CN110040628B - Submersible vehicle retracting and releasing method - Google Patents
Submersible vehicle retracting and releasing method Download PDFInfo
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- CN110040628B CN110040628B CN201910224287.9A CN201910224287A CN110040628B CN 110040628 B CN110040628 B CN 110040628B CN 201910224287 A CN201910224287 A CN 201910224287A CN 110040628 B CN110040628 B CN 110040628B
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- Prior art keywords
- submersible vehicle
- submersible
- retracting
- control unit
- telescopic platform
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/16—Apparatus engaging vessels or objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
- B66C1/425—Gripping members engaging only the external or internal surfaces of the articles motor actuated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/50—Applications of limit circuits or of limit-switch arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/14—Trolley or crane travel drives
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Ocean & Marine Engineering (AREA)
- Barrages (AREA)
- Underground Or Underwater Handling Of Building Materials (AREA)
Abstract
The invention relates to a method for retracting and releasing a submersible vehicle, wherein an adopted submersible vehicle retracting and releasing device comprises a control unit, a pressure sensor, a power supply unit, an electric drive unit and a retracting and releasing mechanism, wherein the retracting and releasing mechanism comprises a buoyancy base, a support, a telescopic platform, an extension arm and a grabbing arm; the process of arranging the submersible vehicle comprises the following steps: the submersible is fixed on a submersible retracting device, the pressure between a contact plate and the submersible is adjusted to enable the pressure value to be in a safe range, a limiting facility fixes the front end of the submersible, and the retracting device and the submersible are hung on the water surface; the submersible vehicle retracting device drives to a preset water distributing surface; under the effect of the control unit, the extension arm servo motor acts, the extension arm moves forward along the guide rail, the limiting facility leaves the front part of the submersible vehicle, the cable servo motor acts to loosen the cable at the bottom, the telescopic platform moves to the two ends along the horizontal guide rail, the grabbing arm acts along with the telescopic platform, the contact plate leaves the submersible vehicle, and the submersible vehicle floats on the water laying surface.
Description
Technical Field
The invention belongs to the technical field of water surface laying and recovery of underwater vehicles.
Background
The submersible is a movable deep diving device with underwater observation and operation capabilities. The device is mainly used for performing tasks such as underwater investigation, submarine exploration, submarine development and the like. In the service flow of the submersible vehicle, the laying and recovery operation is an extremely important link, particularly the recovery link, and the usability of the underwater unmanned vehicle is directly related.
Most of the submersible vehicles are directly hoisted by a crane or an A-shaped frame based on a mother ship. As the sea operation has larger stormy waves, the submersible vehicle swings along with the sea waves on the water surface, so that the submersible vehicle is dangerous for workers who operate under water, and is inconvenient and efficient. Meanwhile, the structure of the submersible is more and more exquisite, and more types of precision instruments are carried. In particular to a multi-joint submersible vehicle, for example, a recovery device with a cage structure is adopted in the patent of 'a structure-adjustable submersible vehicle hanging point external hanging type arrangement recovery device and method' (patent number: CN106744258A), which is easy to damage a sensor on the surface of the multi-joint submersible vehicle and damage the submersible vehicle. For example, the patent of 'deployment and recovery device of autonomous underwater vehicle' (patent number: 202379064U) only has two groups of grabbing arms and cannot meet the requirement of the recovery and deployment of multi-joint submersible vehicles.
The existing working device cannot meet the requirements for folding and unfolding of a multi-joint submersible vehicle, and meanwhile, in order to improve the working efficiency and safety of folding and unfolding of the submersible vehicle in deep sea, prevent the submersible vehicle from violently swinging in the folding and unfolding process and avoid the submersible vehicle from being impacted, a more advanced submersible vehicle folding and unfolding device and a control method are needed.
Disclosure of Invention
The invention aims to provide a winding and unwinding method on a winding and unwinding device of a submersible vehicle, so as to realize the winding and unwinding of the submersible vehicle, particularly a multi-joint submersible vehicle under a complex sea condition. The clamping force in multiple directions is given to the submersible, the lifting process cannot swing, the submersible surface sensor cannot be damaged, and the safety and the stability are high. The technical scheme adopted by the invention is as follows:
a method for collecting and releasing a submersible vehicle comprises a control unit, a pressure sensor, a power supply unit, an electric drive unit and a collecting and releasing mechanism, wherein the collecting and releasing mechanism comprises a buoyancy base, a door-shaped support, a telescopic platform, an extension arm, a limiting facility and a grabbing arm,
the buoyancy base comprises at least one buoyancy block and at least one hydraulic propeller, and the hydraulic propeller is connected with the buoyancy block and used for realizing the forward movement of the device on the water surface under the control of the control unit.
The support is fixedly connected to the upper portion of the buoyancy base, the horizontal guide rails are arranged above the support, the upper portion of the telescopic platform is arranged on the two horizontal guide rails and can move along with the horizontal guide rails, and the lower portion of the telescopic platform is connected with the plurality of grabbing arms.
The tail end of each grabbing arm is fixedly connected with a contact plate for clamping the submersible vehicle from different directions through the contact plate, and the grabbing arms are driven by a servo motor to realize contraction and expansion motions under the action of a control unit.
The pressure sensor is arranged on the contact surface of the grabbing arm and the submersible vehicle, is used for measuring the pressure value between the grabbing arm contact plate and the submersible vehicle and sends the pressure value to the control unit.
And the control unit is respectively connected with the output end of the pressure sensor, the input end of the electric drive unit and the control end of the power supply unit.
The electric driving unit is composed of servo motors arranged at all positions of the folding and unfolding mechanism, and performs movement under the action of the control unit.
The method for recovering and laying the submersible vehicle comprises the following steps:
the laying process comprises the following steps:
1) the submersible is fixed on a submersible retracting device, the pressure between a contact plate and the submersible is adjusted to ensure that the pressure value is in a safe range, a limiting facility fixes the front end of the submersible, the retracting device and the submersible are hung on the water surface,
2) the submersible vehicle retracting device drives to a preset water distributing surface;
2) under the action of the control unit, the extension arm servo motor acts, the extension arm moves forwards along the guide rail, the limiting facility leaves the front part of the submersible vehicle, the cable servo motor acts to loosen the cable at the bottom, the telescopic platform moves towards two ends along the horizontal guide rail, the grabbing arm acts along with the telescopic platform, the contact plate leaves the submersible vehicle, and the submersible vehicle floats on the water laying surface;
the recovery process comprises the following steps:
1) and after being hoisted, the submersible vehicle retracting device drives to a water area near the submersible vehicle.
2) Under the action of the control unit, the servo motor of the telescopic platform acts, the telescopic platform is opened towards two ends along the guide rail, the grab arms are opened along with the telescopic platform, meanwhile, the cable motor acts, the cable at the bottom is loosened and placed under the water surface, one end of the limiting facility serves as the rear part and sequentially runs over the head and the tail of the submersible vehicle until the head of the submersible vehicle is captured by the limiting facility, the submersible vehicle enters the three pairs of grab arms, and the retraction device stops moving.
3) Under the action of the control unit, the cable servo motor acts, a cable at the bottom contracts to hold the submersible vehicle from the lower part, meanwhile, the telescopic platform servo motor acts, the telescopic platform contracts towards the middle along the guide rail, and the submersible vehicle is fixed by utilizing each grabbing arm; the pressure sensor on the contact plate measures the pressure between the submersible vehicle and the contact plate and sends the pressure to the control unit, and the control unit adjusts the pressure to a reasonable pressure value.
4) And hoisting the submersible vehicle retracting device, and placing the submersible vehicle retracting device at a preset position to finish the recovery process.
Preferably, the gripping arms are in three pairs, two pairs for gripping the submersible vehicle in the lateral direction and one pair for gripping the submersible vehicle between the top and the bottom. An extension arm horizontal guide rail is arranged above the telescopic platform, the extension arm moves along the horizontal guide rail, and the front end of the extension arm droops and is fixedly connected with a limiting facility for limiting the submersible vehicle at the front part. The bracket is a door-shaped bracket. The buoyancy block is made of soft anti-collision material. The device also comprises a remote controller, the control unit is in wireless connection and communication with the remote controller, the remote controller is used for realizing centralized control and information analysis, has the functions of information return and working parameter setting, and is used for checking the return result and the running state of each sensor.
The invention can realize the digital real-time transmission and automatic remote control operation of information in the process of recovering and laying the submersible vehicle, and the sensor monitors the returned information in the whole process, thereby avoiding the launching operation of workers. Compare in traditional cage receiving and releasing device, the surface of latent ware can not be damaged to this device, has high operational reliability simultaneously, improves the efficiency of marine recovery cloth and put latent ware.
The control unit is in wireless connection and communication with the remote controller, can realize centralized control and information analysis, has the functions of information return and working parameter setting, can check the return result and the running state of each sensor in real time through the remote controller, and is convenient and reliable to use.
In order to ensure the working reliability of the device, a wireless signal interruption protection function is added, an interruption overtime function is set in a handshaking signal mode, if the interruption is overtime, return voyage is immediately executed, and the system stops waiting for the next operation instruction in situ until the recovery of a communication signal is detected, so that the reliability of the system is greatly improved.
The invention provides a device for remotely distributing and recovering a submersible vehicle by using a pressure sensor, a power supply unit, a remote controller, a control unit and the like. The remote controller is utilized to realize the flexible movement of the water surface of the retraction mechanism under the action of the control unit, the water surface of the submersible vehicle is captured, and then the retraction mechanism together with the submersible vehicle is hoisted to a deck through a crane of a mother ship, so that the possibility of direct collision between the submersible vehicle and a ship body is avoided, and a surface sensor of the submersible vehicle is protected. Remote control operation, high automation degree, simple and convenient retraction and release, safety and stability. Meanwhile, the difficult problems of laying and recovering the multi-joint submersible vehicle are solved, and the laying and recovering of various submersible vehicles by one device are realized.
Drawings
FIG. 1 is a diagram: a front view of a submersible retraction device;
FIG. 2 is a diagram of: a left view of a submersible retraction device;
FIG. 3 is a diagram of: a top view of a submersible retraction device;
FIG. 4 is a diagram of: a pressure sensor control logic flow diagram;
FIG. 5 is a diagram: a work relation structure block diagram of each module in the control system;
the drawings illustrate the following:
1-buoyancy base 2-door type support 3-telescopic platform 4-guide rail 5-extension arm 6-limiting facility 7-contact plate 8-bottom cable 9-gripping arm 10-pressure sensor module 11-hoisting cable 12-telescopic platform servo motor 13-first gripping arm 14-contact plate 15-second gripping arm 16-third gripping arm 17-buoyancy base buoyancy block 18-hydraulic propeller 19-submersible vehicle
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
A submersible vehicle retraction system is shown in fig. 1 for retrieving and deploying a torpedo-like submersible vehicle 20. The device comprises a control unit, a pressure sensor 10, a power supply unit, an electric drive unit, a remote controller, a retraction mechanism and the like. Wherein the content of the first and second substances,
the jack includes buoyancy base 1, door type support 2, telescopic platform 3, extension arm 5, spacing facility 6, grab arm 9 etc, door type support 2 below fixed connection buoyancy base 1, the top is provided with two horizontal guide rails 4, telescopic platform installs on two horizontal guide rails 4, the telescopic platform below is provided with three pairs of grab arms 9, telescopic platform 3 top is provided with a horizontal guide rail, connect extension arm 5, can realize that the fore-and-aft direction is flexible, the flagging fixed connection spacing facility 6 of 5 front ends of extension arm.
The buoyancy base 1 is composed of four buoyancy blocks 18 and two hydraulic propellers 19, the buoyancy blocks 18 provide buoyancy for the whole retraction device, the retraction device is made of soft anti-collision materials, the submersible vehicle cannot be damaged even if being touched in the retraction process, the buoyancy blocks 18 are distributed at four corners of the bottom of the retraction device, and the door-shaped support 2 is fixed above the buoyancy blocks. Two hydraulic propellers 19 are arranged on two buoyancy blocks 18 behind the retraction mechanism, and the device can move on the water surface under the control of the control unit and the remote controller. The water conservancy propeller mainly comprises a servo motor and a propeller blade, the servo motor is connected with the output end of the power supply unit, and the steering of the device is realized by utilizing the slip of the two servo motors.
The limiting facility 6 is arranged at the front end of the extension arm 5 and used for limiting the front end of the submersible vehicle so that the submersible vehicle can be stably recycled and laid without swinging. The limiting device 6 moves along the guide rail along the extension arm 5 in the front-back direction.
The gripping arm 9 is composed of a first gripping arm 13, a second gripping arm 15, a third gripping arm 17, and a contact plate 14. The first grabbing arm 13 is fixed at the front part of the telescopic platform 3, and the contact plates 14 of the first grabbing arm clamp the submersible vehicle 20 from the left side and the right side; the second grabbing arm 15 is fixed in the middle of the telescopic platform 3, and the contact plates 14 of the second grabbing arm clamp the submersible vehicle 20 from the upper side and the lower side; a third gripper arm 17 is fixed to the rear of the telescopic platform 3, the contact plates 14 of which grip the submersible vehicle 20 from the left and right. The gripping arm 9 is driven by a servo motor, and realizes contraction and expansion movement under the action of the control unit.
The remote controller is arranged on a mother ship, and is operated by a worker to establish bidirectional wireless communication connection with a control unit of the retraction jack, send a control instruction signal and receive information returned by the retraction jack.
The control unit mainly comprises an information processing module and a communication module, wherein the information processing module mainly controls the servo motor to start and stop, compares the pressure value of the pressure sensor 10 with a safety threshold value, and receives an instruction of the remote controller. The communication module is in bidirectional wireless connection with the remote controller, receives information from the mother ship in real time, and simultaneously sends information of the retractable device to the mother ship. The control unit is respectively connected with the output end of the pressure sensor, the input end of the electric drive unit and the control end of the power supply unit to control the operation of the whole device.
The power supply unit mainly comprises a large-capacity storage battery, a cable, a control circuit and the like. The control circuit of the power supply unit is controlled by the control unit. The output end of the storage battery is connected with the servo motors at all positions of the electric drive unit, and the storage battery can be repeatedly charged and discharged to provide electric energy for the whole device.
The pressure sensors 10 are arranged on the contact surface of the gripping arm contact plate 14 and the submersible vehicle 20, 3 groups of 6 pressure sensors are arranged, the pressure value between the gripping arm 9 and the submersible vehicle 20 is measured, the measured information is sent to the information processing module of the control unit in real time at the frequency of 1S, the pressure is compared with the pressure safety threshold value preset by the information processing module, and the working process is shown in the flow chart 4. When the pressure is in the safety range, the telescopic platform servo motor 12 stops acting; when the pressure is lower than the set pressure threshold value, the contact plate of the grabbing arm does not hold the submersible, the telescopic platform contracts, and the contact pressure is increased; when the pressure is higher than the set pressure threshold, the telescopic platform 3 is immediately expanded, and the submersible vehicle is prevented from being damaged due to the fact that the contact pressure is too high.
The electric driving unit is composed of servo motors arranged at each position of the folding and unfolding mechanism, and each servo motor is connected with the output end of the power supply unit and performs movement under the action of the control unit. The water surface movement and all the component actions of the retraction device need to be powered by an electric drive unit.
Fig. 4 shows a structural frame of the working relationship of each component in the submersible vehicle recovery and deployment device, in which the remote controller is in bidirectional wireless connection with the communication module, sends an instruction to the control unit, and receives information. The power supply unit is in bidirectional connection with the information processing module, receives instructions of the control unit, feeds back information of residual electric quantity, transmits electric energy to the servo motor and the pressure sensor under the action of the control unit, and the pressure sensor feeds back a pressure value to the control unit in real time. The electric drive unit is started and stopped under the action of the control unit.
The retractable device can be used for recycling submersible vehicles with different sizes. The contact plate 14 of the grabbing arm 9 of the retracting mechanism can be detached and replaced, and the contact plate with the corresponding size is selected according to the diameter of the submersible vehicle; the distance between the three groups of gripping arms 9 of the retracting mechanism can be freely and flexibly adjusted according to the length of the submersible vehicle. When the length of the submersible vehicle is shorter, the distance between the grabbing arms 9 can be correspondingly reduced; when the submersible vehicle is longer, the distance between the gripping arms 9 is correspondingly enlarged, so that the device has higher retraction flexibility and universality.
The retractable device can better solve the difficult problems of laying and recovering the multi-joint submersible vehicle. The joints of the multi-joint submersible vehicle are made of different materials, and are provided with underwater detection equipment, so that the underwater detection equipment is not stressed under most conditions, and the requirements cannot be met by conventional slideway type arrangement and recovery. The collecting and releasing device can be used for collecting and releasing the submersible vehicles with three sections or below, the distance between the grabbing arms is adjusted according to the size of the submersible vehicle, the contact plate 14 of each group of grabbing arms is clamped at the middle position of each section of the submersible vehicle in the collecting and releasing process, the joint of the submersible vehicle is prevented from being stressed, and therefore the collecting and releasing of the multi-joint submersible vehicle are completed.
The method is particularly directed to a submersible recovery and deployment process, and comprises the following steps:
the laying process comprises the following steps:
1) a worker on the deck of the mother ship fixes the submersible vehicle 20 on the device, adjusts the pressure between the contact plate 14 and the submersible vehicle 20 to ensure that the pressure value is in a safe range, the limit facility 6 fixes the front end of the submersible vehicle, the retractable device and the submersible vehicle 20 are hoisted on the water surface through a crane or an A-shaped frame on the mother ship,
2) the operator operates the remote control to drive the retractable device of the submersible vehicle 20 to a predetermined deployment level.
3) The remote controller sends the instruction of laying out and gives the control unit, under the effect of control unit, 5 servo motor actions of extension arm, extension arm 5 moves to the place ahead along the guide rail, spacing facility 6 leaves the front portion of submarine, the servo motor action of telescopic platform 3 fixed, bottom hawser 8 is loosened slowly, telescopic platform 3 moves to both ends along guide rail 4, grab arm 9 moves along telescopic platform 3, contact plate 7 leaves submarine 20, the submarine floats in the surface of laying out water.
4) The remote controller sends a return command to the control unit, the device is controlled to slowly sail, leave the submersible vehicle 20 and be deployed on the water surface, and drive to the mother ship, and the device is hoisted to a deck through a crane or an A-shaped frame on the mother ship to complete the deployment process.
The recovery process comprises the following steps:
1) the retractable device 20 is hoisted to the water surface near the mother ship by a crane or an A-shaped frame of the mother ship, and the retractable device is driven to the water area near the submersible vehicle 20 by operating a remote controller.
2) The remote controller sends a recovery instruction to the control unit, under the action of the control unit, the telescopic platform servo motor 12 acts, the telescopic platform 3 is opened towards two ends along the guide rail 4, and the grabbing arm 9 is opened along with the telescopic platform servo motor. At the same time, the cable motor acts, the bottom cable 8 is loosened and placed under the water surface. One end of the limit facility 6 is used as the rear of the apparatus. The vehicle sequentially drives through the head and the tail of the submersible vehicle until the head of the submersible vehicle 20 is captured by the limiting facilities 6, the submersible vehicle enters the three pairs of grabbing arms 9, and the retraction device stops moving.
3) Under the action of the control unit, the cable servo motor acts, the bottom cable 8 slowly contracts to catch the submersible vehicle 20 from the lower part, meanwhile, the telescopic platform servo motor 12 acts, the telescopic platform 3 contracts towards the middle along the guide rail 4, then the contact plates 14 of the first and third grabbing arms fix the submersible vehicle 20 from the left side and the right side, and the contact plates of the second grabbing arm fix the submersible vehicle 20 from the upper side and the lower side. The pressure sensor 10 on the contact plate measures the pressure between the submersible vehicle 20 and the contact plate 14 and sends it in real time to the control unit, which adjusts it to a reasonable pressure value.
4) The remote controller sends a return instruction to the control unit, the device is operated to run near the mother ship, the retraction device is lifted by the crane or the A-shaped frame and placed on a deck of the mother ship, and the recovery process is completed.
Claims (6)
1. A method for retracting and releasing a submersible vehicle comprises a control unit, a pressure sensor, a power supply unit, an electric drive unit and a retracting and releasing mechanism, wherein the retracting and releasing mechanism comprises a buoyancy base, a support, a telescopic platform, an extension arm and a grab arm,
the buoyancy base comprises at least one buoyancy block and at least one hydraulic propeller, and the hydraulic propeller is connected with the buoyancy block and used for realizing the forward movement of the device on the water surface under the control of the control unit;
a support is fixedly connected above the buoyancy base, horizontal guide rails are arranged above the support, the upper part of the telescopic platform is arranged on the two horizontal guide rails and can move along with the horizontal guide rails, and the lower part of the telescopic platform is connected with a plurality of grabbing arms;
the tail end of each grabbing arm is fixedly connected with a contact plate for clamping the submersible vehicle from different directions through the contact plate, and the grabbing arms are driven by a servo motor to realize contraction and expansion motions under the action of a control unit;
the pressure sensor is arranged on the contact surface of the grabbing arm and the submersible vehicle, is used for measuring the pressure value between the grabbing arm contact plate and the submersible vehicle and sending the pressure value to the control unit;
the control unit is respectively connected with the output end of the pressure sensor, the input end of the electric drive unit and the control end of the power supply unit;
the electric driving unit is composed of servo motors arranged at all positions of the folding and unfolding mechanism and performs movement under the action of the control unit;
the method for recovering and laying the submersible vehicle comprises the following steps:
the laying process comprises the following steps:
1) the submersible is fixed on a submersible retracting device, the pressure between a contact plate and the submersible is adjusted to enable the pressure value to be in a safe range, a limiting facility fixes the front end of the submersible, and the retracting device and the submersible are hung on the water surface;
2) the submersible vehicle retracting device drives to a preset water distributing surface;
2) under the action of the control unit, the extension arm servo motor acts, the extension arm moves forwards along the guide rail, the limiting facility leaves the front part of the submersible vehicle, the cable servo motor acts to loosen the cable at the bottom, the telescopic platform moves towards two ends along the horizontal guide rail, the grabbing arm acts along with the telescopic platform, the contact plate leaves the submersible vehicle, and the submersible vehicle floats on the water laying surface;
the recovery process comprises the following steps:
1) after the submersible vehicle retracting device is hoisted, driving to a water area near the submersible vehicle;
2) under the action of the control unit, a servo motor of the telescopic platform acts, the telescopic platform stretches towards two ends along the guide rail, the grab arms stretch along with the telescopic platform, meanwhile, a cable motor acts, a cable at the bottom is loosened and placed under the water surface, one end of a limiting facility serves as the rear part and sequentially runs over the head and the tail of the submersible vehicle until the head of the submersible vehicle is captured by the limiting facility, the submersible vehicle enters the three pairs of grab arms, and the retraction device stops moving;
3) under the action of the control unit, the cable servo motor acts, a cable at the bottom contracts to hold the submersible vehicle from the lower part, meanwhile, the telescopic platform servo motor acts, the telescopic platform contracts towards the middle along the guide rail, and the submersible vehicle is fixed by utilizing each grabbing arm; the pressure sensor on the contact plate measures the pressure between the submersible vehicle and the contact plate and sends the pressure to the control unit, and the control unit adjusts the pressure to a reasonable pressure value;
4) and hoisting the submersible vehicle retracting device, and placing the submersible vehicle retracting device at a preset position to finish the recovery process.
2. The method of deploying and retracting of claim 1, wherein the gripping arms are in three pairs, two pairs for laterally gripping the submersible vehicle and one pair for gripping the submersible vehicle between the top and the bottom.
3. The retracting and releasing method of claim 1, wherein an extension arm horizontal guide rail is arranged above the telescopic platform, the extension arm moves along the horizontal guide rail, and a limiting facility is fixedly connected with the front end of the extension arm in a downward hanging mode and used for limiting the submersible vehicle at the front part.
4. The retracting and releasing method according to claim 1, wherein the holder is a gate-type holder.
5. The method of retracting and releasing the motor vehicle according to claim 1, wherein the buoyancy block is made of a soft anti-collision material.
6. The retracting and releasing method according to claim 1, wherein the device further comprises a remote controller, the control unit is in wireless communication with the remote controller, and the remote controller is used for realizing centralized control and information analysis, has the functions of information feedback and working parameter setting, and is used for checking the feedback result and the running state of each pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910224287.9A CN110040628B (en) | 2019-03-22 | 2019-03-22 | Submersible vehicle retracting and releasing method |
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| CN201910224287.9A CN110040628B (en) | 2019-03-22 | 2019-03-22 | Submersible vehicle retracting and releasing method |
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| CN110040628A CN110040628A (en) | 2019-07-23 |
| CN110040628B true CN110040628B (en) | 2020-07-31 |
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| CN111634822A (en) * | 2020-06-30 | 2020-09-08 | 青岛科捷机器人有限公司 | Device for assisting in fastening goods |
| CN112407191B (en) * | 2020-11-04 | 2023-01-24 | 吴凯忠 | Underwater robot surface area salvaging and capturing device and method for ocean engineering exploration |
| CN113636020B (en) * | 2021-06-23 | 2022-06-07 | 上海大学 | Modular docking mechanism for unmanned boat |
| CN113697045A (en) * | 2021-07-20 | 2021-11-26 | 国网山东省电力公司烟台供电公司 | Unmanned ship for laying and recovering underwater vehicle and operation method thereof |
| CN113460273A (en) * | 2021-07-28 | 2021-10-01 | 天津大学 | Submersible vehicle retracting and releasing device with variable structure and retracting and releasing method thereof |
| CN113460244B (en) * | 2021-09-01 | 2022-05-20 | 天津大学 | Laying and recycling device of multi-joint submersible vehicle |
| CN113830268B (en) * | 2021-10-13 | 2022-07-12 | 中国船舶科学研究中心 | Automatic release docking device for manned submersible vehicle and operation method |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4869149A (en) * | 1988-10-06 | 1989-09-26 | The United States Of America As Represented By The Secretary Of The Navy | At-sea recovery handling system |
| CN102381459A (en) * | 2011-08-17 | 2012-03-21 | 无锡荡口通和纺织机械厂 | Auxiliary mechanism for hoisting bathyscaph into and out of water |
| CN207191351U (en) * | 2017-08-16 | 2018-04-06 | 中船华南船舶机械有限公司 | A kind of bathyscaph lays recovery system |
| CN109533237B (en) * | 2017-09-22 | 2020-06-19 | 中国科学院沈阳自动化研究所 | Independent underwater robot cloth is put back single-point and is lifted by crane and ends and swing protection device |
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