electric mechanism completes connection of a lifting hook and locking action, the underwater equipment is lifted to a recovery placement area of the mother ship or the platform by means of lifting equipment, and an operator connects, unlocks and separates the lifting device (or the lifting hook) and the underwater equipment;

the mechanical structure used in this operation mode is relatively complex, the hydraulic mechanism adds necessary hydraulic components, the electric mechanism adds necessary electric actuators, and the volume, weight and manufacturing cost of the recovery device are indirectly increased.

(3) Hook locking and unhooking processes in hoisting recovery by using mechanical spring, sliding block and buoyancy block

The hoisting process and the recovery process are substantially the same as described above;

when the spring lock hook is adopted, the lock hook unhooking device combined by the spring and the sliding block is unstable in the working process, the conditions of spring unhooking, failure (losing elasticity, breakage, deformation and the like) and the like are very easy to occur, and hidden dangers are brought to the hoisting and recovery process.

When the buoyancy block lock hook is adopted, the scheme can only lift and recover light underwater equipment, and because the buoyancy material is formed by powder, the strength, hardness and rigidity of the buoyancy material are poor, and the buoyancy material cannot lift medium-sized or even heavy underwater equipment.

The invention content is as follows:

the invention aims to provide a hoisting and recovering system and a hoisting and recovering method for an underwater robot, which can realize hoisting and recovering of various types and levels of underwater equipment under the standard volume and weight sizes, thereby realizing the purposes of high interchangeability and standardization.

The above purpose is realized by the following technical scheme:

an underwater robot hoisting and recovery system comprising: the top end of the shell is provided with a locking cover, a fixing ring is arranged below the locking cover, and the fixing ring, the shell and the locking cover form an open type recovery device;

a buoyancy ball is arranged between the shell and the fixing ring, the upper end of the buoyancy ball is connected with a pull rod, and the pull rod penetrates through the locking cover;

the lower end of the buoyancy ball is connected with one end of a connecting rod, the connecting rod penetrates through the locking cover to be connected with a locking block, the locking block is installed inside the shell through a pin, and the underwater robot connecting device is placed inside the shell.

The underwater robot lifting and recovering system is characterized in that the shell is connected with the locking cover through a lifting bolt.

The underwater robot hoisting and recovering system is characterized in that the underwater robot connecting device is of a mushroom head structure, a through hole is formed in the center of the underwater robot connecting device, and the through hole penetrates through an umbilical cable.

The underwater robot hoisting and recovering system is characterized in that the underwater robot connecting device comprises a head conical structure, a connecting structure and a tail structure, and the tail structure is connected with the underwater robot.

The underwater robot hoisting and recovering system is characterized in that the underwater robot connecting device is fixedly arranged at the top of the underwater robot.

The underwater robot lifting and recovering system is characterized in that a limit stop is arranged in the shell, and the limit stop and the shell are of an integral structure.

The underwater robot lifting and recovering system is characterized in that the locking block is provided with an adjusting long hole, and the connecting rod is arranged in the adjusting long hole.

A method of hoisting and retrieving using the underwater robotic hoist system of any one of claims 1-7, when deployment of an underwater ROV is required:

(1) the recovery device is placed on a tail structure of the underwater robot connecting device, and a head conical structure at the top end of the underwater robot connecting device pushes the locking block open and smoothly penetrates through the locking block under the action of gravity;

(2) under the action of hoisting equipment, a rope is fixed through a lifting ring screw, the recovery device is hoisted, at the moment, under the action of gravity, the lower surface of the locking block props against the limit stop block in the shell, and the upper surface of the locking block props against the lower end of the conical structure at the head part of the underwater robot connecting device, so that the purposes of locking and fixing are achieved;

(3) under the action of hoisting equipment, the underwater ROV is integrally hoisted into water, at the moment, the underwater ROV moves towards the underwater direction in a way of working perpendicular to a propeller, water rushes into an open buoyancy cabin formed by a shell and a locking cover fixing ring, at the moment, a buoyancy ball floats upwards under the action of buoyancy and drives a locking block to move through a connecting rod, the unlocking purpose is achieved, at the moment, the underwater ROV continues to move towards the underwater direction, and the underwater robot connecting device is smoothly unhooked.

A recovery method using the underwater robotic hoist recovery system of any one of claims 1 to 7 when recovery of an underwater ROV is required:

(1) under the action of hoisting equipment, hoisting the recovery device to an underwater ROV area;

(2) aligning the recovery device with the underwater robot connecting device and inserting the recovery device, and ejecting the locking block into the recovery device by using a conical structure at the top of the underwater robot connecting device;

(3) hoisting by hoisting equipment, wherein the locking blocks respectively prop against a limit stop inside the shell and a connecting device of the underwater robot under the action of gravity, so that hoisting operation is realized;

(4) when the hoisting equipment lifts the underwater ROV to the platform or mother ship, an operator lifts the pull rod to drive the buoyancy ball and the connecting rod to move upwards, and meanwhile, the locking block is unlocked, and the recovery device is separated from the underwater ROV.

The invention has the beneficial effects that:

the invention avoids the water inlet and outlet work of divers, reduces the process of manual operation to the maximum extent, saves the labor cost, avoids the occurrence of personal accidents, realizes high industrial automation, improves the operation efficiency, and can realize the lifting and recovery of various types and levels of underwater equipment under the standard volume and weight size, thereby realizing the purposes of high interchangeability and standardization and reducing the manufacturing and maintenance cost.

Description of the drawings:

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a top view of fig. 1.

Fig. 3 is a schematic view of the locking block of the present invention in a locked state.

Fig. 4 is a schematic view of the locking block of the present invention in a released state.

Fig. 5 is a schematic structural view of the locking block of the present invention.

The specific implementation mode is as follows:

in order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

The invention provides a hoisting and recovering system of an underwater robot, which comprises the following components as shown in the attached figure 1: a hoisting and recovering system of an underwater robot comprises: the underwater robot locking device comprises a locking cover 1, a lifting ring screw 2, a buoyancy ball 3, a shell 4, a pull rod 5, a fixing ring 6, a connecting rod 7, a locking block 8, a pin 9 and an underwater robot connecting device 10.

The top end of the shell 4 is provided with a locking cover 1, a fixing ring 6 is arranged below the locking cover 1, and the fixing ring 6, the shell 4 and the locking cover 1 form an open type recovery device;

a buoyancy ball 3 is arranged between the shell 4 and the fixing ring 6, the upper end of the buoyancy ball 3 is connected with a pull rod 5, and the pull rod 5 penetrates through the locking cover 1;

the lower end of the buoyancy ball 3 is connected with one end of a connecting rod 7, the other end of the connecting rod 7 and a locking block 8 are placed inside the shell through a pin 9, the connecting rod is driven to move under the action of buoyancy in water, the connecting rod 7 penetrates through the locking cover 1 to be connected with the locking block 8, the locking block 8 is installed inside the shell through the pin 9, and an underwater robot connecting device 10 is placed inside the shell.

The shell 4 is connected with the locking cover 1 through a lifting ring screw 2, and the recovery device is formed into a whole by the shell 4, the locking cover 1 and the fixing ring 6 through the lifting ring screw 2.

Underwater robot connecting device 10 be mushroom head structure, mushroom head structure be the device of fixed mounting at the ROV top under water underwater robot connecting device 10 center open and to have the through-hole to pass the umbilical cable.

The underwater robot connecting device 10 comprises a head conical structure, a connecting structure and a tail structure, wherein the tail structure is connected with an underwater robot.

The underwater robot connecting device 10 is fixedly installed at the top of the underwater robot.

The shell 4 is internally provided with a limit stop 11, and the limit stop 11 and the shell 4 are of an integral structure.

The locking block 8 is provided with an adjusting long hole, and the connecting rod 7 is arranged in the adjusting long hole.

The working principle is as follows:

when deployment of an underwater ROV is required:

(1) the recovery device is placed on the tail structure of the underwater robot connecting device 10, and the locking block 8 is pushed open and smoothly penetrated through by the head conical structure at the top end of the underwater robot connecting device 10 under the action of gravity;

(2) under the action of hoisting equipment, a rope is fixed through a lifting ring screw 2, the recovery device is hoisted, at the moment, under the action of gravity, the lower surface of a locking block 8 props against an internal limit stop block of a shell 4, and the upper surface of the locking block props against the lower end of a conical structure at the head part of an underwater robot connecting device 10, so that the purposes of locking and fixing are achieved;

(3) under the action of hoisting equipment, the underwater ROV is integrally hoisted into water, at the moment, the underwater ROV vertically propels to move underwater, water rushes into an open buoyancy cabin formed by the shell 4 and the locking cover 1 and the fixing ring 6, at the moment, the buoyancy ball 3 floats upwards under the action of buoyancy and drives the locking block 8 to move through the connecting rod 7, the unlocking purpose is achieved, at the moment, the underwater ROV continues to move underwater, and the underwater robot connecting device 10 is smoothly unhooked.

When it is desired to recover the underwater ROV:

(1) under the action of hoisting equipment, hoisting the recovery device to an underwater ROV area;

(2) aligning the recovery device with the underwater robot connecting device 10 and inserting the recovery device, wherein the locking block 8 is pushed open by a conical structure at the top of the underwater robot connecting device 10 and enters the recovery device;

(3) the hoisting equipment lifts by crane, the locking blocks 8 respectively support the limit stop blocks inside the shell and the underwater robot connecting device 10 under the action of gravity, and the hoisting operation is realized;

(4) when the hoisting equipment lifts the underwater ROV to the platform or mother ship, an operator lifts the pull rod 5 to drive the buoyancy ball 3 and the connecting rod 7 to move upwards, and meanwhile, the locking block 8 is unlocked, and the recovery device is separated from the underwater ROV.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.