CN108163149B - A kind of unmanned boat lays recovery system - Google Patents

A kind of unmanned boat lays recovery system Download PDF

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Publication number
CN108163149B
CN108163149B CN201711403745.2A CN201711403745A CN108163149B CN 108163149 B CN108163149 B CN 108163149B CN 201711403745 A CN201711403745 A CN 201711403745A CN 108163149 B CN108163149 B CN 108163149B
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CN
China
Prior art keywords
ejection
claw
unmanned boat
butt joint
motor
Prior art date
Application number
CN201711403745.2A
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Chinese (zh)
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CN108163149A (en
Inventor
杨扬
陈家鑫
蒲华燕
邵文蕴
刘娜
罗均
彭艳
谢少荣
孙翊
Original Assignee
上海大学
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Application filed by 上海大学 filed Critical 上海大学
Priority to CN201711403745.2A priority Critical patent/CN108163149B/en
Publication of CN108163149A publication Critical patent/CN108163149A/en
Application granted granted Critical
Publication of CN108163149B publication Critical patent/CN108163149B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B23/00Equipment for handling lifeboats or the like
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B23/00Equipment for handling lifeboats or the like
    • B63B23/02Davits, i.e. devices having arms for lowering boats by cables or the like
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B23/00Equipment for handling lifeboats or the like
    • B63B23/40Use of lowering or hoisting gear

Abstract

The present invention discloses a kind of unmanned boat and lays recovery system.It includes the butt joint connecting 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 that the unmanned boat, which lays recovery system,;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 the docking mechanism for guiding the butt joint;The ejection mechanism is used for ejection head ejection to the lash ship;The docking mechanism is for fixing the butt joint, so that the unmanned boat is fixed on the hoist cable.What unmanned boat disclosed by the invention laid that recovery system can be improved unmanned boat lays recovery efficiency.

Description

A kind of unmanned boat lays recovery system

Technical field

The present invention relates to unmanned boat technical fields, lay recovery system more particularly to a kind of unmanned boat.

Background technique

Since the 21th century, the attention with people to marine resources continues to increase the exploitation dynamics of marine resources, And constantly extend to deep-sea, off-lying sea, so that unmanned boat technology be made to be developed rapidly.Currently, 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, when bad environments, unmanned boat cannot achieve the rapid abutting joint with lash ship, and unmanned boat is caused to lay recycling Efficiency it is lower.

Summary of the invention

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 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 and the fixed company of the ejection mechanism It connects, the other end is connect with ejection head;The draught line is embedded into the docking mechanism for guiding the butt joint;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, ejection rubber band is fixedly connected 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 for clamping the ejection head and the ejection Piece makes the ejection rubber band be in tight state;When 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 ejection head ejection to the lash ship.

Optionally, the ejection head clamping device includes gripper clamp, the first cam bit, camshaft and 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 the first motor output shaft;The first motor turns The first cam bit rotation is driven by the camshaft when dynamic, to adjust the opening and closing of the gripper clamp tail end, and then is 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 adjusting motor, horizontally rotates plate, vertical direction adjusting Motor and vertical rotor plate;It is fixed on the base that horizontal direction adjusts motor;It is described to horizontally rotate plate and the level side It is fixedly connected to the output shaft for adjusting motor;The vertical direction adjusting motor horizontally rotates on plate described in being fixedly connected on;Institute It states vertical rotor plate and is fixedly connected with the output shaft that the vertical direction adjusts motor;The ejection mechanism is fixed on described vertical On rotor plate.

Optionally, the docking mechanism includes to the fixed device of connect cylinder, horn mouth and butt joint;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, the draught line is consolidated Be scheduled on it is described in connect cylinder, the fixed device of the butt joint 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 to second card interface, and the butt joint is fixed Device is by being caught in the fixation for blocking the second card interface realization in first card interface to the butt joint.

Optionally, the fixed device of the butt joint 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 protruding into first card interface Block second card interface;The spring is connect with the claw front end, protrudes 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 rotate around the claw shaft.

Optionally, the quantity of the claw is two;Two claws are distributed in two 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 the one of claw rotation of second motor driven, pass through two partial gears Another claw is driven to rotate.

The specific embodiment provided according to the present invention, the invention discloses following technical 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 the docking mechanism for guiding the butt joint;The ejection machine Structure is used for ejection head ejection to the lash ship;The docking mechanism is for fixing the butt joint, thus will be described 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, to mention The high efficiency for laying recycling of unmanned boat.

Detailed description of the invention

It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, 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 invention Example, for those of ordinary skill in the art, without any 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 for the gripper clamp that unmanned boat of the present invention lays recovery system embodiment;

Fig. 5 is the structure chart under the plier closed state for the 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;

Unmanned boat declines showing for process when Figure 10 lays for the unmanned boat that unmanned boat of the present invention lays recovery system embodiment It is intended to;

It is returned after the completion of unmanned boat decline when Figure 11 lays for the unmanned boat that unmanned boat of the present invention lays recovery system embodiment Receive the schematic diagram of butt joint;

Ejection mechanism aims at lash ship when Figure 12 lays the unmanned boat recycling of recovery system embodiment for unmanned boat of the present invention Schematic diagram;

Ejection mechanism pop-up ejection head when Figure 13 lays the unmanned boat recycling of recovery system embodiment for unmanned boat of the present invention Schematic diagram;

Butt joint is glided along draught line when Figure 14 lays the unmanned boat recycling of recovery system embodiment for unmanned boat of the present invention Schematic diagram;

By butt joint and docking mechanism when Figure 15 recycles for the unmanned boat that unmanned boat of the present invention lays recovery system embodiment The schematic diagram of docking;

Figure 16 lays the schematic diagram that unmanned boat is lifted by crane when the unmanned boat recycling of recovery system embodiment for unmanned boat of the present invention.

Appended drawing reference in figure are as follows: 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, 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 adjust motor 28, level Rotor plate 29, vertical direction adjust motor 30, vertical rotor plate 31, horizontal rotating shaft 32, fixed plate 33, vertical shaft 34, docking Cylinder 35, horn mouth 36, the fixed device 37 of butt joint, 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

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other 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, with reference to the accompanying drawing 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 boat Recycling.It includes the butt joint 3 connecting with the hoist cable 2 of lash ship 1 and the bullet being installed on unmanned boat 4 that the unmanned boat, which lays recovery system, 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 for the ejection head 6 ejection to the lash ship 1;The docking mechanism 8 is for fixing The butt joint 3, so that the unmanned boat 4 is fixed on the hoist cable 2.

Unmanned boat of the invention, which lays recovery system the safely and reliably cloth of unmanned boat under 4 grades of sea situations may be implemented, to be 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 for the gripper clamp that unmanned boat of the present invention lays recovery system embodiment.

Fig. 5 is the structure chart under the plier closed state for the gripper clamp that unmanned boat of the present invention lays recovery system embodiment.

Referring to fig. 2~Fig. 5, the ejection mechanism 5 include launching cradle 10, ejection head clamping device 11 and camera 12;Institute Stating launching cradle 10 includes two ejection arms 13, and ejection rubber band 14, each ejection are fixedly connected on each ejection arm 13 The tail end of rubber band 14 is both connected in ejector blade 15;The ejector blade 15 is for wrapping the ejection head 6, the ejection head folder 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 onto 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, camshaft 19 and first motor 20;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 and the fixed company of 20 output shaft of first motor It connects;First cam bit 18 is driven to rotate by the camshaft 19 when the first motor 20 rotates, thus described in adjusting 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, which 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 by the pincers axis 24, and the plier of the left clamp arm 22 and the plier of the right clamp arm 23 are oppositely arranged, 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.The 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 manually control the rotation of the camshaft 19.When controlling the ejection mechanism 5 or not applicable on lash ship 1 When being controlled by first motor 20, it can use the hand gear 26 and controlled.

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 adjusting motor 28, horizontally rotates plate 29, is vertical Direction adjusts motor 30 and vertical rotor plate 31;Horizontal direction adjusts motor 28 and is fixed on the pedestal 27;Described horizontal turn Movable plate 29 is fixedly connected by horizontal rotating shaft 32 with the output shaft that the horizontal direction adjusts 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 that the vertical direction adjusts 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 includes to the fixed device of connect cylinder 35, horn mouth 36 and butt joint 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, and it is described right that the fixed device 37 of the butt joint 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 to second card interface 39, and the fixed device 37 of the butt joint is by being caught in first card interface 38 Inside block fixation of the realization of the second card interface 39 to the butt joint 3.

The fixed device 37 of the butt joint 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 blocks second card interface 39 in first card interface 38;The spring 43 is connect with the claw front end 44, is used for Holding claw front end 44 protrudes into claw front end 44 in first card interface 38;The output shaft of second motor 41 with it is described The connection of second cam bit 42, second cam bit 42 are connected with the claw rear end 45;Second motor 41 it is defeated Shaft rotation drives second cam bit 42 to rotate, and rotates the claw rear end 45 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 two sides to connect cylinder 35 and set relatively It sets;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, described in two Partial gear 47 drives the rotation of another claw 40.

3 center of butt joint is axially disposed a through-hole;The hoist cable 2 and the draught line 9 can pass through institute State through-hole;The tail end of the hoist cable 2 binds a fixture block 48;The size of the fixture block 48 is greater 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, to take up the butt joint 3.The draught line 9 and the bullet First 6 connection is penetrated to be flexibly connected;When the ejection head 6 is ejected on lash ship 1, staff can by draught line 9 from It is removed on ejection head 6, draught line 9 is allowed 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。

Unmanned boat declines showing for process when Figure 10 lays for the unmanned boat that unmanned boat of the present invention lays recovery system embodiment It is intended to.

It is returned after the completion of unmanned boat decline when Figure 11 lays for the unmanned boat that unmanned boat of the present invention lays recovery system embodiment 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, hangs the butt joint 3 by hoist cable 2 thus will be described 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 for remotely controlling second motor 41 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 lays the unmanned boat recycling of recovery system embodiment for unmanned boat of the present invention Schematic diagram.

Ejection mechanism pop-up ejection head when Figure 13 lays the unmanned boat recycling of recovery system embodiment for unmanned boat of the present invention Schematic diagram.

Butt joint is glided along draught line when Figure 14 lays the unmanned boat recycling of recovery system embodiment for unmanned boat of the present invention Schematic diagram.

By butt joint and docking mechanism when Figure 15 recycles for the unmanned boat that unmanned boat of the present invention lays recovery system embodiment The schematic diagram of docking.

Figure 16 lays the schematic diagram that unmanned boat is lifted by crane when the unmanned boat recycling of recovery system embodiment for unmanned boat of the present invention.

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, the aiming to lash ship 1 is realized by remote control cradle head mechanism 7.Tool Body are as follows: the sighting angle in the horizontal direction of cradle head mechanism 7 is adjusted by the rotation that remote control horizontal direction adjusts motor 28, is passed through It is remotely controlled the sighting angle rotated on adjusting 7 vertical direction of cradle head mechanism that vertical direction adjusts 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.Operator 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 first motor 20 The plier of pincers 17 opens, 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 Under gravity automatically along the horn mouth 36 that draught line 9 drops to the docking mechanism 8.Due to butt joint 3 and horn mouth 36 Shape it is corresponding, butt joint 3 may be implemented in the case where not by external force to be bonded with horn mouth 36, make 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 sticks into claw front end 44 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: lifting unmanned boat 4.In this process, it is only necessary to control the rising of hoist cable 2, drive butt joint 3 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 It is mounted 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 for guiding 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 ejection arriving the lash ship 1 On;The docking mechanism 8 is for fixing the butt joint 3, so that 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 utilizes traction in recycling Butt joint 3 is directed on docking mechanism 8 by line 9, realizes rapid abutting joint, to improve the effect for laying recycling of unmanned boat 4 Rate.

Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said It is bright to be merely used to help understand method and its core concept of the invention;At the same time, for those skilled in the art, foundation Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not It is interpreted as limitation of the present invention.

Claims (7)

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 be 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 mechanism 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 ejection head ejection to the lash ship;Described in the docking mechanism is used to fix Butt joint, so that the unmanned boat is fixed on the hoist cable;
The ejection mechanism includes launching cradle and ejection head clamping device;The launching cradle includes two ejection arms, each ejection Ejection rubber band is fixedly connected on arm, the tail end of each ejection rubber band is both connected in ejector blade;The ejector blade is used In wrapping the ejection head, the ejection head clamping device makes described for clamping the ejection head and the ejector blade Ejection rubber band is in tight state;When ejection, the ejection head clamping device unclamps the ejection head and the ejector blade, described Ejector blade and the ejection rubber band launch the ejection head onto the lash ship.
2. a kind of unmanned boat according to claim 1 lays recovery system, which is characterized in that the ejection head clamping device Including gripper clamp, the first cam bit, camshaft and 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 the first motor output shaft;First cam is driven by the camshaft when first motor rotates Block rotation to adjust the opening and closing of the gripper clamp tail end, and then controls the opening and closing of the plier.
3. a kind of unmanned boat according to claim 1 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.
4. a kind of unmanned boat according to claim 1 lays recovery system, which is characterized in that the cradle head mechanism includes bottom Seat, horizontal direction adjust motor, horizontally rotate plate, vertical direction adjusting motor and vertical rotor plate;Horizontal direction adjusts motor It fixes on the base;It is described horizontally rotate plate and the horizontal direction and adjust the output shaft of motor be fixedly connected;It is described perpendicular Histogram described horizontally rotates on plate to adjusting motor and be fixedly connected on;The vertical rotor plate and the vertical direction adjust motor Output shaft be fixedly connected;The ejection mechanism is fixed on the vertical rotor plate.
5. a kind of unmanned boat according to claim 1 lays recovery system, which is characterized in that the docking mechanism includes pair The fixed device of connect cylinder, horn mouth and butt joint;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, the fixed dress of the butt joint Set 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 to second card interface, and the fixed device of the butt joint blocks institute by being caught in first card interface State fixation of the second card interface realization to the butt joint.
6. a kind of unmanned boat according to claim 5 lays recovery system, which is characterized in that the fixed device of the butt joint 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, blocks for protruding into first card interface Second card interface;The spring is connect with the claw front end, and for holding claw front end, to protrude 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 rotate around the claw shaft.
7. a kind of unmanned boat according to claim 6 lays recovery system, which is characterized in that the quantity of the claw is two It is a;Two claws are distributed in the two 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 When moving the rotation of one of claw, another claw is driven to rotate by two partial gears.
CN201711403745.2A 2017-12-22 2017-12-22 A kind of unmanned boat lays recovery system CN108163149B (en)

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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
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
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
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

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