CN104260863B - Autonomous dive device carry and release device - Google Patents
Autonomous dive device carry and release device Download PDFInfo
- 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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- platform
- upper platform
- kuppe
- guide cylinder
- spindle rod
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- 230000001737 promoting effect Effects 0.000 claims description 2
- 239000007788 liquid Substances 0.000 claims 1
- 230000006978 adaptation Effects 0.000 abstract description 2
- 238000003032 molecular docking Methods 0.000 description 16
- 230000005540 biological transmission 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
- 230000009189 diving Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000033001 locomotion Effects 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
- 230000002411 adverse Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011084 recovery Methods 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
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
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.
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 |
Family
ID=52152498
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410525311.XA Expired - Fee Related CN104260863B (en) | 2014-10-08 | 2014-10-08 | Autonomous dive device carry and release device |
Country Status (1)
| Country | Link |
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| CN (1) | CN104260863B (en) |
Families Citing this family (25)
| 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 |
| 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 |
| KR102151139B1 (en) * | 2018-11-22 | 2020-09-02 | 한화시스템 주식회사 | Doking station in underwater |
| CN109515661B (en) * | 2018-12-05 | 2020-04-07 | 青岛理工大学 | Working method of universal underwater vehicle connection charging system |
| CN110203358B (en) * | 2019-05-16 | 2020-06-19 | 浙江大学 | AUV (autonomous underwater vehicle) docking station capable of automatically adjusting direction along with ocean current |
| 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 |
| CN111731458B (en) * | 2020-06-22 | 2022-05-10 | 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 |
| 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 |
| CN114475944B (en) * | 2022-01-21 | 2023-03-17 | 浙江大学 | Deep sea charging platform applying low-flow-speed ocean current power generation technology and operation method |
| 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 |
| CN115848604B (en) * | 2023-03-02 | 2023-05-12 | 中水珠江规划勘测设计有限公司 | Submersible fixing device |
| CN116946331B (en) * | 2023-06-09 | 2024-07-16 | 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 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2014
- 2014-10-08 CN CN201410525311.XA patent/CN104260863B/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN104260863A (en) | 2015-01-07 |
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