1. A gravity distribution and recovery device is characterized by comprising a hanging part, at least one clamping hook, at least one tension spring and a connecting part;

the lifting part is of a hollow structure; the top of the hoisting part is provided with a hoisting ring; the side surface of the hanging part is provided with at least one clamping hook slotted hole; at least one corresponding connector is arranged on the side wall of the lifting part close to the top;

the clamping hook is movably arranged in the clamping hook slot;

one end of the tension spring is sleeved on the clamping hook, and the other end of the tension spring is fixed on the connecting head;

the connecting part is clamped inside the hanging part through the clamping hook.

2. The gravity laying and recovering device according to claim 1, wherein the hanging part comprises an annular cylindrical main body and an opening pin block; the side surface of the annular cylindrical main body is provided with a longitudinally through opening; the opening pin block is mounted on the opening.

3. The gravity deployment and retrieval device of claim 2, wherein said open pin block has a through hole extending laterally therethrough; two bolt hole grooves corresponding to two ends of the through hole are formed in the annular cylindrical main body; the two bolt hole grooves and the through hole are connected through a first bolt penetrating through the bolt hole grooves and the through hole.

4. The gravity distribution and recovery device according to claim 2, wherein a hanging ring groove is formed at the top of the annular cylindrical main body; the lifting ring is in threaded connection with the lifting ring groove.

5. The gravity distribution and recovery device according to claim 1, wherein the hook has a mounting hole; the clamping hook is movably arranged in the clamping hook slot through a second bolt penetrating through the mounting hole.

6. A gravity deployment and retrieval device according to any one of claims 1 to 5, wherein said connecting portion is nested on a connecting seat of an underwater robot through a smooth hole in the bottom thereof.

7. The gravity distribution and recovery device according to claim 6, wherein the connecting portion comprises two half cone structures, and the two half cone structures are connected into a whole through a third bolt.

8. The gravity laying and recycling method is characterized by comprising the following steps:

1) the umbilical cable enters the annular cylindrical body from the opening of the annular cylindrical body, and then the opening pin block is installed on the opening; separating the tension spring from the hook, extending the top of the connecting part into the hanging part and connecting the top of the connecting part through the hook, wherein the tension spring is in a loose state; nesting the bottom of the connecting part on a connecting seat of the underwater robot;

2) the hoisting equipment is utilized to lay the integrated structure formed in the step 1) to a water area through a hoisting ring, the hoisting part slides downwards along with an umbilical cable of the underwater robot sleeved in the hoisting part under the action of self gravity, the underwater robot is connected with the connecting part at the upper part of the underwater robot and does not sink any more under the action of buoyancy, the top of the connecting part is separated from the hook at the moment, the outer side of the hook falls under the action of self gravity, the hook rotates in a slotted hole of the hook, so that the clamping effect on the connecting part is lost, then the hoisting ring is pulled, the hoisting part is lifted upwards, and the laying is finished;

3) the tension spring sleeve is arranged on the clamping hook, the lifting ring is connected with the hoisting equipment, the hoisting part is placed along with the umbilical cable of the underwater robot, when the umbilical cable contacts the top of the connecting part, the top of the connecting part breaks through the clamping hook position to press the clamping joint under the action of the gravity of the hoisting part, the lifting ring is lifted, and the recovery is completed.

Background

In the long-term sailing process of the ocean vessel, shellfish, rusty spots and the like can be attached to the surface of the underwater hull, the sailing speed and the service life of the vessel are seriously influenced, the fuel consumption is increased by nearly 20%, the underwater robot is connected with the overwater hull through an umbilical cable, the oil consumption of the vessel can be reduced through cleaning the underwater robot, the operation and maintenance cost is reduced, a coating layer is protected, the service life of the hull is prolonged, and the removal of attached marine organisms is helpful for reducing the accident risk of an offshore oil platform, and the stability and the storm resistance are enhanced.

However, the existing underwater robot cannot automatically get off the hook in the process of laying and recovering, and the existing underwater robot is risky and difficult to operate by purely manual operation.

Therefore, it is an urgent need to solve the problems of the art to provide a gravity laying and recovering device and method for an underwater robot to automatically unhook.

Disclosure of Invention

In view of the above, the invention provides a gravity distribution and recovery device and method, which can realize automatic hook releasing in the distribution and recovery process by means of self gravity.

In order to achieve the purpose, the invention adopts the following technical scheme:

a gravity distribution and recovery device comprises a hanging part, at least one clamping hook, at least one tension spring and a connecting part;

the lifting part is of a hollow structure; the top of the hoisting part is provided with a hoisting ring; the side surface of the hanging part is provided with at least one clamping hook slotted hole; at least one corresponding connector is arranged on the side wall of the lifting part close to the top;

the clamping hook is movably arranged in the clamping hook slot;

one end of the tension spring is sleeved on the clamping hook, and the other end of the tension spring is fixed on the connecting head;

the connecting part is clamped inside the hanging part through the clamping hook.

By adopting the scheme, the invention has the beneficial effects that:

connecting portion put the portion through having elastic pothook joint with hanging, form buckle formula connection external member structure, under the effect of self gravity, realize putting the automatic unhook and the couple of recovery in-process to underwater robot equipment cloth to whole process need not connect and break off through the manual work, has avoided appearing the personal safety accident promptly, has reached the effect of automatic connection disconnection.

Further, the hanging part comprises an annular cylindrical main body and an opening pin block; the side surface of the annular cylindrical main body is provided with a longitudinally through opening; the opening pin block is mounted on the opening.

Further, the open pin block is provided with a through hole which penetrates transversely; two bolt hole grooves corresponding to two ends of the through hole are formed in the annular cylindrical main body; the two bolt hole grooves and the through hole are connected through a first bolt penetrating through the bolt hole grooves and the through hole.

Adopt the beneficial effect that above-mentioned further technical scheme produced to be, realize that open round pin piece can dismantle the connection on annular tube-shape main part, the inside hawser of portion's loading and unloading of being convenient for hangs the portion of putting passes through.

Further, a hanging ring groove is formed in the top of the annular cylindrical main body; the lifting ring is in threaded connection with the lifting ring groove.

Furthermore, the clamping hook is provided with a mounting hole; the clamping hook is movably arranged in the clamping hook slot through a second bolt penetrating through the mounting hole.

Further, the connecting part is embedded on the connecting seat of the underwater robot through a smooth hole at the bottom of the connecting part.

Adopt the beneficial effect that above-mentioned further technical scheme produced to be connected, connecting portion and connecting seat realization open are connected, and recovery unit can swing in certain extent is put to gravity cloth, conveniently hangs the connection operation between putting portion and the connecting portion.

Further, connecting portion include two half cone bucket structures, two half cone bucket structure passes through the third bolted connection as an organic whole.

A gravity laying and recycling method comprises the following steps:

1) the umbilical cable enters the annular cylindrical body from the opening of the annular cylindrical body, and then the opening pin block is installed on the opening; separating the tension spring from the hook, extending the top of the connecting part into the hanging part and connecting the top of the connecting part through the hook, wherein the tension spring is in a loose state; nesting the bottom of the connecting part on a connecting seat of the underwater robot;

2) the hoisting equipment is utilized to lay the integrated structure formed in the step 1) to a water area through a hoisting ring, the hoisting part slides downwards along with an umbilical cable of the underwater robot sleeved in the hoisting part under the action of self gravity, the underwater robot is connected with the connecting part at the upper part of the underwater robot and does not sink any more under the action of buoyancy, the top of the connecting part is separated from the hook at the moment, the outer side of the hook falls under the action of self gravity, the hook rotates in a slotted hole of the hook, so that the clamping effect on the connecting part is lost, then the hoisting ring is pulled, the hoisting part is lifted upwards, and the laying is finished;

3) the tension spring sleeve is arranged on the clamping hook, the lifting ring is connected with the hoisting equipment, the hoisting part is placed along with the umbilical cable of the underwater robot, when the umbilical cable contacts the top of the connecting part, the top of the connecting part breaks through the clamping hook position to press the clamping joint under the action of the gravity of the hoisting part, the lifting ring is lifted, and the recovery is completed.

By adopting the scheme, the invention has the beneficial effects that:

under the action of self gravity, automatic unhooking and hooking in the laying and recovering process of the underwater robot equipment are realized, so that the laying and recovering operations of the underwater robot are simple and convenient.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a gravity distribution and recovery device according to the present invention;

FIG. 2 is a schematic structural view of an annular cylindrical body provided by the present invention;

FIG. 3 is a schematic structural view of an open pin block provided in the present invention;

fig. 4 is a schematic structural view of the hook according to the present invention;

fig. 5 is a schematic structural diagram of a half cone bucket structure provided by the invention.

Detailed Description

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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1-5, the embodiment of the invention discloses a gravity distribution and recovery device, which comprises a hanging part 1, at least one hook 2, at least one tension spring 3 and a connecting part 4;

the hanging part 1 is of a hollow structure; the top of the hoisting part 1 is provided with a hoisting ring 5; the side surface of the lifting part 1 is provided with at least one hook slot hole 101; at least one corresponding connector 6 is arranged on the side wall of the lifting part 1 close to the top;

the hook 2 is movably arranged in the hook slot hole 101;

one end of the tension spring 3 is sleeved on the hook 2, and the other end of the tension spring 3 is fixed on the connector 6;

the connecting part 4 is clamped inside the hanging part 1 through the clamping hook 2.

According to the invention, the connecting part 4 and the hanging part 1 are clamped through the elastic clamping hook 2 to form a clamping buckle type connecting sleeve structure, and under the action of self gravity, automatic unhooking and hooking in the process of laying and recovering the underwater robot equipment are realized, so that the whole process does not need manual connection and disconnection, namely, personal safety accidents are avoided, and the effect of automatic connection and disconnection is achieved.

Specifically, the hanging part 1 includes an annular cylindrical main body 11 and an opening pin block 12; the side surface of the annular cylindrical main body 11 is provided with a longitudinally through opening 111; the opening pin block 12 is mounted on the opening 111.

Specifically, the open pin block 12 has a through hole 121 extending laterally therethrough; two bolt hole grooves corresponding to two ends of the through hole 121 are formed in the annular cylindrical main body 11; the two keyhole slots and the through hole 121 are connected by a first bolt passing therethrough.

Specifically, a ring hanging groove 112 is formed at the top of the annular cylindrical main body 11; the lifting ring 5 is in threaded connection with the lifting ring groove 112.

Specifically, the hook 2 is provided with a mounting hole 21; the hook 2 is movably arranged in the hook slot hole 101 through a second bolt penetrating through the mounting hole 21.

Specifically, the connecting part 4 is embedded on a connecting seat of the underwater robot through a smooth hole at the bottom of the connecting part.

Specifically, the connecting portion 4 includes two half cone structures 41, and the two half cone structures 41 are connected as a whole through a third bolt.

The embodiment of the invention also discloses a gravity laying and recycling method, which comprises the following steps:

1) the umbilical cable enters the inside of the annular cylindrical body 11 from the opening 111, and then the opening pin block 12 is mounted on the opening 111; separating the tension spring 3 from the hook 2, extending the top of the connecting part 4 into the hanging part 1 and connecting the top of the connecting part through the hook 2, wherein the tension spring 3 is in a loose state; the bottom of the connecting part 4 is embedded on a connecting seat of the underwater robot;

2) the hoisting equipment is utilized to lay the integrated structure formed in the step 1) to a water area through the hoisting ring 5, the hoisting part 1 slides down along with an umbilical cable of the underwater robot sleeved in the hoisting part 1 under the action of self gravity, and the underwater robot is connected with the connecting part 4 at the upper part of the underwater robot to not sink under the action of buoyancy, wherein the underwater robot comprises a rack and a plurality of buoyancy plates which are connected into a whole;

3) establish extension spring 3 cover on the pothook, be connected rings 5 and lifting device, along with underwater robot's umbilical cable transfers and puts portion 1, when contacting connecting portion 4 top, under the effect of lifting portion 1 self gravity, connecting portion 4 top breaks through pothook 2 position and compresses tightly the joint, lifts by crane rings 5, retrieves and accomplishes.

The invention realizes automatic unhooking and hooking in the laying and recovering process of the underwater robot equipment under the action of self gravity, so that the laying and recovering operations of the underwater robot are simple and convenient.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.