CN110104124A - A kind of automatic distributing and discharging and recovery system of unmanned boat - Google Patents
A kind of automatic distributing and discharging and recovery system of unmanned boat Download PDFInfo
- Publication number
- CN110104124A CN110104124A CN201910274377.9A CN201910274377A CN110104124A CN 110104124 A CN110104124 A CN 110104124A CN 201910274377 A CN201910274377 A CN 201910274377A CN 110104124 A CN110104124 A CN 110104124A
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- screw
- centering
- unmanned boat
- lock
- discharging
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- 238000007599 discharging Methods 0.000 title claims abstract description 24
- 238000011084 recovery Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000007789 sealing Methods 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 9
- 238000012856 packing Methods 0.000 claims description 7
- 230000001050 lubricating effect Effects 0.000 claims description 3
- 230000002459 sustained effect Effects 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims description 2
- 230000006378 damage Effects 0.000 abstract description 7
- 208000027418 Wounds and injury Diseases 0.000 abstract description 3
- 208000014674 injury Diseases 0.000 abstract description 3
- 238000004064 recycling Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 229910000906 Bronze Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000010974 bronze Substances 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The present invention relates to a kind of automatic distributing and discharging of unmanned boat and recovery systems, it is characterised in that: the system comprises scalable guidance lever apparatus (1), telescopic centering body (2), public hanger device (3), retaining mechanism (4), automatic locking (5), taper boom hoistings (6)；Wherein, the scalable guidance lever apparatus (1), telescopic centering body (2), retaining mechanism (4) are installed on the public hanger device (3), the public hanger device (3) is hung on the lifting appliance on lash ship by hoist cable, the automatic locking (5) is mounted on unmanned boat (7) fore body, and the taper boom hoisting (6) is mounted on the hoisting point position of unmanned boat (7)；So as to avoid hook or the attended operation for completing unmanned boat and crane hook in the form of manpower intervention, avoid the case where being easy to appear equipment damage and personal injury when sea situation difference, improve unmanned boat lay and removal process in safety.
Description
Technical field
The present invention relates to unmanned boat control fields, and in particular to a kind of automatic distributing and discharging and recovery system of unmanned boat.
Background technique
As unmanned boat is more and more prominent in the effect of ocean research and military field and status, and in certain fields
The property of can not be substituted, unmanned boat extension and retraction system are also gradually paid attention to by various countries.However in practical application area, how nobody is carried
Ship extension and retraction system improves efficiency of the unmanned boat in removal process, guarantees the safety of unmanned boat, it has also become currently urgently break through
Key technical problem.Currently, laying for unmanned boat with recycling is relied primarily on ship's crane and is realized.Pass through this side
Formula is typically necessary staff in the form of manpower intervention when laying and recycle unmanned boat, complete unmanned boat and crane hook
Hook or attended operation；However the operation mode is affected by stormy waves, be easy to appear when sea situation difference equipment damage and
The case where personal injury.
Summary of the invention
For the deficiencies in the prior art and defect, the present invention provides a kind of automatic distributing and discharging of unmanned boat and recycling is
System.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of automatic distributing and discharging and recovery system of unmanned boat, it is characterised in that: the system comprises scalable guidance lever apparatus, stretch
Contracting formula centering body, public hanger device, retaining mechanism, automatic locking, taper boom hoisting；Wherein, the scalable guidance
Lever apparatus, telescopic centering body, retaining mechanism are installed on the public hanger device, and the public hanger device passes through
Main hoist cable is hung on the lifting appliance on lash ship, and the automatic locking is mounted on unmanned boat fore body, the taper boom hoisting peace
Mounted in the hoisting point position of unmanned boat.
Further, the telescopic centering body is provided with 2, and 2 telescopic centering bodies respectively with institute
State two side contacts of unmanned boat.
Further, the scalable guidance lever apparatus includes first reducing motors, the output of the first reducing motors
Axis sequentially passes through flange, the inside of guide bar support is connect with transmission shaft driven, and the output shaft of the first reducing motors passes through axis
The inside for being supported in the guide bar support is held, is spaced apart between two adjacent rings bearing by the first retaining ring, in the guide rod branch
Lubricating cup is provided on the outside of frame, cylinder barrel is fixedly installed on the guide bar support by the 5th screw of guiding, guiding second packing ring
Lower section, shell are fixedly installed on the lower section of the cylinder barrel by the 6th screw of guiding, the first washer of guiding；Pipe passes through on its own
The boss at end is contacted with the inner wall of the shell, and by be located at pipe lower end and be set to outer casing inner wall the second retaining ring resistance
It is restricted to the inside of shell under gear effect, O-ring is installed on the boss of pipe；The transmission shaft is hollow shaft and is interior flower
Bond structure is equipped with drive rod in the inside of the transmission shaft, and the drive rod is for external splines structure and in the drive rod
Upper end is provided with the second screw of guiding, the external splines structure phase interworking of the internal spline structure of the transmission shaft and the drive rod
It closes；The upper end of screw rod is equipped with third retaining ring by guiding the first screw, and the periphery of the screw rod is provided with external screw thread, inner cylinder
The inner wall for being set to the radial outside of the screw rod and the inner cylinder is provided with internal screw thread, the external screw thread of the screw rod with it is described interior
The internal screw thread of cylinder cooperates；The bottom plate of the drive rod is fixedly connected by guiding third screw with the lower plate of screw rod,
Upper sealing plate positioned at pipe lower end is fixedly connected by the 4th screw of guiding with lower sealing plate, and the radially outer edge of the lower plate is located at
In the annular groove of the upper sealing plate.
Further, the first reducing motors can be rotated forward but also be inverted.
Further, the telescopic centering body includes centering pin shaft, rubber wheel, telescopic arm, the first slide plate, induction
Block, the second slide plate, friction block, rack gear, gear, baffle, the first screw of centering, the second screw of centering, the first washer of centering, second
Decelerating motor, centering third screw, centering second packing ring, the 4th screw of centering, the 5th screw of centering, the first self-lubricating bearing,
Check plate, bolt and basic arm；Wherein, the rubber wheel is mounted on L shape by centering pin shaft and the first self-lubricating bearing and stretches
In the lower bracket of arm；It is respectively arranged with sensor block and the second slide plate in the upper surface of the telescopic arm, the sensor block passes through
The 4th screw of centering is installed on the upper surface of the telescopic arm, is equipped with friction block in the tail portion lower surface of the basic arm,
The both sides of the head face of the telescopic arm is equipped with the first slide plate by the 5th screw of centering, and the rack gear passes through the second spiral shell of centering
Nail, the first washer of centering are fixedly mounted on telescopic arm, and second reducing motors are pacified by centering third screw, centering second packing ring
Mounted in the side of the basic arm, the output shaft of the second reducing motors installs gear by first screw of centering,
One end of the gear is equipped with baffle, and the both ends of pin shaft are also equipped with check plate by bolt in described pair.
Further, the retaining mechanism (4) includes bell jar ontology (4-1), the second self-lubricating bearing, the first pin shaft,
Two pin shafts, connecting rod, locking bracket, bolt, washer, nut, inner ring, lock sleeve, pillar, electric pushrod；Wherein, the second self-lubricating
Bearing is mounted on the periphery of bell jar ontology, is led to respectively on the periphery of bell jar ontology and positioned at the lower section of the second self-lubricating bearing
It crosses bolt, washer and nut and locking bracket is installed, pillar is installed in locking bracket, the outer end of connecting rod passes through the second pin
The upper end of axis and pillar is hinged, and the inner end of connecting rod is hinged by one end of the first pin shaft and lock sleeve, also sets in the upside of connecting rod
Be equipped with electric pushrod, be additionally provided with inner ring in the inner ring of the second self-lubricating bearing, the lock sleeve protrude into the inner ring to
Realize the locking operation of retaining mechanism (4), taper boom hoisting protrudes into the inside of bell jar ontology (4-1) from below.
Further, the setting position of the annular groove of the taper boom hoisting and second self-lubricating bearing, inner ring
Setting position be located at sustained height.
Further, the automatic locking include cover board, lock ontology, spring, spring fixing bolt, manual opening-closing plate,
Keep off tongue, guide rod, mounting rack, bolt, the first screw of lock, the second screw of lock, lock third screw, thin nut, lock spiral shell
It is female；Wherein, the top that cover board is fixed on lock ontology by latching the first screw, gear tongue are arranged by the activity of spring fixing bolt
In on lock ontology, one end that spring fixing bolt stretches out cover board upper surface is equipped with thin nut, and spring is installed on spring and fixes
On bolt, manual opening-closing plate is respectively arranged on the outside of gear tongue, before guide rod is set to lock ontology by buckling nut
At end entrance, lock ontology is fixedly installed on mounting rack by latching the second screw, and mounting rack passes through lock third screw peace
Mounted in unmanned boat fore body, be additionally provided with bolt in the side of guide rod, with for manually open automatic locking when, make keep off tongue due to
It inserts and maintains open configuration always.
Further, the spring selects torsional spring.
The beneficial effects of the present invention are:
(1) when laying unmanned boat, the automatic locking of unmanned boat fore body is first disengaged, discharges scalable guidance lever apparatus, then by mother
Unmanned boat is transported on the outside of the lash ship side of a ship by lifting appliance on ship, reinflated telescopic when unmanned boat is transferred to close to the water surface
Centering body, discharges retaining mechanism, that is, that completes unmanned boat lays operation；When recycling unmanned boat, pass through guidance-centering-lock
Three tight steps realize nobody automatic capture and hook, so as to avoid unmanned boat and lifting is completed in the form of manpower intervention
The hook of machine suspension hook or attended operation avoid the case where being easy to appear equipment damage and personal injury when sea situation difference, improve nothing
People's ship lay and removal process in safety.
(2) it is scalable guidance lever apparatus running part and casing part it is relatively independent, scalable guidance lever apparatus due to
The sealing function of O-ring on pipe can prevent seawater, salt fog etc. from entering internal, improve its corrosion resistant effect；Due to this dress
The scalable effect set, can effectively avoid unmanned boat and unpredictably disengages when laying and recycling because of the heave of waves, to protect
Card unmanned boat lay and removal process in reliability.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is a kind of automatic distributing and discharging of unmanned boat of the present invention and the structural side view of recovery system；
Fig. 2 is a kind of automatic distributing and discharging of unmanned boat of the present invention and the structure top view of recovery system；
Fig. 3 is the structural side view of a kind of automatic distributing and discharging of unmanned boat of the present invention and the scalable guidance lever apparatus of recovery system；
Fig. 4 is the schematic enlarged-scale view in Fig. 3 at the I of position；
Fig. 5 is the schematic enlarged-scale view in Fig. 3 at the II of position；
Fig. 6 is the structure top view of a kind of automatic distributing and discharging of unmanned boat of the present invention and the telescopic centering body of recovery system；
Fig. 7 is from the structural schematic diagram that rubber wheel position obtains in Fig. 6 from another direction；
Fig. 8 is from the structural schematic diagram that second reducing motors position obtains in Fig. 6 from another direction；
Fig. 9 is the structural side view of a kind of automatic distributing and discharging of unmanned boat of the present invention and the telescopic centering body of recovery system；
Figure 10 is the structural side view of a kind of automatic distributing and discharging of unmanned boat of the present invention and the retaining mechanism of recovery system；
Figure 11 is the structural side view of a kind of automatic distributing and discharging of unmanned boat of the present invention and the automatic locking of recovery system；
Figure 12 is the structure top view of a kind of automatic distributing and discharging of unmanned boat of the present invention and the automatic locking of recovery system；
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
As shown in figs. 1-12, the automatic distributing and discharging and recovery system of a kind of unmanned boat, system include scalable guidance lever apparatus
1, telescopic centering body 2, public hanger device 3, retaining mechanism 4, automatic locking 5, taper boom hoisting 6；Wherein, scalable
Guidance lever apparatus 1, telescopic centering body 2, retaining mechanism 4 are installed on public hanger device 3, and public hanger device 3 is logical
It crosses on the lifting appliance that main hoist cable is hung on lash ship, automatic locking 5 is mounted on 7 fore body of unmanned boat, and taper boom hoisting 6 is mounted on
The hoisting point position of unmanned boat 7.
When laying unmanned boat, the automatic locking 5 of unmanned boat fore body is first disengaged, scalable guidance lever apparatus 1 is then discharged,
Unmanned boat 7 is transported on the outside of the lash ship side of a ship by the lifting appliance on lash ship again, when needing to transfer unmanned boat 7, transfers main hoist cable
When making the decentralization of unmanned boat 7 to close to the water surface, reinflated telescopic centering body 2, then retaining mechanism 4 is discharged, nobody can be completed
Ship is laid.
When recycling unmanned boat, first public hanger device 3 is transferred to 2-3m above the water surface, and by scalable guiding bar
Device 1 is extended to maximum, then operates unmanned boat 7, and the automatic locking 5 of unmanned boat fore body is made to collide scalable guidance lever apparatus 1, from
And slide into scalable guidance lever apparatus 1 in the automatic locking 5 of unmanned boat fore body, to scalable guidance lever apparatus 1 completely into
After in automatic locking 5, telescopic centering body 2 will make public hanger device 3 and unmanned boat 7 from maximum position Stepwize Shrink
Hoisting point position alignment；Public hanger device 3 is transferred simultaneously, after the locking of retaining mechanism 4, withdraws scalable guidance lever apparatus 1, when
After the main hoist cable of public hanger device 3 is aligned with the hoisting point position on unmanned boat 7, make the retaining mechanism 4 on public hanger device 3
Fasten the taper boom hoisting 6 on unmanned boat 7；At this point, the movement that system is confirmed as capturing unmanned boat 7 is completed, then unmanned boat 7
It can be recycled in lash ship by main hoist cable.
Specifically, telescopic centering body 2 is provided with 2, and 2 telescopic centering bodies 2 respectively with unmanned boat two
Side contacts, so that guaranteeing can be real by telescopic centering body 2 in fore body to the two sides between hoisting point position of unmanned boat 7
The main hoist cable of existing public hanger device 3 is aligned with the hoisting point position on unmanned boat 7, and then guarantees the lock on public hanger device 3
Tight mechanism 4 fastens the taper boom hoisting 6 on unmanned boat 7, guarantees that centering position location is accurate from two sides.
Specifically, scalable guidance lever apparatus 1 includes first reducing motors 1-20, the output shaft of first reducing motors 1-20
It sequentially passes through flange 1-6, the inside of guide bar support 1-5 and transmission shaft 1-11 to be sequentially connected, the output of first reducing motors 1-20
Axis is supported in the inside of guide bar support 1-5 by bearing 1-14, by between the first retaining ring 1-7 between two adjacent rings bearing 1-14
It separates, lubricating cup 1-16 is provided on the outside of guide bar support 1-5, cylinder barrel 1-9 passes through the 5th screw 1-23 of guiding, the second pad of guiding
Circle 1-24 is fixedly installed on the lower section of guide bar support 1-5, and shell 1-8 passes through the 6th screw 1-28 of guiding, the first washer 1- of guiding
29 are fixedly installed on the lower section of cylinder barrel 1-9；Pipe 1-1 is contacted by the boss 1-21 of its own upper end with the inner wall of shell 1-8, and
By be located at the lower end pipe 1-1 and be set to shell 1-8 inner wall the second retaining ring 1-10 barrier effect under be restricted to shell 1-
8 inside is equipped with O-ring 1-17 on the boss of pipe 1-1；Transmission shaft 1-11 is hollow shaft and is internal spline structure, is being passed
The inside of moving axis 1-11 is equipped with drive rod 1-3, and drive rod 1-3 is external splines structure and is arranged in the upper end of drive rod 1-3
There is the second screw 1-15 of guiding, the external splines structure of the internal spline structure and drive rod 1-3 of stating transmission shaft 1-11 cooperates；Spiral shell
The upper end of bar 1-2 is equipped with third retaining ring 1-12 by guiding the first screw 1-13, and the periphery of screw rod 1-2 is provided with outer spiral shell
Line, inner cylinder 1-22 is set to the radial outside of screw rod 1-2 and the inner wall of inner cylinder 1-22 is provided with internal screw thread, the outer spiral shell of screw rod 1-2
The internal screw thread of line and inner cylinder 1-22 cooperate；The bottom plate 1-25 of drive rod 1-3 passes through guiding third screw 1-18 and screw rod
The lower plate 1-26 of 1-2 is fixedly connected, and the upper sealing plate 1-27 positioned at the lower end pipe 1-1 passes through the 4th screw 1-19 of guiding and lower sealing plate
1-4 is fixedly connected, and the radially outer edge of lower plate 1-26 is located in the annular groove of upper sealing plate 1-27.
The first reducing motors 1-20 of scalable guidance lever apparatus 1 drives transmission shaft 1-11 low speed rotation, drive rod 1-3's
The internal spline of external splines and transmission shaft 1-11 cooperate, so that drive rod 1-3 is driven to rotate synchronously, and due to drive rod 1-3
Bottom plate 1-25 be fixedly connected by guiding third screw 1-18 with the lower plate 1-26 of screw rod 1-2, screw rod 1-2 is also with companion
Step rotation is cooperated while up and down motion in screw rod 1-2 by the external screw thread of screw rod 1-2 and the internal screw thread of inner cylinder 1-22,
Since the radially outer edge of the lower plate 1-26 of screw rod 1-2 is located in the trapezoidal groove of upper sealing plate 1-27, pipe 1-1 is driven to realize up and down
Stretching motion.
Specifically, first reducing motors 1-20 can be rotated forward but also be inverted, and be driven to be driven by first reducing motors
Axis 1-11 is rotated forward and reversion, and then pipe 1-1 is finally driven to realize stretching motion up and down.
Specifically, telescopic centering body 2 includes centering pin shaft 2-1, rubber wheel 2-2, telescopic arm 2-3, the first slide plate 2-
4, sensor block 2-5, the second slide plate 2-6, friction block 2-7, rack gear 2-8, gear 2-9, baffle 2-10, the first screw of centering 2-11,
The second screw of centering 2-12, the first washer of centering 2-13, second reducing motors 2-14, centering third screw 2-15, centering second
Washer 2-16, the 4th screw 2-17 of centering, the 5th screw 2-18 of centering, the first self-lubricating bearing 2-19, check plate 2-20, bolt
2-21 and basic arm 2-22；Wherein, rubber wheel 2-2 is mounted on L shape by centering pin shaft 2-1 and the first self-lubricating bearing 2-19 and stretches
In the lower bracket of contracting arm 2-3；It is respectively arranged with sensor block 2-5 and the second slide plate 2-6 in the upper surface of telescopic arm 2-3, is incuded
Block 2-5 is installed on the upper surface of telescopic arm 2-3 by the 4th screw 2-17 of centering, installs in the tail portion lower surface of basic arm 2-22
Have friction block 2-7, the both sides of the head face of telescopic arm 2-3 by the 5th screw 2-18 the first slide plate 2-4, rack gear are installed
2-8 is fixedly mounted on telescopic arm 2-3 by the second screw of centering 2-12, the first washer of centering 2-13, second reducing motors 2-
14 are mounted on the side of basic arm 2-22, second reducing motors 2- by centering third screw 2-15, centering second packing ring 2-16
14 output shaft installs gear 2-9 by centering the first screw 2-11, baffle 2-10 is equipped in one end of gear 2-9, right
The both ends of middle pin shaft 2-1 are also equipped with check plate 2-20 by bolt 2-21.
The output shaft driven gear 2-9 of second reducing motors 2-14 rotates, and gear 2-9 is by engaging biography with rack gear 2-8
It is dynamic to keep telescopic arm 2-3 flexible along the direction of basic arm 2-22 or retract, while the rubber in the lower bracket of L-shaped telescopic arm 2-3
Rubber tire 2-2 can make telescopic centering body 2 effective protection unmanned boat during to middle work, avoid to unmanned boat 7
Internal two sides damage, the second slide plate 2-6 on telescopic arm 2-3 and rubbing between basic arm 2-22, on basic arm 2-22
Two pairs of sliding friction pairs are formed between cleaning block 2-7 and telescopic arm 2-3, preferably, the material of the second slide plate 2-6 and friction block 2-7
Matter selects casting al-bronze, so as to reduce frictional resistance when telescopic arm 2-3 is slided along basic arm -22, telescopic arm 2-3
On sensor block 2-5 be used for telescopic arm 2-3 extend or retract during by optoelectronic switch limit telescopic arm 2-3 stretching or
The working region of retraction, to control the working range of telescopic centering body 2.
Specifically, retaining mechanism 4 includes bell jar ontology 4-1, the second self-lubricating bearing 4-2, the first pin shaft 4-3, the second pin
Axis 4-4, connecting rod 4-5, locking bracket 4-6, bolt 4-7, washer 4-8, nut 4-9, inner ring 4-10, lock sleeve 4-11, pillar 4-
12, electric pushrod 4-13；Wherein, the second self-lubricating bearing 4-2 is mounted on the periphery of bell jar ontology 4-1, in bell jar ontology 4-1
Periphery on and positioned at the lower section of the second self-lubricating bearing 4-2 pass through bolt 4-7, washer 4-8 and nut 4-9 respectively and be equipped with
Locking bracket 4-6, is equipped with pillar 4-12 on locking bracket 4-6, and the outer end of connecting rod 4-5 passes through the second pin shaft 4-4 and pillar
The upper end of 4-12 is hinged, and the inner end of connecting rod 4-5 is hinged by one end of the first pin shaft 4-3 and lock sleeve 4-11, connecting rod 4-5's
Upside is additionally provided with electric pushrod 4-13, is additionally provided with inner ring 4-10, lock sleeve 4-11 in the inner ring of the second self-lubricating bearing 4-2
It protrudes into inner ring 4-10 and realizes the locking operation of retaining mechanism 4, taper boom hoisting 6 protrudes into bell jar ontology 4-1 from below
Inside.
Specifically, the setting position of the annular groove 61 of taper boom hoisting 6 and the second self-lubricating bearing 4-2, inner ring 4-10
Setting position be located at sustained height, consequently facilitating by the way that lock sleeve 4-11 is protruded into the second inside self-lubricating bearing 4-2
The mode of inner ring 4-10 realizes locking operation of the retaining mechanism 4 to taper boom hoisting 6.
After bell jar ontology 4-1 is aligned with taper boom hoisting 6, electric pushrod 4-13 by electronic mode power source drive
The synchronous realization stretching of lower drive connecting rod 4-5 or retract action are moved, thus by protruding into or receiving out second from profit for lock sleeve 4-11
The mode of inner ring 4-10 in the inside plain besring 4-2 realizes locking operation of the retaining mechanism 4 to taper boom hoisting 6.
Specifically, automatic locking 5 include cover board 5-1, lock ontology 5-2, spring 5-3, spring fixing bolt 5-4, manually
Opening-closing plate 5-5, gear tongue 5-6, guide rod 5-7, mounting rack 5-8, bolt 5-9, the first screw 5-10 of lock, the second screw 5- of lock
11, third screw 5-12, thin nut 5-13, buckling nut 5-14 are latched；Wherein, cover board 5-1 passes through the first screw 5-10 of lock
It is fixed on the top of lock ontology 5-2, gear tongue 5-6 is movably set on lock ontology 5-2 by spring fixing bolt 5-4, bullet
One end that spring fixing bolt 5-4 stretches out the upper surface cover board 5-1 is equipped with thin nut 5-13, and spring 5-3 is installed on the fixed spiral shell of spring
On bolt 5-4, it is respectively arranged with manual opening-closing plate 5-5 on the outside of gear tongue 5-6, guide rod 5-7 is arranged by buckling nut 5-14
At the front end inlet of lock ontology 5-2, lock ontology 5-2 is fixedly installed in mounting rack 5-8 by latching the second screw 5-11
On, mounting rack 5-8 is mounted on unmanned boat fore body by latching third screw 5-12, is additionally provided on cover board 5-1 for limiting
Keep off the bolt 5-9 of the position tongue 5-6.
Unmanned boat 7 is directed at scalable guidance lever apparatus 1 by the electro-optical system of its own, and in the dynamic of unmanned boat 7 itself
Under Force system driving, scalable guidance lever apparatus 1 is actively collided, the gear tongue 5-6 of automatic locking is by along the one of captain direction
After fixed impact force, the effect of spring 5-3 is overcome, thus slide into scalable guidance lever apparatus 1 in the U-type groove of automatic locking 5,
At this point, the torsion that gear tongue 5-6 is subject to disappears, scalable guidance lever apparatus 1 is lockked under the action of spring 5-3, and when needs are released
When putting scalable guidance lever apparatus 1, gear tongue 5-6 is opened using manual opening-closing plate 5-5, bolt 5-9 is inserted into and limits gear tongue 5-6
Position.Specifically, spring 5-3 selects torsional spring.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (9)
1. the automatic distributing and discharging and recovery system of a kind of unmanned boat, it is characterised in that: the system comprises scalable guidance lever apparatus
(1), telescopic centering body (2), public hanger device (3), retaining mechanism (4), automatic locking (5), taper boom hoisting
(6)；Wherein, the scalable guidance lever apparatus (1), telescopic centering body (2), retaining mechanism (4) are installed in the public affairs
Altogether on hanger device (3), the public hanger device (3) is hung on the lifting appliance on lash ship by main hoist cable, described automatic
Lock (5) is mounted on unmanned boat (7) fore body, and the taper boom hoisting (6) is mounted on the hoisting point position of unmanned boat.
2. the automatic distributing and discharging and recovery system of a kind of unmanned boat according to claim 1, it is characterised in that: described telescopic
Centering body (2) is provided with 2, and 2 telescopic centering bodies (2) respectively with two side contacts of the unmanned boat.
3. the automatic distributing and discharging and recovery system of a kind of unmanned boat according to claim 1, it is characterised in that: described scalable
Guiding lever apparatus (1) includes first reducing motors (1-20), and the output shaft of the first reducing motors (1-20) sequentially passes through method
Blue (1-6), the inside of guide bar support (1-5) and transmission shaft (1-11) transmission connection, the first reducing motors (1-20) it is defeated
Shaft is supported in the inside of the guide bar support (1-5) by bearing (1-14), passes through between two adjacent rings bearing (1-14)
First retaining ring (1-7) is spaced apart, and is provided on the outside of the guide bar support (1-5) lubricating cup (1-16), and cylinder barrel (1-9) is by leading
Draw the 5th screw (1-23), guiding second packing ring (1-24) is fixedly installed on the lower section of the guide bar support (1-5), shell (1-
8) lower section of the cylinder barrel (1-9) is fixedly installed on by the 6th screw (1-28) of guiding, guiding the first washer (1-29)；Pipe
(1-1) is contacted by the boss (1-21) of its own upper end with the inner wall of the shell (1-8), and by being located under pipe (1-1)
The inside that shell (1-8) is restricted under the barrier effect of second retaining ring (1-10) of shell (1-8) inner wall is held and is set to,
O-ring (1-17) is installed on the boss of pipe (1-1)；The transmission shaft (1-11) is hollow shaft and is internal spline structure,
The inside of the transmission shaft (1-11) is equipped with drive rod (1-3), and the drive rod (1-3) is for external splines structure and in the biography
The upper end of lever (1-3) be provided with guiding the second screw (1-15), the internal spline structure of the transmission shaft (1-11) with it is described
The external splines structure of drive rod (1-3) cooperates；The upper end of screw rod (1-2) is equipped with by guiding the first screw (1-13)
Third retaining ring (1-12), the periphery of the screw rod (1-2) are provided with external screw thread, and inner cylinder (1-22) is set to the screw rod (1-2)
Radial outside and the inner wall of the inner cylinder (1-22) be provided with internal screw thread, the external screw thread and the inner cylinder of the screw rod (1-2)
The internal screw thread of (1-22) cooperates；The bottom plate (1-25) of the drive rod (1-3) by guiding third screw (1-18) with
The lower plate (1-26) of screw rod (1-2) is fixedly connected, and the upper sealing plate (1-27) for being located at pipe lower end (1-1) passes through the 4th screw of guiding
(1-19) is fixedly connected with lower sealing plate (1-4), and the radially outer edge of the lower plate (1-26) is located at the upper sealing plate (1-27)
Annular groove in.
4. the automatic distributing and discharging and recovery system of a kind of unmanned boat according to claim 3, it is characterised in that: described first subtracts
Speed motor (1-20) can be rotated forward but also be inverted.
5. the automatic distributing and discharging and recovery system of a kind of unmanned boat according to claim 1, it is characterised in that: described telescopic
Centering body (2) includes centering pin shaft (2-1), rubber wheel (2-2), telescopic arm (2-3), the first slide plate (2-4), sensor block (2-
5), the second slide plate (2-6), friction block (2-7), rack gear (2-8), gear (2-9), baffle (2-10), the first screw of centering (2-
11), the second screw of centering (2-12), the first washer of centering (2-13), second reducing motors (2-14), centering third screw (2-
15), centering second packing ring (2-16), the 4th screw (2-17) of centering, the 5th screw (2-18) of centering, the first self-lubricating bearing
(2-19), check plate (2-20), bolt (2-21) and basic arm (2-22)；Wherein, the rubber wheel (2-2) passes through centering pin shaft
(2-1) and the first self-lubricating bearing (2-19) are mounted in the lower bracket of L shape telescopic arm (2-3)；At the telescopic arm (2-3)
Upper surface be respectively arranged with sensor block (2-5) and the second slide plate (2-6), the sensor block (2-5) passes through the 4th screw of centering
(2-17) is installed on the upper surface of the telescopic arm (2-3), is equipped with friction block in the tail portion lower surface of the basic arm (2-3)
(2-7) is equipped with the first slide plate (2-4) by the 5th screw (2-18) of centering in the both sides of the head face of the telescopic arm (2-3),
The rack gear (2-8) is fixedly mounted on telescopic arm (2-3) by the second screw of centering (2-12), the first washer of centering (2-13)
On, second reducing motors (2-14) are mounted on described basic by centering third screw (2-15), centering second packing ring (2-16)
The output shaft of the side of arm (2-22), the second reducing motors (2-14) installs tooth by first screw of centering (2-11)
It takes turns (2-9), baffle (2-10) is installed in one end of the gear (2-9), the both ends of pin shaft (2-1) pass through spiral shell in described pair
Bolt (2-21) is also equipped with check plate (2-20).
6. the automatic distributing and discharging and recovery system of a kind of unmanned boat according to claim 1, it is characterised in that: the locking machine
Structure (4) includes bell jar ontology (4-1), the second self-lubricating bearing (4-2), the first pin shaft (4-3), the second pin shaft (4-4), connecting rod
(4-5), locking bracket (4-6), bolt (4-7), washer (4-8), nut (4-9), inner ring (4-10), lock sleeve (4-11), branch
Column (4-12), electric pushrod (4-13)；Wherein, the second self-lubricating bearing (4-2) is mounted on the periphery of bell jar ontology (4-1),
Pass through bolt (4-7), washer respectively on the periphery of bell jar ontology (4-1) and positioned at the lower section of the second self-lubricating bearing (4-2)
(4-8) and nut (4-9) are equipped with locking bracket (4-6), and pillar (4-12), connecting rod are equipped on locking bracket (4-6)
The outer end of (4-5) is hinged by the second pin shaft (4-4) and the upper end of pillar (4-12), and the inner end of connecting rod (4-5) passes through the first pin
Axis (4-3) and one end of lock sleeve (4-11) are hinged, and electric pushrod (4-13) is additionally provided on the upside of connecting rod (4-5),
The inner ring of two self-lubricating bearings (4-2) is additionally provided with inner ring (4-10), and the lock sleeve (4-11) protrudes into the inner ring (4-10)
In to realize the locking operations of retaining mechanism (4), taper boom hoisting (6) protrudes into the inside of bell jar ontology (4-1) from below.
7. the automatic distributing and discharging and recovery system of a kind of unmanned boat according to claim 6, it is characterised in that: the taper rises
The setting position of the setting position of the annular groove (61) of device for hoisting (6) and second self-lubricating bearing (4-2), inner ring (4-10)
Positioned at sustained height.
8. the automatic distributing and discharging and recovery system of a kind of unmanned boat according to claim 1, it is characterised in that: the automatic lock
Button (5) include cover board (5-1), lock ontology (5-2), spring (5-3), spring fixing bolt (5-4), manual opening-closing plate (5-5),
Keep off tongue (5-6), guide rod (5-7), mounting rack (5-8), bolt (5-9), lock the first screw (5-10), the second screw of lock
(5-11), lock third screw (5-12), thin nut (5-13), buckling nut (5-14)；Wherein, cover board (5-1) passes through lock
First screw (5-10) is fixed on the top of lock ontology (5-2), and gear tongue (5-6) is set by spring fixing bolt (5-4) activity
It is placed on lock ontology (5-2), one end that spring fixing bolt (5-4) stretches out the upper surface cover board (5-1) is equipped with thin nut (5-
13), spring (5-3) is installed on spring fixing bolt (5-4), is respectively arranged with manual opening-closing plate on the outside of gear tongue (5-6)
(5-5), guide rod (5-7) are set at the front end inlet of lock ontology (5-2) by buckling nut (5-14), and ontology is latched
(5-2) is fixedly installed on mounting rack (5-8) by latching the second screw (5-11), and mounting rack (5-8) passes through lock third spiral shell
Nail (5-12) is mounted on unmanned boat fore body, is additionally provided with bolt (5-9) in the side of the guide rod (5-7), for manual
When opening automatic locking, make to keep off tongue (5-6) since bolt (5-9) maintains open configuration always.
9. the automatic distributing and discharging and recovery system of a kind of unmanned boat according to claim 8, it is characterised in that: the spring
(5-3) selects torsional spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910274377.9A CN110104124B (en) | 2019-04-08 | 2019-04-08 | Automatic deployment and recovery system of unmanned ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910274377.9A CN110104124B (en) | 2019-04-08 | 2019-04-08 | Automatic deployment and recovery system of unmanned ship |
Publications (2)
| Publication Number | Publication Date |
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| CN110104124A true CN110104124A (en) | 2019-08-09 |
| CN110104124B CN110104124B (en) | 2024-03-15 |
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ID=67485274
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910274377.9A Active CN110104124B (en) | 2019-04-08 | 2019-04-08 | Automatic deployment and recovery system of unmanned ship |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114261473A (en) * | 2021-12-09 | 2022-04-01 | 武汉理工大学 | Connector mechanism for butt joint of unmanned boat |
| CN117985187A (en) * | 2024-04-03 | 2024-05-07 | 青岛海洋地质研究所 | Unmanned ship launching and throwing equipment based on scientific investigation ship deck |
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| US7264204B1 (en) * | 2005-12-12 | 2007-09-04 | The United States Of America As Represented By The Secretary Of The Navy | Unmanned aerial vehicle catcher |
| CN105540457A (en) * | 2015-12-16 | 2016-05-04 | 上海大学 | Automatic deployment and retrieval system for unmanned surface vehicle |
| CN106218813A (en) * | 2016-08-31 | 2016-12-14 | 国家海洋局第海洋研究所 | Sonar is measured equipment and is laid recovering mechanism under water |
| CN210149502U (en) * | 2019-04-08 | 2020-03-17 | 中船绿洲镇江船舶辅机有限公司 | Automatic laying and recycling system of unmanned boat |
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| US7264204B1 (en) * | 2005-12-12 | 2007-09-04 | The United States Of America As Represented By The Secretary Of The Navy | Unmanned aerial vehicle catcher |
| CN105540457A (en) * | 2015-12-16 | 2016-05-04 | 上海大学 | Automatic deployment and retrieval system for unmanned surface vehicle |
| CN106218813A (en) * | 2016-08-31 | 2016-12-14 | 国家海洋局第海洋研究所 | Sonar is measured equipment and is laid recovering mechanism under water |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114261473A (en) * | 2021-12-09 | 2022-04-01 | 武汉理工大学 | Connector mechanism for butt joint of unmanned boat |
| CN114261473B (en) * | 2021-12-09 | 2023-03-28 | 武汉理工大学 | Connector mechanism for butt joint of unmanned boat |
| CN117985187A (en) * | 2024-04-03 | 2024-05-07 | 青岛海洋地质研究所 | Unmanned ship launching and throwing equipment based on scientific investigation ship deck |
| CN117985187B (en) * | 2024-04-03 | 2024-06-11 | 青岛海洋地质研究所 | Unmanned ship launching and throwing equipment based on scientific investigation ship deck |
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| Publication number | Publication date |
|---|---|
| CN110104124B (en) | 2024-03-15 |
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