CN104015886A - Launching and recycling system for water surface unmanned aircraft - Google Patents
Launching and recycling system for water surface unmanned aircraft Download PDFInfo
- Publication number
- CN104015886A CN104015886A CN201410264256.3A CN201410264256A CN104015886A CN 104015886 A CN104015886 A CN 104015886A CN 201410264256 A CN201410264256 A CN 201410264256A CN 104015886 A CN104015886 A CN 104015886A
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- water surface
- slideway
- unmanned vehicles
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- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
A launching and recycling system for a water surface unmanned aircraft comprises an intelligent electronic control system, a slideway dock launching device, a slideway dock and a direction controller, wherein the slideway dock launching device is installed on a water surface mobile platform, the slideway dock automatically captures and recycles the water surface unmanned aircraft to a slideway or separates the water surface unmanned aircraft from out of the slideway and arranges the water surface unmanned aircraft, and the direction controller keeps the slideway dock axially parallel to the water surface mobile platform. The launching and recycling system for the water surface unmanned aircraft can achieve effective launching and recycling of the water surface unmanned aircraft, the water surface unmanned aircraft carried on a ship mother vessel through the slideway dock is placed down or recycled when reaching a preset position, and accordingly the working range of the water surface unmanned aircraft is enlarged powerfully.
Description
Technical field
The invention belongs to water surface unmanned vehicles and fall and put back to receipts technical field, be specifically related to a kind of water surface unmanned vehicles and fall and put recovery system.
Background technology
Water surface unmanned vehicles comprises unmanned boat USV, autonomous underwater vehicle UUV, water surface landing unmanned plane etc.In order to expand the operating range of water surface unmanned vehicles, naval vessel is as the main platform that carries water surface unmanned vehicles, water surface unmanned vehicles carries on naval vessel lash ship, just need to have a set of complete water surface unmanned vehicles to fall and put recovery system, be the important corollary equipment that water surface unmanned vehicles is used on naval vessel.
Summary of the invention
The object of the present invention is to provide a kind of water surface unmanned vehicles to fall and put recovery system, be intended to guarantee that water surface unmanned vehicles carries on naval vessel lash ship, while arriving desired location, on naval vessel lash ship, put down or reclaim, to expand the operating range of water surface unmanned vehicles.
For achieving the above object, the present invention adopts following technical scheme:
Water surface unmanned vehicles falls puts a recovery system, comprise Intelligent electronic control system and:
Slideway dock falls puts device, comprise single-revolution formula lifting arm, be installed on water surface movable platform, for being recycled on the described water surface on water surface movable platform or on described water surface movable platform and being laid on the water surface being loaded with in the slideway dock of water surface unmanned vehicles;
Described slideway dock, comprises slideway, aircraft and automatically catches and disconnector, is recycled in described slideway, or water surface unmanned vehicles is separated and laid in described slideway for automatically catching recovery water surface unmanned vehicles;
Direction controller, comprise that one is installed on the hold-down arm on described water surface movable platform, the tricing line with damping function that a direction is controlled winch and controlled winch control by described direction, described tricing line connects described slideway dock under this hold-down arm supports, and can make described slideway dock and described water surface movable platform keep axially parallel.
Described swinging lifting arm is provided with to subtract and waves equalizing gear, comprise at least two mutual vertically arranged damping oil cylinders, the mobile hoist cable that makes by Throttle Valve Control hydraulic oil increases damping of oscillations, reduce horizontal, longitudinal oscillation amplitude, laterally, longitudinally the subtracting pendulum of realizing in described water surface unmanned vehicles folding and unfolding process is controlled.
Described swinging lifting arm is provided with shock absorption buffering mechanism, comprise cushion cylinder, revolution hanging wheel, described angulated roping is located on described revolution hanging wheel, by the damping of described cushion cylinder, is controlled and is realized described hoist cable pitching and moment tensioning along with described slideway dock.
Described swinging lifting arm is provided with compensation of undulation winch, for described hoist cable is begun in tensioning state in folding and unfolding process.
Described water surface unmanned vehicles falls puts recovery system, comprises remote control hanger system, realizes hook and the release of on described water surface movable platform, under unmanned state, carrying out suspension hook.
Described water surface unmanned vehicles falls puts recovery system, comprises hydraulic power unit, is arranged on described horizontal shifting platform, for providing to fall to put back to, receives required hydraulic efficiency power unit.
Water surface unmanned vehicles of the present invention falls to be put recovery system and can realize effectively falling of water surface unmanned vehicles and put back to receipts, guarantee to carry the water surface unmanned vehicles on naval vessel lash ship by slideway dock, while arriving desired location, on naval vessel lash ship, put down or reclaim, thereby effectively expand the operating range of water surface unmanned vehicles.
Accompanying drawing explanation
Figure 1 shows that the schematic side view of putting recovery system falls in a kind of water surface unmanned vehicles that the embodiment of the present invention provides;
Figure 2 shows that a kind of water surface unmanned vehicles that the embodiment of the present invention provides falls puts the schematic diagram that recovery system is overlooked;
Figure 3 shows that a kind of water surface unmanned vehicles that the embodiment of the present invention provides falls a left side of putting recovery system and looks schematic diagram.
The specific embodiment
Below, in conjunction with example, substantive distinguishing features of the present invention and advantage are further described, but the present invention is not limited to listed embodiment.
Refer to shown in Fig. 1～3, a kind of water surface unmanned vehicles falls puts recovery system, comprise Intelligent electronic control system and:
Slideway dock falls puts device, comprise single-revolution formula lifting arm 2, be installed on water surface movable platform 1, by swinging lifting arm 2, show outside water surface movable platform 1 and take in water surface movable platform 1, interior being recycled on the described water surface on water surface movable platform or on described water surface movable platform of slideway dock 4 that is loaded with water surface unmanned vehicles 3 is laid on the water surface;
Described slideway dock 4, comprises that slideway 43, aircraft are caught automatically and disconnector 40, reclaims water surface unmanned vehicles 3 and is recycled in described slideway, or water surface unmanned vehicles is separated and laid in described slideway for automatically catching;
Direction controller, comprise that one is installed on the hold-down arm 5 on described water surface movable platform, the tricing line 51 with damping function that a direction is controlled winch and controlled winch control by described direction, shown in Figure 2, described tricing line 51 connects described slideway dock 4 under this hold-down arm 5 supports, can make described slideway dock 4 and described water surface movable platform 1 keep axially parallel, also guarantee that slideway dock 4 and lash ship keep synchronized travelling simultaneously.
The falling of revolution, slideway dock that described Intelligent electronic control system can be used for controlling swinging lifting arm put and recovery, aircraft is caught automatically and lifting and the release of disconnector.
Described water surface movable platform can various boats and ships, also can other Waterborne movable or navigation instrument.
Described aircraft is caught automatically and disconnector comprises the revolution hooking device of the front end that is located at described slideway dock, and the sear matching with described revolution hooking device, and controls winch 41.
Revolution hooking device for be arranged on the water surface and contact without the head collision of catching through aircraft front end, making this catch head enters in hook, catching head catches releaser and becomes one with slideway dock, when catching head, catch releaser while becoming one with slideway dock, the traction of the hauling rope 42 by winch enters in slideway dock slideway aircraft, and while drawing to slideway dock bow point, aircraft and slideway dock are combined as a whole.
Remote control winch by slideway dock inside after catching gos up to it, finally reaches navigation unit by water and slideway dock and is combined into one and carries out integral hoisting.Sear is for opening aircraft, to catch the revolution hook of releaser, and after hook discharges, aircraft enters the release that has realized aircraft on sea by slideway.
Described slideway is V-arrangement roller structure.Facilitate so described navigation unit by water to slide and enter in described slideway dock.
As another embodiment, due to water surface movable platform, as boats and ships navigate by water in wave, must be subject to the effect of wave and swing, especially more fierce under high sea situation, and the recovery system being arranged on platform swings (being mainly roll and pitch in swing process) with lash ship, in order to guarantee the reliable of slideway dock, while guaranteeing recovery and deployment, attitude is steady, system must arrange shimmy damping device under real sea situation, therefore, described swinging lifting arm is provided with to subtract and waves equalizing gear, comprise at least two mutual vertically arranged damping oil cylinders, for flowing by Throttle Valve Control hydraulic oil, make hoist cable increase damping of oscillations, reduce laterally, longitudinal oscillation amplitude, realize in described water surface unmanned vehicles folding and unfolding process laterally, longitudinally subtracting pendulum controls.
During work, when platform waves because lash ship rocks and the effect of stormy waves is waved, by Throttle Valve Control hydraulic oil mobile, make hoist cable 21 increase damping of oscillationss, reduce amplitude of fluctuation, in implementation platform folding and unfolding process, subtract pendulum.
As another embodiment, further on described swinging lifting arm, be provided with shock absorption buffering mechanism, comprise cushion cylinder, be arranged on the revolution hanging wheel on described swinging lifting arm, described angulated roping is located on described revolution hanging wheel, by the damping of described cushion cylinder, is controlled and is realized described hoist cable pitching and moment tensioning along with described slideway dock.
The slideway dock motion that will rise and fall on the waves when the slideway dock of recovery system is discharged into contact sea, therefore, as another embodiment, described swinging lifting arm is provided with compensation of undulation winch, fall and put device synchronization action with described slideway dock, be used for making described hoist cable to begin in tensioning state in folding and unfolding process, in lifting and decentralization process, hoist cable---steel rope remains tensioned state to slideway dock.
Compensation of undulation winch, for hoist cable compensation of undulation is controlled, keeps the tensioning all the time of folding and unfolding process cable wire.When platform leaves the water surface or has just transferred to the water surface, be subject to Lidar Equation, between platform and lash ship, there is relative heave movement, compensation winch automatic activation compensate function, can not allow platform rock and violently can guarantee the steady safety of platform folding and unfolding process, and there is manual function, Emergency use under off-position.
As another embodiment, described water surface unmanned vehicles falls puts recovery system, comprises remote control hanger system, comprises remote controller and suspension hook hook and releasing mechanism, realizes hook and the release of on described water surface movable platform, under unmanned state, carrying out suspension hook.
In order to realize hook and the release of effectively automatically controlling suspension hook, the embodiment of the present invention, adopts single design of lifting points, the automatic hitch of linking up with by remote controller Long-distance Control and release.
As another embodiment, described water surface unmanned vehicles falls puts recovery system, comprises hydraulic power unit, is arranged on described horizontal shifting platform, for providing to fall to put back to, receives required hydraulic efficiency power unit.Fuel tank belt hydraulic oil purifying system, oil temperature chiller system, motor is marine electric machine, hydraulic efficiency pressure system is selected Premium Brands Hydraulic Elements, has high oil temperature.Low liquid level, filter plugging fault warning function and liquid level is too low, motor overload automatic protection functions.
The built-in multinuclear control system of Intelligent electronic control system, electric elements, sensor, coder, electrical control cubicles used comprises amperemeter/ammtr, button and indicator lamp, interconnector is selected fire-retardant, low cigarette, Halogen wire for ship.
In order to realize the Long-distance Control to removal process, further, also comprise wireless control system, comprise radio operation handheld box, realize by controlling recovery that radio operation handheld box handle completes water surface unmanned vehicles and put and lift with falling.
Can by steel rope, move reciprocatingly in slideway dock belfry.The navigation unit by water that enters slideway dock is bearing in the rolling v-shaped bearing in framework to be fixed, and slideway dock and aircraft form one and make aircraft exempt from the impact of harsh environment.When aircraft needs the water surface to discharge.Slideway dock is by dropping to the floating position of the water surface and making slideway dock and lash ship axially parallel by control the direction of slideway dock with damping direction controller with compensation of undulation loop wheel machine.While transferring to releasing position, the inner winch of remote control slideway dock starts to transfer, when the inner aircraft of slideway dock is caught releaser automatically-unhooked release object that reaches of aircraft while reaching sear position.
Direction controller is controlled traction aircraft cable wire compensation of undulation, keep folding and unfolding process middle slideway dock axis all the time with lash ship keeping parallelism.When slideway dock leaves the water surface or has just transferred to the water surface, be subject to Lidar Equation, between slideway dock and lash ship axis, have relative motion, compensation winch automatic activation compensate function, can not allow slideway dock rock and violently can guarantee the steady safety of unmanned vehicles folding and unfolding process.
In the embodiment of the present invention, water surface unmanned vehicles extension and retraction system working process is described as follows:
Lay work: lifting arm swings slideway dock is moved to outside ship side, by playing hoist cable, slideway dock is executed to the water surface again, at this moment compensation of undulation winch starts the control of enforcement compensation of undulation, after slideway dock is steady with wave motion, control the inner winch of slideway dock, the aircraft of slideway dock inside is caught releaser and start to slide to slideway dock under track; The inside sear of slideway dock is opened the hook that aircraft is caught releaser, and after hook discharges, aircraft enters the release that has realized aircraft on sea by V-type slideway.
Recovery operation: navigation unit by water front end is caught the revolution hook collision that head catches releaser with slideway dock and contact, catches head and enters in hook, catches and slideway dock is caught releaser and become one.Catching the traction of releaser by winch makes aircraft enter slideway dock V-type slideway.While drawing to slideway dock bow point, aircraft and slideway dock are combined as a whole.Play hanger rope slideway dock is hung to the water surface and is rocked to inboard by lifting arm, slideway dock is placed on the slideway dock support of deck, recovery operation finishes.
The present invention can meet lash ship under the 3-5 joint speed of a ship or plane, and during 10 ° of 20 ° of/Zong Pour of Mu Chuan Transverse Pour, the folding and unfolding water surface unmanned vehicles of safety and steady, completes falling of unmanned vehicles and put, reclaim action in 120 seconds.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (6)
1. water surface unmanned vehicles falls and puts a recovery system, it is characterized in that, comprise Intelligent electronic control system and:
Slideway dock falls puts device, comprise single-revolution formula lifting arm, be installed on water surface movable platform, for being recycled on the described water surface on water surface movable platform or on described water surface movable platform and being laid on the water surface being loaded with in the slideway dock of water surface unmanned vehicles;
Described slideway dock, comprises slideway, aircraft and automatically catches and disconnector, is recycled in described slideway, or water surface unmanned vehicles is separated and laid in described slideway for automatically catching recovery water surface unmanned vehicles;
Direction controller, comprise that one is installed on the hold-down arm on described water surface movable platform, the tricing line with damping function that a direction is controlled winch and controlled winch control by described direction, described tricing line connects described slideway dock under this hold-down arm supports, and can make described slideway dock and described water surface movable platform keep axially parallel.
2. water surface unmanned vehicles as claimed in claim 1 falls and puts recovery system, it is characterized in that, described swinging lifting arm is provided with to subtract and waves equalizing gear, comprise at least two mutual vertically arranged damping oil cylinders, the mobile hoist cable that makes by Throttle Valve Control hydraulic oil increases damping of oscillations, reduce horizontal, longitudinal oscillation amplitude, laterally, longitudinally the subtracting pendulum of realizing in described water surface unmanned vehicles folding and unfolding process is controlled.
3. water surface unmanned vehicles as claimed in claim 2 falls and puts recovery system, it is characterized in that, described swinging lifting arm is provided with shock absorption buffering mechanism, comprise cushion cylinder, revolution hanging wheel, described angulated roping is located on described revolution hanging wheel, by the damping of described cushion cylinder, is controlled and is realized described hoist cable pitching and moment tensioning along with described slideway dock.
4. water surface unmanned vehicles as claimed in claim 3 falls and puts recovery system, it is characterized in that, described swinging lifting arm is provided with compensation of undulation winch, for described hoist cable is begun in tensioning state in folding and unfolding process.
5. the water surface unmanned vehicles as described in claim 1～4 any one falls and puts recovery system, it is characterized in that, comprises remote control hanger system, realizes hook and the release of on described water surface movable platform, under unmanned state, carrying out suspension hook.
6. water surface unmanned vehicles as claimed in claim 5 falls and puts recovery system, it is characterized in that, comprises hydraulic power unit, is arranged on described horizontal shifting platform, for providing to fall to put back to, receives required hydraulic efficiency power unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410264256.3A CN104015886B (en) | 2014-06-13 | 2014-06-13 | A kind of water surface unmanned vehicles drop puts recovery system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410264256.3A CN104015886B (en) | 2014-06-13 | 2014-06-13 | A kind of water surface unmanned vehicles drop puts recovery system |
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| CN104015886A true CN104015886A (en) | 2014-09-03 |
| CN104015886B CN104015886B (en) | 2018-10-16 |
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| CN201410264256.3A Expired - Fee Related CN104015886B (en) | 2014-06-13 | 2014-06-13 | A kind of water surface unmanned vehicles drop puts recovery system |
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| CN105667829A (en) * | 2016-01-07 | 2016-06-15 | 湖南华铝机械技术有限公司 | Assembly/maintenance plane dock for planes in same series |
| CN105905245A (en) * | 2016-06-03 | 2016-08-31 | 青岛北海船舶重工有限责任公司 | Cage used for launching and retrieve of unmanned surface vehicle |
| CN106564579A (en) * | 2016-11-22 | 2017-04-19 | 中船华南船舶机械有限公司 | Hydraulic retractable fin stabilization buffer device |
| CN107128795A (en) * | 2017-06-27 | 2017-09-05 | 深圳市云洲创新科技有限公司 | The retracting device and unmanned boat of a kind of unmanned boat |
| CN107344597A (en) * | 2017-08-25 | 2017-11-14 | 深圳市云洲创新科技有限公司 | Unmanned boat lays retracting device, system and unmanned boat and lays recovery method |
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| CN109080795A (en) * | 2018-08-01 | 2018-12-25 | 国家海洋局第海洋研究所 | A kind of gliding shear profiler deployment device and its operating method |
| CN110203335A (en) * | 2019-06-03 | 2019-09-06 | 浙江理工大学 | A kind of unmanned surface vehicle voluntary recall device |
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| WO2020212269A1 (en) | 2019-04-17 | 2020-10-22 | Eca Robotics | System for recovering a surface marine craft from a carrier ship |
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| CN115195942A (en) * | 2022-08-10 | 2022-10-18 | 哈尔滨理工大学 | Unmanned ship winding and unwinding devices with anti-rolling function |
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| CN105905245B (en) * | 2016-06-03 | 2018-12-25 | 青岛北海船舶重工有限责任公司 | The cage of recycling is laid for unmanned surface vehicle |
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| CN107128795A (en) * | 2017-06-27 | 2017-09-05 | 深圳市云洲创新科技有限公司 | The retracting device and unmanned boat of a kind of unmanned boat |
| CN107128795B (en) * | 2017-06-27 | 2018-05-29 | 深圳市云洲创新科技有限公司 | The retracting device and unmanned boat of a kind of unmanned boat |
| CN107344597A (en) * | 2017-08-25 | 2017-11-14 | 深圳市云洲创新科技有限公司 | Unmanned boat lays retracting device, system and unmanned boat and lays recovery method |
| CN108163149A (en) * | 2017-12-22 | 2018-06-15 | 上海大学 | A kind of unmanned boat lays recovery system |
| CN108163149B (en) * | 2017-12-22 | 2019-06-04 | 上海大学 | A kind of unmanned boat lays recovery system |
| CN109080795A (en) * | 2018-08-01 | 2018-12-25 | 国家海洋局第海洋研究所 | A kind of gliding shear profiler deployment device and its operating method |
| CN109050839A (en) * | 2018-08-23 | 2018-12-21 | 青岛晨明海洋装备技术有限公司 | A kind of draw off gear of underwater glider and autonomous underwater vehicle |
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| WO2020212269A1 (en) | 2019-04-17 | 2020-10-22 | Eca Robotics | System for recovering a surface marine craft from a carrier ship |
| FR3095186A1 (en) * | 2019-04-17 | 2020-10-23 | Eca Robotics | System for recovering a surface marine vehicle from a carrier vessel |
| US11772751B2 (en) | 2019-04-17 | 2023-10-03 | Eca Robotics | System for recovering a surface marine craft from a carrier ship |
| CN110203335A (en) * | 2019-06-03 | 2019-09-06 | 浙江理工大学 | A kind of unmanned surface vehicle voluntary recall device |
| CN110884618A (en) * | 2019-12-07 | 2020-03-17 | 湖南浩天翼航空技术有限公司 | Inflatable take-off and landing support quick assembly and disassembly mechanism for water take-off and landing unmanned aerial vehicle |
| CN113715966A (en) * | 2021-09-10 | 2021-11-30 | 杭州电子科技大学 | Unmanned ship detection and release device for large ships |
| CN115195942A (en) * | 2022-08-10 | 2022-10-18 | 哈尔滨理工大学 | Unmanned ship winding and unwinding devices with anti-rolling function |
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