CN105000135A - Unmanned ship robot automatic collecting and releasing system - Google Patents
Unmanned ship robot automatic collecting and releasing system Download PDFInfo
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- CN105000135A CN105000135A CN201510417994.1A CN201510417994A CN105000135A CN 105000135 A CN105000135 A CN 105000135A CN 201510417994 A CN201510417994 A CN 201510417994A CN 105000135 A CN105000135 A CN 105000135A
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Abstract
The invention aims at providing an unmanned ship robot automatic collecting and releasing system which is simple in structure, good in stability and good in collecting and releasing effect. A method relates to a supporting base (1). The automatic collecting and releasing system is arranged on an unmanned ship. The collecting and releasing system further comprises a horizontal collecting and releasing device and a vertical collecting and releasing device which are arranged on the supporting base (1). The horizontal collecting and releasing device drives a robot to reciprocate between a ship body of the unmanned ship and the exterior of a ship's rail of the unmanned ship. The vertical collecting and releasing device drives the robot to move up and down between the position above water and the position blow the water. The horizontal collecting and releasing device and the vertical collecting and releasing device are both in signal connection with the ship body on the unmanned ship. The unmanned ship robot automatic collecting and releasing system can be applied to the technical field of ships or used for collecting and releasing other system platforms.
Description
Technical field
The present invention relates to a kind of draw off gear, particularly relate to a kind of unmanned boat robot automatic winding-unwinding system.
Background technology
Along with the development of science and technology, people get more and more to the exploration means in the world under water.Under-water robot is as the sci-tech product of a kind of new life, and it is a kind ofly very suitable for water-bed search, investigation, identifies and the not only economy but also the instrument of safety of fishing operation.Militarily, under-water robot is also a kind of actv. underawater ordnance.Compared with manned submersible, the advantages such as it has safety (unmanned), structure is simple, lightweight, size is little, cost is low.Underwater environment is badly dangerous, and the diving depth of people is limited, so under-water robot has become the important tool in exploitation waters.In prior art, the input of under-water robot is generally by manually throwing in, and in launch process, overboard accident very easily occurs staff; In addition, for narrow and small, shallow water area, Artificial Ship cannot enter, and to throw in, needing by manually throwing in from bank, this considerably increases the labour intensity of staff and the possibility of the accident that meets accident.And adopt unmanned boat carry out folding and unfolding be a kind of ideal robot throw in mode.
Summary of the invention
Technical matters to be solved by this invention overcomes the deficiencies in the prior art, aims to provide that a kind of structure is simple, good stability and the effective unmanned boat robot automatic winding-unwinding system of folding and unfolding.
The technical solution adopted in the present invention is: change system and comprise supporting seat, described automatic winding-unwinding system is arranged on unmanned boat, this extension and retraction system also comprises and is arranged on horizontal draw off gear on described supporting seat and vertical draw off gear, described horizontal draw off gear band mobile robot moves back and forth with the intercropping outside ship side on the hull of unmanned boat, described vertical draw off gear band mobile robot moves up and down between the water surface is upper and lower, and described horizontal draw off gear is all connected with the hull system signal on unmanned boat with described vertical draw off gear.
Further, described horizontal draw off gear comprises the guide rail be arranged on described supporting seat, the movable stand matched with described guide rail and promotes the push rod that described movable stand moves around on described guide rail, described push rod is by the first drive source actuation movement, described first drive source is connected with the hull system signal on unmanned boat, and one end of described push rod is connected with described first drive source.
Further, described first drive source is motor, and described push rod is screw mandrel, described movable stand is provided with a feed screw nut matched with described screw mandrel, and one end of described screw mandrel and the output shaft of described motor are fixedly connected.
Further, described first drive source is cylinder or hydraulic actuating cylinder or motor, and one end of described push rod is connected with the output shaft of described first drive source, and the other end and described movable stand are hinged.
Further, described guide rail is two guide rail structures, and the bearing surface of described guide rail is provided with several sliding wheels, above described guide rail, is also provided with some contact rollers, described movable stand is engaged between described sliding wheel and described contact roller.
Further, described vertical draw off gear comprises the motor be arranged on described supporting seat, the capstan winch be connected with the output shaft of described motor, is wound on hawser on described capstan winch and pulley mechanism, be connected with the hanger that rises of robot after described pulley mechanism walked around by described hawser, described motor is connected with the hull system signal on unmanned boat.
Further, this extension and retraction system also comprises aligning gear, described aligning gear comprises the position-limited trough be arranged on described horizontal draw off gear and the limiting stopper be arranged on robot, described position-limited trough is provided with opening, the hanger that rises on robot is arranged on described limiting stopper, after described limiting stopper coordinates with described position-limited trough, attitude when attitude and this robot of robot leave unmanned boat is consistent, the hanger that rises of robot passes described opening and is connected with hawser, now, the robot with described limiting stopper is close to described position-limited trough place and keeps stable.
Further, described motor is stepping motor or servomotor.
Further, the hull system on unmanned boat communicates with peripheral base station.
The invention has the beneficial effects as follows: the robot automatic winding-unwinding system that the present invention designs on unmanned boat, unmanned boat can be allowed to arrive corresponding waters after, automatically robot is thrown according to certainly establishing program or Long-distance Control, unmanned boat work area more can be extended under water, robot also can successful folding and unfolding in shoal water zone or narrow and small waters, thus make the work area of unmanned boat expand the present invention to be further arranged on unmanned boat, can conserve space and cost widely, the present invention uses simple framed structure as supporting seat, and different materials can be used supporting seat is made according to different environments for use, so structure of the present invention is simple, easy for installation, with low cost, good stability, and the folding and unfolding Be very effective of robot.
Accompanying drawing explanation
Fig. 1 is the first visual angle easy structure schematic diagram of the present invention;
Fig. 2 is the second visual angle easy structure schematic diagram of the present invention.
Detailed description of the invention
The present invention is further illustrated in a concrete fashion below.
The present invention includes supporting seat 1, described automatic winding-unwinding system is arranged on unmanned boat, this extension and retraction system also comprises and is arranged on horizontal draw off gear on described supporting seat 1 and vertical draw off gear, described horizontal draw off gear band mobile robot moves back and forth with the intercropping outside ship side on the hull of unmanned boat, described vertical draw off gear band mobile robot moves up and down between the water surface is upper and lower, and described horizontal draw off gear is all connected with the hull system signal on unmanned boat with described vertical draw off gear.Hull system on unmanned boat communicates with peripheral base station.Certainly, hull system also can be carried out signal with maneuvering system on the bank and is connected, or has installed the mobile phone of corresponding terminal or palm machine and also can carry out signal with hull system and be connected.
Described horizontal draw off gear comprises the guide rail 2 be arranged on described supporting seat 1, the movable stand 3 matched with described guide rail 2 and promotes the push rod 4 that described movable stand 3 moves around on described guide rail 2.Described guide rail 2 is two guide rail structures, and the bearing surface of described guide rail 2 is provided with several sliding wheels 6, above described guide rail 2, is also provided with some contact rollers 7, described movable stand 3 is engaged between described sliding wheel 6 and described contact roller 7.Described push rod 4 is by the first drive source 5 actuation movement, and described first drive source 5 is connected with the hull system signal on unmanned boat, and one end of described push rod 4 is connected with described first drive source 5.Described first drive source 5 is motor.Described push rod 4 is screw mandrel, described movable stand 3 is provided with a feed screw nut matched with described screw mandrel, and one end of described screw mandrel and the output shaft of described motor are fixedly connected.
Or described first drive source 5 is cylinder or hydraulic actuating cylinder or motor, and now, one end of described push rod 4 is connected with the output shaft of described first drive source 5, and the other end and described movable stand 3 are hinged.
Described vertical draw off gear comprises the motor 8 be arranged on described supporting seat 1, the capstan winch 9 be connected with the output shaft of described motor 8, is wound on hawser 10 on described capstan winch 9 and pulley mechanism 11, described motor 8 or be stepping motor, or taking motor for private, this selects as required.Be connected with the hanger that rises of robot after described pulley mechanism 11 walked around by described hawser 10, described motor 8 is connected with the hull system signal on unmanned boat.
After robot 15 emerges, because hull 16 has rocking in various degree at the water surface, can not be consistent with attitude during lower water after causing robot 15 water outlet, but in the present invention, limited unmanned boat aft deck needs again robot 15 is neatly parked.For this reason, this extension and retraction system also comprises aligning gear, described aligning gear comprises the position-limited trough 12 be arranged on described horizontal draw off gear and the limiting stopper 13 be arranged on robot, all conical or tubaeform in elliptic conic shape or other shape of described position-limited trough 12 and described limiting stopper 13, described position-limited trough 12 is provided with opening 14, the hanger that rises on robot is arranged on described limiting stopper 13, after described limiting stopper 13 coordinates with described position-limited trough 12, attitude when attitude and this robot of robot leave unmanned boat is consistent, the hanger that rises of robot passes described opening 14 and is connected with hawser 10, now, robot with described limiting stopper 13 is close to described position-limited trough 12 place and keeps stable, can not wave along with Ship Swaying after which ensure that robot lifting and collide, particularly important at small space.
Working process of the present invention comprises launch process and removal process.
During input, first drive source 4 drives push rod 4 to promote movable stand 3 to ship extracorporeal movement, after movable stand moves to setpoint distance, first drive source 4 quits work, motor 8 works and discharges the hawser 10 in capstan winch 9, and gravitate robot 15 sinks naturally, when robot 15 to arrive below waters after designated depth, motor 8 quits work, and robot 15 starts oneself and executes the task.Throw in end-of-job.
During recovery, the complete task of robot 15, motor 8 is started working and is driven capstan winch 9 to rotate, hawser 10 is wound around capstan winch 9, and robot upwards promotes, after robot emerges, because hull has rocking in various degree at the water surface, after causing robot water outlet can not and lower water time be same attitude, now, aligning gear will play a role; When limiting stopper 13 enters position-limited trough 12, just can enter because shape needs to coincide, at this moment, robot will be put on right position automatically, is adapted to the same with attitude during lower water; When limiting stopper 13 and position-limited trough 12 overlap, the first drive source 5 receives signal and starts working and drive push rod 4 to reclaim movable stand 3, and when movable stand 3 is regained completely, what robot just can be correct is parked on unmanned boat aft deck.So far recovery operation completes.
The robot automatic winding-unwinding system that the present invention designs on unmanned boat, unmanned boat can be allowed to arrive corresponding waters after, automatically robot is thrown according to certainly establishing program or Long-distance Control, unmanned boat work area more can be extended under water, robot also can successful folding and unfolding in shoal water zone or narrow and small waters, thus make the work area of unmanned boat expand the present invention to be further arranged on unmanned boat, the present invention can be mounted on the unmanned boat of 4 meters, can conserve space and cost widely, the present invention uses simple framed structure as supporting seat, and different materials can be used supporting seat is made according to different environments for use, so structure of the present invention is simple, easy for installation, with low cost, good stability, and the folding and unfolding Be very effective of robot.
The present invention can be applicable to technical field of ships or other system platform carries out folding and unfolding use.
Claims (9)
1. a unmanned boat robot automatic winding-unwinding system, comprise supporting seat (1), it is characterized in that: described automatic winding-unwinding system is arranged on unmanned boat, this extension and retraction system also comprises and is arranged on horizontal draw off gear on described supporting seat (1) and vertical draw off gear, described horizontal draw off gear band mobile robot moves back and forth with the intercropping outside ship side on the hull of unmanned boat, described vertical draw off gear band mobile robot moves up and down between the water surface is upper and lower, and described horizontal draw off gear is all connected with the hull system signal on unmanned boat with described vertical draw off gear.
2. a kind of unmanned boat robot automatic winding-unwinding system according to claim 1, it is characterized in that: described horizontal draw off gear comprises the guide rail (2) be arranged on described supporting seat (1), the movable stand (3) matched with described guide rail (2) and promotes the push rod (4) that described movable stand (3) moves around on described guide rail (2), described push rod (4) is by the first drive source (5) actuation movement, described first drive source (5) is connected with the hull system signal on unmanned boat, and one end of described push rod (4) is connected with described first drive source (5).
3. a kind of unmanned boat robot automatic winding-unwinding system according to claim 2, it is characterized in that: described first drive source (5) is motor, described push rod (4) is screw mandrel, described movable stand (3) is provided with a feed screw nut matched with described screw mandrel, one end of described screw mandrel and the output shaft of described motor are fixedly connected.
4. a kind of unmanned boat robot automatic winding-unwinding system according to claim 2, it is characterized in that: described first drive source (5) is cylinder or hydraulic actuating cylinder or motor, one end of described push rod (4) is connected with the output shaft of described first drive source (5), and the other end and described movable stand (3) are hinged.
5. a kind of unmanned boat robot automatic winding-unwinding system according to claim 2, it is characterized in that: described guide rail (2) is two guide rail structure, the bearing surface of described guide rail (2) is provided with several sliding wheels (6), also be provided with some contact rollers (7) in the top of described guide rail (2), described movable stand (3) is engaged between described sliding wheel (6) and described contact roller (7).
6. a kind of unmanned boat robot automatic winding-unwinding system according to claim 1, it is characterized in that: described vertical draw off gear comprises the motor (8) be arranged on described supporting seat (1), the capstan winch (9) be connected with the output shaft of described motor (8), is wound on hawser (10) on described capstan winch (9) and pulley mechanism (11), described hawser (10) is walked around described pulley mechanism (11) and is connected with the hanger that rises of robot afterwards, and described motor (8) is connected with the hull system signal on unmanned boat.
7. a kind of unmanned boat robot automatic winding-unwinding system according to claim 6, it is characterized in that: this extension and retraction system also comprises aligning gear, described aligning gear comprises the position-limited trough (12) be arranged on described horizontal draw off gear and the limiting stopper (13) be arranged on robot, described position-limited trough (12) is provided with opening (14), the hanger that rises on robot is arranged on described limiting stopper (13), after described limiting stopper (13) coordinates with described position-limited trough (12), attitude when attitude and this robot of robot leave unmanned boat is consistent, the hanger that rises of robot passes described opening (14) and is connected with hawser (10), now, robot with described limiting stopper (13) is close to described position-limited trough (12) place and keeps stable.
8. a kind of unmanned boat robot automatic winding-unwinding system according to claim 6, is characterized in that: described motor (8) is stepping motor or servomotor.
9. a kind of unmanned boat robot automatic winding-unwinding system according to claim 1, is characterized in that: the hull system on unmanned boat communicates with peripheral base station.
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| CN201510417994.1A CN105000135B (en) | 2015-07-16 | 2015-07-16 | A kind of unmanned boat robot automatic winding-unwinding system |
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| CN201510417994.1A CN105000135B (en) | 2015-07-16 | 2015-07-16 | A kind of unmanned boat robot automatic winding-unwinding system |
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| CN105000135A true CN105000135A (en) | 2015-10-28 |
| CN105000135B CN105000135B (en) | 2018-03-20 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105329418A (en) * | 2015-12-11 | 2016-02-17 | 四方继保（武汉）软件有限公司 | Unmanned-ship-mounted underwater robot mixing system |
| CN105644744A (en) * | 2016-03-17 | 2016-06-08 | 天津海之星海洋科技发展有限公司 | Throwing and recovering machine for ship-based underwater robot |
| CN106741617A (en) * | 2017-01-03 | 2017-05-31 | 深圳市云洲创新科技有限公司 | Supporting structure and ship |
| CN108277845A (en) * | 2018-01-29 | 2018-07-13 | 芜湖市皖南造船有限公司 | One kind is dredged rotating mechanism peculiar to vessel |
| CN109229284A (en) * | 2018-08-30 | 2019-01-18 | 上海大学 | A kind of unmanned boat automatically lays recovery system |
| CN109850099A (en) * | 2019-04-16 | 2019-06-07 | 山东建筑大学 | A kind of underwater sea cucumber fishing robot draw off gear |
| CN110126992A (en) * | 2019-07-01 | 2019-08-16 | 广州拓浪智能应急科技有限公司 | A kind of device for unmanned boat underwater equipment folding and unfolding |
| CN110177742A (en) * | 2016-11-22 | 2019-08-27 | Wing航空有限责任公司 | It lands and payload filling structure |
| CN110726573A (en) * | 2019-09-24 | 2020-01-24 | 中国舰船研究设计中心 | Throwing device for simulating ship rolling and pitching motion |
| CN110749414A (en) * | 2019-09-24 | 2020-02-04 | 中国舰船研究设计中心 | A controllable upset track of slide type for put in under water |
| CN110789672A (en) * | 2019-12-10 | 2020-02-14 | 鹏城实验室 | AUV cluster surface of water cloth puts device |
| CN113232806A (en) * | 2021-05-21 | 2021-08-10 | 中国船舶科学研究中心 | Drawer type cable-controlled submersible underwater laying and recycling device and operation method thereof |
| 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 |
| CN114313120A (en) * | 2022-03-14 | 2022-04-12 | 自然资源部第二海洋研究所 | Device for collecting and releasing ocean floating type observation equipment by adopting unmanned ship |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105329418B (en) * | 2015-12-11 | 2016-08-24 | 四方继保（武汉）软件有限公司 | A kind of unmanned boat-carrying underwater robot hybrid system |
| CN105329418A (en) * | 2015-12-11 | 2016-02-17 | 四方继保（武汉）软件有限公司 | Unmanned-ship-mounted underwater robot mixing system |
| CN105644744A (en) * | 2016-03-17 | 2016-06-08 | 天津海之星海洋科技发展有限公司 | Throwing and recovering machine for ship-based underwater robot |
| CN110177742A (en) * | 2016-11-22 | 2019-08-27 | Wing航空有限责任公司 | It lands and payload filling structure |
| CN106741617A (en) * | 2017-01-03 | 2017-05-31 | 深圳市云洲创新科技有限公司 | Supporting structure and ship |
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| CN109229284A (en) * | 2018-08-30 | 2019-01-18 | 上海大学 | A kind of unmanned boat automatically lays recovery system |
| CN109229284B (en) * | 2018-08-30 | 2020-10-30 | 上海大学 | Full-automatic laying and recycling system for unmanned boat |
| CN109850099A (en) * | 2019-04-16 | 2019-06-07 | 山东建筑大学 | A kind of underwater sea cucumber fishing robot draw off gear |
| CN110126992A (en) * | 2019-07-01 | 2019-08-16 | 广州拓浪智能应急科技有限公司 | A kind of device for unmanned boat underwater equipment folding and unfolding |
| CN110726573A (en) * | 2019-09-24 | 2020-01-24 | 中国舰船研究设计中心 | Throwing device for simulating ship rolling and pitching motion |
| CN110749414A (en) * | 2019-09-24 | 2020-02-04 | 中国舰船研究设计中心 | A controllable upset track of slide type for put in under water |
| CN110749414B (en) * | 2019-09-24 | 2021-03-26 | 中国舰船研究设计中心 | A controllable upset track of slide type for put in under water |
| CN110789672A (en) * | 2019-12-10 | 2020-02-14 | 鹏城实验室 | AUV cluster surface of water cloth puts device |
| CN113232806A (en) * | 2021-05-21 | 2021-08-10 | 中国船舶科学研究中心 | Drawer type cable-controlled submersible underwater laying and recycling device and operation method thereof |
| CN113232806B (en) * | 2021-05-21 | 2022-04-12 | 中国船舶科学研究中心 | Drawer type cable-controlled submersible underwater laying and recycling device and operation method thereof |
| 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 |
| CN114313120A (en) * | 2022-03-14 | 2022-04-12 | 自然资源部第二海洋研究所 | Device for collecting and releasing ocean floating type observation equipment by adopting unmanned ship |
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Effective date of registration: 20201207 Address after: 222042 7 / F, Fenghui Plaza, Lianyun new town, Lianyungang City, Jiangsu Province Patentee after: Jiangsu Yunzhou Intelligent Technology Co.,Ltd. Patentee after: ZHUHAI YUNZHOU INTELLIGENCE TECHNOLOGY Ltd. Address before: 519080 D2, building 1, software Road, Tang Wan Town, Guangdong, Zhuhai, 214 Patentee before: ZHUHAI YUNZHOU INTELLIGENCE TECHNOLOGY Ltd. |
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Address after: 222042 7 / F, Fenghui Plaza, Lianyun new town, Lianyungang City, Jiangsu Province Patentee after: Jiangsu Yunzhou Intelligent Technology Co.,Ltd. Patentee after: Zhuhai Yunzhou Intelligent Technology Co.,Ltd. Address before: 222042 7 / F, Fenghui Plaza, Lianyun new town, Lianyungang City, Jiangsu Province Patentee before: Jiangsu Yunzhou Intelligent Technology Co.,Ltd. Patentee before: ZHUHAI YUNZHOU INTELLIGENCE TECHNOLOGY Ltd. |
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