CN104260863A - Autonomous carrying and releasing device for submersible vehicle - Google Patents
Autonomous carrying and releasing device for submersible vehicle Download PDFInfo
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- CN104260863A CN104260863A CN201410525311.XA CN201410525311A CN104260863A CN 104260863 A CN104260863 A CN 104260863A CN 201410525311 A CN201410525311 A CN 201410525311A CN 104260863 A CN104260863 A CN 104260863A
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- 229910001369 Brass Inorganic materials 0.000 claims description 7
- 239000010951 brass Substances 0.000 claims description 7
- 239000012530 fluid Substances 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 230000003044 adaptive effect Effects 0.000 abstract description 3
- 230000008602 contraction Effects 0.000 abstract 1
- 238000003032 molecular docking Methods 0.000 description 16
- 230000008054 signal transmission Effects 0.000 description 6
- 230000009189 diving Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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Abstract
The invention aims to provide an autonomous carrying and releasing device for a submersible vehicle. The autonomous carrying and releasing device comprises a base, an upper-layer platform, a lower-layer platform, a pallet plate, a main shaft lever, an air guide sleeve and a guide cylinder, wherein the lower-layer platform is mounted at the upper end of the base; the pallet plate is mounted at the lower end of a support structure; a main shaft sleeve is mounted below the lower-layer platform; the upper-layer platform is arranged above the lower-layer platform; the upper end of the main shaft lever penetrates through the main shaft sleeve which is matched with the main shaft lever to realize relative rotation and is hinged to the upper-layer platform; the lower end of the main shaft lever is mounted on the pallet plate through a sliding bearing; the air guide sleeve is of a gradual contraction type structure; the guide cylinder is of a hollow cylindrical shape; the tail end of the air guide sleeve is connected with the guide cylinder; a support is fixed on the upper-layer platform; the air guide sleeve and the guide cylinder are mounted on the upper-layer platform through the support; a hydraulic compartment is arranged on the pallet plate; a leveling device for adjusting the relative angle between the upper-layer platform and the main shaft lever is arranged on the upper-layer platform; the hydraulic compartment is connected with the leveling device. According to the autonomous carrying and releasing device disclosed by the invention, adaptive work and posture adjustment can be achieved.
Description
Technical field
What the present invention relates to is a kind of Underwater Docking Device.
Background technology
Along with marine resources development utilizes the rapid expansion in region, and constantly to deep-sea, off-lying sea extends, the coast defence form of constantly change simultaneously, also requires that modern marine equips the working ability with deep-sea, off-lying sea.When latent device carries out deep ocean work, carry out the energy by lash ship or water surface supporting platform supplement if frequently emerged, then will consume a large amount of energy, time, the continuity of operation also can be interrupted.Dive device by being connected with lift-launch docking facilities, carry out energy supplement, information uploads and downloads, continuous working function can be realized, by being connected with recovery system under water, realize supplementing in time and the exchange of data of the energy, be realize diving device on a large scale, the large degree of depth, long-time continuous operation effective means.Application number is the docking facilities that patent discloses a kind of submarine navigation device and submarine observation network of 201110178669.6, by the design of weight equalizer and universal-joint, reach and lead mouth and be in horizontality always, and utilize two electric energy communication cabins contact with each other carry out trigger switch.But due to the complexity of sea situation under water in docking operation, submarine navigation device cannot ensure two communication cabins to contact, follow-up work may be caused to carry out, design in addition by weight equalizer and universal-joint can only ensure that lead mouth is in horizontality always, and under actual conditions, latent device is all generally move downward at a certain angle, and latent device can be caused like this to enter in docking facilities, and it is very low to make to be butted into power.
Summary of the invention
The object of the present invention is to provide can self adaptation work and the autonomous carrying out pose adjustment is dived, device carries and release gear.
The object of the present invention is achieved like this:
Autonomous of the present invention dive device carry and release gear, it is characterized in that: comprise base, upper platform, lower floor's platform, tray plate, spindle rod, streamlined reefer housing, guide cylinder, described base is supporting structure, lower floor's stage+module is in the upper end of base, tray plate is arranged on the lower end of supporting structure, below lower floor's platform, main brass is installed, upper platform is arranged on above lower floor's platform, spindle rod upper end realizes main brass hinged with upper platform in relative rotation through to match with it, spindle rod lower end is arranged on tray plate by plain bearing, streamlined reefer housing is tapering type structure, guide cylinder is the cylindrical shape of hollow, streamlined reefer housing tail end is connected with guide cylinder, upper platform is fixed with support, streamlined reefer housing and guide cylinder by support installing on upper platform, tray plate installs hydraulic compartment, upper platform is installed the leveling equipment regulating upper platform and spindle rod relative angle, hydraulic compartment connects and drives leveling equipment.
The present invention can also comprise:
1, arrange guide plate above guide cylinder, guide cylinder tail end arranges orientation triggering device, and guide plate front end is infundibulate, and guide plate rear end is the cuboid of hollow.
2, on upper platform, installation promotes the latching device that upper platform rises and charging unit, latching device and the equal connecting fluid ballasting of charging unit of charging to device of diving.
Advantage of the present invention is:
1, upper mounting plate plate is provided with leveling equipment, during work, gives power by hydraulic compartment, drive upper mounting plate postlaminar part to move reciprocatingly by the lead screw transmission of centre, thus make upper mounting plate carry out luffing, make streamlined reefer housing can pitching adjustment direction.Can ensure when seabed unfairness makes docking facilities to be horizontal like this, and when dive device course and horizontal direction have a certain angle, can by the adjustment of leveling equipment, allow streamlined reefer housing direction and latent device towards on the same line.
2, by the leading portion at guide cylinder, guide plate is installed, and the leading portion shape of guide plate is infundibulate, have the perforate slightly larger than latent device hanger thickness, the horizontal direction that can complete in latent device docking operation is spacing, infundibulate perforate had both ensured the position of latent device vertical direction, the spacing of horizontal direction can also be realized, thus ensure the triggering of registration device.
3, there is trigger switch orientation triggering device inside, and contact surface above can do slightly large, and ensure after latent device hanger contacts with it, switch is triggered, and to control cabinet transmission of signal, control cabinet, again to hydraulic compartment transmission of signal, starts locking and charging unit.Thus adaptive complete latent device docking and information transmission, charging process.
4, spindle rod upper end and upper mounting plate plate hinged, lower end is provided with plain bearing, when being in seabed, can according to current direction, the horizontal direction of adaptive adjustment streamlined reefer housing, makes the streamlined reefer housing direction moment along current direction, ensure dive device adverse current docking.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is streamlined reefer housing schematic diagram of the present invention;
Fig. 3 is guide shell of the present invention and guide board structure schematic diagram;
Fig. 4 is upper platform schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the present invention is described in more detail:
Composition graphs 1 ~ 4, docking facilities of the present invention comprises streamlined reefer housing 1, guide cylinder 3, base 17, control cabinet 9, spindle rod 13, upper platform 7, hydraulic compartment 10, latching device 6, charging unit 5, orientation triggering device 4, leveling equipment 8.Hydraulic compartment 10 and control cabinet 9 are fixed on tray plate 15, and both are connected by watertight cable.Spindle rod upper end and upper platform plate 7 hinged, lower end is provided with plain bearing 16, spindle rod 13 is connected by plain bearing 16 with tray plate 15, spindle rod 13 is made to carry out horizontal direction rotation, lower floor's platform 14 is fixed with main brass 12 below, and spindle rod 13 is hinged through main brass 12 and upper platform 7, and spindle rod 13 and main brass 12 can relatively rotate, lower floor's platform 14 is fixed with 4 suspension ring 11 above, and suspension ring 11 are for lifting appliance.Spindle rod 13 is hinged with the connection of upper platform 7, and leveling equipment 8 can be made to carry out pitch orientation adjustment, and leveling equipment is connected with hydraulic compartment by a hydraulic pipe.Be fixed with charging unit 5 in the middle of upper platform 7, be fixed wtih two latching devices 6 in the centre of upper platform 7 and rear end.Hydraulic compartment is connected with charging unit 5 by a hydraulic pipe, is connected with two locking devices 6 by an other hydraulic pipe simultaneously.Upper platform 7 is fixed with two supports, for support guide cylinder 3 and streamlined reefer housing 1.The afterbody of guide cylinder 3 is fixed with an orientation triggering device 4, and there is trigger switch registration device inside, is connected by watertight cable with control cabinet.Be provided with guide plate 2 on guide cylinder 3 top, the horizontal direction for latent device is spacing.Guide plate front end geometry is infundibulate, and has the perforate slightly larger than latent device hanger thickness.The front end of guide cylinder 3 and the rear end of streamlined reefer housing 1 link together, and the upper extremity part of streamlined reefer housing 1 has tapered mouth.Guide housing there are 4 acoustics responsers 18.
Step during real work is as follows:
During practical application, to dive the sonar of device front end and acoustics responser 18 transmission of signal of streamlined reefer housing front end at distant location, confirm distance and latent device 19 is moved to docking facilities, if at this moment current direction and streamlined reefer housing are towards inconsistent, the thrust of water can promote docking facilities and rotate, spindle rod makes upper platform 7 horizontally rotate until streamlined reefer housing direction is along current direction by plain bearing 16, to ensure that latent device energy adverse current is docked, according to the relative position of latent device and docking facilities, control cabinet is to hydraulic compartment transmission of signal, hydraulic compartment is connected by a hydraulic pipe with leveling equipment 8, the leading screw 21 that can promote leveling equipment does fore and aft motion, thus make docking facilities can promote upper platform 7 by leveling equipment to carry out pitching adjustment, ensure streamlined reefer housing direction and latent device course on the same line.In the process entered, autonomous device of diving is entered in docking facilities by streamlined reefer housing 1.The dive hanger 20 of device of autonomous enters in guide plate by tapered mouth, carries out horizontal direction spacing by the perforate of guide plate 2.Behind in-position, device hanger 20 of diving starts to contact with orientation triggering device 4 to cushion, autonomous dive device engine stop, the switch of positioning module flip flop equipment inside is triggered, electric signal is transmitted to control cabinet by watertight cable, after control cabinet receives electric signal, again to hydraulic compartment transmission of signal, a hydraulic pipe in hydraulic compartment is connected with two latching devices simultaneously, above the hydraulic stem 22 that can ensure in two latching devices 6 promotes simultaneously, dull and stereotyped rising makes latent device position fix, and the induction installation afterwards charging unit 5 moving on to assigned address and latent device charges.After charging, control cabinet is to hydraulic compartment transmission of signal, and hydraulic compartment makes latching device and charging unit get back to initial position, autonomous dive device screw propeller reversion, sail out of docking facilities.
Claims (3)
1. autonomous dive device carry and release gear, it is characterized in that: comprise base, upper platform, lower floor's platform, tray plate, spindle rod, streamlined reefer housing, guide cylinder, described base is supporting structure, lower floor's stage+module is in the upper end of base, tray plate is arranged on the lower end of supporting structure, below lower floor's platform, main brass is installed, upper platform is arranged on above lower floor's platform, spindle rod upper end realizes main brass hinged with upper platform in relative rotation through to match with it, spindle rod lower end is arranged on tray plate by plain bearing, streamlined reefer housing is tapering type structure, guide cylinder is the cylindrical shape of hollow, streamlined reefer housing tail end is connected with guide cylinder, upper platform is fixed with support, streamlined reefer housing and guide cylinder by support installing on upper platform, tray plate installs hydraulic compartment, upper platform is installed the leveling equipment regulating upper platform and spindle rod relative angle, hydraulic compartment connects and drives leveling equipment.
2. autonomous according to claim 1 dive device carry and release gear, it is characterized in that: arrange guide plate above guide cylinder, guide cylinder tail end arranges orientation triggering device, and guide plate front end is infundibulate, and guide plate rear end is the cuboid of hollow.
3. autonomous according to claim 1 and 2 dive device carry and release gear, it is characterized in that: on upper platform install promote upper platform rise latching device and give dive device charging charging unit, latching device and the equal connecting fluid ballasting of charging unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410525311.XA CN104260863B (en) | 2014-10-08 | 2014-10-08 | Autonomous dive device carry and release device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410525311.XA CN104260863B (en) | 2014-10-08 | 2014-10-08 | Autonomous dive device carry and release device |
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| CN104260863A true CN104260863A (en) | 2015-01-07 |
| CN104260863B CN104260863B (en) | 2016-11-23 |
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| CN201410525311.XA Expired - Fee Related CN104260863B (en) | 2014-10-08 | 2014-10-08 | Autonomous dive device carry and release device |
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Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104986305A (en) * | 2015-06-29 | 2015-10-21 | 青岛市光电工程技术研究院 | Underwater docking platform with posture capable of being autonomously adjusted |
| CN105599880A (en) * | 2015-12-16 | 2016-05-25 | 浙江大学 | Autonomous underwater vehicle and docking device thereof |
| CN106956760A (en) * | 2017-03-29 | 2017-07-18 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | The AUV latent device of cable control is reclaimed under High-efficient Water |
| CN106976532A (en) * | 2017-03-21 | 2017-07-25 | 哈尔滨工程大学 | Netted infundibulate mini underwater vehicle retracting device |
| CN107284627A (en) * | 2017-05-25 | 2017-10-24 | 哈尔滨工程大学 | A kind of UUV Underwater Docking Devices under the conditions of moving base |
| CN108569385A (en) * | 2018-04-24 | 2018-09-25 | 西北工业大学 | A kind of AUV recycles retaining mechanism under water |
| CN108639585A (en) * | 2018-04-24 | 2018-10-12 | 西北工业大学 | A kind of roller type anticollision recovery tube for AUV recycling |
| CN109263838A (en) * | 2018-08-01 | 2019-01-25 | 浙江理工大学 | A kind of underwater of six degree of freedom |
| CN109292057A (en) * | 2018-11-08 | 2019-02-01 | 天津深之蓝海洋设备科技有限公司 | A kind of cable control underwater robot is laid and recovery system |
| CN109515661A (en) * | 2018-12-05 | 2019-03-26 | 青岛理工大学 | Working method of universal underwater vehicle connection charging system |
| CN109921233A (en) * | 2017-12-13 | 2019-06-21 | 中国科学院沈阳自动化研究所 | A kind of Underwater Docking Device |
| CN110203358A (en) * | 2019-05-16 | 2019-09-06 | 浙江大学 | A kind of AUV connection station with ocean current automatic direction regulating |
| CN110758690A (en) * | 2019-12-03 | 2020-02-07 | 大连海事大学 | Stable seabed underwater butt joint structure of trim along with ocean current position adjustable |
| CN111086612A (en) * | 2020-01-03 | 2020-05-01 | 西北工业大学 | Elevating platform cage type AUV releasing and recovering device adopted by underwater glider |
| KR20200059813A (en) * | 2018-11-22 | 2020-05-29 | (주)경인테크 | Doking station in underwater |
| CN111572734A (en) * | 2020-05-14 | 2020-08-25 | 中国船舶重工集团公司第七一五研究所 | Autonomous stabilization and automatic regulation system for attitude of seabed connection platform |
| CN111731458A (en) * | 2020-06-22 | 2020-10-02 | 西北工业大学 | Push-jet AUV release device based on underwater glider |
| CN112684811A (en) * | 2020-12-22 | 2021-04-20 | 西安精密机械研究所 | UUV reciprocating type docking route control method |
| CN113247215A (en) * | 2021-06-09 | 2021-08-13 | 西北工业大学 | Docking platform is retrieved to ship-hanging AUV |
| CN113978676A (en) * | 2021-11-25 | 2022-01-28 | 中国科学院沈阳自动化研究所 | Underwater self-locking mechanism suitable for unmanned submersible vehicle |
| CN114475944A (en) * | 2022-01-21 | 2022-05-13 | 浙江大学 | Deep sea charging platform applying low-flow-speed ocean current power generation technology and operation method |
| CN115071472A (en) * | 2022-04-26 | 2022-09-20 | 哈尔滨工程大学 | Modular multi-type UUV butt joint charging device capable of directly driving away |
| CN115848604A (en) * | 2023-03-02 | 2023-03-28 | 中水珠江规划勘测设计有限公司 | Submersible fixing device |
| CN115946825A (en) * | 2022-12-27 | 2023-04-11 | 沈阳辽海装备有限责任公司 | Recovery device for underwater glider |
| CN116946331A (en) * | 2023-06-09 | 2023-10-27 | 南方电网调峰调频发电有限公司储能科研院 | Large sonar telescopic mechanism for deep tunnel |
| CN117566066A (en) * | 2023-11-23 | 2024-02-20 | 江苏科技大学 | Submarine docking recovery platform of underwater robot |
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Cited By (34)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104986305A (en) * | 2015-06-29 | 2015-10-21 | 青岛市光电工程技术研究院 | Underwater docking platform with posture capable of being autonomously adjusted |
| CN104986305B (en) * | 2015-06-29 | 2017-09-12 | 青岛市光电工程技术研究院 | It is a kind of can be from the underwater mating platform of main modulation posture |
| CN105599880A (en) * | 2015-12-16 | 2016-05-25 | 浙江大学 | Autonomous underwater vehicle and docking device thereof |
| CN106976532A (en) * | 2017-03-21 | 2017-07-25 | 哈尔滨工程大学 | Netted infundibulate mini underwater vehicle retracting device |
| CN106956760A (en) * | 2017-03-29 | 2017-07-18 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | The AUV latent device of cable control is reclaimed under High-efficient Water |
| CN106956760B (en) * | 2017-03-29 | 2019-06-11 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | The latent device of cable control of AUV is recycled under High-efficient Water |
| CN107284627A (en) * | 2017-05-25 | 2017-10-24 | 哈尔滨工程大学 | A kind of UUV Underwater Docking Devices under the conditions of moving base |
| CN107284627B (en) * | 2017-05-25 | 2019-06-11 | 哈尔滨工程大学 | A kind of UUV Underwater Docking Device under the conditions of moving base |
| CN109921233B (en) * | 2017-12-13 | 2020-05-26 | 中国科学院沈阳自动化研究所 | Underwater butt joint device |
| CN109921233A (en) * | 2017-12-13 | 2019-06-21 | 中国科学院沈阳自动化研究所 | A kind of Underwater Docking Device |
| CN108639585B (en) * | 2018-04-24 | 2020-04-03 | 西北工业大学 | Roller type anti-collision recovery pipe for AUV recovery |
| CN108639585A (en) * | 2018-04-24 | 2018-10-12 | 西北工业大学 | A kind of roller type anticollision recovery tube for AUV recycling |
| CN108569385A (en) * | 2018-04-24 | 2018-09-25 | 西北工业大学 | A kind of AUV recycles retaining mechanism under water |
| CN109263838A (en) * | 2018-08-01 | 2019-01-25 | 浙江理工大学 | A kind of underwater of six degree of freedom |
| CN109292057A (en) * | 2018-11-08 | 2019-02-01 | 天津深之蓝海洋设备科技有限公司 | A kind of cable control underwater robot is laid and recovery system |
| KR20200059813A (en) * | 2018-11-22 | 2020-05-29 | (주)경인테크 | Doking station in underwater |
| KR102151139B1 (en) * | 2018-11-22 | 2020-09-02 | 한화시스템 주식회사 | Doking station in underwater |
| CN109515661A (en) * | 2018-12-05 | 2019-03-26 | 青岛理工大学 | Working method of universal underwater vehicle connection charging system |
| CN110203358A (en) * | 2019-05-16 | 2019-09-06 | 浙江大学 | A kind of AUV connection station with ocean current automatic direction regulating |
| CN110758690A (en) * | 2019-12-03 | 2020-02-07 | 大连海事大学 | Stable seabed underwater butt joint structure of trim along with ocean current position adjustable |
| CN111086612A (en) * | 2020-01-03 | 2020-05-01 | 西北工业大学 | Elevating platform cage type AUV releasing and recovering device adopted by underwater glider |
| CN111572734A (en) * | 2020-05-14 | 2020-08-25 | 中国船舶重工集团公司第七一五研究所 | Autonomous stabilization and automatic regulation system for attitude of seabed connection platform |
| CN111731458A (en) * | 2020-06-22 | 2020-10-02 | 西北工业大学 | Push-jet AUV release device based on underwater glider |
| CN112684811A (en) * | 2020-12-22 | 2021-04-20 | 西安精密机械研究所 | UUV reciprocating type docking route control method |
| CN113247215A (en) * | 2021-06-09 | 2021-08-13 | 西北工业大学 | Docking platform is retrieved to ship-hanging AUV |
| CN113978676A (en) * | 2021-11-25 | 2022-01-28 | 中国科学院沈阳自动化研究所 | Underwater self-locking mechanism suitable for unmanned submersible vehicle |
| CN113978676B (en) * | 2021-11-25 | 2022-12-27 | 中国科学院沈阳自动化研究所 | Underwater self-locking mechanism suitable for unmanned submersible vehicle |
| CN114475944A (en) * | 2022-01-21 | 2022-05-13 | 浙江大学 | Deep sea charging platform applying low-flow-speed ocean current power generation technology and operation method |
| CN115071472A (en) * | 2022-04-26 | 2022-09-20 | 哈尔滨工程大学 | Modular multi-type UUV butt joint charging device capable of directly driving away |
| CN115071472B (en) * | 2022-04-26 | 2024-09-20 | 哈尔滨工程大学 | Modularized multi-type UUV docking charging device capable of being directly driven away |
| CN115946825A (en) * | 2022-12-27 | 2023-04-11 | 沈阳辽海装备有限责任公司 | Recovery device for underwater glider |
| CN115848604A (en) * | 2023-03-02 | 2023-03-28 | 中水珠江规划勘测设计有限公司 | Submersible fixing device |
| CN116946331A (en) * | 2023-06-09 | 2023-10-27 | 南方电网调峰调频发电有限公司储能科研院 | Large sonar telescopic mechanism for deep tunnel |
| CN117566066A (en) * | 2023-11-23 | 2024-02-20 | 江苏科技大学 | Submarine docking recovery platform of underwater robot |
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