CN106240772B

CN106240772B - A kind of ship base underwater glider lays recovery system and corresponding lays and recovery method

Info

Publication number: CN106240772B
Application number: CN201610736288.8A
Authority: CN
Inventors: 宋大雷; 杨华; 周丽芹; 乜云利; 王向东; 崔志建
Original assignee: Ocean University of China
Current assignee: Ocean University of China
Priority date: 2016-08-26
Filing date: 2016-08-26
Publication date: 2018-05-22
Anticipated expiration: 2036-08-26
Also published as: CN106240772A

Abstract

The present invention relates to a kind of underwater glider or it is other it is underwater, navigation unit by water lay recovery technology, put including a kind of Intelligent Underwater Robot ship base fabric and marine recovering mechanism, further include corresponding method, recovering mechanism includes：Ship base main body, main recycling slideway, secondary recycling slideway, electric turnover mechanism, electric cabinet, the mechanism that is locked, Multi-sensor Fusion alignment system, dragging unit and hook system.It is of the invention succinct reasonable, structure is reliable, it is easy to operate, it can realize the laying and recycling rapidly and efficiently to underwater glider, AUV and other underwater robots etc., greatly reduce the workload of sailor and relevant staff on ship, avoid underwater robot and laying the risk factor with removal process, solve the problems, such as to lay with it is time-consuming and laborious in removal process.

Description

A kind of ship base underwater glider lays recovery system and corresponding lays and recovery method

Technical field

The present invention relates to underwater gliders or shape to lay recycling similar to tubular, rodlike underwater, navigation unit by water etc. Technical field, further relate to the corresponding set system lay and recovery method.

Background technology

With marine resources development and the variation of coast defence situation, the marine utilization region constantly expands, and constantly to deep-sea, remote Sea extension, scientific worker start to be directed to the research of underwater robot and application.At present, have many different types of underwater Robot application is to multiple rows such as military marine technology, marine science and technology investigation, sea floor exploration, pipeline maintenance, oil field prospectings Industry field, such as underwater glider, AUV, ROV etc..

Wherein, underwater glider is a kind of new underwater robot, is obtained since it is adjusted using net buoyancy and attitude angle Propulsive force is obtained, energy consumption is minimum, and a small amount of energy is only consumed when adjusting net buoyancy and attitude angle, and with efficient, continuous The characteristics of power of navigating big (up to thousands of kilometers).Although the headway of underwater glider is slower, it manufactures cost and maintenance expense With low, reusable and the features such as can largely launch, meet for a long time, the needs explored of a wide range of ocean.

But due to being influenced be subject to marine stormy waves, underwater glider recycling always global problem, operation process ratio It is more difficult.There are mainly three types of modes for recycling at present：1. underwater mating recycling operation is carried out using floating dock type and hoistable platform, though The influence of stormy waves can so be reduced, but need special support lash ship, and special lash ship cost and cost of use are expensive, are not suitable for state Interior present situation.It is recycled 2. being lifted by crane on the water surface with lash ship, it is complete close to underwater robot to be typically necessary staff's seating motorboat It is docked into recovering mechanism；The operating type is affected by stormy waves, and equipment damage and personnel are susceptible to when sea situation difference The situation of injury.3. directly using sailoring personnel on ship etc., use longer loop bar and conductor rope, until underwater glider leans on During nearly ship, noose operation is manually carried out, underwater glider is then lifted to deck using boom hoisting.It is likewise, this Method is time-consuming and laborious, is affected by stormy waves, and when sea situation is severe, the operation of noose becomes extremely difficult.

In addition, other similar underwater glider shapes, such as similar to tubular, rodlike underwater, navigation unit by water Lay and recycling equally exist more than it is severe the problem of.

Therefore a kind of laying with recovering mechanism and its corresponding method so as to fulfill underwater robot for economic and reliable is needed Lay, dock and recycling becomes urgent and crucial.In view of this, the present inventor for drawbacks described above of the prior art and Technical bottleneck is furtherd investigate, and has this case generation then.

The content of the invention

The technical problem to be solved by the present invention is to how overcome the deficiencies of the prior art and provide a kind of ship base underwater glider Lay recovery system and it is corresponding lay and recovery method, so as to fulfill the quick height of underwater glider and other underwater robots etc. Effect lays and recycles.

The present invention to achieve the above object the technical solution adopted is that：

A kind of ship base underwater glider lays recovery system, including：Ship base main body 1, main recycling slideway 2, secondary recycling slideway 3rd, electric turnover mechanism 4, electric cabinet 5, the mechanism that is locked 6, Multi-sensor Fusion alignment system 7, dragging unit 8, the hook system System 9.

Preferably, the ship base main body 1 includes：Ship basic body 11, telescopic legs 12, guide wheel 13, wheel bracket 14, ship Base main body track 15, ship base main body rack 16, torsion shaft 17, ship basic body limit switch 18.Wherein telescopic legs 12 totally four Item, at the position of the left and right sides of ship basic body 11, to improve the stability of ship basic body 11 at work, institute Totally 4, guide wheel 13 is stated, is connected to by axis and Bearning mechanism on wheel bracket 14；Wheel bracket 14 is 4, and the upper end is arranged on At the surrounding position of the bottom surface of ship basic body 11, to fast and easy movement and the system is positioned.The ship base main body track 15 are arranged at 11 top inside of ship basic body, coordinate the main recycling sliding rail 23 in main recycling slideway 2, with ship base main body track The 15 parallel insides for also having ship base main body rack 16, being arranged at 11 top of ship basic body, ship base main body rack 16 pass through gear Engagement and it is main recycling slideway 2 in main skid motor gear 24 coordinate, the torsion shaft 17 is fixed on ship basic body 11 Front end, while torsion shaft 17 also with it is main recycling slideway 2 in it is main recycling slide way body 21 rear end be connected, main recycling slide way body 21 rear end can be rotated around torsion shaft 17, the variation with 11 front end angle of ship basic body be realized, by electric turnover mechanism 4 Band self-lock electric telescopic rod 42 obtains telescopic action, realizes the variation of angle between main recycling slide way body 21 and ship basic body 11, And then realize the angle change of main recycling slide way body 21 and the other mechanisms in top, before the ship basic body limit switch 18 is Latter two, is separately mounted to the suitable position of 11 rear and front end of ship basic body, to realize to main recycling slideway 2 in ship basic body Position detection when being moved back and forth on 11.

Preferably, the main recycling slideway 2 includes：Rail is slided in main recycling slide way body 21, main skid motor 22, main recycling Road 23, main skid motor gear 24, main recycling slideway rack 25, secondary recycling sliding rail 26, main recycling slide way body /V are opened Close 27.The main recycling slide way body 21 is erected at ship basic body 11 by main recycling sliding rail 23 and ship base main body track 15 Top, the shaft and main skid motor gear 24 of main skid motor 22 connect, and main skid motor 22 is fixed on main recycling slideway sheet On body 21, effect is：Main recycling slide way body 21 is along main recycling sliding rail 23 in the ship base main body where ship basic body 11 It is slid back and forth on track 15, and since main skid motor 22 is to the induced effect of main skid motor gear 24, and ship base main body The engagement of rack 16 and the main skid motor gear 24 in main recycling slideway 2 finally realizes main recycling slideway 2 with respect to ship base The opposite effect of moving forward and backward of body 11, i.e.,：Main recycling slideway 2 can realize translation contractile function in ship basic body 11.It is described Main recycling runner rails 23 are arranged at main 21 top inside of recycling slide way body, and the secondary recycling that matching pair is recycled in slideway 3 is slided Track 33.Likewise, parallel with main recycling runner rails 23 also has main recycling slideway rack 25, main recycling slideway sheet is arranged at The inside of 21 top of body, main recycling slideway rack 25 pass through the engagement of gear and the secondary secondary slideway motor recycled in slideway 3 Gear 34 coordinates.The main recycling slide way body limit switch 27 is former and later two, is separately mounted to main recycling slide way body 21 The suitable position of rear and front end, to realize the position to secondary recycling slideway 3 when being moved back and forth in main recycling slide way body 21 Detection.For 2 Liang Ge mechanisms of the ship base main body 1 in above-mentioned and main recycling slideway, what deserves to be explained is：In main recycling slideway 2 Main recycling sliding rail 23 and time recycling sliding rail 26 are not same each component, specific as follows：1. main recycling sliding rail 23 be for coordinating with the ship base main body track 15 in ship base main body 1, realizing the front end of main recycling slide way body 21 in ship base It is slided in ship basic body 11 in main body 1.2. secondary recycling sliding rail 26 is for being slided with the secondary secondary recycling recycled in slideway 3 What track 33 coordinated, realize that secondary recycling sliding rail 33 slides on the secondary recycling sliding rail 26 in main recycling slideway 2.

Preferably, secondary recycling 3 structure of slideway is similar with main recycling slideway 2, including：Pair recycling slide way body 31, pair Slideway motor 32, pair recycling sliding rail 33, secondary slideway motor gear 34, secondary recycling slideway rack 35, ball bearing 36, pair are returned Receive slide way body limit switch 37.Pair recycling slideway 3 is the support carrier of underwater glider, is the platform for contacting aerodone.Institute It states secondary recycling slide way body 31 and main recycling slide way body is erected at by pair recycling sliding rail 33 and time recycling sliding rail 26 21 tops, the shaft of secondary slideway motor 32 and secondary slideway motor gear 34 connect, and secondary slideway motor 32 is fixed on secondary recycling slideway On body 31, effect is：Pair recycling slide way body 31 is slided along time recycling where main recycling slideway 2 of pair recycling sliding rail 33 It is slid back and forth on dynamic rail road 26, and since secondary slideway motor 32 is to the induced effect of secondary slideway motor gear 34, and main recycling The engagement of slideway rack 25 and the secondary slideway motor gear 34 in secondary recycling slideway 3, it is final to realize that secondary recycling slideway 3 is opposite The opposite effect of moving forward and backward of main recycling slide way body 21, i.e.,：Pair recycling slide way body 31 can be in main recycling slide way body 21 Realize translation contractile function.The secondary recycling sliding rail 33 is arranged at secondary 31 top inside of recycling slide way body, and cooperation is led back Receive the secondary recycling sliding rail 26 in slideway 2.Likewise, parallel with secondary recycling sliding rail 33 also has secondary recycling slideway rack 35, the inside being arranged above secondary recycling slide way body 31, pair recycling slideway rack 35 passes through the engagement of gear and secondary time The secondary slideway motor gear 34 received in slideway 3 coordinates.Totally 20, the ball bearing 36 is divided into two groups of left and right, is separately mounted to The length direction of taking advantage of a situation of pair recycling slide way body 31, every group 10, is uniformly distributed, effect is along its length：Underwater glider When laying and recycling, the body of underwater glider is transported by the rubs of ball bearing 36 and secondary recycling slide way body 31 It is dynamic, substantially reduce relative friction resistance.The secondary recycling slide way body limit switch 37 is former and later two, is separately mounted to The suitable position of 31 rear and front end of pair recycling slide way body is gone forward to realize to pulling unit 8 in pair recycling slide way body 31 Position detection when moving afterwards.

Preferably, the electric turnover mechanism 4 includes：Front support arm 41, band self-lock electric telescopic rod 42, rear support arm 43rd, shaft 44, shaft bearing 45 are supported.The front support arm 41 is two, the ship basic body being separately positioned in ship base main body 1 11 front end both sides, in order to make the more efficient of hydraulic turnover mechanism, front support arm 41 and the angle of ship basic body 11 are obtuse angle； Meanwhile 41 top of front support arm is equipped with through hole, the through hole of two front support arms 41 is installed with support shaft 44, band self-locking The front end of electric telescopic rod 42 and the support shaft 44 connect, and effect is：Band self-lock electric telescopic rod 42 can turn around support Axis 44 rotates.Certainly, in order to reduce friction, it is above-mentioned in 41 top through hole of front support arm wear 44 both ends of support shaft connect It is additionally provided with shaft bearing 45.Similar with front support arm 41, the rear support arm 43 is similarly two, is separately positioned on main recycling The front end both sides of main recycling slide way body 21 in slideway 2, equally, in order to make the more efficient of hydraulic turnover mechanism, rear support Arm 43 and the angle of main recycling slide way body 21 are acute angle；Meanwhile 43 top of rear support arm is equipped with through hole, is propped up after two The through hole of brace 43 is installed with support shaft 44, and the rear end with self-lock electric telescopic rod 42 and the support shaft 44 connect, effect For：End with self-lock electric telescopic rod 42 can be rotated around support shaft 44.Certainly, in order to reduce friction, in above-mentioned It wears 44 both ends of support shaft connect and is again provided with shaft bearing 45 in 43 least significant end through hole of rear support arm.The motor-driven tipper The general effect of structure 4 is：1. realize that band self-lock electric stretches to the control action with self-lock electric telescopic rod 42 by electric cabinet 5 The elongation of bar 42, so that the lengthening of the distance between front support arm 41 and rear support arm 43, main recycling slide way body 21 and ship Angle becomes larger between basic body 11, and main recycling slide way body 21 starts to transfer, and aerodone starts to put into water cloth.Conversely, 2. pass through Electric cabinet 5 realizes the shortening with self-lock electric telescopic rod 42 to the control action with self-lock electric telescopic rod 42, so that preceding The distance between support arm 41 and rear support arm 43 shorten, and angle becomes smaller between main recycling slide way body 21 and ship basic body 11, Main recycling slide way body 21 starts to move up, and aerodone starts water outlet recycling.

Preferably, the electric cabinet 5 includes：Controller 51, motor driver 52, power regulator module 53, transformer 54, Remote-control handle 55.The transformer 54 is directly accessed 220V or 380V alternating currents, by exporting direct current after the transformer 54, and Voltage stabilizing is carried out by power regulator module 53, is subsequently sent to controller 51 and motor driver 52.The controller 51 and motor Driver 52 connects, also with crash sensor 94, ship basic body limit switch 18, main recycling slide way body limit switch 27, secondary Recycle slide way body limit switch 37 and the connection of 7 grade of Multi-sensor Fusion alignment system.The motor driver 52 to be multiple, Main skid motor 22, secondary slideway motor 32, band self-lock electric telescopic rod 42, hook control motor 92 and the motor that is locked are connected respectively 61 grades realize driving function.The remote-control handle 55 then can be by manually realizing to main recycling slideway 2, secondary recycling slideway 3, electricity Dynamic switching mechanism 4, the manual control for pulling unit 8 and hook system 9 etc..

Preferably, the mechanism 6 that is locked includes：Be locked motor 61, lever 62, reduction gear box 63, be locked electric machine support 64th, be locked annulus 65, circle ring rack 66.It is described to be locked motor 61 and reduction gear box 63 connects, the output of reduction gear box 63 Axis and lever 62 are connected and fixed, and the motor 61 that is locked is fixed on and is locked on electric machine support 64, and be locked annulus 65 and circle ring rack The output axis connection of 66 connections, circle ring rack 66 and reduction gear box 63.The mechanism 6 that is locked is fixed on secondary recycling slideway At the position of 3 secondary recycling 31 least significant end of slide way body.Effect is：The mechanism 6 that is locked can be turned by the motor 61 that is locked Angle change occurs at dynamic and relatively secondary recycling 31 least significant end of slide way body.I.e.：When aerodone is in secondary recycling slide way body 31 When upper, the main body that annulus 65 recycles slide way body 31 with pair that is locked in the mechanism that is locked at this time 6 is plumbness, and the annulus that is locked 65 tail positions for being just locked underwater glider, are allowed to move.When aerodone prepares to recycle slide way body from pair On 31 during downslide release, the motor 61 that is locked at this time rotates, and reduction gear box 63 is driven to rotate, and then drives 65 turns of the annulus that is locked Dynamic, due to rotary action, generation angle becomes larger at relatively secondary recycling 31 least significant end of slide way body for the mechanism 6 that is locked at this time, works as set When tight annulus 65 and the body parallel of secondary recycling slide way body 31, the annulus 65 that is locked will not cause to stop to underwater glider to be made With, and if pulling unit 8 at this time is also in order at opening-wide state, underwater gliding chance compliance is secondary at this time recycles slide way body 31 Start to glide, realize and put action into water cloth.The main body of be locked annulus 65 and secondary recycling slide way body 31 in the mechanism that is locked 6 is vertical Straight state, and the annulus 65 that is locked just is locked the tail position of underwater glider, is allowed to move.

Preferably, the Multi-sensor Fusion alignment system 7 includes：Sensor fixing bracket 71, ultrasonic sensor 72, Sonar 73 etc..The corresponding alignment sensor is installed, such as ultrasonic sensor 72, sound on the sensor fixing bracket 71 73, certain sonar 73 further includes：Transmitter changes device, receiver and controller etc. into, either utilizes what kind of sensing Device, purpose only there are one, realize and the underwater robot that recycles of needs be accurately positioned, it is ensured that the head end of underwater robot can be with Smoothly enter in the hook system 9.

Preferably, the dragging unit 8 includes：Decelerating motor 81 is pulled, body 82, slide 83 is pulled, pulls gear 84. The dragging decelerating motor 81, which is fixed on, to be pulled on body 82, is pulled body 82 and is connected and be fixed with the hook system 9, and drags Gear 84 is dragged to be mounted on dragging decelerating motor 81.The slide 83 also be mounted on pull body 82 lower position, and and The secondary recycling sliding rail 33 of pair recycling slideway 3 coordinates, and realizes the secondary recycling slide way body for pulling unit 8 in secondary recycling slideway 3 31 slide back and forth operation.More importantly：It pulls decelerating motor 81 and is returned by pulling gear 84 with the pair on secondary recycling slideway 3 It receives slideway rack 35 to engage, by pulling the rotation of decelerating motor 81, drives indirectly and pull unit 8 on pair recycling slideway 3 Directed movement before and after work.

Preferably, the hook system 9 includes：Hanger bulk 91, hook control motor 92, opening and closing hold-fast body 93 touch Hit sensor 94.The opening and closing hold-fast body 93 is multiple sickle-shaped structures, is the center of circle with hanger bulk 91, and circumference is presented Distribution.Hook control motor 92 is provided in hanger bulk 91, and the output axis connection opening and closing for linking up with control motor 92 are held tightly Mechanism 93 can drive the opening and closing of opening and closing hold-fast body 93, realization pair by the positive and negative rotation of opening and closing hold-fast body 93 The holding of underwater robot front end stem and opening function.The crash sensor 94 is mounted on the inside of hanger bulk 91, uses Whether to detect underwater robot into hook system 9 and in place.

Recovery system is laid corresponding to a kind of ship base underwater glider in the present invention, further relates to lay and recycle accordingly Method is as follows：Underwater glider lays the stage：

Step I：Early-stage preparations process.It needs before being laid to underwater glider, it is necessary first to which staff can stretch Contracting supporting leg 12 is retracted in ship basic body 11, is then dragged by rotating guide wheel 13 at ship base main body 1 to suitable position.

Step II：Process is placed and held tightly to underwater glider.It needs before being laid to underwater glider, it is necessary to the people that works Member, which is lifted, puts to the secondary recycling sliding rail 33 of pair recycling 3 structure of slideway, and passes through and control remote-control handle 55 that will link up with system Hook control motor 92 in system 9 rotates forward, and opening and closing hold-fast body 93 is opened, then manually by underwater glider to being pushed forward Dynamic, until touching crash sensor 94, the front end of underwater glider is caught in opening and closing hold-fast body 93 at this time, and then work people Member's operation remote-control handle 55 inverts the hook control motor 92 in hook system 9, and opening and closing hold-fast body 93 is closed, and is realized to water The holding effect of lower aerodone front end.And then, staff is by controlling the electricity that is locked that remote-control handle 55 will be locked in mechanism 6 Machine 61 rotates forward, and the annulus 65 that is locked is switched to from horizontality to be locked with the secondary body normal state for recycling slide way body 31, realization Annulus 65 is locked to underwater glider tail position, is allowed to move.So far, the ship base section of underwater glider Fixed part has been completed.

Step III：Main recycling slideway, which is realized, stretches out ship base process.Staff is described by the way that remote-control handle 55 is controlled to control Main skid motor 22 in main recycling slideway 2 rotates forward, and is made by the engagement of main skid motor gear 24 and ship base main body rack 16 With a whole set of main recycling slideway 2 of drive travels forward along ship basic body 11, when main recycling slideway 2 touches the ship basic body of rear end During limit switch 18, main recycling 2 stop motion of slideway.So far, the elongation process of main recycling slideway 2 finishes, and realizes from ship base master The stretching function of body 1.

Step IV：Main recycling slideway is with respect to ship base main body switching process.Staff is by controlling remote-control handle 55 to control The band self-lock electric telescopic rod 42 extends, so that the lengthening of the distance between front support arm 41 and rear support arm 43, leads back It receives angle between slide way body 21 and ship basic body 11 to become larger, main recycling slide way body 21 starts to move down, and for underwater glider enters Water cloth, which is put, makees place mat.

Step V：Pair recycling slideway stretches out main recycling slideway process.Main recycling slideway 2 is moved down with respect to 1 overturning of ship base main body Afterwards, start secondary recycling slideway 3 and stretch out operation.Specially：Staff is by controlling remote-control handle 55 to control secondary slideway motor 32 It rotates forward, it is final to realize by the engagement of the secondary slideway motor gear 34 in main recycling slideway rack 25 and secondary recycling slideway 3 Pair recycling slideway 3 main recycling slide way body 21 relatively travels forward, when secondary recycling slideway 3 touches the main recycling slideway of rear end During body limit switch 27, pair recycling 3 stop motion of slideway.So far, the elongation process of secondary recycling slideway 3 finishes, and realizes master Recycle the stretching function of slideway 2.

Step VI：Underwater glider enters water release process.After pair recycling slideway 2 stretches out main recycling slideway 3, initially enter Enter water release process.Specially：Staff by the way that the control of remote-control handle 55 motor 61 that is locked is controlled to invert, be locked annulus 65 from Plumbness switches to the horizontality with secondary recycling slide way body 31, and realization is locked annulus 65 to underwater glider tail position Release, make it possible to slide.Then, staff is by controlling remote-control handle 55 to control the hook in hook system 9 Control motor 92 rotates forward, and opening and closing hold-fast body 93 is opened, since underwater glider and the system do not have the effect of drag force, only Ball bearing 36 in the secondary recycling slideway 3 must contact rolling friction effect, therefore aerodone starts, into water, to contact seawater Afterwards, it is subject to buoyancy, starts to float or sinking acts.So far, the water release process that enters of underwater glider finishes.

The water release of entering of similar and underwater glider lays that process is opposite, and the removal process of underwater glider is as follows：

2nd, underwater glider recovery stage：

Step I：Early-stage preparations process.When preparing to recycle underwater glider, should underwater glider be moved first To stern, and the state of each mechanism of the system should with the underwater glider in above-mentioned first step discharge after State consistency.

Step II：Process is accurately positioned to underwater glider by Multi-sensor Fusion alignment system.Work as underwater glider Into after stern, illustrate to have been provided with recycling condition.Staff is by controlling remote-control handle 55 that the multisensor is controlled to melt It closes the realization such as the ultrasonic sensor 72 in alignment system 7, sonar 73 to be accurately positioned the underwater glider that will be recycled, position After the relative information after positioning be sent to underwater glider or inform staff on ship, if aerodone possess from Main communication and control ability, then it independently can move to 9 front of hook system according to location information, and ajust itself fuselage Position；It, can be by related on ship if underwater glider does not possess autonomous communication and control ability or its self-control is poor Staff is moved to 9 front of hook system by certain means (such as positive motion), and ajusts itself fuselage positions.

Step III：Underwater glider is linked up with and holds process tightly.After underwater glider receives location information, start to transport forward It is dynamic, into hook system 9, stop motion after underwater glider touches crash sensor 94.Underwater glider at this time Front end is caught in opening and closing hold-fast body 93, then reminds staff, and hereafter staff, which operates remote-control handle 55 and will link up with, is Hook control motor 92 in system 9 inverts, and opening and closing hold-fast body 93 is closed, and realizes the holding effect to underwater glider front end. And then, staff is by controlling remote-control handle 55 to rotate forward the motor 61 that is locked being locked in mechanism 6, and the annulus 65 that is locked is from water Level state switches to the body normal state with secondary recycling slide way body 31, and realization is locked annulus 65 to underwater gliding drive end unit position That puts is locked, and is allowed to move.So far, the hook of underwater glider and holding step are completed.

Step IV：The main recycling slideway process of pair recycling slideway retraction.Main recycling slideway 2 starts to realize with respect to ship base main body 1 The pair recycling retraction operation of slideway 3.Specially：Staff is led to by controlling remote-control handle 55 that secondary slideway motor 32 is controlled to invert The engagement of main recycling slideway rack 25 and the secondary slideway motor gear 34 in secondary recycling slideway 3 is crossed, it is final to realize secondary recycling The movement backward of the relatively main recycling slide way body 21 of slideway 3, when secondary recycling slideway 3 touches the main recycling slide way body limit of front end During bit switch 27, pair recycling 3 stop motion of slideway.So far, the retraction process of secondary recycling slideway 3 finishes, and realizes main recycling and slides The retraction function in road 2.

Step V：Main recycling slideway is with respect to ship base main body switching process.The main recycling slideway process of pair recycling slideway retraction is complete Bi Hou, staff is by controlling remote-control handle 55 that the band self-lock electric telescopic rod 42 is controlled to shorten, so that front support The shortening of the distance between arm 41 and rear support arm 43, angle becomes smaller between main recycling slide way body 21 and ship basic body 11, leads back It receives slide way body 21 to start to move up, underwater glider is driven to move upwards.

Step VII：Main recycling slideway realizes retraction ship base process.Main recycling slideway in above-mentioned is overturn with respect to ship base main body After process, staff by control remote-control handle 55 control it is described it is main recycling slideway 2 in main skid motor 22 invert, By the engagement of main skid motor gear 24 and ship base main body rack 16, a whole set of main recycling slideway 2 is driven along ship basic body 11 move backward, and underwater glider starts to move along ship basic body 11 at this time.When main recycling slideway 2 touches the ship base of front end During body limit switch 18, main recycling 2 stop motion of slideway.So far, the retraction process of main recycling slideway 2 finishes, and realizes from ship The retraction function of base main body 1.

Step VIII：Underwater gliding motor vessel base discharges process., it is necessary to which staff controls remote control hand after underwater glider disembarkation Handle 55 rotates forward the hook control motor 92 in hook system 9, and opening and closing hold-fast body 93 is opened, and and then, staff passes through Control remote-control handle 55 inverts the motor 61 that is locked being locked in mechanism 6, and the annulus 65 that is locked is switched to from plumbness to return with secondary The main body horizontality of slide way body 31 is received, opening of the annulus 65 to underwater glider tail position that be locked is realized, makes it possible to It moves.Finally, staff manually promotes underwater glider backward, departs from crash sensor 94, at this time underwater gliding The front end of machine departs from out of opening and closing hold-fast body 93.So far, the removal process of underwater glider finishes.

The beneficial effects of the present invention are：

1. the present invention is by using ship base main body, electric turnover mechanism, main recycling slideway and secondary recycling slideway with cooperation With, translation, the lowering function of underwater robot, exclusive main recycling slideway and secondary recycling slideway secondary elongation system are realized, This set mechanism can be caused to be applied on the lash ship of larger displacement；It is ingenious using being locked mechanism in the present invention, cooperation be locked motor, Lever and the annulus that is locked realize the function that is locked to underwater robot；It is realized using Multi-sensor Fusion alignment system to water Lower robot is accurately positioned, and guarantee is provided for subsequent recycling；Hook system, which realizes, simultaneously embraces underwater robot Tight function, cooperation pull unit mechanisms, realize the drag function to underwater robot.

2. the present invention program design is reasonable, simple and reliable for structure, the danger and complexity of operation on the sea have been taken into full account. By design a set of complete intelligent ship base underwater glider lay recovery system and it is corresponding lay and recovery method, it is achieved thereby that Laying and recycling rapidly and efficiently to underwater glider, AUV and other underwater robots etc., has liberated sailor and correlation on ship The labour of staff reduces and is laying the danger with removal process, solve lay in removal process it is high into This problem.

3. the present invention lays recovery system by the global function ship base underwater glider of design, easy to use, do not have to lash ship There is particular/special requirement, it is at low cost.It is other such as accurate positioning device on underwater robot, it is not high to space requirement, Interface is simple.Eliminate the requirement to crane lifting etc. simultaneously, and need not special lash ship, complete equipment cost is relatively low.

4. ship base underwater glider of the present invention lay recovery system to most of underwater robot compatibility preferably, Neng Goushi Existing same set of system lays and recycles to a variety of underwater gliders, AUV, ROV and underwater robot etc., only needs simply even be not required to Other transformations can be used cooperatively with this covering device, take into account the requirement laid, and need not increase new equipment when laying can be suitable Profit is completed, and has the characteristics that have a wide range of application.The present invention can be applied not only to most of underwater robot, can also be applied to The recycling of other underwater relevant devices.

Description of the drawings

Dimensional structure diagram of Fig. 1 present invention when being laid to underwater glider and entering water.

The schematic diagram of Fig. 2 present invention front view structure after premise preparation when being laid on ship base to underwater glider.

The schematic diagram of Fig. 3 present invention plan structure after premise preparation when being laid on ship base to underwater glider.

The schematic diagram of Fig. 4 present invention stereochemical structure after premise preparation when being laid on ship base to underwater glider.

The sectional perspective structure diagram of the mechanism that is locked in Fig. 5 present invention.

The sectional perspective structure diagram of Multi-sensor Fusion alignment system in Fig. 6 present invention.

After when being laid to underwater glider, main recycling slideway stretches out ship base and opposite ship base main body overturning in Fig. 7 present invention Main structure diagram.

After when being laid to underwater glider, main recycling slideway stretches out ship base and opposite ship base main body overturning in Fig. 8 present invention Dimensional structure diagram.

When being laid to underwater glider, secondary recycling slideway stretches out main recycling slideway in Fig. 9 present invention and the mechanism that is locked is beaten It opens, underwater glider preparation waits the main structure diagram into water release.

When being laid to underwater glider, secondary recycling slideway stretches out main recycling slideway and the mechanism that is locked in Figure 10 present invention It opens, underwater glider preparation waits the dimensional structure diagram into water release.

The sectional perspective structure diagram of dragging unit in Figure 11 present invention.

The sectional perspective structure diagram of hook system in Figure 12 present invention.

The sectional perspective structure diagram of electric cabinet in Figure 13 present invention.

Specific embodiment

Below by specific embodiment, the present invention will be described in detail.

As shown in figures 1-13, a kind of ship base underwater glider lays recovery system, including：Ship base main body 1, main recycling slideway 2nd, secondary recycling slideway 3, electric turnover mechanism 4, electric cabinet 5, the mechanism that is locked 6, Multi-sensor Fusion alignment system 7, dragging unit 8th, the hook system 9, the ship base main body 1 include：Ship basic body 11, telescopic legs 12, guide wheel 13, wheel bracket 14, Ship base main body track 15, ship base main body rack 16, torsion shaft 17, ship basic body limit switch 18.Wherein telescopic legs 12 are common Four, at the position of the left and right sides of ship basic body 11, to improve the stability of ship basic body 11 at work. It should be noted that when the system is when carrying out laying recycling, four telescopic legs 12 are to be in stretching and state of contacting to earth, and When the system is when carrying out running fix, four telescopic legs 12 are in flexible and liftoff state.The guide wheel 13 totally 4 It is a, it is connected to by axis and Bearning mechanism on wheel bracket 14；Obviously, wheel bracket 14 is also 4, and the upper end is arranged on ship base At the surrounding position of the bottom surface of body 11, to fast and easy movement and the system is positioned.The ship base main body track 15 is set 11 top inside of ship basic body is placed in, coordinates the main recycling sliding rail 23 in main recycling slideway 2.Likewise, with ship base main body The parallel inside for also having ship base main body rack 16, being arranged at 11 top of ship basic body of track 15, ship base main body rack 16 pass through Main skid motor gear 24 in the engagement of gear and main recycling slideway 2 coordinates.It is basic that the torsion shaft 17 is fixed on ship The front end of body 11, while torsion shaft 17 also obtains rear end with main recycling slide way body 21 in main recycling slideway 2 and is connected, effect is：It is main The rear end of recycling slide way body 21 can be rotated around torsion shaft 17, realize the variation with 11 front end angle of ship basic body, substantially：Match somebody with somebody It closes electric turnover mechanism 4 to use, telescopic action is obtained by the band self-lock electric telescopic rod 42 in electric turnover mechanism 4, realizes master The variation of angle between slide way body 21 and ship basic body 11 is recycled, and then realizes that main recycling slide way body 21 and top are other The angle change of mechanism, following compress is put and recycling state etc..The ship basic body limit switch 18 is former and later two, is pacified respectively Suitable position mounted in 11 rear and front end of ship basic body moves back and forth main recycling slideway 2 to realize in ship basic body 11 When position detection.

The main recycling slideway 2 includes：Main recycling slide way body 21, main skid motor 22, main recycling sliding rail 23, master Slideway motor gear 24, main recycling slideway rack 25, secondary recycling sliding rail 26, main recycling slide way body limit switch 27.Institute It states main recycling slide way body 21 and 11 top of ship basic body is erected at by main recycling sliding rail 23 and ship base main body track 15, it is main The shaft and main skid motor gear 24 of slideway motor 22 connect, and main skid motor 22 is fixed in main recycling slide way body 21, Effect is：Main recycling slide way body 21 is along main recycling sliding rail 23 on the ship base main body track 15 where ship basic body 11 It slides back and forth, and since main skid motor 22 is to the induced effect of main skid motor gear 24, and 16 He of ship base main body rack The engagement of main skid motor gear 24 in main recycling slideway 2 finally realizes main recycling slideway 2 with respect to ship basic body 11 The opposite effect of moving forward and backward, i.e.,：Main recycling slideway 2 can realize translation contractile function in ship basic body 11.The main recycling is slided Road track 23 is arranged at main 21 top inside of recycling slide way body, and matching pair recycles the secondary recycling sliding rail 33 in slideway 3.Together Sample, parallel with main recycling runner rails 23 also has main recycling slideway rack 25, is arranged at main 21 top of recycling slide way body Inside, the secondary slideway motor gear 34 that main recycling slideway rack 25 passes through in the engagement and secondary recycling slideway 3 of gear matches somebody with somebody It closes.The main recycling slide way body limit switch 27 is former and later two, is separately mounted to 21 rear and front end of main recycling slide way body Suitable position, to realize the position detection to secondary recycling slideway 3 when being moved back and forth in main recycling slide way body 21.For 2 Liang Ge mechanisms of ship base main body 1 and main recycling slideway in above-mentioned, what deserves to be explained is：Main recycling in main recycling slideway 2 is slided Track 23 and time recycling sliding rail 26 are not same each component, specific as follows：1. it is main recycling sliding rail 23 be for What the ship base main body track 15 in ship base main body 1 coordinated, realize ship of the front end of main recycling slide way body 21 in ship base main body 1 It is slided in basic body 11.2. secondary recycling sliding rail 26 is for coordinating with the secondary secondary recycling sliding rail 33 recycled in slideway 3 , realize that secondary recycling sliding rail 33 slides on the secondary recycling sliding rail 26 in main recycling slideway 2.

Pair recycling 3 structure of slideway is similar with main recycling slideway 2, including：Pair recycling slide way body 31, secondary slideway motor 32, Pair recycling sliding rail 33, secondary slideway motor gear 34, secondary recycling slideway rack 35, ball bearing 36, secondary recycling slide way body Limit switch 37.Pair recycling slideway 3 is the support carrier of underwater glider, is the platform for contacting aerodone.The secondary recycling is slided Road body 31 is erected at main 21 top of recycling slide way body by pair recycling sliding rail 33 and time recycling sliding rail 26, and pair is sliding The shaft of road motor 32 and secondary slideway motor gear 34 connect, and secondary slideway motor 32 is fixed in secondary recycling slide way body 31, effect Fruit is：Pair recycling slide way body 31 is recycled where slideway 2 main on time recycling sliding rail 26 along pair recycling sliding rail 33 It slides back and forth, and since secondary slideway motor 32 is to the induced effect of secondary slideway motor gear 34, and main recycling slideway rack 25 It is final to realize the secondary recycling relatively main recycling slideway of slideway 3 with the secondary engagement for recycling the secondary slideway motor gear 34 in slideway 3 The opposite effect of moving forward and backward of body 21, i.e.,：Pair recycling slide way body 31 can realize that translation is received in main recycling slide way body 21 Contracting function.The secondary recycling sliding rail 33 is arranged at secondary 31 top inside of recycling slide way body, coordinates in main recycling slideway 2 Secondary recycling sliding rail 26.Likewise, parallel with secondary recycling sliding rail 33 also has secondary recycling slideway rack 35, pair is arranged at The inside of 31 top of slide way body is recycled, pair is recycled in the engagement and secondary recycling slideway 3 that slideway rack 35 passes through gear Secondary slideway motor gear 34 coordinates.Totally 20, the ball bearing 36 is divided into two groups of left and right, is separately mounted to secondary recycling slideway sheet The length direction of taking advantage of a situation of body 31, is uniformly distributed along its length by every group 10, and effect is：Underwater glider is laying and is recycling When, the body of underwater glider is moved by the rubs of ball bearing 36 and secondary recycling slide way body 31, is substantially reduced Relative friction resistance.The secondary recycling slide way body limit switch 37 is former and later two, is separately mounted to secondary recycling slideway sheet The suitable position of 31 rear and front end of body, to realize the position to pulling unit 8 when being moved back and forth in secondary recycling slide way body 31 Put detection.

The electric turnover mechanism 4 includes：Front support arm 41, band self-lock electric telescopic rod 42, rear support arm 43, support turn Axis 44, shaft bearing 45.The front support arm 41 is two, is separately positioned on the front end of the ship basic body 11 in ship base main body 1 Both sides, in order to make the more efficient of hydraulic turnover mechanism, front support arm 41 and the angle of ship basic body 11 are obtuse angle；Meanwhile institute 41 top of front support arm is stated equipped with through hole, the through hole of two front support arms 41 is installed with support shaft 44, and band self-lock electric is stretched The front end of contracting bar 42 and the support shaft 44 connect, and effect is：Band self-lock electric telescopic rod 42 can be around 44 turns of shaft of support It is dynamic.Certainly, in order to reduce friction, it is above-mentioned in 41 top through hole of front support arm wear 44 both ends of support shaft connect and also set up There is shaft bearing 45.Similar with front support arm 41, the rear support arm 43 is similarly two, is separately positioned on main recycling slideway 2 In main recycling slide way body 21 front end both sides, equally, in order to make the more efficient of hydraulic turnover mechanism, rear support arm 43 with The angle of main recycling slide way body 21 is acute angle；Meanwhile 43 top of rear support arm is equipped with through hole, two rear support arms 43 Through hole be installed with support shaft 44, the rear end with self-lock electric telescopic rod 42 and the support shaft 44 connect, and effect is：Band is certainly Locking the end of electric telescopic rod 42 can rotate around support shaft 44.Certainly, in order to reduce friction, it is above-mentioned in rear support arm It wears 44 both ends of support shaft connect and is again provided with shaft bearing 45 in 43 least significant end through holes.The electric turnover mechanism 4 it is total Body effect is：1. the control action with self-lock electric telescopic rod 42 is realized with self-lock electric telescopic rod 42 by electric cabinet 5 Elongation, so that the lengthening of the distance between front support arm 41 and rear support arm 43, main recycling slide way body 21 and ship basic body Angle becomes larger between 11, and main recycling slide way body 21 starts to transfer, and aerodone starts to put into water cloth.Conversely, 2. pass through electric cabinet 5 Shortening with self-lock electric telescopic rod 42 is realized to the control action with self-lock electric telescopic rod 42, so that front support arm 41 The distance between rear support arm 43 shortens, and angle becomes smaller between main recycling slide way body 21 and ship basic body 11, and main recycling is slided Road body 21 starts to move up, and aerodone starts water outlet recycling.

Electric cabinet 5 includes：Controller 51, motor driver 52, power regulator module 53, transformer 54, remote-control handle 55. The transformer 54 is directly accessed 220V or 380V alternating currents, by exporting direct current after the transformer 54, and it is steady by power supply Die block 53 carries out voltage stabilizing, subsequently send to controller 51 and motor driver 52.The controller 51 and motor driver 52 connect It connects, also recycles slideway sheet with crash sensor 94, ship basic body limit switch 18, main recycling slide way body limit switch 27, pair Body limit switch 37 and the connection of 7 grade of Multi-sensor Fusion alignment system.The motor driver 52 is multiple, and connection respectively is led Slideway motor 22, secondary slideway motor 32, band self-lock electric telescopic rod 42, hook control motor 92 and the realizations such as motor 61 that are locked are driven Dynamic function.The remote-control handle 55 then can be by manually realizing to main recycling slideway 2, secondary recycling slideway 3, electric turnover mechanism 4th, the manual control of unit 8 and hook system 9 etc. is pulled.

The mechanism 6 that is locked includes：Be locked motor 61, lever 62, reduction gear box 63, the electric machine support 64 that is locked, be locked Annulus 65, circle ring rack 66.It is described to be locked motor 61 and reduction gear box 63 connects, the output shaft and lever of reduction gear box 63 62 connect simultaneously fixed, and the motor 61 that is locked is fixed on and is locked on electric machine support 64, are locked annulus 65 and circle ring rack 66 connects, circle The output axis connection of ring support 66 and reduction gear box 63.The mechanism 6 that is locked is fixed on the secondary recycling of secondary recycling slideway 3 At the position of 31 least significant end of slide way body.Effect is：The mechanism 6 that is locked can be by the rotation for the motor 61 that is locked and relatively secondary It recycles and angle change occurs at 31 least significant end of slide way body.I.e.：When aerodone is in secondary recycling slide way body 31, cover at this time The main body that annulus 65 recycles slide way body 31 with pair that is locked in tight mechanism 6 is plumbness, and the annulus 65 that is locked just is locked The tail position of underwater glider is allowed to move.It is released when aerodone prepares to glide from pair recycling slide way body 31 When putting, the motor 61 that is locked at this time rotates, and reduction gear box 63 is driven to rotate, and then the annulus 65 that is locked is driven to rotate, set at this time Tight mechanism 6 occurs angle at relatively secondary recycling 31 least significant end of slide way body due to rotary action and becomes larger, when be locked annulus 65 with During the body parallel of pair recycling slide way body 31, the annulus 65 that is locked will not cause underwater glider barrier effect, and if Unit 8 is pulled at this time and is also in order at opening-wide state, and the secondary recycling slide way body 31 of underwater gliding chance compliance starts to glide at this time, real Now enter water cloth and put action.The main body that annulus 65 recycles slide way body 31 with pair that is locked in the mechanism that is locked 6 is plumbness, and is covered Tight annulus 65 is just locked the tail position of underwater glider, is allowed to move.

The Multi-sensor Fusion alignment system 7 includes：Sensor fixing bracket 71, ultrasonic sensor 72, sonar 73 Deng.The corresponding alignment sensor is installed on the sensor fixing bracket 71, such as ultrasonic sensor 72, sonar 73, Certain sonar 73 further includes：Transmitter changes device, receiver and controller etc. into, either using what kind of sensor, There are one purposes, realizes that the underwater robot recycled to needs is accurately positioned, it is ensured that the head end of underwater robot can be smooth Into in the hook system 9.

The dragging unit 8 includes：Decelerating motor 81 is pulled, body 82, slide 83 is pulled, pulls gear 84.It is described to drag It drags decelerating motor 81 to be fixed on dragging body 82, pulls body 82 and connect and be fixed with the hook system 9, and pull gear 84 are mounted on dragging decelerating motor 81.The slide 83 is also mounted on the lower position for pulling body 82, and and secondary recycling The secondary recycling sliding rail 33 of slideway 3 coordinates, and realizes and pulls unit 8 before the secondary recycling slide way body 31 of secondary recycling slideway 3 Slide afterwards.More importantly：Decelerating motor 81 is pulled by pulling gear 84 and the secondary recycling slideway on secondary recycling slideway 3 Rack 35 engages, and by pulling the rotation of decelerating motor 81, drives dragging unit 8 on pair recycling slideway 3 before and after work indirectly Directed movement.

The hook system 9 includes：Hanger bulk 91, hook control motor 92, opening and closing hold-fast body 93, crash sensor 94.The opening and closing hold-fast body 93 is multiple sickle-shaped structures, is the center of circle with hanger bulk 91, and circle distribution is presented.It hangs Hook control motor 92 is provided on hook body 91, and links up with the output axis connection opening and closing hold-fast body 93 of control motor 92, The opening and closing of opening and closing hold-fast body 93 can be driven by the positive and negative rotation of opening and closing hold-fast body 93, realized to underwater The holding of people front end stem and opening function.The crash sensor 94 is mounted on the inside of hanger bulk 91, to detect water Whether lower robot is into hook system 9 and in place.

Above-described embodiment is in the art the purpose is to be to allow simply to illustrate that the technical concepts and features of the present invention Those of ordinary skill can understand present disclosure and implement according to this, and it is not intended to limit the scope of the present invention.It is all It is the equivalent variation or modification according to the present invention made by the essence of content, should all covers within the scope of the present invention.

Claims

1. a kind of ship base underwater glider lays recovery system, which is characterized in that including：Ship base main body (1), main recycling slideway (2), secondary recycling slideway (3), electric turnover mechanism (4), electric cabinet (5), the mechanism that is locked (6), Multi-sensor Fusion alignment system (7), unit (8), hook system (9), the ship base main body (1) are pulled, it is characterised in that：Including ship basic body (11), can stretch Contracting supporting leg (12), guide wheel (13), wheel bracket (14), ship base main body track (15), ship base main body rack (16), torsion shaft (17), ship basic body limit switch (18), wherein telescopic legs (12) totally four, mounted on the left and right two of ship basic body (11) At the position of side, to improve the stability of ship basic body (11) at work；The guide wheel (13) totally 4, by axis with Bearning mechanism is connected on wheel bracket (14)；Wheel bracket (14) is 4, and the upper end is arranged on the bottom of ship basic body (11) At the surrounding position in face, to fast and easy movement and the system is positioned；It is basic that the ship base main body track (15) is arranged at ship Inside above body (11) coordinates the main recycling sliding rail (23) in main recycling slideway (2) parallel with ship base main body track (15) Also have ship base main body rack (16), the inside being arranged above ship basic body (11), ship base main body rack (16) passes through gear Engagement and main recycling slideway (2) in main skid motor gear (24) cooperation；The torsion shaft (17) is fixed on ship base The front end of body (11), while torsion shaft (17) also obtains rear end with main recycling slide way body (21) in main recycling slideway (2) and is connected, The rear end of main recycling slide way body (21) can be rotated around torsion shaft (17), and the ship basic body limit switch (18) is front and rear two It is a, the suitable position of ship basic body (11) rear and front end is separately mounted to, to realize to main recycling slideway (2) in ship basic body (11) position detection when being moved back and forth on.

2. a kind of ship base underwater glider according to claim 1 lays recovery system, the main recycling slideway (2), bag Include main recycling slide way body (21), main skid motor (22), main recycling sliding rail (23), main skid motor gear (24), master Recycle slideway rack (25), secondary recycling sliding rail (26), main recycling slide way body limit switch (27), the main recycling slideway Body (21) is erected at by main recycling sliding rail (23) and ship base main body track (15) above ship basic body (11), main skid Shaft and main skid motor gear (24) connection of motor (22), main skid motor (22) are fixed on main recycling slide way body (21) On, main recycling slide way body (21) is along main recycling sliding rail (23) in the ship base main body track where ship basic body (11) (15) slid back and forth on, and since main skid motor (22) is to the induced effect of main skid motor gear (24), and ship base master The engagement of body rack (16) and the main skid motor gear (24) in main recycling slideway (2), finally realizes main recycling slideway (2) the opposite effect of moving forward and backward of opposite ship basic body (11), the main recycling runner rails (23) are arranged at main recycling slideway Inside above body (21), parallel with main recycling runner rails (23) also has main recycling slideway rack (25), is arranged at and leads back Receive the inside above slide way body (21), engagement and secondary recycling slideway (3) of the main recycling slideway rack (25) by gear In secondary slideway motor gear (34) cooperation；The main recycling slide way body limit switch (27) is former and later two, is installed respectively Suitable position in main recycling slide way body (21) rear and front end, to realize to pair recycling slideway (3) in main recycling slideway sheet Position detection when being moved back and forth on body (21).

3. recovery system, the secondary recycling slideway are laid according to a kind of ship base underwater glider described in claims 1 or 2 (3), including pair recycling slide way body (31), secondary slideway motor (32), secondary recycling sliding rail (33), secondary slideway motor gear (34), secondary recycling slideway rack (35), ball bearing (36), secondary recycling slide way body limit switch (37)；Pair recycling slideway (3) For the support carrier of underwater glider, the secondary recycling slide way body (31) is slided by pair recycling sliding rail (33) and time recycling Dynamic rail road (26) is erected above main recycling slide way body (21), the shaft of secondary slideway motor (32) and secondary slideway motor gear (34) connect, secondary slideway motor (32) is fixed on secondary recycling slide way body (31), and pair recycling slide way body (31) is returned along pair Sliding rail (33) is received to slide back and forth on time recycling sliding rail (26) where main recycling slideway (2), and due to secondary slideway Motor (32) main recycling slideway rack (25) and secondary recycles in slideway 3 induced effect of secondary slideway motor gear (34) The engagement of secondary slideway motor gear (34), the final phase for realizing the relatively main recycling slide way body (21) of secondary recycling slideway (3) To the effect of moving forward and backward, the secondary recycling sliding rail (33) is arranged inside above secondary recycling slide way body (31), cooperation master Recycle the secondary recycling sliding rail (26) in slideway (2)；Parallel with secondary recycling sliding rail (33) also has secondary recycling slideway tooth Item (35), the inside being arranged above secondary recycling slide way body (31), pair recycling slideway rack (35) are made by the engagement of gear Coordinated with the dragging gear (84) pulled in unit (8)；The ball bearing (36) totally 20 is divided into two groups of left and right, respectively Mounted on the length direction of taking advantage of a situation of secondary recycling slide way body (31), every group 10, it is uniformly distributed along its length, underwater glider When laying and recycling, the body of underwater glider passes through ball bearing (36) and the rubs of secondary recycling slide way body (31) Movement, the secondary recycling slide way body limit switch (37) is former and later two, before being separately mounted to secondary recycling slide way body (31) The suitable position at both ends afterwards, to realize the position to pulling unit (8) when being moved back and forth on secondary recycling slide way body (31) Detection.

4. a kind of ship base underwater glider according to claim 1 or 2 lays recovery system, the dragging unit (8), bag It includes and pulls decelerating motor (81), pull body (82), slide (83), pull gear (84), the dragging decelerating motor (81) is solid It is scheduled on and pulls on body (82), pull body (82) and connect and be fixed with the hook system (9), and pull gear (84) and install On decelerating motor (81) is pulled, the slide (83) is mounted on the lower position for pulling body (82), and is slided with secondary recycling The secondary recycling sliding rail (33) in road (3) coordinates, and realizes the secondary recycling slide way body for pulling unit (8) in secondary recycling slideway (3) (31) slide back and forth operation, pull decelerating motor (81) and recycled by pulling gear (84) with secondary on secondary recycling slideway (3) Slideway rack (35) engages, and by pulling the rotation of decelerating motor (81), drives indirectly and pulls unit (8) in pair recycling slideway (3) directed movement before and after making on.

5. a kind of ship base underwater glider according to claim 1 or 2 lays recovery system, the hook system (9), bag Hanger bulk (91), hook control motor (92), opening and closing hold-fast body (93), crash sensor (94) are included, the opening and closing are held tightly Mechanism (93) is multiple sickle-shaped structures, with hanger bulk (91) for the center of circle, circle distribution is presented, hanger bulk is set on (91) There is hook control motor (92), and link up with the output axis connection opening and closing hold-fast body (93) of control motor (92), pass through opening and closing The positive and negative rotation of hold-fast body (93) can drive the opening and closing of opening and closing hold-fast body (93), realize to before underwater robot It holds the holding of stem and opens function, the crash sensor (94) is mounted on the inside of hanger bulk (91), to detect water Whether lower robot is into hook system (9) and in place.

6. system according to claim 1 or 2, wherein, the Multi-sensor Fusion alignment system (7) includes：Sensor Fixing bracket (71), ultrasonic sensor (72), sonar (73) install the ultrasound on the sensor fixing bracket (71) Wave sensor.

7. system according to claim 1, wherein, the mechanism that is locked (6) includes：Be locked motor (61), lever (62), Reduction gear box (63), the electric machine support that is locked (64), the annulus that is locked (65), circle ring rack (66), the motor that is locked (61) and Reduction gear box (63) connects, and the output shaft and lever (62) of reduction gear box (63) are connected and fixed, and the motor that is locked (61) It is fixed on the electric machine support that is locked (64), the annulus that is locked (65) and circle ring rack (66) connection, circle ring rack (66) and reducing gear The output axis connection of roller box (63), the mechanism that is locked (6) are fixed on the secondary recycling slide way body of secondary recycling slideway (3) (31) at the position of least significant end.

8. a kind of ship base underwater glider according to claim 1 lays recovery system and carries out the corresponding method laid, tool Body step is as follows：

Step I：Before early-stage preparations process is, it is necessary to lay underwater glider, it is necessary first to which staff is by scalable branch In leg (12) retraction ship basic body (11), then dragged by rotating guide wheel (13) at ship base main body (1) to suitable position；

Step II：Underwater glider is placed and holds process tightly, it is necessary to, it is necessary to which staff will before being laid to underwater glider It, which is lifted, puts to the secondary recycling sliding rail (33) of secondary recycling slideway (3) structure, and passes through and control remote-control handle (55) that will link up with Hook control motor (92) in system (9) rotates forward, and opening and closing hold-fast body (93) is opened, then manually by underwater glider It promotes forward, until touching crash sensor (94), the front end of underwater glider is caught in opening and closing hold-fast body (93) at this time, Then staff operates remote-control handle (55) and inverts the hook control motor (92) in hook system (9), and machine is held in opening and closing tightly Structure (93) is closed, and realizes the holding effect to underwater glider front end, and then, staff is by controlling remote-control handle (55) The motor that is locked (61) in the mechanism that will be locked (6) rotates forward, and the annulus that is locked (65) switches to and secondary recycling slideway sheet from horizontality The body normal state of body (31) realizes that the annulus (65) that is locked is locked to underwater glider tail position, is allowed to occur Mobile, so far, the fixed part of the ship base section of underwater glider has been completed；

Step III：Main recycling slideway realizes ship base process of stretching out, and staff is by controlling remote-control handle (55) to control the master The main skid motor (22) recycled in slideway (2) rotates forward, and passes through main skid motor gear (24) and ship base main body rack (16) Engagement drives a whole set of main recycling slideway (2) to travel forward along ship basic body (11), after main recycling slideway (2) touches During the ship basic body limit switch (18) at end, main recycling slideway (2) stop motion, so far, the elongation process of main recycling slideway (2) It finishes, realizes the stretching function from ship base main body 1；

Step IV：Main recycling slideway is with respect to ship base main body switching process, and staff is by controlling remote-control handle (55) control certainly It locks electric telescopic rod (42) to extend, so that the lengthening of the distance between front support arm (41) and rear support arm (43), main recycling Angle becomes larger between slide way body (21) and ship basic body (11), and main recycling slide way body (21) starts to move down, and is underwater gliding Machine, which enters water cloth, to be put and makees place mat；

Step V：Pair recycling slideway stretches out main recycling slideway process, after main recycling slideway (2) moves down with respect to 1 overturning of ship base main body, Start secondary recycling slideway (3) and stretch out operation, staff by the way that the secondary slideway motor (32) of remote-control handle (55) control is controlled to rotate forward, It is final real by the engagement of the secondary slideway motor gear (34) in main recycling slideway rack (25) and secondary recycling slideway (3) Existing secondary recycling slideway (3) main recycling slide way body (21) relatively travels forward, when secondary recycling slideway (3) touches the master of rear end When recycling slide way body limit switch (27), pair recycling slideway (3) stop motion, so far, the elongation process of pair recycling slideway (3) It finishes, realizes the stretching function of main recycling slideway (2)；

Step VI：Underwater glider enters water release process, after pair recycling slideway (2) stretches out main recycling slideway (3), initially enters Enter water release process, staff by control remote-control handle (55) control be locked motor (61) invert, the annulus that is locked (65) from Plumbness switches to the parastate with secondary recycling slide way body (31), and realization is locked annulus (65) to underwater gliding drive end unit The release of position makes it possible to slide, and then, staff is by controlling remote-control handle (55) to control hook system (9) In hook control motor (92) rotate forward, opening and closing hold-fast body (93) is opened, since underwater glider is not pulled with the system The effect of power, the only ball bearing (36) in the secondary recycling slideway (3) must contact rolling friction effect, therefore aerodone Start, into water, after contacting seawater, to be subject to buoyancy, start to float or sinking acts, so far, underwater glider enters water release Process finishes.

9. a kind of ship base underwater glider according to claim 1 lays the recycling side that recovery system carries out underwater glider Method comprises the following steps：

Step I：Early-stage preparations process when preparing to recycle underwater glider, should cause underwater glider to move to ship first At tail, and the state of each mechanism of the system should be the same as the state consistency after underwater glider release；

Step II：Process is accurately positioned to underwater glider by Multi-sensor Fusion alignment system, when underwater glider enters After stern, illustrate to have been provided with recycling condition, staff is by controlling remote-control handle (55) to control the Multi-sensor Fusion Ultrasonic sensor (72), sonar (73) in alignment system (7), which are realized, is accurately positioned the underwater glider that will be recycled, fixed The relative information after positioning is sent to underwater glider after position or informs staff on ship, if aerodone possesses Autonomous communication and control ability, then it can be independently moved to according to location information immediately ahead of hook system (9), and ajusts itself Fuselage positions；If underwater glider does not possess autonomous communication and control ability or its self-control is poor, can be by ship Relevant staff is moved to by certain means immediately ahead of hook system (9), and ajusts itself fuselage positions；

Step III：Underwater glider is linked up with and holds process tightly, after underwater glider receives location information, starts to travel forward, into Enter in hook system (9), stop motion after underwater glider touches crash sensor (94), at this time before underwater glider End is caught in opening and closing hold-fast body (93), then reminds staff, and hereafter staff operates remote-control handle (55) and will link up with Hook control motor (92) in system (9) inverts, and opening and closing hold-fast body (93) is closed, and realizes and underwater glider front end is embraced Tight effect, and then, staff by the way that the motor that is locked (61) that remote-control handle (55) will be locked in mechanism (6) is controlled to rotate forward, The annulus (65) that is locked switches to the main body with secondary recycling slide way body (31) from the parastate with secondary recycling slide way body (31) Plumbness, the realization annulus (65) that is locked are locked to underwater glider tail position, are allowed to move, so far, water The hook and holding step of lower aerodone are completed；

Step IV：The main recycling slideway process of pair recycling slideway retraction, main recycling slideway (2) start to realize secondary with respect to ship base main body 1 It recycles slideway (3) and is retracted operation, staff passes through master by the way that the secondary slideway motor (32) of remote-control handle (55) control is controlled to invert The engagement of slideway rack (25) and the secondary slideway motor gear (34) in secondary recycling slideway (3) is recycled, it is final to realize secondary return The movement backward of the relatively main recycling slide way body (21) of slideway (3) is received, when the main recycling that secondary recycling slideway (3) touches front end is slided During road body limit switch (27), pair recycling slideway (3) stop motion, so far, the retraction process of pair recycling slideway (3) finishes, Realize the retraction function of main recycling slideway (2)；

Step V：Main recycling slideway is with respect to ship base main body switching process, after pair recycles the main recycling slideway process of slideway retraction, Staff by control remote-control handle (55) control self-lock electric telescopic rod (42) shorten so that front support arm (41) and The distance between rear support arm (43) shortening, angle becomes smaller between main recycling slide way body (21) and ship basic body (11), leads back It receives slide way body (21) to start to move up, underwater glider is driven to move upwards；

Step VI：It is main recycling slideway realize retraction ship base process, it is above-mentioned in main recycling slideway with respect to ship base main body switching process After, staff is by controlling remote-control handle (55) to control the main skid motor (22) in the main recycling slideway (2) anti- Turn, by the engagement of main skid motor gear (24) and ship base main body rack (16), drive a whole set of main recycling slideway (2) edge Ship basic body (11) moves backward, and underwater glider starts to move along ship basic body (11) at this time, when main recycling slideway (2) is touched When encountering the ship basic body limit switch (18) of front end, main recycling slideway (2) stop motion, so far, the contracting of main recycling slideway (2) Enter process to finish, realize the retraction function from ship base main body 1；

Step VII：Underwater gliding motor vessel base discharges process, it is necessary to which staff controls remote-control handle after underwater glider disembarkation (55) the hook control motor (92) in hook system (9) is rotated forward, opening and closing hold-fast body (93) is opened, and and then, work people Member is by controlling remote-control handle (55) to invert the motor that is locked (61) being locked in mechanism 6, and the annulus that is locked (65) is from plumbness The main body horizontality with secondary recycling slide way body (31) is switched to, realization is locked annulus (65) to underwater glider tail position Opening, make it possible to move, finally, staff manually promotes underwater glider backward, depart from crash sensor (94), the front end of underwater glider departs from out of opening and closing hold-fast body (93) at this time, and so far, the removal process of underwater glider is complete Finish.