CN109383714B - Automatic throwing and recycling device for unmanned underwater vehicle - Google Patents
Automatic throwing and recycling device for unmanned underwater vehicle Download PDFInfo
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- CN109383714B CN109383714B CN201811282983.7A CN201811282983A CN109383714B CN 109383714 B CN109383714 B CN 109383714B CN 201811282983 A CN201811282983 A CN 201811282983A CN 109383714 B CN109383714 B CN 109383714B
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- box
- lifting box
- rectangular frame
- sliding
- moon pool
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- 238000004064 recycling Methods 0.000 title claims abstract description 19
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 claims abstract description 78
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 238000005096 rolling process Methods 0.000 claims description 4
- 238000011084 recovery Methods 0.000 description 10
- 230000004888 barrier function Effects 0.000 description 4
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
- B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Refuse Collection And Transfer (AREA)
- Underground Or Underwater Handling Of Building Materials (AREA)
Abstract
The invention relates to a ship assembly, in particular to an automatic throwing and recycling device for an unmanned underwater vehicle. The device comprises a deck of a ship, and a moon pool is arranged on the deck. The moon pool is characterized in that a supporting plate which is horizontally arranged is arranged above the moon pool, the supporting plate is connected with a deck through a connecting plate, a first day rail is arranged on the supporting plate, one end of the first day rail is located above the moon pool, and the other end of the first day rail is located on one side of the moon pool. There is the slip case on the first day rail, has the first actuating mechanism who is used for driving the slip case along first day rail motion between slip case and the first day rail, and the bottom and the front of slip case are open form, and the front of slip case is along first day rail longitudinal arrangement. The lifting box is arranged in the sliding box, a winch for driving the lifting box to lift up and down is arranged on the sliding box, the front face of the lifting box is opposite to the front face of the sliding box, and the front face of the lifting box is in an open shape. The concealment by using the throwing and recycling device is good.
Description
Technical Field
The invention relates to a ship assembly, in particular to an automatic throwing and recycling device for an unmanned underwater vehicle.
Background
The unmanned underwater vehicle is a recoverable small underwater self-propulsion carrier for underwater reconnaissance, remote control mine hunting, combat and the like, and is an unmanned intelligent small weapon equipment platform which takes a submarine or a surface ship as a supporting platform and can independently and remotely navigate underwater for a long time. At present, the throwing and recycling devices for unmanned underwater vehicles on ships are arranged on the outer side wall of the ship. Therefore, the throwing and recycling device has poor concealment during operation.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automatic throwing and recycling device for an unmanned underwater vehicle, and the throwing and recycling device is good in concealment.
In order to solve the problems, the following technical scheme is provided:
the automatic throwing and recycling device for the unmanned underwater vehicle comprises a deck of a ship, wherein a moon pool is arranged on the deck. The moon pool is characterized in that a supporting plate which is horizontally arranged is arranged above the moon pool, the supporting plate is connected with a deck through a connecting plate, a first day rail is arranged on the supporting plate, one end of the first day rail is located above the moon pool, and the other end of the first day rail is located on one side of the moon pool. There is the slip case on the first day rail, has the first actuating mechanism who is used for driving the slip case along first day rail motion between slip case and the first day rail, and the bottom and the front of slip case are open form, and the front of slip case is along first day rail longitudinal arrangement. The lifting box is arranged in the sliding box, a winch for driving the lifting box to lift up and down is arranged on the sliding box, the front face of the lifting box is opposite to the front face of the sliding box, and the front face of the lifting box is in an open shape.
The connecting plate is an annular coaming, the lower end of the connecting plate is connected with corresponding decks around the moon pool, and the upper end of the connecting plate is connected with the periphery of the supporting plate. The section of the support plate between one end of the first day rail on one side of the moon pool and the connecting plate is provided with a second day rail which is vertical to the first day rail and is positioned on one side of the first day rail corresponding to the front surface of the sliding box. The second antenna rail is provided with a clamping jaw, a second driving mechanism for driving the clamping jaw to move along the second antenna rail is arranged between the second antenna rail and the clamping jaw, and an opening for entering the unmanned underwater vehicle is formed in a connecting plate corresponding to the clamping jaw.
The upper portions of the outer surfaces of the two side walls of the lifting box are respectively provided with a roller group, the roller groups are in rolling fit with the corresponding side walls of the sliding box, the corresponding moon pool walls of the two side walls of the sliding box are respectively provided with a vertical sliding rail, when the sliding box slides to the position right above the moon pool, the two side walls of the lifting box are in one-to-one correspondence with the positions of the two vertical sliding rails of the moon pool, and after the lifting box slides out from the bottom of the sliding box, the roller groups of the two side walls of the lifting box are in one-to-one arrangement with the two vertical sliding rails of the moon pool.
The back of the lifting box is open, a baffle is arranged on the side wall of the moon pool corresponding to the back of the lifting box, and the baffle is matched with the moon pool in an up-down sliding mode.
The bottom plate of the lifting box consists of two bottom plate units, one side of each bottom plate unit is hinged to the bottom of the corresponding side wall of the lifting box, and a lower driving cylinder is hinged between each bottom plate unit and the corresponding side wall of the lifting box; the lifting box is internally provided with a pressing mechanism.
The pressing mechanism comprises a first pressing plate and a second pressing plate, wherein the first pressing plate and the second pressing plate are symmetrically arranged on two sides of the vertical central line of the lifting box, one side of the first pressing plate is hinged to one side wall of the lifting box, a first driving cylinder is arranged between the first pressing plate and the side wall of the lifting box, one side of the second pressing plate is hinged to the other side wall of the lifting box, and a second driving cylinder is arranged between the second pressing plate and the side wall of the lifting box.
The width of the first pressing plate is larger than that of the second pressing plate, and a yielding port for accommodating the second pressing plate is formed in one edge of the first pressing plate far away from the side wall of the lifting box.
The compressing mechanism comprises two compressing units, and the two compressing units are symmetrically arranged on two side walls of the lifting box. The compressing unit comprises a fixed rectangular frame and a movable rectangular frame which are vertically arranged, the heights of the fixed rectangular frame and the movable rectangular frame are the same, the fixed rectangular frame and the movable rectangular frame are arranged side by side, the fixed rectangular frame is fixed on the side wall of the corresponding lifting box, scissor fork type telescopic mechanisms are arranged between corresponding vertical frames of the fixed rectangular frame and the movable rectangular frame, and connecting rods are arranged between corresponding support rods of the two scissor fork type telescopic mechanisms, so that the two scissor fork type telescopic mechanisms are synchronously telescopic. The inner surfaces of the vertical frames of the fixed rectangular frame and the movable rectangular frame are respectively provided with a vertical chute, sliding blocks are arranged in the vertical chutes, the upper ends of support rods at two ends of the scissor-fork type telescopic mechanism are respectively hinged with the corresponding sliding blocks, the lower ends of the support rods at two ends of the scissor-fork type telescopic mechanism are respectively hinged with the lower frames of the corresponding fixed rectangular frame and the movable rectangular frame, and a third driving cylinder is arranged between the connecting rod closest to the fixed rectangular frame and the lower frame of the fixed rectangular frame. One side of the movable rectangular frame far away from the fixed rectangular frame is provided with a pressing frame which is obliquely downwards arranged, and the distance from the upper part of the pressing frame to the corresponding movable rectangular frame is larger than the distance from the lower part of the pressing frame to the corresponding movable rectangular frame.
The walls of the sliding box and the lifting box are hollow.
By adopting the scheme, the method has the following advantages:
the automatic throwing and recycling device for the unmanned underwater vehicle is characterized in that a supporting plate which is horizontally arranged is arranged above a moon pool, the supporting plate is connected with a deck through a connecting plate, a first day rail is arranged on the supporting plate, one end of the first day rail is positioned above the moon pool, the other end of the first day rail is positioned on one side of the moon pool, a sliding box is arranged on the first day rail, a first driving mechanism for driving the sliding box to move along the first day rail is arranged between the sliding box and the first day rail, a lifting box is arranged in the sliding box, and a winch for driving the lifting box to lift up and down is arranged on the sliding box. When the automatic throwing and recycling device works, the unmanned underwater vehicle is thrown and recycled from the moon pool of the ship, and compared with throwing and recycling on the side surface of the ship in the background art, the unmanned underwater vehicle is high in concealment.
Drawings
FIG. 1 is a schematic view of a structure of an automatic throwing and recovering apparatus for an unmanned underwater vehicle according to an embodiment of the present invention (partially cut-away of a support plate and a moon pool);
FIG. 2 is a schematic view of a structure of an embodiment of a lifting box of the automatic throwing and recovering device for an unmanned underwater vehicle;
fig. 3 is a schematic view of a structure in which a slide box in an automatic throwing and recovering apparatus for an unmanned underwater vehicle is located right above a moon pool (first embodiment, a support plate and the moon pool are partially cut away);
fig. 4 is a schematic structural view of a sliding box in the automatic throwing and recovering apparatus for an unmanned underwater vehicle at the bottom of a moon pool (first embodiment, a supporting plate and the moon pool are partially cut away);
FIG. 5 is a schematic structural view of an automatic throwing and recovering apparatus for an unmanned underwater vehicle according to the present invention (partially sectioned support plate and moon pool, top of lift case is hidden);
fig. 6 is a schematic structural view of the lifting box (top of the lifting box is hidden) in the automatic throwing and recovering device for the unmanned underwater vehicle of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Example 1
As shown in fig. 1 and 2, the automatic launching and recovery device for the unmanned underwater vehicle of the present invention comprises a deck 1 of a ship, and a moon pool 12 is provided on the deck 1. The moon pool is characterized in that a supporting plate 5 which is horizontally arranged is arranged above the moon pool 12, the supporting plate 5 is connected with the deck 1 through a connecting plate 2, a first day rail 4 is arranged on the supporting plate 5, one end of the first day rail 4 is located above the moon pool 12, and the other end of the first day rail is located on one side of the moon pool 12. The first day rail 4 is provided with a sliding box 10, a first driving mechanism for driving the sliding box 10 to move along the first day rail 4 is arranged between the sliding box 10 and the first day rail 4, the bottom and the front of the sliding box 10 are open, and the front of the sliding box 10 is longitudinally arranged along the first day rail 4. The sliding box 10 is internally provided with a lifting box 9, the sliding box 10 is provided with a winch for driving the lifting box 9 to lift up and down, the front surface of the lifting box 9 is opposite to the front surface of the sliding box 10, and the front surface of the lifting box 9 is in an open shape.
The connecting plate 2 is an annular coaming, the lower end of the connecting plate is connected with the deck 1 corresponding to the periphery of the moon pool 12, and the upper end of the connecting plate is connected with the periphery of the supporting plate 5. The section of the support plate 5 between one end of the first day rail 4 on one side of the moon pool 12 and the connecting plate 2 is provided with a second day rail 6, the second day rail 6 is perpendicular to the first day rail 4, and the second day rail 6 is positioned on one side of the first day rail 4 corresponding to the front surface of the sliding box 10. The second head rail 6 is provided with a clamping jaw 7, a second driving mechanism for driving the clamping jaw 7 to move along the second head rail 6 is arranged between the second head rail 6 and the clamping jaw 7, and an opening 8 for entering the unmanned underwater vehicle is formed in the connecting plate 2 corresponding to the clamping jaw 7. The improved unmanned underwater vehicle has the advantages that the unmanned underwater vehicle is put in and recycled into indoor operation, and the concealment is further improved.
The upper portions of the outer surfaces of the two side walls of the lifting box 9 are respectively provided with a roller group 17, the roller groups 17 are in rolling fit with the corresponding side walls of the sliding box 10, the walls of the moon pool 12 corresponding to the two side walls of the sliding box 10 are respectively provided with a vertical sliding rail 11, when the sliding box 10 slides to the position right above the moon pool 12, the two side walls of the lifting box 9 are in one-to-one correspondence with the positions of the two vertical sliding rails 11 of the moon pool 12, so that after the lifting box 9 slides out from the bottom of the sliding box 10, the roller groups 17 of the two side walls of the lifting box 9 are in one-to-one correspondence with the two vertical sliding rails 11 of the moon pool 12.
The back of the lifting box 9 is open, a baffle plate 3 is arranged on the side wall of the moon pool 12 corresponding to the back of the lifting box 9, and the baffle plate 3 is matched with the moon pool 12 in an up-and-down sliding mode.
The bottom plate of the lifting box 9 consists of two bottom plate units 19, one side of each bottom plate unit 19 is hinged to the bottom of the corresponding side wall of the lifting box 9, and a lower driving cylinder 20 is hinged between each bottom plate unit 19 and the corresponding side wall of the lifting box 9. The lifting box 9 is internally provided with a pressing mechanism.
The pressing mechanism comprises a first pressing plate 13 and a second pressing plate 16, the first pressing plate 13 and the second pressing plate 16 are symmetrically arranged on two sides of the vertical center line of the lifting box 9, one side of the first pressing plate 13 is hinged to one side wall of the lifting box 9, a first driving cylinder 14 is arranged between the first pressing plate 13 and the side wall of the lifting box 9, one side of the second pressing plate 16 is hinged to the other side wall of the lifting box 9, and a second driving cylinder 18 is arranged between the second pressing plate 16 and the side wall of the lifting box 9.
The width of the first pressing plate 13 is larger than that of the second pressing plate 16, and a yielding opening 15 for accommodating the second pressing plate 16 is formed on one edge of the first pressing plate 13 away from the side wall of the lifting box 9.
The walls of the sliding box 10 and the lifting box 9 are hollow. The advantage of such an improvement is that it facilitates drainage.
During the throwing, the unmanned underwater vehicle is firstly sent into the clamping jaw 7 from the opening 8. Then, the second driving mechanism drives the clamping jaw 7 to drive the unmanned underwater vehicle to move to the side close to the sliding box 10, and the unmanned underwater vehicle is fed into the lifting box 9 from the front side of the sliding box 10 and the front side of the lifting box 9. Next, the slide box 10 and the lift box 9 are driven to slide to just above the moon pool 12 by the first driving mechanism, as shown in fig. 3. Then, the lifting box 9 is driven by the winch to sequentially slide to a lower limit position along the side wall of the sliding box 10 and the vertical sliding rail 11 of the wall of the moon pool 12, and when the roller group 17 slides to the lower limit position along the vertical sliding rail 11, the lower part of the lifting box 9 extends out from the bottom of the moon pool 12 as shown in fig. 4 because the roller group 17 is positioned at the upper part of the side wall of the lifting box 9. After that, the piston rods of the first driving cylinder 14 and the second driving cylinder 18 are extended, and the first pressing plate 13 and the second pressing plate 16 are driven to flip down along the hinge point, so that the first pressing plate 13 and the second pressing plate 16 are folded, and the unmanned underwater vehicle is pressed down. After that, the piston rods of the lower drive cylinders 20 are contracted, and the floor units 19 are turned down along the hinge points, so that the two floor units 19 are opened, thereby forming an opening at the bottom of the lift box 9, and at the same time, the piston rods of the first drive cylinder 14 and the second drive cylinder 18 continue to extend, pushing out the unmanned underwater vehicle from the bottom of the lift box 9. Finally, the unmanned underwater vehicle is started, and the unmanned underwater vehicle is driven out from the bottom of the moon pool 12, so that underwater throwing is completed. The unmanned underwater vehicle is pushed out from the bottom of the lifting box 9 for throwing, so that the unmanned underwater vehicle can be prevented from interfering and colliding with the lifting box 9 and the ship.
In the first recovery mode, the winch drives the roller group 17 to slide to the lower limit position along the vertical sliding rail 11, so that the lower part of the lifting box 9 extends out from the bottom of the moon pool 12. Then, the piston rods of the lower driving cylinders 20 are extended, the floor units 19 are turned upward along the hinge points so that the two floor units 19 are closed, the piston rods of the first driving cylinder 14 and the second driving cylinder 18 are contracted so that the first pressing plate 13 and the second pressing plate 16 are turned upward along the hinge points, the first pressing plate 13 and the second pressing plate 16 are opened, and the barrier 3 is slid downward to the back of the lift box 9. Next, the unmanned underwater vehicle enters from the front of the lift box 9, and stops operating after touching the barrier 3. After that, the piston rods of the first driving cylinder 14 and the second driving cylinder 18 extend, so that the first pressing plate 13 and the second pressing plate 16 are turned downwards along the hinge point, and the first pressing plate 13 and the second pressing plate 16 are folded to tightly press and center the unmanned underwater vehicle. The winch then drives the lifting box 9 to slide from the vertical slide rail 11 into the slide box 10. Then, the first driving mechanism drives the slide box 10 and the lift box 9 to slide to the end of the first track 4 corresponding to the second track 6. Finally, the clamping jaw 7 clamps the unmanned underwater vehicle, the second driving mechanism drives the clamping jaw 7 to send out the unmanned underwater vehicle from the opening 8, and recovery is completed.
In the second recovery mode, the winch drives the roller group 17 to slide to the lower limit position along the vertical sliding rail 11, so that the lower part of the lifting box 9 extends out from the bottom of the moon pool 12. Then, the piston rods of the lower driving cylinders 20 are contracted, the bottom plate units 19 are turned down along the hinge point so that the two bottom plate units 19 are opened, an opening is formed at the bottom of the lift box 9, and the piston rods of the first driving cylinder 14 and the second driving cylinder 18 are extended so that the first pressing plate 13 and the second pressing plate 16 are turned down along the hinge point, and the first pressing plate 13 is in contact with the second pressing plate 16. Then, the unmanned underwater vehicle floats up into the lifting box 9 from the opening at the bottom of the lifting box 9, and stops running after touching the first pressing plate 13 or the second pressing plate 16. After that, the continued piston rods of the first driving cylinder 14 and the second driving cylinder 18 extend, so that the first pressing plate 13 and the second pressing plate 16 are turned downwards along the hinge point, and the first pressing plate 13 and the second pressing plate 16 are folded to compress and center the unmanned underwater vehicle. The winch then drives the lifting box 9 to slide from the vertical slide rail 11 into the slide box 10. Then, the first driving mechanism drives the slide box 10 and the lift box 9 to slide to the end of the first track 4 corresponding to the second track 6. Finally, the clamping jaw 7 clamps the unmanned underwater vehicle, the second driving mechanism drives the clamping jaw 7 to send out the unmanned underwater vehicle from the opening 8, and recovery is completed.
Example two
As shown in fig. 5 and 6, the automatic launching and recovery device for the unmanned underwater vehicle of the present invention comprises a deck 1 of a ship, and a moon pool 12 is provided on the deck 1. The moon pool is characterized in that a supporting plate 5 which is horizontally arranged is arranged above the moon pool 12, the supporting plate 5 is connected with the deck 1 through a connecting plate 2, a first day rail 4 is arranged on the supporting plate 5, one end of the first day rail 4 is located above the moon pool 12, and the other end of the first day rail is located on one side of the moon pool 12. The first day rail 4 is provided with a sliding box 10, a first driving mechanism for driving the sliding box 10 to move along the first day rail 4 is arranged between the sliding box 10 and the first day rail 4, the bottom and the front of the sliding box 10 are open, and the front of the sliding box 10 is longitudinally arranged along the first day rail 4. The sliding box 10 is internally provided with a lifting box 9, the sliding box 10 is provided with a winch for driving the lifting box 9 to lift up and down, the front surface of the lifting box 9 is opposite to the front surface of the sliding box 10, and the front surface of the lifting box 9 is in an open shape.
Wherein, the connecting plate 2 is an annular coaming, the lower end of the connecting plate is connected with the deck 1 corresponding to the periphery of the moon pool 12, and the upper end of the connecting plate is connected with the periphery of the supporting plate 5. The section of the support plate 5 between one end of the first day rail 4 on one side of the moon pool 12 and the connecting plate 2 is provided with a second day rail 6, the second day rail 6 is perpendicular to the first day rail 4, and the second day rail 6 is positioned on one side of the first day rail 4 corresponding to the front surface of the sliding box 10. The second head rail 6 is provided with a clamping jaw 7, a second driving mechanism for driving the clamping jaw 7 to move along the second head rail 6 is arranged between the second head rail 6 and the clamping jaw 7, and an opening 8 for entering the unmanned underwater vehicle is formed in the connecting plate 2 corresponding to the clamping jaw 7.
The upper portions of the outer surfaces of the two side walls of the lifting box 9 are respectively provided with a roller group 17, the roller groups 17 are in rolling fit with the corresponding side walls of the sliding box 10, the walls of the moon pool 12 corresponding to the two side walls of the sliding box 10 are respectively provided with a vertical sliding rail 11, when the sliding box 10 slides to the position right above the moon pool 12, the two side walls of the lifting box 9 are in one-to-one correspondence with the positions of the two vertical sliding rails 11 of the moon pool 12, so that after the lifting box 9 slides out from the bottom of the sliding box 10, the roller groups 17 of the two side walls of the lifting box 9 are in one-to-one correspondence with the two vertical sliding rails 11 of the moon pool 12.
The back of the lifting box 9 is open, a baffle plate 3 is arranged on the side wall of the moon pool 12 corresponding to the back of the lifting box 9, and the baffle plate 3 is matched with the moon pool 12 in an up-and-down sliding mode.
The bottom plate of the lifting box 9 consists of two bottom plate units 19, one side of each bottom plate unit 19 is hinged to the bottom of the corresponding side wall of the lifting box 9, and a lower driving cylinder 20 is hinged between each bottom plate unit 19 and the corresponding side wall of the lifting box 9; the lifting box 9 is internally provided with a pressing mechanism.
The pressing mechanism comprises two pressing units which are symmetrically arranged on two side walls of the lifting box 9. The compressing unit comprises a fixed rectangular frame 25 and a movable rectangular frame 21 which are vertically arranged, the heights of the fixed rectangular frame 25 and the movable rectangular frame 21 are the same, the fixed rectangular frame 25 and the movable rectangular frame 21 are arranged side by side, the fixed rectangular frame 25 is fixed on the side wall of the corresponding lifting box 9, scissors-type telescopic mechanisms 22 are arranged between corresponding vertical frames of the fixed rectangular frame 25 and the movable rectangular frame 21, and connecting rods 23 are arranged between corresponding support rods of the two scissors-type telescopic mechanisms 22, so that the two scissors-type telescopic mechanisms 22 are synchronously telescopic. The inner surfaces of the vertical frames of the fixed rectangular frame 25 and the movable rectangular frame 21 are respectively provided with a vertical chute 26, sliding blocks 27 are respectively arranged in the vertical chute 26, the upper ends of support rods at two ends of the scissor fork type telescopic mechanism 22 are respectively hinged with the corresponding sliding blocks 27, the lower ends of support rods at two ends of the scissor fork type telescopic mechanism 22 are respectively hinged with the lower frames of the corresponding fixed rectangular frame 25 and the movable rectangular frame 21, and a third driving cylinder 24 is arranged between the connecting rod 23 closest to the fixed rectangular frame 25 and the lower frame of the fixed rectangular frame 25. The movable rectangular frame 21 far from the fixed rectangular frame 25 is provided with a pressing frame 28, the pressing frame 28 is arranged obliquely downwards, and the distance from the upper part of the pressing frame 28 to the corresponding movable rectangular frame 21 is larger than the distance from the lower part of the pressing frame 28 to the corresponding movable rectangular frame 21.
The walls of the sliding box 10 and the lifting box 9 are hollow.
During the throwing, the unmanned underwater vehicle is firstly sent into the clamping jaw 7 from the opening 8. Then, the second driving mechanism drives the clamping jaw 7 to drive the unmanned underwater vehicle to move to the side close to the sliding box 10, and the unmanned underwater vehicle is fed into the lifting box 9 from the front side of the sliding box 10 and the front side of the lifting box 9. Next, the slide box 10 and the lift box 9 are driven to slide to just above the moon pool 12 by the first driving mechanism. Then, the lifting box 9 is driven by the winch to sequentially slide to a lower limit position along the side wall of the sliding box 10 and the vertical sliding rail 11 of the wall of the moon pool 12, and as the roller group 17 is positioned at the upper part of the side wall of the lifting box 9, when the roller group 17 slides to the lower limit position along the vertical sliding rail 11, the lower part of the lifting box 9 extends out from the bottom of the moon pool 12. Finally, the unmanned underwater vehicle is started, and the unmanned underwater vehicle is driven out from the bottom of the moon pool 12, so that underwater throwing is completed.
In the first recovery mode, the winch drives the roller group 17 to slide to the lower limit position along the vertical sliding rail 11, so that the lower part of the lifting box 9 extends out from the bottom of the moon pool 12. Then, the piston rods of the lower driving cylinders 20 are extended, and the floor units 19 are flipped up along the hinge points, so that the two floor units 19 are closed, and the barrier 3 is slid down to the rear of the lift box 9. Next, the unmanned underwater vehicle enters from the front of the lift box 9, and stops operating after touching the barrier 3. And then, the piston of the third driving cylinder 24 of the compressing unit extends out to drive the scissor-type telescopic mechanism 22 to extend out, so that the compressing frames 28 of the two compressing units are driven to move towards one side close to each other, and the unmanned underwater vehicle is compressed and centered. The winch then drives the lifting box 9 to slide from the vertical slide rail 11 into the slide box 10. Then, the first driving mechanism drives the slide box 10 and the lift box 9 to slide to the end of the first track 4 corresponding to the second track 6. Finally, the clamping jaw 7 clamps the unmanned underwater vehicle, the second driving mechanism drives the clamping jaw 7 to send out the unmanned underwater vehicle from the opening 8, and recovery is completed.
In the second recovery mode, the winch drives the roller group 17 to slide to the lower limit position along the vertical sliding rail 11, so that the lower part of the lifting box 9 extends out from the bottom of the moon pool 12. Then, the piston rod of the lower drive cylinder 20 is contracted. Then, the unmanned underwater vehicle floats up into the lifting box 9 from the opening at the bottom of the lifting box 9, and stops running after touching the frame 28 to be pressed. And then, the third air cylinders of the two compacting units extend out to drive the compacting frames 28 of the two compacting units to move towards one sides close to each other, so that the unmanned underwater vehicle is compacted and centered. The winch then drives the lifting box 9 to slide from the vertical slide rail 11 into the slide box 10. Then, the first driving mechanism drives the slide box 10 and the lift box 9 to slide to the end of the first track 4 corresponding to the second track 6. Finally, the clamping jaw 7 clamps the unmanned underwater vehicle, the second driving mechanism drives the clamping jaw 7 to send out the unmanned underwater vehicle from the opening 8, and recovery is completed.
Claims (7)
1. The automatic throwing and recycling device for the unmanned underwater vehicle comprises a deck (1) of a ship, wherein a moon pool (12) is arranged on the deck (1); the device is characterized in that a supporting plate (5) which is horizontally arranged is arranged above the moon pool (12), the supporting plate (5) is connected with the deck (1) through a connecting plate (2), a first day rail (4) is arranged on the supporting plate (5), one end of the first day rail (4) is positioned above the moon pool (12), and the other end of the first day rail is positioned at one side of the moon pool (12); the first day rail (4) is provided with a sliding box (10), a first driving mechanism for driving the sliding box (10) to move along the first day rail (4) is arranged between the sliding box (10) and the first day rail (4), the bottom and the front of the sliding box (10) are open, and the front of the sliding box (10) is longitudinally arranged along the first day rail (4); the sliding box (10) is internally provided with a lifting box (9), the sliding box (10) is provided with a winch for driving the lifting box (9) to lift up and down, the front surface of the lifting box (9) is opposite to the front surface of the sliding box (10), and the front surface of the lifting box (9) is in an open shape; the bottom plate of the lifting box (9) consists of two bottom plate units (19), one side of each bottom plate unit (19) is hinged to the bottom of the corresponding side wall of the lifting box (9), and a lower driving cylinder (20) is hinged between each bottom plate unit (19) and the corresponding side wall of the lifting box (9); a pressing mechanism is arranged in the lifting box (9); the pressing mechanism comprises two pressing units which are symmetrically arranged on two side walls of the lifting box (9); the compressing unit comprises a fixed rectangular frame (25) and a movable rectangular frame (21) which are vertically arranged, wherein the fixed rectangular frame (25) and the movable rectangular frame (21) are the same in height and are arranged side by side, the fixed rectangular frame (25) is fixed on the side wall of a corresponding lifting box (9), a scissor type telescopic mechanism (22) is arranged between corresponding vertical frames of the fixed rectangular frame (25) and the movable rectangular frame (21), and connecting rods (23) are arranged between corresponding support rods of the two scissor type telescopic mechanisms (22) so that the two scissor type telescopic mechanisms (22) are synchronously telescopic; the inner surfaces of the vertical frames of the fixed rectangular frame (25) and the movable rectangular frame (21) are respectively provided with a vertical chute (26), sliding blocks (27) are respectively arranged in the vertical chute (26), the upper ends of support rods at the two ends of the scissor-fork type telescopic mechanism (22) are respectively hinged with the corresponding sliding blocks (27), the lower ends of the support rods at the two ends of the scissor-fork type telescopic mechanism (22) are respectively hinged on the lower frames of the corresponding fixed rectangular frame (25) and the movable rectangular frame (21), and a third driving cylinder (24) is arranged between the connecting rod (23) closest to the fixed rectangular frame (25) and the lower frame of the fixed rectangular frame (25); one side of the movable rectangular frame (21) far away from the fixed rectangular frame (25) is provided with a pressing frame (28), the pressing frame (28) is obliquely downwards arranged, and the distance from the upper part of the pressing frame (28) to the corresponding movable rectangular frame (21) is larger than the distance from the lower part of the pressing frame (28) to the corresponding movable rectangular frame (21).
2. The automatic throwing and recycling device for the unmanned underwater vehicle according to claim 1, wherein the connecting plate (2) is an annular coaming, the lower end of the connecting plate is connected with a deck (1) corresponding to the periphery of the moon pool (12), and the upper end of the connecting plate is connected with the periphery of the supporting plate (5); a second day rail (6) is arranged on the section of the support plate (5) between one end of the first day rail (4) at one side of the moon pool (12) and the connecting plate (2), the second day rail (6) is vertical to the first day rail (4), and the second day rail (6) is positioned at one side of the first day rail (4) corresponding to the front side of the sliding box (10); the second antenna rail (6) is provided with a clamping jaw (7), a second driving mechanism for driving the clamping jaw (7) to move along the second antenna rail (6) is arranged between the second antenna rail (6) and the clamping jaw (7), and an opening (8) for entering the unmanned underwater vehicle is formed in a connecting plate (2) corresponding to the clamping jaw (7).
3. The automatic throwing and recycling device for the unmanned underwater vehicle according to claim 1, wherein roller groups (17) are arranged at the upper parts of the outer surfaces of two side walls of the lifting box (9), the roller groups (17) are in rolling fit with the corresponding side walls of the sliding box (10), vertical sliding rails (11) are arranged on the walls of the moon pool (12) corresponding to the two side walls of the sliding box (10), and when the sliding box (10) slides to the position right above the moon pool (12), the two side walls of the lifting box (9) are in one-to-one correspondence with the positions of the two vertical sliding rails (11) of the moon pool (12), so that after the lifting box (9) slides out from the bottom of the sliding box (10), the roller groups (17) of the two side walls of the lifting box (9) are in one-to-one correspondence with the two vertical sliding rails (11) of the moon pool (12).
4. An automatic throwing and recycling device for an unmanned underwater vehicle according to claim 3, wherein the back surface of the lifting box (9) is in an open shape, a baffle plate (3) is arranged on the side wall of the moon pool (12) corresponding to the back surface of the lifting box (9), and the baffle plate (3) is matched with the moon pool (12) in an up-down sliding shape.
5. An automatic throwing and recovering apparatus for an unmanned underwater vehicle as claimed in claim 1, wherein the pressing mechanism comprises a first pressing plate (13) and a second pressing plate (16), the first pressing plate (13) and the second pressing plate (16) are symmetrically arranged on two sides of a vertical center line of the lifting box (9), one side of the first pressing plate (13) is hinged on one side wall of the lifting box (9), a first driving cylinder (14) is arranged between the first pressing plate (13) and the side wall of the lifting box (9), one side of the second pressing plate (16) is hinged on the other side wall of the lifting box (9), and a second driving cylinder (18) is arranged between the second pressing plate (16) and the side wall of the lifting box (9).
6. The automatic throwing and recycling apparatus for an unmanned underwater vehicle according to claim 5, wherein the width of the first pressing plate (13) is larger than that of the second pressing plate (16), and a yielding opening (15) for accommodating the second pressing plate (16) is formed in one side of the first pressing plate (13) far away from the side wall of the lifting box (9).
7. The automatic throwing and recycling apparatus for unmanned underwater vehicle according to any one of claims 1 to 6, wherein the walls of the sliding box (10) and the lifting box (9) are hollow.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811282983.7A CN109383714B (en) | 2018-10-31 | 2018-10-31 | Automatic throwing and recycling device for unmanned underwater vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811282983.7A CN109383714B (en) | 2018-10-31 | 2018-10-31 | Automatic throwing and recycling device for unmanned underwater vehicle |
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| CN109383714B true CN109383714B (en) | 2024-04-02 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110733940A (en) * | 2019-10-29 | 2020-01-31 | 湖北海洋工程装备研究院有限公司 | underwater robot winding and unwinding devices |
| CN110823490B (en) * | 2019-11-20 | 2021-05-11 | 哈尔滨工程大学 | Comprehensive guarantee platform for underwater explosion test of submersible vehicle model |
| CN111252210B (en) * | 2020-03-17 | 2022-03-04 | 汇佳网（天津）科技有限公司 | Unmanned ship auxiliary water inlet recovery device and method |
| CN113501089B (en) | 2021-07-01 | 2022-08-09 | 自然资源部第一海洋研究所 | Box sampling equipment's input and recovery unit |
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Effective date of registration: 20240205 Address after: No.203, Furong Zhongsi Road, Xishan District, Wuxi City, Jiangsu Province, 214000 Applicant after: WUXI HAIHE EQUIPMENT TECHNOLOGY Ltd. Country or region after: China Address before: No. 99, Furong Zhongsi Road, Yunlin street, Xishan Economic Development Zone, Wuxi City, Jiangsu Province, 214000 Applicant before: WUXI DELIN DEFENSE EQUIPMENT Ltd. Country or region before: China |
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