CN106741647B - A kind of ground tackle and method that the seabeds UUV are resident - Google Patents
A kind of ground tackle and method that the seabeds UUV are resident Download PDFInfo
- Publication number
- CN106741647B CN106741647B CN201710069638.4A CN201710069638A CN106741647B CN 106741647 B CN106741647 B CN 106741647B CN 201710069638 A CN201710069638 A CN 201710069638A CN 106741647 B CN106741647 B CN 106741647B
- Authority
- CN
- China
- Prior art keywords
- uuv
- anchor pole
- hydraulic
- seabed
- mud shovel
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/50—Anchoring arrangements or methods for special vessels, e.g. for floating drilling platforms or dredgers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/24—Anchors
- B63B21/26—Anchors securing to bed
Abstract
The present invention provides a kind of resident ground tackle in seabeds UUV and method, is hydraulically operated arm, folding and unfolding anchor pole and can grab mud shovel composition.When UUV is during navigation, anchor pole and grab that mud shovel is integrated and folding and unfolding keeps the sweeping appearance of UUV in the both sides UUV under the action of hydraulic-driven arm；When UUV is needed when seabed park, make anchor pole by hydraulic-driven arm elongation and grab mud shovel to stretch out, make to grab mud shovel under hydraulic-driven arm and the collective effect of gravity and be embedded into soil, seabed surface is parked to make UUV stablize；It when UUV needs set sail from seabed, drives anchor pole that will grab mud shovel by contraction hydraulic-driven arm and is extracted from soil, and gradually withdraw anchor pole and grab mud shovel and realize that the seabeds UUV are set sail.The invention can make UUV avoid being generated displacement due to action of ocean current or being buried to obtain risk by silt when seabed is resident.
Description
Technical field
The ground tackle and method being resident the present invention relates to a kind of seabeds UUV.
Background technology
UUV needs to park by stablizing when executing underwater investigation, seabed ambuscade, serving as the tasks such as underwater communication node
In seabed, the latent operation that concealment is high and energy consumption is extremely low is realized.And in order to make UUV have energy saving in navigation and be easily manipulated
Characteristic, usually by UUV be designed as buoyancy be equal to gravity.UUV so is just highly prone to ocean current when executing seabed landing task
Influence so that UUV drift out sit bottom position.Therefore, a kind of device in seabed that can be stably secured to UUV of design is for UUV
It is very necessary to execute for task is stationed in seabed.
On the one hand seabed ground tackle can ensure the stability that UUV is resident in seabed, prevent UUV from being floated by ocean current interference
From seat bottom position.On the other hand it is also prevented from silt to bury UUV, guarantee can smoothly be set sail from seabed.It is examined in CNKI
Suo Faxian, Song Baowei of Northwestern Polytechnical University etc. exist《Firepower and command and control》The article that (the 8th phase in 2010) delivers《Submarine
UAV navigation conceptual design》Conceptual design has been carried out to submarine UAV navigation, and has devised two kinds and hides
Control mode --- hydraulic pressure support formula and anchor chain type, but two ways is drifted out seat bottom position without solving UUV by ocean current interference
The problem of setting.Domestic and international pertinent literature is consulted, there has been no this document report is solved the problems, such as by embedded anchoring approach at present.
Invention content
When the purpose of the present invention is for the problem that being resident in the seabeds UUV, being easy to be drifted out by ocean current interference and sitting bottom position
And a kind of ground tackle and method that the seabeds UUV are resident is provided, and can realize stable be resident.
The object of the present invention is achieved like this：A kind of ground tackle that the seabeds UUV are resident, including be arranged in UUV main bodys
On four anchored structures, four anchored structures two-by-two be one group of length direction along UUV main bodys on arrange, two of every group
Anchored structure is oppositely arranged on the both sides of UUV main bodys, and each anchored structure includes the hydraulic-driven being respectively hinged in UUV main bodys
Arm and anchor pole grab mud shovel with the hinged fork-shaped in anchor pole end, and the end of hydraulic-driven arm and the middle and upper part of anchor pole are hinged, described
The groove for being provided in UUV main bodys and being used for embedded corresponding anchor pole, and the anchor pole is bowing bar, the radian and anchor of anchor pole
The radian of bar corresponding position in UUV main bodys is equal.
A kind of anchoring method that the seabeds UUV are resident：
(1) when detection UUV is required with seabed distance satisfaction anchoring, while four hydraulic-driven arms for extending setting make correspondence
Anchor pole extend downwardly, grab mud shovel under the collective effect of gravity and anchor pole on the inside of UUV obliquely downward be inserted into soil, realize seabed
Anchoring；
(2) while shrinking four hydraulic-driven arms makes anchor pole withdraw upwards, grabs mud shovel under the action of anchor pole on the outside of UUV
Oblique upper is extracted from soil, until anchor pole and grabbing mud shovel and fitting together to be embedded into UUV surface grooves and make UUV surface recoveries
It is streamlined, realize seabed anchor.
Compared with prior art, the beneficial effects of the invention are as follows：When UUV is during navigation, anchor pole and grabs mud shovel and be combined into
One and under the action of hydraulic-driven arm folding and unfolding keep the sweeping appearance of UUV in the both sides UUV；When UUV needs to park in seabed
When, anchor pole is made by hydraulic-driven arm elongation and grabs mud shovel stretching, makes to grab mud under hydraulic-driven arm and the collective effect of gravity
Shovel is embedded into soil, to make UUV stabilizations be parked at seabed surface；When UUV needs set sail from seabed, by shrinking hydraulic pressure
Actuating arm drives anchor pole that will grab mud shovel and is extracted from soil, and gradually withdraws anchor pole and grab mud shovel and realize that the seabeds UUV are set sail.The hair
It is bright that UUV can be made to avoid generating displacement due to action of ocean current or burying to obtain risk by silt when seabed is resident.
The inner spaces entire mechanism occupancy UUV of the present invention are small, simple in structure, are suitable for UUV in big depth marine site seabed
It lands, realizes that UUV stablizes seat bottom and UUV is preset as gravity and is more than buoyancy without being thought of as, UUV navigation efficiency can be improved.
The present invention has stronger practicability, easy to use in Project Realization.Corresponding anchoring method relies on set structure, energy
It is simple to realize that UUV stablizes resident.
Description of the drawings
Fig. 1 is the seabeds UUV ground tackle anchor pole and grabs mud shovel collapsed state structural schematic diagram；
Fig. 2 is that the seabeds UUV ground tackle anchor pole stretches out status architecture schematic diagram with mud shovel is grabbed；
Fig. 3 is that UUV utilizes seabed ground tackle in seabed anchoring status diagram.
In figure：1.UUV main bodys；2. right hydraulic-driven arm；3. mud shovel is grabbed on the right side；4. right anchor pole；5. left hydraulic-driven arm；6. left
Grab mud shovel；7. left anchor pole.
Specific implementation mode
Present invention is further described in detail with specific implementation mode below in conjunction with the accompanying drawings.
In conjunction with Fig. 1 to Fig. 3, a kind of seabeds UUV ground tackle of the invention is made of four identical parts, four
Part is symmetrically installed two-by-two, each pair of to be grabbed including right hydraulic-driven arm 2 and left hydraulic-driven arm 5, right anchor pole 4 and left anchor pole 5, the right side
Mud shovel 6 is grabbed on mud shovel 3 and a left side, namely is mainly hydraulically operated arm per part, is grabbed mud shovel and anchor pole this three each mechanism composition；Each liquid
Pressure actuating arm one end is hinged in UUV main bodys 1, the other end is hinged on the middle part of corresponding anchor pole, when hydraulic-driven arm extends
When anchor pole can be pushed to extend downwardly outward, and anchor pole can be pulled inwardly to withdraw upwards when hydraulic-driven arm is shunk, each
Anchor pole one end is hinged in UUV main bodys, the other end connects a forked type with hinge arrangement and grabs mud shovel, and grabbing mud shovel can be with anchor pole contract
Closing can also be with anchor pole at an angle, and anchor pole grabs mud shovel and can grab mud shovel and can be separated under the effect of gravity with anchor pole when stretching out
At an angle, it is in the posture for being inserted into soil inwardly downward, is inserted into mud to realize to tilt, is illustrated in figure 2 anchor pole stretching
State；It anchor pole and grabs mud shovel in the present invention and need to consider the shape of be applied to UUV in design, anchor pole should be made and grab the curved of mud shovel
Bent radian is identical as its position outer surfaces UUV radian so that anchor pole and grab mud shovel when packing up just be embedded in UUV outside
It reserves in groove on surface, you can be fitted in the surfaces UUV completely, keep the streamlined of the surfaces UUV, received as shown in Figure 1 for anchor pole
The state of rising.
When UUV needs to carry out seabed anchoring, make UUV close to seabed by control first, by sensor detect UUV away from
When being less than rock-bolt length with a distance from seabed, seabed anchoring can be carried out.By controlling left and right hydraulic-driven when progress seabed anchoring
Arm extends so that then left and right anchor pole extends downwardly under the action of hydraulic-driven arm outward simultaneously, grab mud shovel in gravity and anchor
Under the collective effect of bar simultaneously inwardly in the embedded soil in lower section, grab mud shovel grab mud force effect under UUV be stably fixed at sea
Bottom surface can resist the disturbance of certain ocean current.
When UUV carries out seabed anchor, shunk by controlling left and right hydraulic-driven arm simultaneously so that left and right anchor pole exists simultaneously
It is withdrawn upwards and then inwardly under the action of hydraulic-driven arm, grabbing mud shovel, top is pulled out from soil outward under the action of anchor pole
Go out.Hydraulic-driven arm continues to shrink, and anchor pole is driven to continue to withdraw, until anchor pole and grabbing mud shovel and being pasted into completely in UUV surface grooves
Keep UUV surface recoveries streamlined, completes the seabed anchor of UUV.It only needs to control hydraulic pressure during the entire process of anchoring and anchor
The elongation and shortening of actuating arm have the characteristics that control is simple.
UUV using the device carry out seabed it is resident when seabed anchoring method include：
When UUV carries out seabed anchoring, make UUV close to seabed by control, detection UUV is less than anchor pole apart from seabed distance
When length, while controlling the elongation of left and right hydraulic-driven arm, left and right anchor pole simultaneously under the action of hydraulic-driven arm outward then to
Lower stretching grabs mud shovel under the collective effect of gravity and anchor pole while inwardly in obliquely downward insertion soil, so that UUV is stablized and fixing
On seabed surface.
It when UUV carries out seabed anchor, while controlling left and right hydraulic-driven arm and shrinking, left and right anchor pole is simultaneously in hydraulic-driven
Under the action of arm upwards then inwardly withdraw, grab mud shovel under the action of anchor pole outward top extracted from soil, anchor pole after
Continuous withdrawal is up to anchor pole and grabbing mud shovel and being pasted into completely in UUV surface grooves keeps UUV surface recoveries streamlined, and UUV floats.
Claims (2)
1. a kind of resident ground tackle in seabeds UUV, it is characterised in that：Including four anchored structures being arranged in UUV main bodys,
Four anchored structures are to be arranged on one group of length direction along UUV main bodys two-by-two, and every group of two anchored structures are oppositely arranged
In the both sides of UUV main bodys, each anchored structure includes the hydraulic-driven arm being respectively hinged in UUV main bodys and anchor pole and anchor pole
The hinged fork-shaped in end grabs mud shovel, and the end of hydraulic-driven arm and the middle and upper part of anchor pole are hinged, be provided in the UUV main bodys with
For the groove of embedded corresponding anchor pole, and the anchor pole is bowing bar, and the radian of anchor pole is corresponding in UUV main bodys with anchor pole
Position radian it is equal；When UUV is during navigation, anchor pole and grabs mud shovel and be integrated and under the action of hydraulic-driven arm
Folding and unfolding keeps the sweeping appearance of UUV in the both sides UUV；When UUV is needed when seabed is parked, being extended by hydraulic-driven arm makes anchor
Bar and mud shovel stretching is grabbed, make to grab mud shovel under hydraulic-driven arm and the collective effect of gravity and be embedded into soil, to keep UUV steady
Surely it is parked at seabed surface；When UUV needs set sail from seabed, drive anchor pole that will grab mud shovel from mud by shrinking hydraulic-driven arm
It is extracted in soil, and gradually withdraws anchor pole and grab mud shovel and realize that the seabeds UUV are set sail.
2. a kind of anchoring method for the ground tackle being resident using the seabeds UUV described in claim 1：It is characterized in that：
(1) when detection UUV is required with seabed distance satisfaction anchoring, while four hydraulic-driven arms for extending setting make corresponding anchor
Bar extends downwardly, and grabs mud shovel and is inserted into soil to obliquely downward on the inside of UUV under the collective effect of gravity and anchor pole, realizes seabed anchor
Pool；
(2) while shrinking four hydraulic-driven arms makes anchor pole withdraw upwards, grabs mud shovel under the action of anchor pole to outside UUV on skew back
Side is extracted from soil, until anchor pole and grabbing mud shovel and fitting together to be embedded into UUV surface grooves and make UUV surface recovery streamlines
Type realizes seabed anchor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710069638.4A CN106741647B (en) | 2017-02-08 | 2017-02-08 | A kind of ground tackle and method that the seabeds UUV are resident |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710069638.4A CN106741647B (en) | 2017-02-08 | 2017-02-08 | A kind of ground tackle and method that the seabeds UUV are resident |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106741647A CN106741647A (en) | 2017-05-31 |
| CN106741647B true CN106741647B (en) | 2018-10-26 |
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| CN201710069638.4A Active CN106741647B (en) | 2017-02-08 | 2017-02-08 | A kind of ground tackle and method that the seabeds UUV are resident |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108731671A (en) * | 2018-04-17 | 2018-11-02 | 哈尔滨工程大学 | A kind of UUV approaches the passive location device and its localization method being resident for a long time in seabed |
| CN113148081B (en) * | 2021-06-09 | 2023-01-03 | 西北工业大学 | AUV shape-preserving supporting type staying device and AUV |
| CN113212655B (en) * | 2021-06-11 | 2022-04-15 | 西北工业大学 | Suction anchor device for unmanned underwater vehicle to reside on seabed and control method thereof |
| CN114084281B (en) * | 2021-10-27 | 2023-03-24 | 浙江东溟科技有限公司 | Built-in water injection pressure control anchor |
| CN113978633A (en) * | 2021-11-02 | 2022-01-28 | 长江河湖建设有限公司 | Mud pump moving platform |
| CN115071926B (en) * | 2022-05-16 | 2023-12-19 | 西北工业大学 | Autonomous underwater vehicle anchoring bedding task control method based on Petri network |
| CN115009483A (en) * | 2022-06-11 | 2022-09-06 | 西北工业大学 | Single-use underwater vehicle underwater anchoring and parking device and method |
| CN116812118B (en) * | 2023-08-30 | 2023-12-22 | 自然资源部第一海洋研究所 | AUV seabed landing device and method based on conformal support |
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| CN103395488A (en) * | 2013-07-01 | 2013-11-20 | 河海大学常州校区 | Underwater brushing detection robot |
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| CN106741647A (en) | 2017-05-31 |
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