CN103185484A - Automatic line throwing appliance for recycling underwater robots - Google Patents

Abstract

The invention belongs to the field of recycling underwater robots, and particularly relates to an automatic line throwing appliance for recycling underwater robots. The automatic line throwing appliance comprises an end cover, a rope storage cavity, a firer pusher, a base and a high-strength rope, wherein the base is arranged on a shell of an underwater robot, the fire pusher is arranged on the base, the lower end of the rope storage cavity is connected with the fire pusher, the end cover is arranged at the upper end of the rope storage cavity, one end of the high-strength rope is connected with the shell of the underwater robot, and the other end of the high-strength rope is connected with the end cover after penetrating through the base and the rope storage cavity in sequence; and the rope storage cavity and the high-strength rope and the end cover arranged therein are pushed out by the thrust generated by the firer pusher. The automatic line throwing appliance for recycling underwater robots has the characteristics of simpler structure, small size, capability of working under water and on water face, and the like.

Description

An automatic rope throwing device for underwater robot recovery

technical field

The invention belongs to the field of underwater robot recovery, in particular to an automatic rope thrower for underwater robot recovery.

Background technique

Due to the complex and changeable ocean conditions, the recovery of underwater robots has always been a worldwide problem. In order to invent a safe and reliable recycling method, a kind of automatic rope throwing device that can be applied to underwater and water surface is needed.

Most of the rope throwers in the prior art are rifle or pedestal structures, which are used for land or water surface rescue, including launcher seats, grab handles, shoulder rests, gun body joints, launch gas cylinders and other components, and high-pressure gas cylinders are used There is also a projectile rocket type, but its head is heavy, and the rocket will directly sink in the water after launch. The above-mentioned existing rope throwers do not meet the requirements of miniaturization and light weight of the components of the underwater robot in terms of structural form and volume weight, and the working mode of the high-pressure gas cylinder is not suitable for the underwater robot. Have not yet found to be applicable to the underwater, water surface automatic rope-throwing device of underwater robot yet.

Contents of the invention

In order to solve the problem that the existing rope throwing device is not suitable for the use conditions of underwater robots, the purpose of the present invention is to provide an automatic rope throwing device for underwater robot recovery. The automatic rope throwing device can automatically eject a high-strength rope when the underwater robot is recovered, and can be used underwater or on the water surface.

The purpose of the present invention is achieved through the following technical solutions:

The invention includes an end cover, a rope storage cavity, a pyrotechnic thruster, a base and a high-strength cable, wherein the base is installed on the shell of an underwater robot, the pyrotechnic thruster is mounted on the base, and the lower end of the rope storage cavity Connected with the pyrotechnic propeller, the upper end is provided with an end cover, one end of the high-strength rope is connected to the shell of the underwater machine, and the other end passes through the base and the rope storage chamber in turn, and is connected with the end cover; The rope storage cavity and the high-strength cables and end caps contained therein are pushed out by the thrust generated by the pyrotechnic propeller.

Wherein: the rope storage cavity is connected with the pyrotechnic propeller cap of the pyrotechnic thruster through the push rod provided at its lower end; the push rod is installed in the middle of the bottom surface of the rope storage cavity, and the lower end of the push rod is controlled by the The bottom surface extends downwards and is inserted on the pyrotechnic propeller cap of the pyrotechnic propeller; on the bottom surface of the rope storage cavity on one side of the push rod, there is a reserved hole for the high-strength rope to pass through; The part of the high-strength rope located in the rope storage cavity is wound by a rope winder, and the other end of the high-strength rope that exits the rope winder after winding is fixedly connected to the end cover through a rope fixing screw; the high-strength rope According to the spiral winding from bottom to top on the first layer of the rope winder, and then reverse winding from top to bottom, repeated uniform winding; the top of the base is a groove, and the middle of the groove extends downward to form a hollow cylinder. There is a first through hole for high-strength cables to pass through on the side wall of the groove; one end of the pyrotechnic propeller is installed on the bottom surface of the groove, and the other end is inserted into the hollow cylinder. The bottom surface of the hollow cylinder is provided with a second through hole for the cables in the underwater robot to pass through, and the cables in the underwater robot are connected to the input end of the pyrotechnic thruster; The rope cavity is made of polytetrafluoroethylene material with a small friction coefficient; the diameter of the high-strength rope is 8mm, and the breaking force is not less than 6t; the automatic rope thrower is installed on the back pressure shell of the underwater robot through the base, The base and the back pressure-resistant shell and the pyrotechnic propeller and the base are respectively sealed and connected by O-shaped rubber sealing rings; the input end of the pyrotechnic propeller is connected to the cable in the shell of the underwater robot The automatic rope-throwing device is installed outside the bow pressure-resistant shell of the underwater robot through the base, and the input end of the pyrotechnic propeller is connected with the underwater robot through a watertight cable.

Advantage of the present invention and positive effect are:

1. The structure is simple and reliable. Since the underwater robot navigates completely autonomously, the requirements for the reliability of the rope thrower are relatively high; the present invention has a complete mechanical structure, which is simple and practical. The fixed end of the high-strength rope is placed on the body of the underwater robot, and the drawn end is placed on the ejection body. The advantage is that the cable can be pulled out smoothly, reducing the probability of knotting and failure to eject, and even if this happens, after the staff salvages and recovers it, it can be smoothed out and the operation can continue;

2. Small size, light weight, high space utilization. The invention uses a rope winder to wind the high-strength rope, so that the space utilization rate of the rope storage cavity can be maximized, and at the same time, the high-strength rope can be easily wound and retracted into the rope storage cavity.

3. The rope storage chamber of the present invention adopts polytetrafluoroethylene material with a small friction coefficient, so that when the rope storage chamber is ejected, the friction force between the rope and the rope storage chamber will not hinder the ejection of the rope, and the rope throwing device is guaranteed as much as possible. work reliability.

4. According to the characteristic that the gravity and buoyancy of the underwater robot are basically equal, the end cover adopts buoyancy material, so that the whole rope throwing device has positive buoyancy. When it is ejected and falls, it can float on the sea surface and wait for the recovery personnel to salvage.

5. Easy to install and use. The various parts of the invention are easy to install, and the high-strength cables are easy to install. When in use, only the watertight cables need to be connected with the pyrotechnic propeller, which is convenient and fast.

6. Able to work underwater and on the water surface. The design of the seal between the base and the shell or the connection of the pyrotechnic propeller to the watertight cable of the present invention enables the rope thrower to work normally under water and on the water surface without affecting the working effect

Description of drawings

Fig. 1 is the structural representation of the present invention being installed in the pressure-resistant shell of underwater robot back;

Fig. 2 is a schematic structural view of the present invention installed in the bow pressure-resistant shell of the underwater robot;

Fig. 3A is one of the schematic diagrams of the high-strength rope of the present invention being wound on the rope winder;

Fig. 3B is the second schematic diagram of the high-strength rope of the present invention wound on the rope winder;

Fig. 3C is the third schematic diagram of the high-strength rope of the present invention wound on the rope winder;

Among them: 1 is the end cover, 2 is the rope storage cavity, 3 is the push rod, 4 is the pyrotechnic propeller cap, 5 is the pyrotechnic propeller, 6 is the base, 7 is the cable fixing screw, 8 is the O-shaped rubber seal Circle, 9 is a high-strength rope, 10 is a watertight cable, 11 is a rope winder, 12 is a back pressure shell, 13 is a cable in the shell, 14 is a reserved hole, and 15 is a bow pressure shell.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

The present invention includes an end cover 1, a rope storage chamber 2, a pyrotechnic thruster 5, a base 6 and a high-strength cable 9, wherein the base 6 is used to connect with the shell of an underwater robot, and the top of the base 6 is a groove, and the concave The middle part of the groove extends downwards to form a hollow cylinder, and the first through hole for the high-strength cable 9 to pass is opened on the side wall of the groove; the pyrotechnic propeller 5 is installed on the base 6, and the pyrotechnic propeller One end of the thruster 5 is installed on the bottom surface of the groove, and the other end is inserted into the hollow cylinder, and the bottom surface of the hollow cylinder is provided with a second through hole for the cables in the underwater robot to pass through. The cable in the underwater robot is connected with the input end of the pyrotechnic thruster 5 .

The lower end of the rope storage chamber 2 is connected with the pyrotechnic propeller 5, and the upper end is provided with an end cover 1; The lower end of the lower end of the rope storage chamber 2 extends downwards and is inserted on the pyrotechnic propeller cap 4 of the pyrotechnic propeller 5; on the bottom surface of the rope storage chamber 2 on the side of the push rod 3, there is a The reserved hole 14 through which the high-strength cable 9 passes. The end cover 1 of the present invention adopts buoyancy material, so that the automatic rope throwing device can float on the water surface and wait for the staff to salvage after being thrown out. The buoyancy material is a material with a density less than 1, which is a commercially available product purchased from Qingdao Ocean Chemical Research Institute. The model is buoyancy material SBM-050, standard: Q/HHY221-2005. The rope storage chamber 2 is made of polytetrafluoroethylene material with a small friction coefficient, which can reduce the frictional resistance between the high-strength rope 9 and the inner wall of the rope storage chamber 2 when the rope is thrown; the diameter of the high-strength rope 9 is 8mm, and the breaking force is not less than 6t.

One end of the high-strength cable 9 is connected to the shell of the underwater machine, and the other end passes through the first through hole on the base 6 and the reserved hole 14 on the rope storage chamber 2 in sequence, and is connected to the end cover 1 ; The rope storage chamber 2 and the high-strength rope 9 and the end cover 1 housed in it are pushed out by the thrust generated by the pyrotechnic propeller 5 . The part of the high-strength rope 9 located in the rope storage chamber 2 is wound by the rope winder 11. The rope winding method is as follows: the high-strength rope 9 is first spirally wound on the upper layer of the rope winder 11 from bottom to top, and then reversed from top to bottom. Winding, so repeated, and finally all evenly wound; after winding, the other end of the high-strength rope 9 is fixed on the end cover 1 through the cable fixing screw 7, withdraws from the rope winder 11, and the end cover 1 is fixed on the end cover 1 with screws. The top of the rope storage chamber 2.

The present invention can be installed on the back pressure-resistant casing 12 of the underwater robot through the base 6 or outside the bow pressure-resistant casing 15 of the underwater robot. As shown in Figure 1, the present invention is installed on the back pressure-resistant housing 12 of the underwater robot through the base 6, between the base 6 and the back pressure-resistant housing 12 and between the pyrotechnic propeller 5 and the base 6 The space is sealed and connected by O-shaped rubber sealing ring 8 respectively; after the pyrotechnic propeller 5 and pyrotechnic propeller cap 4 are assembled, the O-shaped rubber sealing ring 8 is fixed on the base 6, and the rope storage chamber 2 is connected to the pyrotechnic propeller through the push rod 3. One end of the high-strength rope 9 is fastened on the back pressure-resistant shell 12 of the underwater robot, and the other end is led out from the base 6 and passed through the rope storage chamber 2, and the high-strength rope 9 is pulled out by using the rope winder 11. After the rope 9 is wound and fastened with the rope fixing screw 7, the rope winder 11 is withdrawn, and the high-strength rope 9 is put into the rope storage chamber 2, so that the end cover 1 is reliably connected with the rope storage chamber 2. The input end of the pyrotechnic propeller 5 is connected with the cable 13 in the shell of the underwater robot.

As shown in Figure 2, the present invention is installed outside the pressure-resistant shell 15 of the bow of the underwater robot through the base 6, without O-shaped rubber sealing ring 8, and the rest of the installation methods are the same as those installed on the pressure-resistant shell of the underwater robot. ; The input end of the pyrotechnic thruster 5 is connected with the underwater robot through a watertight cable 10 .

Working principle of the present invention is:

As shown in Figure 1, when the present invention is installed on the back pressure-resistant housing 12 of the underwater robot for guiding the docking of the docking lifting device, after first assembling the pyrotechnic propeller 5 and the pyrotechnic propeller cap 4, fixed on the base 6. Connect the input end of the pyrotechnic thruster 5 to the cable 13 in the shell, and then fix the base 6 on the back pressure-resistant shell 12 of the underwater robot, between the pyrotechnic thruster 5 and the base 6 and between the base 6 and the back O-shaped rubber sealing ring 8 will be added between the pressure-resistant shells 12 for sealing. Next, connect the pyrotechnic propeller cap 4 with the push rod 3 and install the rope storage chamber 2 on the base 6, after the high-strength rope 9 and one end are fastened on the back pressure-resistant housing 12 of the underwater robot, the other end is removed from the The base 6 goes out and passes through the rope storage cavity 2, and the high-strength rope 9 is wound on the rope winder 11 by the method shown in Fig. 3A to Fig. After solidification, the high-strength rope 9 is withdrawn from the rope winder 11 and put into the rope storage chamber 2, and the end cover 1 is covered and fixed with screws. When the staff remotely sends a signal to make the automatic rope throwing device work, the pyrotechnic propeller cap 4 and the rope storage chamber 2 are quickly pushed into the air due to the thrust generated instantaneously by the pyrotechnic propeller 5, and because one end is fastened on the underwater robot , the other end will be drawn out along the reserved hole 14 of the rope storage chamber 2, and under the thrust of the designed pyrotechnic propeller 5, it can be ensured that the high-strength rope 9 is all drawn out sequentially from the inside. Because the rope storage cavity 2 and the end cover 1 are positive buoyancy afterwards, it floats on the sea surface and waits for the staff to reclaim.

As shown in Figure 2, when the present invention is installed outside the pressure-resistant shell 15 of the bow of the underwater robot for recovery and traction, there is no need to install the O-shaped rubber sealing ring 8, and the input end of the pyrotechnic propeller 5 is connected to the watertight The cable 10 can be connected, and the rest of the structure is the same as that of the pressure-resistant shell installed on the back of the underwater robot.

As shown in Figures 3A to 3C, the winding method of the high-strength rope 9 on the rope winder 11 is as follows: first, the high-strength rope 9 is spirally wound on the upper layer of the rope winder 11 from bottom to top, as shown in Figure 3A; Then reversely wind from top to bottom, as shown in Figure 3B; and so on, and finally all are evenly wound, as shown in Figure 3C. Pay attention to apply pre-tightening force when winding high-strength ropes, so that the ropes are wound tightly and powerfully.

Claims (10)

1. a underwater robot reclaims and uses automatic line-throwing appliance, it is characterized in that: comprise end cap (1), storage rope chamber (2), firer's propeller (5), base (6) and high-strength cable (9), wherein base (6) is installed on the housing of underwater robot, described firer's propeller (5) is installed on this base (6), the lower end in storage rope chamber (2) links to each other with firer's propeller (5), the upper end is provided with end cap (1), one end of described high-strength cable (9) is connected on the housing of underwater robot, the other end passes described base (6) successively, storage rope chamber (2) links to each other with described end cap (1); Described storage rope chamber (2) and interior ccontaining high-strength cable (9) thereof and end cap (1) are released by the thrust that firer's propeller (5) produces.

2. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance, it is characterized in that: described storage rope chamber (2) is connected with firer's propeller cone (4) of firer's propeller (5) by the push rod (3) that its lower end arranges.

3. reclaim by the described underwater robot of claim 2 and use automatic line-throwing appliance, it is characterized in that: described push rod (3) is installed in the centre of storage rope bottom surface, chamber (2), and the lower end of push rod (3) is extended downwards, is plugged on firer's propeller cone (4) of described firer's propeller (5) by the bottom surface in storage rope chamber (2); Have the preformed hole (14) that passes for described high-strength cable (9) in the bottom surface, storage rope chamber (2) of described push rod (3) one sides.

4. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance, it is characterized in that: described high-strength cable (9) is arranged in the part in storage rope chamber (2) by rope winder (11) winding, and the other end that withdraws from the high-strength cable (9) of described rope winder (11) after the winding is fixed on the end cap (1) by cable hold-down screw (7).

5. reclaim by the described underwater robot of claim 4 and use automatic line-throwing appliance, it is characterized in that: described high-strength cable (9) is by being spirally wound on rope winder (11) one deck from the bottom to top, oppositely winding from top to bottom again, uniform winding repeatedly successively.

6. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance, it is characterized in that: the top of described base (6) is groove, groove middle part extends to form the cylinder of hollow downwards, has first through hole that passes for high-strength cable (9) at the sidewall of described groove; One end of described firer's propeller (5) is installed on the bottom surface of described groove, the other end inserts in the cylinder of described hollow, bottom surface at the cylinder of described hollow has second through hole that the cable in the robot passes under the water supply, and the cable in the described underwater robot is connected with the input of firer's propeller (5).

7. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance, it is characterized in that: described end cap (1) adopts buoyant material, and the little polytetrafluoroethylmaterial material of coefficient of friction is adopted in storage rope chamber (2).

8. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance, it is characterized in that: the diameter of described high-strength cable (9) is 8mm, and Fracture Force is not less than 6t.

9. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance, it is characterized in that: described automatic line-throwing appliance is installed in by base (6) on the back pressure hull (12) of underwater robot, is tightly connected by O type rubber seal (8) respectively between described base (6) and the back pressure hull (12) and between described firer's propeller (5) and the base (6); The input of described firer's propeller (5) links to each other with the housing inner cable (13) of underwater robot.

10. reclaim by the described underwater robot of claim 1 and use automatic line-throwing appliance, it is characterized in that: described automatic line-throwing appliance is installed in by base (6) outside the bow pressure hull (15) of underwater robot, and the input of described firer's propeller (5) links to each other with underwater robot by watertight cable (10).

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