CN105620676A - Unmanned surface vehicle collecting and releasing device - Google Patents
Unmanned surface vehicle collecting and releasing device Download PDFInfo
- Publication number
- CN105620676A CN105620676A CN201610077273.5A CN201610077273A CN105620676A CN 105620676 A CN105620676 A CN 105620676A CN 201610077273 A CN201610077273 A CN 201610077273A CN 105620676 A CN105620676 A CN 105620676A
- Authority
- CN
- China
- Prior art keywords
- module
- rope
- water surface
- wheel machine
- loop wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Jib Cranes (AREA)
Abstract
The invention relates to the technical field of mechanical automatic collecting and releasing equipment, in particular to an unmanned surface vehicle collecting and releasing device. The unmanned surface vehicle collecting and releasing device comprises a rope flinging module, a crane module and a load bearing support and further comprises a control module connected with the rope flinging module and the crane module through wires. The rope flinging module is arranged on one side of the load bearing support. The crane module is arranged at the upper portion of the load bearing support. A drop hammer receiver is arranged at the upper end of the crane module and a conic drop hammer locking device is arranged at the lower end of the crane module. The rope flinging module is connected with the conic drop hammer locking device through a guide rope. By the adoption of the unmanned surface vehicle collecting and releasing device, compressed air is used for flinging a rope to a mother ship of an unmanned surface vehicle, and a traditional manner that actual hooking operation needs to be conducted manually or a lifting cage matched with the unmanned surface vehicle needs to be adopted for lifting is changed.
Description
Technical field
The present invention relates to machine automatization folding and unfolding equipment technology field, particularly relate to a kind of unmanned water surface aircraft draw off gear.
Background technology
Although present stage unmanned water surface aircraft can independently return lash ship, but reclaimer is sufficiently complex. Traditional way of recycling has two kinds: cage reclaims and guide tracked recovery. The size that cage recovery is the unmanned water surface aircraft reclaimed as required does a specific cage, during recovery, transfers cage to the water surface, and unmanned water surface aircraft is opened to cage, and cage is sling by hydraulic wireline winch; Guide tracked recovery is to utilize the hooking device carried on unmanned boat, carries out hook operation under operator to unmanned boat. Cage reclaims shortcoming: is required for specific unmanned boat and does specific cage, and cost is high, and when unmanned boat enters cage, behaviour's ship difficulty is high, it is easy to the underwater sound equipment bottom injured vessel. Guide tracked recovery shortcoming: installing guide rail needs lash ship is carried out bigger transformation, increases difficulty, receiving ship time needs personnel to link up with to unmanned boat, and difficulty is big, and operation on the sea is dangerous big.
Lack on the market a kind of can either Quick distributor reclaim and manually need not carry out hook operation on unmanned water surface aircraft, unmanned water surface aircraft construction is not caused damage draw off gear.
Summary of the invention
The technical problem to be solved in the present invention is how to overcome the deficiencies in the prior art, it is provided that a kind of unmanned water surface aircraft draw off gear.
The present invention the technical scheme is that a kind of unmanned water surface aircraft draw off gear for achieving the above object, including shooting rope module, loop wheel machine module and support bracket, also include the control module being connected by wire with described shooting rope module and loop wheel machine module, described shooting rope module is arranged on the side of described support bracket, described loop wheel machine module is arranged on the top of described support bracket, the upper end of described loop wheel machine module is provided with sash weight receptor, lower end is provided with taper sash weight locking device, and described shooting rope module is connected with described taper sash weight locking device by conductor rope.
Further, described loop wheel machine module also includes the rope bucket depositing conductor rope, is positioned at the side of described support bracket.
Further, described control module is used for controlling shooting rope module and the work of loop wheel machine module, is positioned at the opposite side of described weighing bracket.
Further, described shooting rope module is provided with two impelling gun barrels mutually arranged side by side, is provided with pull rope in described impelling gun barrel, and the lower end of described impelling gun barrel is provided with machinery or door, and described pull rope is connected with described conductor rope by machinery or door.
Further, the lower end of described loop wheel machine module, it is positioned on described taper sash weight locking device and is additionally provided with sash weight position sensor.
Further, described sash weight receptor is cone.
Further, described support bracket adopts I-steel or square tubes soldering to form.
It is an advantage of the current invention that to utilize compression air, by on pull rope shooting rope to the lash ship of unmanned water surface aircraft, change traditional people that needs carry out the operation of actual hook or need to adopt the cage matched with unmanned water surface aircraft to carry out the mode lifted, and the present invention is provided with sash weight and receives device, the conductor rope being connected with lash ship can launched along shooting rope module when sash weight is transferred moves, and greatly adds the accuracy that sash weight is connected with sash weight receptor.
Accompanying drawing explanation
Fig. 1 overall structure schematic diagram of the present invention.
Detailed description of the invention
A kind of unmanned water surface aircraft draw off gear, including shooting rope module 1, loop wheel machine module 2 and support bracket 3, also include the control module being connected by wire with described shooting rope module 1 and loop wheel machine module 2, described shooting rope module 1 is arranged on the side of described support bracket 3, described loop wheel machine module 2 is arranged on the top of described support bracket 3, the upper end of described loop wheel machine module 2 is provided with sash weight receptor 21, lower end is provided with taper sash weight locking device 22, described shooting rope module 1 is connected with described taper sash weight locking device 22 by cable
Described loop wheel machine module 2 also includes the rope bucket 23 depositing conductor rope, is positioned at the side of described support bracket 3, and the lower end of described loop wheel machine module 2 is additionally provided with sash weight position sensor 24, is used for sensing whether taper sash weight 4 mates in place with sash weight receptor 21.
Described shooting rope module 1 is provided with two impelling gun barrels 11 mutually arranged side by side, it is provided with pull rope in described impelling gun barrel 11, the lower end of described impelling gun barrel 11 is provided with machinery or door 12, described pull rope is connected with described conductor rope by machinery or door 12, after shooting rope module 1 dishes out pull rope, pull rope is driven by machinery or door 12 and obtains conductor rope, wherein, the principle of machinery or door 12 is to adopt two panels connecting card, conductor rope and pull rope being combined is connected in a housing, the one end of the conductor rope being connected in loop wheel machine module 2 is connected on two panels connecting card, and two pull ropes in impelling gun barrel 11 are also connected with two panels connecting card respectively, so can drive when two independent impellings of impelling gun barrel 11 mutually arranged side by side one pull rope any and be connected to conductor rope, pull rope, through the impelling of impelling gun barrel 11, when arriving the loop wheel machine being used for lifting on the lash ship of unmanned water surface aircraft, tightens up pull rope, to obtain conductor rope, and the conductor rope traverse of acquisition is arranged on the taper sash weight 4 on loop wheel machine, taper sash weight 4 connects lash ship loop wheel machine and falls to described sash weight receptor 21 along conductor rope, after sash weight position sensor 24 detects that taper sash weight 4 drops to the position (sash weight receptor 21) specified, taper sash weight locking device 22 auto lock, and send and lock signal and can lift by crane unmanned water surface aircraft. adopting two impelling gun barrels 11 mutually arranged side by side to design, during use, only use one of them, another shooting rope gun barrel 11 is as standby.
Described sash weight receptor 21 is cone, and described support bracket 3 adopts I-steel to be welded.
Above-described embodiment, simply to illustrate that the technology of the present invention is conceived and feature, its objective is to be in that to allow one of ordinary skilled in the art will appreciate that present disclosure and to implement according to this, can not limit the scope of the invention with this. The change of every equivalence done by the essence of present invention or modification, all should be encompassed in protection scope of the present invention.
Claims (7)
1. a unmanned water surface aircraft draw off gear, it is characterized in that: include shooting rope module, loop wheel machine module and support bracket, also include the control module being connected by wire with described shooting rope module and loop wheel machine module, described shooting rope module is arranged on the side of described support bracket, described loop wheel machine module is arranged on the top of described support bracket, the upper end of described loop wheel machine module is provided with sash weight receptor, lower end is provided with taper sash weight locking device, and described shooting rope module is connected with described taper sash weight locking device by conductor rope.
2. a kind of unmanned water surface aircraft draw off gear according to claim 1, it is characterised in that: described loop wheel machine module also includes the rope bucket depositing conductor rope, is positioned at the side of described support bracket.
3. a kind of unmanned water surface aircraft draw off gear according to claim 1, it is characterised in that: described control module is used for controlling shooting rope module and the work of loop wheel machine module, is positioned at the opposite side of described support bracket.
4. a kind of unmanned water surface aircraft draw off gear according to claim 1, it is characterized in that: described shooting rope module is provided with two impelling gun barrels mutually arranged side by side, it is provided with pull rope in described impelling gun barrel, the lower end of described impelling gun barrel is provided with machinery or door, and described pull rope is connected with described conductor rope by machinery or door.
5. a kind of unmanned water surface aircraft draw off gear according to claim 1, it is characterised in that: the lower end of described loop wheel machine module, it is positioned on described taper sash weight locking device and is additionally provided with sash weight position sensor.
6. a kind of unmanned water surface aircraft draw off gear according to claim 1, it is characterised in that: described sash weight receptor is cone.
7. a kind of unmanned water surface aircraft draw off gear according to claim 7, it is characterised in that: described support bracket adopts I-steel or square tubes soldering to form.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610077273.5A CN105620676B (en) | 2016-02-03 | 2016-02-03 | A kind of unmanned water surface ROV draw off gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610077273.5A CN105620676B (en) | 2016-02-03 | 2016-02-03 | A kind of unmanned water surface ROV draw off gear |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105620676A true CN105620676A (en) | 2016-06-01 |
| CN105620676B CN105620676B (en) | 2017-10-10 |
Family
ID=56036108
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610077273.5A Active CN105620676B (en) | 2016-02-03 | 2016-02-03 | A kind of unmanned water surface ROV draw off gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105620676B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106314691A (en) * | 2016-09-28 | 2017-01-11 | 青岛远创机器人自动化有限公司 | Unmanned-water-surface-aircraft deploying and recovering method |
| CN106314694A (en) * | 2016-09-28 | 2017-01-11 | 青岛远创机器人自动化有限公司 | Unmanned-water-surface-aircraft recovering and deploying device |
| CN108995769A (en) * | 2018-07-30 | 2018-12-14 | 上海大学 | A kind of casting device for unmanned boat recovery stage |
| CN110816754A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Mechanical arm type deployment and recovery system of underwater robot and deployment and recovery method thereof |
| CN114655359A (en) * | 2020-12-23 | 2022-06-24 | 中国科学院沈阳自动化研究所 | Automatic retracting device of towing load for unmanned ship |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6225996Y2 (en) * | 1981-11-20 | 1987-07-02 | ||
| CN102358434A (en) * | 2011-09-15 | 2012-02-22 | 中国科学院自动化研究所 | Recycling system for aquatic unmanned aerial vehicle |
| CN103183112A (en) * | 2011-12-28 | 2013-07-03 | 中国科学院沈阳自动化研究所 | Abutting and lifting device for recovering underwater robot |
| CN203581349U (en) * | 2013-11-30 | 2014-05-07 | 中国科学院沈阳自动化研究所 | Recovery system of autonomous underwater vehicle |
| CN203996800U (en) * | 2014-06-13 | 2014-12-10 | 天津汉海环保设备有限公司 | A kind of water surface unmanned vehicles falls puts recovery system |
| CN104670435A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Rope throwing appliance mechanism for recovering autonomous underwater vehicle |
| CN104670434A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Lifting lock mechanism used for recovery of autonomous underwater vehicle |
-
2016
- 2016-02-03 CN CN201610077273.5A patent/CN105620676B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6225996Y2 (en) * | 1981-11-20 | 1987-07-02 | ||
| CN102358434A (en) * | 2011-09-15 | 2012-02-22 | 中国科学院自动化研究所 | Recycling system for aquatic unmanned aerial vehicle |
| CN103183112A (en) * | 2011-12-28 | 2013-07-03 | 中国科学院沈阳自动化研究所 | Abutting and lifting device for recovering underwater robot |
| CN203581349U (en) * | 2013-11-30 | 2014-05-07 | 中国科学院沈阳自动化研究所 | Recovery system of autonomous underwater vehicle |
| CN104670435A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Rope throwing appliance mechanism for recovering autonomous underwater vehicle |
| CN104670434A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Lifting lock mechanism used for recovery of autonomous underwater vehicle |
| CN203996800U (en) * | 2014-06-13 | 2014-12-10 | 天津汉海环保设备有限公司 | A kind of water surface unmanned vehicles falls puts recovery system |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106314691A (en) * | 2016-09-28 | 2017-01-11 | 青岛远创机器人自动化有限公司 | Unmanned-water-surface-aircraft deploying and recovering method |
| CN106314694A (en) * | 2016-09-28 | 2017-01-11 | 青岛远创机器人自动化有限公司 | Unmanned-water-surface-aircraft recovering and deploying device |
| CN108995769A (en) * | 2018-07-30 | 2018-12-14 | 上海大学 | A kind of casting device for unmanned boat recovery stage |
| CN110816754A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Mechanical arm type deployment and recovery system of underwater robot and deployment and recovery method thereof |
| CN110816754B (en) * | 2018-08-14 | 2024-01-23 | 中国科学院沈阳自动化研究所 | Mechanical arm type cloth-laying recovery system of underwater robot and cloth-laying recovery method thereof |
| CN114655359A (en) * | 2020-12-23 | 2022-06-24 | 中国科学院沈阳自动化研究所 | Automatic retracting device of towing load for unmanned ship |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105620676B (en) | 2017-10-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105620676A (en) | Unmanned surface vehicle collecting and releasing device | |
| CN105711749A (en) | Unmanned surface vehicle laying and retrieving method | |
| CN110040628B (en) | Submersible vehicle retracting and releasing method | |
| NO20101504A1 (en) | Stopping and recording of bat | |
| CN107953975B (en) | Marine mechanical arm oscillation stopping mechanism | |
| CN107541732B (en) | It is a kind of marine to stretch anode system and its installation method | |
| CN110001895B (en) | Submersible vehicle winding and unwinding device | |
| CN107848610A (en) | For launching and withdrawing the lifting device of Underwater Ships or torpedo | |
| US10124993B2 (en) | Method for operating a crane and crane | |
| CN103879904A (en) | Ocean crane ship and moving method thereof | |
| CN106005268A (en) | Wireless cord-pulling multi-lever linkage device used for remote unhooking | |
| CN112623120A (en) | Water surface boat recovery device of topside | |
| CN104192733B (en) | Versatile walk type mechanical hand | |
| CN107381380B (en) | A kind of petroleum well field pressing crack construction unloads sand integrated apparatus and its working method automatically | |
| CN105947910A (en) | Lifting process of upper structure of FPSO crane | |
| CN104058078A (en) | Shallow sea salvage equipment | |
| CN213416068U (en) | Motor-driven platform distribution and recovery system | |
| CN212769368U (en) | Automatic leveling lifting appliance | |
| CN114394216A (en) | Unmanned underwater vehicle retracting and releasing device and recovery method | |
| JP6200150B2 (en) | Remote ball remover | |
| CN110844004A (en) | Navigation equipment laying and recycling device and navigation equipment laying and recycling system | |
| WO2021156508A1 (en) | Method and hoisting yoke for taking up an elongate object | |
| CN106314694A (en) | Unmanned-water-surface-aircraft recovering and deploying device | |
| CN101797966A (en) | Method for refloating deeply-buried cable by utilizing three-meter deeply-buried cable mechanical refloatation anchor | |
| CN104029802A (en) | Slideway dock |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |