CN104260863B - Autonomous dive device carry and release device - Google Patents

Autonomous dive device carry and release device Download PDF

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Publication number
CN104260863B
CN104260863B CN201410525311.XA CN201410525311A CN104260863B CN 104260863 B CN104260863 B CN 104260863B CN 201410525311 A CN201410525311 A CN 201410525311A CN 104260863 B CN104260863 B CN 104260863B
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CN
China
Prior art keywords
platform
device
upper platform
kuppe
guide cylinder
Prior art date
Application number
CN201410525311.XA
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Chinese (zh)
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CN104260863A (en
Inventor
王庆
贾国志
李锋
张晨琦
Original Assignee
哈尔滨工程大学
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Publication date
Application filed by 哈尔滨工程大学 filed Critical 哈尔滨工程大学
Priority to CN201410525311.XA priority Critical patent/CN104260863B/en
Publication of CN104260863A publication Critical patent/CN104260863A/en
Application granted granted Critical
Publication of CN104260863B publication Critical patent/CN104260863B/en

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Abstract

nullIt is an object of the invention to provide autonomous dive device carry and release device,Including base、Upper platform、Lower floor's platform、Tray plate、Spindle rod、Kuppe、Guide cylinder,Lower floor's stage+module is in the upper end of base,Tray plate is arranged on the lower end of supporting structure,Collar bush is installed below lower floor's platform,Upper platform is arranged on above lower floor's platform,Spindle rod upper end passes through and is matched therewith realizing collar bush hinged with upper platform in relative rotation,Spindle rod lower end is arranged on tray plate by sliding bearing,Kuppe is tapering type structure,Guide cylinder is the cylindrical shape of hollow,Kuppe tail end is connected with guide cylinder,It is fixed with support on upper platform,Kuppe and guide cylinder are arranged on upper platform by support,Hydraulic compartment is installed on tray plate,The levelling device of regulation upper platform and spindle rod relative angle is installed on upper platform,Hydraulic compartment connects levelling device.Energy self adaptation of the present invention works and can carry out pose adjustment.

Description

Autonomous dive device carry and release device

Technical field

The present invention relates to a kind of Underwater Docking Device.

Background technology

As marine resources development utilizes the rapid expansion in region, and constantly to deep-sea, off-lying sea extends, simultaneously The coast defence form being continually changing, also requires that modern marine equipment has the ability to work of deep-sea, off-lying sea.When latent When device carries out deep ocean work, support that platform carries out the energy and supplements if frequently emerged by lash ship or the water surface, Then to consume the substantial amounts of energy, time, the continuity of operation also can be interrupted.Latent device is by docking with carrying Device connects, and carries out energy supplement, information uploads and downloads, and can realize function of working continuously, by with Recovery system connects under water, it is achieved supplementing in time and the exchange of data of the energy, be realize latent device on a large scale, The big degree of depth, the effective means worked continuously for a long time.The patent of Application No. 201110178669.6 discloses A kind of submarine navigation device and the docking facilities of submarine observation network, by the design of weight equalizer and universal joint, come Reach to lead mouth and be constantly in level, and utilize contacting with each other of two electric energy communication cabins to carry out triggering and open Close.But due to the complexity of sea situation under water in docking operation, submarine navigation device cannot ensure to lead to two News cabin contacts, and may result in follow-up work and cannot be carried out, additionally by weight equalizer and universal joint Design can only ensure that leading mouth is constantly in level, and under actual conditions, latent device is typically all with certain angle Degree moves downward, and latent device so can be caused to cannot be introduced in docking facilities, and it is very low to make to be butted into power.

Content of the invention

It is an object of the invention to provide and self adaptation can work and the autonomous of pose adjustment device of diving can be carried out and take Carry and release device.

The object of the present invention is achieved like this:

Autonomous of the present invention dive device carry and release device, it is characterized in that: include base, upper platform, under Layer platform, tray plate, spindle rod, kuppe, guide cylinder, described base is supporting structure, lower floor's platform Being arranged on the upper end of base, tray plate is arranged on the lower end of supporting structure, installs collar bush below lower floor's platform, Upper platform is arranged on above lower floor's platform, and spindle rod upper end passes through and is matched therewith realizing leading in relative rotation Axle sleeve is simultaneously hinged with upper platform, and spindle rod lower end is arranged on tray plate by sliding bearing, and kuppe is Tapering type structure, guide cylinder is the cylindrical shape of hollow, and kuppe tail end is connected with guide cylinder, and upper strata is put down Being fixed with support on platform, kuppe and guide cylinder are arranged on upper platform by support, and tray plate is installed Hydraulic compartment, upper platform is installed the levelling device of regulation upper platform and spindle rod relative angle, hydraulic compartment Connect and drive levelling device.

The present invention can also include:

1st, guide cylinder is provided above guide plate, and guide cylinder tail end arranges orientation triggering device, and guide plate front end is Infundibulate, guide plate rear end is the cuboid of hollow.

The 2nd, the locking device promoting upper platform to rise and the charging dress to latent device charging are installed on upper platform Putting, locking device and charging device are all connected with hydraulic compartment.

Present invention have an advantage that

1st, upper mounting plate plate is provided with levelling device, during work, is given power by hydraulic compartment, by middle silk Thick stick transmission drives upper mounting plate postlaminar part to move reciprocatingly, so that upper mounting plate carries out elevating movement, makes kuppe Can be with pitching adjustment direction.So can ensure when seabed out-of-flatness makes docking facilities to be horizontal When, and when there is certain angle in latent device course with horizontal direction, can be allowed lead by the adjustment of levelling device Stream cover direction and latent device are towards on the same line.

2nd, by the leading portion at guide cylinder, guide plate is installed, and the leading portion of guide plate is shaped as infundibulate, opens There is the perforate slightly larger than latent device hanger thickness, the horizontal direction in latent device docking operation can be completed spacing, leakage Bucket shape perforate had both ensured the position of latent device vertical direction, moreover it is possible to realizes the spacing of horizontal direction, thus ensures to determine The triggering of position device.

3rd, having triggering switch inside orientation triggering device, contact surface above can be made slightly larger, it is ensured that when latent After device hanger contacts, switch is triggered, and transmits signal to control cabinet, and control cabinet is again to hydraulic compartment transmission Signal, starts locking and charging device.Thus adaptive complete the docking of latent device and information transmission, charging Process.

4th, spindle rod upper end is hinged with upper mounting plate plate, and lower end is provided with sliding bearing, when being in seabed, and can According to current direction, the horizontal direction of adaptive adjustment kuppe, to make the kuppe direction moment along sea Flow path direction, it is ensured that latent device adverse current docking.

Brief description

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the kuppe 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

Illustrate below in conjunction with the accompanying drawings and the present invention be described in more detail:

In conjunction with Fig. 1~4, docking facilities of the present invention includes kuppe the 1st, guide cylinder the 3rd, base the 17th, control cabinet 9th, spindle rod the 13rd, upper platform the 7th, hydraulic compartment the 10th, locking device the 6th, charging device the 5th, orientation triggering dress Put the 4th, levelling device 8.Hydraulic compartment 10 and control cabinet 9 are fixed on tray plate 15, and both pass through watertight cable Connect.Spindle rod upper end is hinged with upper platform plate 7, and lower end is provided with sliding bearing 16, spindle rod 13 It is connected by sliding bearing 16 with tray plate 15, make spindle rod 13 can carry out horizontal direction rotation, lower floor Being fixed with collar bush 12 below platform 14, it is hinged with upper platform 7 that spindle rod 13 passes through collar bush 12, Spindle rod 13 and collar bush 12 can relatively rotate, and lower floor's platform 14 is fixed on 4 suspension ring 11, Suspension ring 11 are used for boom hoisting.Spindle rod 13 is hinged with the connection of upper platform 7, can make leveling Device 8 carries out pitch orientation adjustment, and levelling device is connected with hydraulic compartment by a hydraulic tube.Upper platform It is fixed with charging device 5, fixed two locking devices 6 in the centre of upper platform 7 and rear end in the middle of 7. Hydraulic compartment is connected with charging device 5, by an other hydraulic tube and two locked dresses by a hydraulic tube Put 6 to be connected simultaneously.It is fixed with two supports on upper platform 7, be used for support guide cylinder 3 and kuppe 1. The afterbody of guide cylinder 3 is fixed with an orientation triggering device 4, has triggering switch, with control inside positioner Cabin processed is connected by watertight cable.On guide cylinder 3 top, guide plate 2 is installed, for the horizontal direction of device of diving Spacing.Guide plate front end geometry is infundibulate, and has the perforate slightly larger than latent device hanger thickness.Guide cylinder 3 Front end and the rear end of kuppe 1 link together, the upper extremity part of kuppe 1 has tapered mouth. 4 acoustics transponders 18 are had on guide housing.

Step during real work is as follows:

During actual application, dive the sonar of device front end and the acoustics transponder 18 of kuppe front end passes at distant location Delivery signal, confirms distance and makes latent device 19 move to docking facilities, if at this moment current direction and kuppe court To inconsistent, the thrust of water can promote docking facilities to rotate, and spindle rod makes upper platform by sliding bearing 16 7 horizontally rotate until kuppe direction is along current direction, to ensure that latent device can countercurrently dock, according to The relative position of latent device and docking facilities, control cabinet transmits signal, hydraulic compartment and levelling device 8 to hydraulic compartment Connected by a hydraulic tube, the leading screw 21 of levelling device can be promoted to do stretching motion, so that docking facilities Upper platform 7 can be promoted to carry out pitching adjustment by levelling device, it is ensured that kuppe direction and latent device course On the same line.During entrance, autonomous device of diving is entered in docking facilities by kuppe 1.From The dive hanger 20 of device of the formula of controlling is entered in guide plate by tapered mouth, carries out level side by the perforate of guide plate 2 To spacing.Behind in-position, latent device hanger 20 starts and orientation triggering device 4 contacts into row buffering, autonomous The dive engine of device of formula stops, and positioning mould triggers switch within device and is triggered, by watertight cable to control cabinet The transmission signal of telecommunication, after control cabinet receives the signal of telecommunication, then transmits signal, in hydraulic compartment piece to hydraulic compartment Hydraulic tube and two locking devices are connected simultaneously, it is ensured that the hydraulic stem 22 in two locking devices 6 pushes away simultaneously Dynamic flat board above rises makes latent device position fix, and moves on to specify the sense of position and latent device afterwards on charging device 5 Device is answered to charge.After charging finishes, control cabinet transmits signal to hydraulic compartment, and hydraulic compartment makes locking device and fills Electric installation returns to initial position, autonomous dive device screw reversion, sail out of docking facilities.

Claims (1)

1. autonomous dive device carry and release device, it is characterized in that: include base, upper platform, lower floor put down Platform, tray plate, spindle rod, kuppe, guide cylinder, described base is supporting structure, lower floor's stage+module In the upper end of base, tray plate is arranged on the lower end of supporting structure, installs collar bush below lower floor's platform, on Layer platform is arranged on above lower floor's platform, and spindle rod upper end passes through and is matched therewith realizing main shaft in relative rotation Set is simultaneously hinged with upper platform, and spindle rod lower end is arranged on tray plate by sliding bearing, and kuppe is for gradually Contracting formula structure, guide cylinder is the cylindrical shape of hollow, and kuppe tail end is connected with guide cylinder, upper platform On be fixed with support, kuppe and guide cylinder are arranged on upper platform by support, on tray plate install liquid Ballasting, upper platform is installed the levelling device of regulation upper platform and spindle rod relative angle, and hydraulic compartment is even Connect and drive levelling device;
Guide cylinder is provided above guide plate, and guide cylinder tail end arranges orientation triggering device, and guide plate front end is leakage Bucket shape, guide plate rear end is the cuboid of hollow;
The locking device promoting upper platform to rise and the charging dress to latent device charging are installed on upper platform Putting, locking device and charging device are all connected with hydraulic compartment.
CN201410525311.XA 2014-10-08 2014-10-08 Autonomous dive device carry and release device CN104260863B (en)

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

Applications Claiming Priority (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

Publications (2)

Publication Number Publication Date
CN104260863A CN104260863A (en) 2015-01-07
CN104260863B true CN104260863B (en) 2016-11-23

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Publication number Priority date Publication date Assignee Title
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
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
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
CN108639585B (en) * 2018-04-24 2020-04-03 西北工业大学 Roller type anti-collision recovery pipe for AUV recovery
CN108569385B (en) * 2018-04-24 2019-09-24 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
CN109515661B (en) * 2018-12-05 2020-04-07 青岛理工大学 Working method of universal underwater vehicle connection charging system

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CN102320362B (en) * 2011-06-29 2013-06-12 浙江大学 Docking device of autonomous underwater vehicle and submarine observation network
DE102012008074A1 (en) * 2012-04-20 2013-10-24 Atlas Elektronik Gmbh Recovery method for recovering an underwater vehicle, recovery device, submarine with recovery device, underwater vehicle therefor and system therewith
CN203247963U (en) * 2013-02-28 2013-10-23 浙江大学 Deep sea AUV docking electromagnetic locking and releasing system
CN203544343U (en) * 2013-06-03 2014-04-16 浙江大学 Base system of autonomous underwater vehicle funnel-shaped inlet docking platform
CN103708012B (en) * 2013-12-11 2016-04-13 浙江大学 Deep-sea AUV docking platform is towards variotrol
CN204568034U (en) * 2014-10-08 2015-08-19 哈尔滨工程大学 Autonomous dive device carry and release gear

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