CN108163149A - A kind of unmanned boat lays recovery system - Google Patents
A kind of unmanned boat lays recovery system Download PDFInfo
- Publication number
- CN108163149A CN108163149A CN201711403745.2A CN201711403745A CN108163149A CN 108163149 A CN108163149 A CN 108163149A CN 201711403745 A CN201711403745 A CN 201711403745A CN 108163149 A CN108163149 A CN 108163149A
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- CN
- China
- Prior art keywords
- ejection
- claw
- unmanned boat
- butt joint
- recovery system
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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
- B63B23/00—Equipment for handling lifeboats or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/02—Davits, i.e. devices having arms for lowering boats by cables or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/40—Use of lowering or hoisting gear
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The present invention discloses a kind of unmanned boat and lays recovery system.The unmanned boat lays recovery system and includes the butt joint being connect with the hoist cable of lash ship and the ejection mechanism being installed on unmanned boat, ejection head, cradle head mechanism, docking mechanism and draught line；The ejection mechanism is mounted on the cradle head mechanism, and the cradle head structure is used to adjust the flip angle of the ejection mechanism；One end of the draught line is fixedly connected with the ejection mechanism, and the other end is connect with ejection head；The draught line is embedded into for guiding the butt joint in the docking mechanism；The ejection mechanism is used for the ejection head ejection to the lash ship；The docking mechanism is for fixing the butt joint, so as to which the unmanned boat is fixed on the hoist cable.What unmanned boat disclosed by the invention laid that recovery system can improve unmanned boat lays organic efficiency.
Description
Technical field
The present invention relates to unmanned boat technical fields, and recovery system is laid more particularly to a kind of unmanned boat.
Background technology
Since the 21th century, with attention of the people to marine resources, the exploitation dynamics of marine resources is continued to increase,
And constantly extend to deep-sea, off-lying sea, so as to be developed rapidly unmanned boat technology.At present, in military affairs, ocean scientific investigation, sea
Fields, the unmanned boats such as bottom exploration are widely used.But the efficient Quick distributor recycling of unmanned boat is always a problem, special
It is not when the sea is rough, during bad environments, unmanned boat can not realize the rapid abutting joint with lash ship, and unmanned boat is caused to lay recycling
It is less efficient.
Invention content
The object of the present invention is to provide a kind of unmanned boats to lay recovery system, improves the effect for laying recycling of unmanned boat
Rate.
To achieve the above object, the present invention provides following schemes：
A kind of unmanned boat lays recovery system, the butt joint that is connect including the hoist cable with lash ship and is installed on unmanned boat
Ejection mechanism, ejection head, cradle head mechanism, docking mechanism and draught line；The ejection mechanism is mounted on the cradle head mechanism, institute
Cradle head structure is stated for adjusting the flip angle of the ejection mechanism；One end of the draught line is fixed with the ejection mechanism to be connected
It connects, the other end is connect with ejection head；The draught line is embedded into for guiding the butt joint in the docking mechanism；The bullet
Mechanism is penetrated for launching the ejection head to the lash ship；The docking mechanism is for fixing the butt joint, thus will
The unmanned boat is fixed on the hoist cable.
Optionally, the ejection mechanism includes launching cradle and ejection head clamping device；The launching cradle includes two ejections
Arm has been fixedly connected with ejection rubber band on each ejection arm, and the tail end of each ejection rubber band is both connected in ejector blade；Institute
Ejector blade is stated for wrapping the ejection head, the ejection head clamping device is used to clamp the ejection head and the ejection
Piece makes the ejection rubber band be in tight state；During ejection, the ejection head clamping device unclamps the ejection head and the bullet
Penetrating piece, the ejector blade and the ejection rubber band will be in the ejection head ejection to the lash ship.
Optionally, the ejection head clamping device includes gripper clamp, the first cam bit, camshaft and the first motor；It is described
Head is launched in the plier of the gripper clamp, first cam bit is embedded in the tail end of the gripper clamp；The camshaft with
First cam bit is fixedly connected；The camshaft is fixedly connected with first motor output shaft；First motor turns
First cam bit is driven to rotate by the camshaft when dynamic, so as to adjust the opening and closing of the gripper clamp tail end, and then controlled
Make the opening and closing of the plier.
Optionally, the ejection mechanism further includes camera；The camera towards the ejection mechanism direction of ejection,
For aiming at the lash ship.
Optionally, the cradle head mechanism includes pedestal, horizontal direction regulation motor, horizontally rotates plate, vertical direction adjusting
Motor and vertical rotor plate；Horizontal direction regulation motor is fixed on the pedestal；It is described to horizontally rotate plate and the level side
It is fixedly connected to the output shaft of regulation motor；The vertical direction regulation motor is horizontally rotated described in being fixedly connected on plate；Institute
The output shaft that vertical rotor plate is stated with the vertical direction regulation motor is fixedly connected；The ejection mechanism is fixed on described vertical
On rotor plate.
Optionally, the docking mechanism is included to connect cylinder, horn mouth and butt joint fixing device；The iiared port court
On be installed on it is described at the top of connect cylinder, the bell-mouthed shape and the shape of the butt joint match, and the draught line is consolidated
Be scheduled on it is described in connect cylinder, the butt joint fixing device be installed on it is described to connect cylinder side, for fixing the butt joint；
The side to connect cylinder top is provided with the first card interface, and the narrow end of the butt joint is provided with the second card interface, when described
Butt joint be docked to it is described in connect cylinder when, first card interface is connected with second card interface, and the butt joint is fixed
Device is by being caught in the fixation that the second card interface realization is blocked in first card interface to the butt joint.
Optionally, the butt joint fixing device includes claw, the second motor, the second cam bit and spring；
The claw includes claw front end, claw rear end and claw shaft；The claw shaft is located at the claw front end
Between the claw rear end；The claw front end is corresponding with first card interface, for stretching into first card interface
Block second card interface；The spring is connect with the claw front end, stretches into claw front end for holding claw front end
In first card interface；The output shaft of second motor is connect with second cam bit, second cam bit and institute
State claw rear end contact connectio；The output shaft rotation of second motor drives the second cam bit rotation, makes the claw
Rear end is rotated around the claw shaft, and the claw front end is driven to be rotated around the claw shaft.
Optionally, the quantity of the claw is two；Two claws are distributed in both sides to connect cylinder and opposite
Setting；A partial gear, two partial gear phases are fixedly connected in the claw shaft of each claw
To setting and it is engaged；When second motor drives one of claw rotation, pass through two partial gears
Another claw is driven to rotate.
According to specific embodiment provided by the invention, the invention discloses following technique effects：It is disclosed by the invention nobody
Ship lays recovery system, the butt joint being fixedly connected including the hoist cable with lash ship and the ejection mechanism, the bullet that are installed on unmanned boat
Penetrate head, cradle head mechanism, docking mechanism and draught line；The ejection mechanism is mounted on the cradle head mechanism, the cradle head structure
For adjusting the flip angle of the ejection mechanism；One end of the draught line is fixedly connected with the ejection mechanism, the other end
It is fixedly connected with ejection head；The draught line is embedded into for guiding the butt joint in the docking mechanism；The ejection machine
Structure is used for the ejection head ejection to the lash ship；The docking mechanism is for fixing the butt joint, so as to by described in
Unmanned boat is fixed on the hoist cable.Unmanned boat disclosed by the invention lays recovery system, can be directly by unmanned boat when laying
Cloth is put on the water surface, and butt joint is directed on docking mechanism using draught line in recycling, rapid abutting joint is realized, so as to carry
The high efficiency for laying recycling of unmanned boat.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the system construction drawing that unmanned boat of the present invention lays recovery system embodiment；
Fig. 2 is the external structure for the ejection mechanism that unmanned boat of the present invention lays recovery system embodiment；
Fig. 3 is the internal structure chart for the ejection mechanism that unmanned boat of the present invention lays recovery system embodiment；
Fig. 4 is the structure chart under the plier opening state of gripper clamp that unmanned boat of the present invention lays recovery system embodiment；
Fig. 5 is the structure chart under the plier closed state of gripper clamp that unmanned boat of the present invention lays recovery system embodiment；
Fig. 6 is the structure chart for the cradle head mechanism that unmanned boat of the present invention lays recovery system embodiment；
Fig. 7 is the overall structure figure for the docking mechanism that unmanned boat of the present invention lays recovery system embodiment；
Fig. 8 is the external structure for the docking mechanism that unmanned boat of the present invention lays recovery system embodiment；
Fig. 9 is the internal structure chart for the docking mechanism that unmanned boat of the present invention lays recovery system embodiment；
Figure 10 is that unmanned boat of the present invention lays showing for unmanned boat decline process when the unmanned boat of recovery system embodiment is laid
It is intended to；
Figure 11 is that unmanned boat of the present invention is laid after the completion of unmanned boat declines when the unmanned boat of recovery system embodiment is laid time
Receive the schematic diagram of butt joint；
Ejection mechanism aims at lash ship when Figure 12 is the unmanned boat recycling that unmanned boat of the present invention lays recovery system embodiment
Schematic diagram；
Ejection mechanism pop-up ejection head when Figure 13 is the unmanned boat recycling that unmanned boat of the present invention lays recovery system embodiment
Schematic diagram；
Butt joint is glided along draught line when Figure 14 is the unmanned boat recycling that unmanned boat of the present invention lays recovery system embodiment
Schematic diagram；
By butt joint and docking mechanism when Figure 15 is the unmanned boat recycling that unmanned boat of the present invention lays recovery system embodiment
The schematic diagram of docking；
Figure 16 is the schematic diagram that unmanned boat is lifted by crane during the unmanned boat recycling that unmanned boat of the present invention lays recovery system embodiment.
Reference numeral in figure is：Lash ship 1, hoist cable 2, butt joint 3, unmanned boat 4, ejection mechanism 5, ejection head 6, holder machine
Structure 7, docking mechanism 8, draught line 9, launching cradle 10, ejection head clamping device 11, camera 12, ejection arm 13, ejection rubber band 14,
Ejector blade 15, ejection mechanism back plate 16, gripper clamp 17, the first cam bit 18, camshaft 19, the first motor 20, elastic device 21,
Left clamp arm 22, right clamp arm 23, pincers axis 24, motor seat board 25, hand gear 26, pedestal 27, horizontal direction regulation motor 28, level
Rotor plate 29, vertical direction regulation motor 30, vertical rotor plate 31, horizontal rotating shaft 32, fixed plate 33, vertical shaft 34, docking
Cylinder 35, horn mouth 36, butt joint fixing device 37, the first card interface 38, the second card interface 39, claw 40, the second motor 41, the
Two cam bits 42, spring 43, claw front end 44, claw rear end 45, claw shaft 46, partial gear 47, fixture block 48.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is the system construction drawing that unmanned boat of the present invention lays recovery system embodiment.
Referring to Fig. 1, which lays recovery system, can be applied to the Quick distributor of 3 tonnes or 7.5m long unmanned boats
Recycling.The unmanned boat lays recovery system and includes the butt joint 3 being connect with the hoist cable 2 of lash ship 1 and the bullet being installed on unmanned boat 4
Penetrate mechanism 5, ejection head 6, cradle head mechanism 7, docking mechanism 8 and draught line 9；The ejection mechanism 5 is mounted on the cradle head mechanism 7
On, the cradle head structure is used to adjust the flip angle of the ejection mechanism 5；One end of the draught line 9 and the ejection machine
Structure 5 is fixedly connected, and the other end is connect with ejection head 6；The draught line 9 is embedded into the docking for guiding the butt joint 3
In mechanism 8；The ejection mechanism 5 is used to the ejection head 6 launching the lash ship 1；The docking mechanism 8 is used to fix
The butt joint 3, so as to which the unmanned boat 4 is fixed on the hoist cable 2.
The unmanned boat of the present invention, which lays recovery system, can realize that the safely and reliably cloth of unmanned boat under 4 grades of sea situations is put back to
It receives.
Fig. 2 is the external structure for the ejection mechanism that unmanned boat of the present invention lays recovery system embodiment.
Fig. 3 is the internal structure chart for the ejection mechanism that unmanned boat of the present invention lays recovery system embodiment.
Fig. 4 is the structure chart under the plier opening state of gripper clamp that unmanned boat of the present invention lays recovery system embodiment.
Fig. 5 is the structure chart under the plier closed state of gripper clamp that unmanned boat of the present invention lays recovery system embodiment.
Referring to Fig. 2~Fig. 5, the ejection mechanism 5 includes launching cradle 10, ejection head clamping device 11 and camera 12；Institute
It states launching cradle 10 and includes two ejection arms 13, ejection rubber band 14, each ejection have been fixedly connected on each ejection arm 13
The tail end of rubber band 14 is both connected in ejector blade 15；For wrapping the ejection head 6, the ejection head presss from both sides the ejector blade 15
Device 11 is held for clamping the ejection head 6 and the ejector blade 15, the ejection rubber band 14 is made to be in tight state；Ejection
When, the ejection head clamping device 11 unclamps the ejection head 6 and the ejector blade 15, the ejector blade 15 and the ejection skin
Muscle 14 launches the ejection head 6 on the lash ship 1.
The launching cradle 10 is fixed in ejection mechanism back plate 16；The ejection mechanism back plate 16 is fixed on the holder machine
On structure 7.
The ejection head clamping device 11 includes gripper clamp 17, the first cam bit 18,19 and first motor 20 of camshaft；Institute
Ejection head 6 is stated in the plier of the gripper clamp 17, first cam bit 18 is embedded in the tail end of the gripper clamp 17；It is described
Camshaft 19 is fixedly connected with first cam bit 18；The camshaft 19 is fixed with 20 output shaft of the first motor to be connected
It connects；First cam bit 18 is driven to rotate by the camshaft 19 when first motor 20 rotates, it is described so as to adjust
The opening and closing of 17 tail end of gripper clamp, and then control the opening and closing of the plier.17 tail end of gripper clamp passes through elastic device
21 are connected on the launching cradle 10；The elastic device 21 applies elastic force to 17 tail end of gripper clamp makes the gripper clamp 17
Tail end has the tendency that closure.The gripper clamp 17 includes left clamp arm 22, right clamp arm 23 and pincers axis 24；The left clamp arm 22 and described
Right clamp arm 23 is connected, and the plier of the left clamp arm 22 and the plier of the right clamp arm 23 are oppositely arranged by the pincers axis 24,
The tail end of the left clamp arm 22 and the tail end of the right clamp arm 23 are oppositely arranged；The left clamp arm 22 and the right clamp arm 23
It is rotated around the pincers axis 24.First motor 20 is fixed on motor seat board 25, and the motor seat board 25 is fixed on the bullet
It penetrates in mechanism back plate 16.
The camera 12 is arranged in the ejection mechanism back plate 16, and the camera 12 is towards the ejection mechanism
5 direction of ejection, for aiming at the lash ship 1.
The ejection mechanism 5 further includes hand gear 26, and the hand gear 26 is connect with the camshaft 19；The hand
Dynamic device 26 is used to control the rotation of the camshaft 19 manually.When controlling the ejection mechanism 5 or inapplicable on lash ship 1
When being controlled by the first motor 20, it can be controlled using the hand gear 26.
The material of ejection mechanism 5 is largely aluminium alloy YL12, and the difficult processing part in part and standard component material are stainless steel
316, the gross weight of ejection mechanism 5 is in 2.5KG or so, specific size 600mm*150mm*250mm.
Fig. 6 is the structure chart for the cradle head mechanism that unmanned boat of the present invention lays recovery system embodiment.
Referring to Fig. 6, the cradle head mechanism 7 includes pedestal 27, horizontal direction regulation motor 28, horizontally rotates plate 29, is vertical
Direction regulation motor 30 and vertical rotor plate 31；Horizontal direction regulation motor 28 is fixed on the pedestal 27；Described horizontal turn
Movable plate 29 is fixedly connected by horizontal rotating shaft 32 with the output shaft of the horizontal direction regulation motor 28；The vertical direction is adjusted
Motor 30 is fixedly connected on by fixed plate 33 described to horizontally rotate on plate 29；The vertical rotor plate 31 by vertical shaft with
The output shaft of the vertical direction regulation motor 30 is fixedly connected；The ejection mechanism 5 is fixed on the vertical rotor plate 31.
The size of cradle head mechanism 7 is 200mm*200mm*400mm, quality 5KG.
Fig. 7 is the overall structure figure for the docking mechanism that unmanned boat of the present invention lays recovery system embodiment.
Fig. 8 is the external structure for the docking mechanism that unmanned boat of the present invention lays recovery system embodiment.
Fig. 9 is the internal structure chart for the docking mechanism that unmanned boat of the present invention lays recovery system embodiment.
Referring to Fig. 7, Fig. 8 and Fig. 9, the docking mechanism 8 is included to connect cylinder 35, horn mouth 36 and butt joint fixing device
37；The horn mouth 36 is opening up be installed on it is described to 35 top of connect cylinder, the shape of the horn mouth 36 and the butt joint 3
Shape match, the draught line 9 is fixed on described in connect cylinder 35, it is described right that the butt joint fixing device 37 is installed on
35 side of connect cylinder, for fixing the butt joint 3；The side to 35 top of connect cylinder is provided with the first card interface 38, institute
The narrow end for stating butt joint 3 is provided with the second card interface 39, when the butt joint 3 be docked to it is described in connect cylinder 35 when, described
One card interface 38 is connected with second card interface 39, and the butt joint fixing device 37 is by being caught in first card interface 38
It inside blocks second card interface 39 and realizes the fixation to the butt joint 3.
The butt joint fixing device 37 includes claw 40, the second motor 41, the second cam bit 42 and spring 43；
The claw 40 includes claw front end 44, claw rear end 45 and claw shaft 46；The claw shaft 46 is located at institute
It states between claw front end 44 and the claw rear end 45；The claw front end 44 is corresponding with first card interface 38, for stretching
Enter and second card interface 39 is blocked in first card interface 38；The spring 43 is connect with the claw front end 44, is used for
Holding claw front end 44 makes claw front end 44 stretch into first card interface 38；The output shaft of second motor 41 with it is described
Second cam bit 42 connects, and second cam bit 42 is connected with the claw rear end 45；Second motor 41 it is defeated
Shaft rotation drives second cam bit 42 to rotate, and the claw rear end 45 is made to be rotated around the claw shaft 46, drives institute
Claw front end 44 is stated to rotate around the claw shaft 46.
Specifically, second card interface 39 circumferentially surrounds the butt joint 3 one weeks.
The quantity of the claw 40 is two；Two claws 40 are distributed in the both sides to connect cylinder 35 and set relatively
It puts；A partial gear 47, two incomplete teeth are fixedly connected in the claw shaft 46 of each claw 40
Wheel 47 is oppositely arranged and engaged；When second motor 41 drives one of claw 40 to rotate, by described in two
Partial gear 47 drives another claw 40 to rotate.
3 center of butt joint is axially disposed, and there are one through-holes；The hoist cable 2 and the draught line 9 can be to pass through institutes
State through-hole；The tail end of the hoist cable 2 binds a fixture block 48；The size of the fixture block 48 is more than the size of the through-hole, makes to hang
Rope 2 when slinging the fixture block 48 cannot be introduced into the through-hole, so as to take up the butt joint 3.The draught line 9 and the bullet
The connection for penetrating first 6 is flexible connection；When it is described ejection head 6 be ejected on lash ship 1 when, staff can by draught line 9 from
It is removed on ejection head 6 so that draught line 9 can be to pass through the through-hole of the butt joint 3.
The material of docking mechanism 8 is Stainless steel 316, and gross weight is in 25KG or so, specific size 650mm*450mm*
650mm。
Figure 10 is that unmanned boat of the present invention lays showing for unmanned boat decline process when the unmanned boat of recovery system embodiment is laid
It is intended to.
Figure 11 is that unmanned boat of the present invention is laid after the completion of unmanned boat declines when the unmanned boat of recovery system embodiment is laid time
Receive the schematic diagram of butt joint.
Referring to Figure 10 and Figure 11, before laying, ejection head 6 is embedded in the ejection head clamping device 11 simultaneously in advance
Clamping.During laying, butt joint 3 is docked on docking mechanism 8, and the butt joint 3 is hung so as to by described in by hoist cable 2
Unmanned boat 4 drops on the water surface.In this process, draught line 9 is placed between the gap between butt joint 3 and horn mouth 36.
After the completion of decline, the rotation of the second motor 41 described in remote control makes claw front end 44 unclamp the butt joint 3, then utilizes
Hoist cable 2 slings the recycling that the butt joint 3 is realized in the butt joint 3.
Ejection mechanism aims at lash ship when Figure 12 is the unmanned boat recycling that unmanned boat of the present invention lays recovery system embodiment
Schematic diagram.
Ejection mechanism pop-up ejection head when Figure 13 is the unmanned boat recycling that unmanned boat of the present invention lays recovery system embodiment
Schematic diagram.
Butt joint is glided along draught line when Figure 14 is the unmanned boat recycling that unmanned boat of the present invention lays recovery system embodiment
Schematic diagram.
By butt joint and docking mechanism when Figure 15 is the unmanned boat recycling that unmanned boat of the present invention lays recovery system embodiment
The schematic diagram of docking.
Figure 16 is the schematic diagram that unmanned boat is lifted by crane during the unmanned boat recycling that unmanned boat of the present invention lays recovery system embodiment.
Referring to Figure 12~Figure 16, when unmanned boat 4 recycles, operating procedure is as follows：
A：Ejection mechanism 5 aims at lash ship 1.In this process, aiming to lash ship 1 is realized by being remotely controlled cradle head mechanism 7.Tool
Body is：The sighting angle in the horizontal direction of cradle head mechanism 7 is adjusted by the rotation for being remotely controlled horizontal direction regulation motor 28, is passed through
The sighting angle being remotely controlled on rotation adjusting 7 vertical direction of cradle head mechanism of vertical direction regulation motor 30.Due to cradle head mechanism 7 with
Ejection mechanism back plate 16 is fixedly connected, and camera 12 is fixed in ejection mechanism back plate 16, so adjusting the angle of cradle head mechanism 7
While also correspond to adjustment camera 12 sighted direction and ejection mechanism 5 direction of ejection.Operating personnel on lash ship 1
Whether the image viewing acquired by camera 12 aims at.
B：The pop-up ejection head 6 of ejection mechanism 5.In this process, make the clamping by being remotely controlled the rotation of the first motor 20
The plier of pincers 17 opens, and so as to unclamp the ejection head 6, the ejection head 6 is gone out under the elastic force of ejection rubber band 14 by ejection.
Due to having aimed at the direction of lash ship 1 in advance, the ejection head 6 is ejected on lash ship 1.
C：Butt joint 3 is glided along draught line 9.In this process, first by the staff on lash ship 1 by draught line 9 from
It is disassembled on the ejection head 6, the draught line 9 is then passed through into butt joint 3 from bottom to top.Then draught line 9 is split
The one end unloaded is fixed on lash ship 1 or is reattached on ejection head 6.Control hoist cable 2 declines later, and the butt joint 3 exists
Drop in the horn mouth 36 of the docking mechanism 8 along draught line 9 automatically under gravity.Due to butt joint 3 and horn mouth 36
Shape it is corresponding, butt joint 3 can be realized in the case of not by external force to be bonded with horn mouth 36, makes the second card interface
39 and first card interface 38 to just.
D：Butt joint 3 is docked with docking mechanism 8.In this process, due to the second card interface 39 and the first card interface 38
To just, it is only necessary to be remotely controlled the rotation of the second motor 41, drive cam bit rotation, compressing of the release cam block to claw 40
Power makes claw front end 44 be sticked under the action of spring 43 in first card interface 38 and the second card interface 39, realizes to described right
Docking is completed in the fixation of connector 3.
E：Lift by crane unmanned boat 4.In this process, it is only necessary to hoist cable 2 be controlled to rise, butt joint 3 is driven to rise, butt joint 3
Docking mechanism 8 is driven to rise, docking mechanism 8 drives unmanned boat 4 to rise, and completes the recycling of unmanned boat 4.
Unmanned boat disclosed by the invention lays recovery system, the butt joint 3 that is fixedly connected including the hoist cable 2 with lash ship 1 and
Ejection mechanism 5, ejection head 6, cradle head mechanism 7, docking mechanism 8 and the draught line 9 being installed on unmanned boat 4；The ejection mechanism 5
On the cradle head mechanism 7, the cradle head mechanism 7 is used to adjust the flip angle of the ejection mechanism 5；The draught line
9 one end is fixedly connected with the ejection mechanism 5, and the other end is fixedly connected with ejection head 6；The draught line 9 is used to guide institute
Butt joint 3 is stated to be embedded into the docking mechanism 8；The ejection mechanism 5 is used to the ejection head 6 launching the lash ship 1
On；The docking mechanism 8 is for fixing the butt joint 3, so as to which the unmanned boat 4 is fixed on the hoist cable 2.The present invention
Disclosed unmanned boat lays recovery system, and directly 4 cloth of unmanned boat can be put on the water surface when laying, and traction is utilized in recycling
Butt joint 3 is directed on docking mechanism 8 by line 9, realizes rapid abutting joint, so as to improve the effect for laying recycling of unmanned boat 4
Rate.
Specific case used herein is expounded the principle of the present invention and embodiment, and above example is said
The bright method and its core concept for being merely used to help understand the present invention；Meanwhile for those of ordinary skill in the art, foundation
The thought of the present invention, in specific embodiments and applications there will be changes.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (8)
1. a kind of unmanned boat lays recovery system, which is characterized in that the butt joint that is connect including the hoist cable with lash ship and is installed on
Ejection mechanism, ejection head, cradle head mechanism, docking mechanism and draught line on unmanned boat；The ejection mechanism is mounted on the cloud
In platform mechanism, the cradle head structure is used to adjust the flip angle of the ejection mechanism；One end of the draught line and the bullet
It penetrates mechanism to be fixedly connected, the other end is connect with ejection head；The draught line is embedded into the docking for guiding the butt joint
In mechanism；The ejection mechanism is used for the ejection head ejection to the lash ship；The docking mechanism is for described in fixation
Butt joint, so as to which the unmanned boat is fixed on the hoist cable.
2. a kind of unmanned boat according to claim 1 lays recovery system, which is characterized in that the ejection mechanism includes bullet
Penetrate frame and ejection head clamping device；The launching cradle includes two ejection arms, and ejection skin has been fixedly connected on each ejection arm
Muscle, the tail end of each ejection rubber band are both connected in ejector blade；The ejector blade is described for wrapping the ejection head
Ejection head clamping device makes the ejection rubber band be in tight state for clamping the ejection head and the ejector blade；Bullet
When penetrating, the ejection head clamping device unclamps the ejection head and the ejector blade, and the ejector blade and the ejection rubber band will
In the ejection head ejection to the lash ship.
3. a kind of unmanned boat according to claim 2 lays recovery system, which is characterized in that the ejection head clamping device
Including gripper clamp, the first cam bit, camshaft and the first motor；The ejection head is described in the plier of the gripper clamp
First cam bit is embedded in the tail end of the gripper clamp；The camshaft is fixedly connected with first cam bit；The camshaft
It is fixedly connected with first motor output shaft；First cam is driven by the camshaft during the first motor rotation
Block rotates, and so as to adjust the opening and closing of the gripper clamp tail end, and then controls the opening and closing of the plier.
4. a kind of unmanned boat according to claim 2 lays recovery system, which is characterized in that the ejection mechanism further includes
Camera；The camera towards the ejection mechanism direction of ejection, for aiming at the lash ship.
5. a kind of unmanned boat according to claim 1 lays recovery system, which is characterized in that the cradle head mechanism includes bottom
Seat, horizontally rotates plate, vertical direction regulation motor and vertical rotor plate at horizontal direction regulation motor；Horizontal direction regulation motor
It is fixed on the pedestal；It is described to horizontally rotate plate and be fixedly connected with the output shaft of the horizontal direction regulation motor；It is described perpendicular
Nogata is fixedly connected on to regulation motor described to horizontally rotate on plate；The vertical rotor plate and the vertical direction regulation motor
Output shaft be fixedly connected；The ejection mechanism is fixed on the vertical rotor plate.
6. a kind of unmanned boat according to claim 1 lays recovery system, which is characterized in that the docking mechanism include pair
Connect cylinder, horn mouth and butt joint fixing device；The iiared port is installed on described to connect cylinder top, the horn mouth upward
Shape and the shape of the butt joint match, the draught line is fixed on described in connect cylinder, and dress is fixed in the butt joint
Put be installed on it is described to connect cylinder side, for fixing the butt joint；The side to connect cylinder top is provided with the first card
Interface, the narrow end of the butt joint are provided with the second card interface, when the butt joint be docked to it is described in connect cylinder when, described
One card interface is connected with second card interface, and the butt joint fixing device blocks institute by being caught in first card interface
State fixation of the second card interface realization to the butt joint.
7. a kind of unmanned boat according to claim 6 lays recovery system, which is characterized in that the butt joint fixing device
Including claw, the second motor, the second cam bit and spring；
The claw includes claw front end, claw rear end and claw shaft；The claw shaft is located at the claw front end and institute
It states between claw rear end；The claw front end is corresponding with first card interface, is blocked for stretching into first card interface
Second card interface；The spring is connect with the claw front end, and for holding claw front end, to stretch into claw front end described
In first card interface；The output shaft of second motor is connect with second cam bit, second cam bit and the card
Pawl rear end connects；The output shaft rotation of second motor drives the second cam bit rotation, makes the claw rear end
It is rotated around the claw shaft, the claw front end is driven to be rotated around the claw shaft.
8. a kind of unmanned boat according to claim 7 lays recovery system, which is characterized in that the quantity of the claw is two
It is a；Two claws are distributed in the both sides to connect cylinder and are oppositely arranged；In the claw shaft of each claw
It is fixedly connected with a partial gear, two partial gears are oppositely arranged and engaged；When second motor drives
During dynamic one of claw rotation, another claw is driven to rotate by two partial gears.
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| CN109229284A (en) * | 2018-08-30 | 2019-01-18 | 上海大学 | A kind of unmanned boat automatically lays recovery system |
| CN109353456A (en) * | 2018-11-28 | 2019-02-19 | 国家海洋局第海洋研究所 | A kind of unmanned boat hangs de- hook system and unhook, hook method automatically |
| CN109398649A (en) * | 2018-10-26 | 2019-03-01 | 河海大学 | A kind of water surface recycling UUV device and method based on electromagnetism mushroom head engaging-piece |
| CN110001879A (en) * | 2019-04-10 | 2019-07-12 | 上海大学 | A kind of unmanned plane assistance recycling unmanned boat system |
| CN110723255A (en) * | 2019-10-24 | 2020-01-24 | 上海大学 | Unmanned ship laying and recycling device based on rope parallel robot |
| CN111791987A (en) * | 2020-08-14 | 2020-10-20 | 温岭市绿能机电有限公司 | Recovery device for offshore unmanned ship |
| CN112937769A (en) * | 2021-03-19 | 2021-06-11 | 中国舰船研究设计中心 | Automatic butt joint device for lifting type boat collecting and releasing device |
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| CN112937769A (en) * | 2021-03-19 | 2021-06-11 | 中国舰船研究设计中心 | Automatic butt joint device for lifting type boat collecting and releasing device |
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