CN110104146A - A kind of self-locking underwater robot docking facilities - Google Patents
A kind of self-locking underwater robot docking facilities Download PDFInfo
- Publication number
- CN110104146A CN110104146A CN201910251845.0A CN201910251845A CN110104146A CN 110104146 A CN110104146 A CN 110104146A CN 201910251845 A CN201910251845 A CN 201910251845A CN 110104146 A CN110104146 A CN 110104146A
- Authority
- CN
- China
- Prior art keywords
- pawl
- capturing
- docking facilities
- additionally provided
- self
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- 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
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Abstract
The present invention proposes a kind of self-locking underwater robot docking facilities, the docking facilities include hoist engine and capture pawl, hoist engine is mounted on water surface ship, the inside for capturing pawl is equipped with close to switch and motor, motor connects moved jaw, the inside for capturing pawl is additionally provided with regular jaw, regular jaw is equipped with pressure sensor, the outside for capturing pawl is equipped with underwater sound sensor, the outside for capturing pawl is additionally provided with guide housing, wherein being connected close to switch, underwater sound sensor, motor and pressure sensor with the controller being located on capture pawl.The guide housing includes arcuate guide item, and the end of each arcuate guide item is equipped with directive wheel.The main body for capturing pawl is in cylindrical type, and the outer diameter of guide housing is 3 times for capturing pawl inner major diameter.It is additionally provided with Ballast Tank in the main body for capturing pawl, the outside captured on pawl is additionally provided with water depth sensor, and the motor unit of Ballast Tank is connected with controller, and water depth sensor is connected with controller.
Description
Technical field
The invention belongs to ship-borne equipment field, especially a kind of self-locking underwater robot docking facilities.
Background technique
Autonomous underwater vehicle, English name Unmanned underwater vehicle be nobody drive, by remote control or automatically
The utensil navigated by water under water is controlled, those is referred mainly to instead of diver or manned midget submarine and carries out deep-sea detecting, lifesaving, exclusion
The intellectualizing system of the high risks underwater operation such as submarine mine.
Unmanned underwater vehicle is divided into two major classes at present: drone version (ROV) and from principal mode (AUV).ROV is fastened in host's warship
On ship, persistently controlled by operator；AUV, which can be programmed, to navigate by water to one or more destinations, independent within a predetermined period of time
It fights.AUV carries electric energy, nimbly and freely, therefore is widely used, and is becoming the nova of the following underwater reconnaissance.Both types
UUV be commonly provided with effective load, including sound wave, video camera, environmental sensor, mechanical arm and a kind of submarine mine breaking plant.
Summary of the invention
For in the prior art, structure is complicated for Underwater Docking Device, and the low problem of docking success rate, the present invention proposes one kind
Self-locking underwater robot docking facilities, the technical solution adopted is as follows:
A kind of self-locking underwater robot docking facilities, the docking facilities include hoist engine and capture pawl, and hoist engine is pacified
On water surface ship, the inside for capturing pawl is equipped with close to switch and motor, and motor connects moved jaw, captures the inside of pawl
It is additionally provided with regular jaw, regular jaw is equipped with pressure sensor, and the outside for capturing pawl is equipped with underwater sound sensor, captures the outer of pawl
Portion is additionally provided with guide housing, wherein close to switch, underwater sound sensor, motor and pressure sensor and the controller on capture pawl
It is connected.
Further, the guide housing includes arcuate guide item, and the end of each arcuate guide item is equipped with directive wheel.
Further, the main body for capturing pawl is in cylindrical type, and the outer diameter of guide housing is 3 times for capturing pawl inner major diameter.
Further, it is additionally provided with Ballast Tank in the main body for capturing pawl, captures the outside on pawl and is additionally provided with depth of water biography
The motor unit of sensor, Ballast Tank is connected with controller, and water depth sensor is connected with controller.
Further, the underwater reclaimer further includes haulage equipment, and the haulage equipment is mounted on water surface ship
On guide rail, haulage equipment is for grabbing and carrying the unmanned submarine captured by capture pawl.
It compared with prior art, include capturing pawl and haulage equipment the beneficial effects of the present invention are: docking facilities,
The one end for capturing pawl is equipped with the guide housing with gib block and directive wheel, and the diameter of guide housing is greater than the diameter for capturing pawl main body,
Improve the success rate of docking unmanned submarine.
Detailed description of the invention
Fig. 1 is to capture pawl structural schematic diagram；
Fig. 2 is water surface ship U-type groove schematic diagram；
Fig. 3 is to lay docking facilities front view；
Fig. 4 is to lay docking facilities side view.
Description of symbols:
The communications cable -1 captures pawl -2, underwater sound sensor -3, arcuate guide item -4, directive wheel -5, close to switch -6, electricity
Machine -7, clamp -8, hoist engine -9, portal frame -10, hydraulic cylinder fixed frame -11, first shaft coupling -12, hydraulic cylinder -13, lifting lug -
14, second shaft coupling -15, camber bracket -16, movable pulley -17, capture arm -18, pincers type lock -19.
Specific embodiment
In the present embodiment, propose that a kind of self-locking underwater robot docking facilities, the docking facilities include 9 He of hoist engine
Pawl 2 is captured, hoist engine 9 is mounted on water surface ship, and the inside for capturing pawl 2 is equipped with close to switch 6, motor 7 and clamp 8, electricity
The regular jaw of the moved jaw of 7 connecting clamp 8 of machine, clamp 8 is equipped with pressure sensor, and the outside for capturing pawl 2 is equipped with the underwater sound
Sensor 3, the outside for capturing pawl 2 are additionally provided with guide housing, and the guide housing includes arcuate guide item 4, each arcuate guide item 4
End is equipped with directive wheel 5.
In the present embodiment, the main body for capturing pawl 2 is in cylindrical type, and the outer diameter of guide housing is 3 times for capturing 2 inner major diameter of pawl.
It is additionally provided with Ballast Tank in the main body for capturing pawl 2, the outside captured on pawl 2 is additionally provided with water depth sensor.Ballast Tank
Motor unit, water depth sensor approach switch 6, underwater sound sensor 3, motor 7 and pressure sensor and are located on capture pawl 2
Controller is connected.
In the present embodiment, underwater reclaimer further includes haulage equipment, and the haulage equipment is mounted on leading on water surface ship
On rail, haulage equipment is for grabbing and carrying the unmanned submarine captured by capture pawl 2.
Wherein, the main body of haulage equipment includes portal frame 10 and arc bracket 16, and portal frame 10 and arc bracket 16 are fixed
The bottom end of connection, portal frame 10 and the composition H type bracket of arc bracket 16, portal frame 10 and arc bracket 16 is equipped with movable pulley 17.
Portal frame 10 is equipped with hydraulic cylinder fixed frame 11, and there are two hydraulic cylinders 13, hydraulic cylinder 13 to pass through for installation on hydraulic cylinder fixed frame 11
First shaft coupling 12 is connect with hydraulic cylinder fixed frame 11, and hydraulic cylinder 13 is symmetrically distributed in the two sides of portal frame 10.Capture arm 18
Tail portion be connected on arc bracket 16 by second shaft coupling 15, hydraulic cylinder 13 is crossed the lifting lug 14 for capturing 18 end of arm and is captured
Arm 18 is connected, and captures pincers type lock 19 there are two setting on arm 18.
When recycling, hoist engine 9 will capture pawl 2 and put into water, and controller control captures 2 dive of pawl to specified depth, nothing
People's submarine determines the position for capturing pawl 2 by underwater sound sensor 3, and after unmanned submarine, which drives into, captures pawl 2, controller controls motor
7 movements clamp unmanned submarine by jaw, and after reaching the pressure value of setting, controller is by the communications cable 1 on water surface ship
Control system send information, at this time hoist engine 9 withdraw capture pawl 2, unmanned submarine is located at the water surface when hoist engine 9 stops working
Outside, and at an angle with water surface ship, haulage equipment moves at U-type groove at this time, and pincers type lock 19 is opened, and hydraulic cylinder 13 pushes away
Bar movement, so that capturing arm 18 tilts to specified angle, subsequent pincers type lock 19 is closed, and clamps unmanned submarine, is captured inside pawl
Jaw unclamp, the pushrod movement of hydraulic cylinder 13, so that capturing arm 18 returns to horizontal position, finally, the movement of mobile haulage equipment
To designated position, unmanned submarine is placed on to the clear position of water surface ship.
The technical principle of the invention is described above in combination with a specific embodiment, these descriptions are intended merely to explain of the invention
Technical principle, and shall not be construed in any way as a limitation of the scope of protection of the invention.Based on this explanation, skill in the art
Art personnel do not need to pay for creative labor and can associate other specific embodiments of the invention and fall within the present invention
Protection scope in.
Claims (5)
1. a kind of self-locking underwater robot docking facilities, which is characterized in that docking facilities include hoist engine and capture pawl, elevator
Machine is mounted on water surface ship, and the inside for capturing pawl is equipped with close to switch and motor, and motor connects moved jaw, captures pawl
Inside is additionally provided with regular jaw, and regular jaw is equipped with pressure sensor, and the outside for capturing pawl is equipped with underwater sound sensor, captures pawl
Outside be additionally provided with guide housing, wherein close to switch, underwater sound sensor, motor and pressure sensor and the control being located on capture pawl
Device processed is connected.
2. a kind of self-locking underwater robot docking facilities as described in claim 1, which is characterized in that the guide housing includes arc
The end of shape gib block, each arcuate guide item is equipped with directive wheel.
3. a kind of self-locking underwater robot docking facilities as claimed in claim 2, which is characterized in that the main body for capturing pawl
In cylindrical type, the outer diameter of guide housing is 3 times for capturing pawl inner major diameter.
4. a kind of self-locking underwater robot docking facilities as claimed in claim 3, which is characterized in that the main body for capturing pawl
On be additionally provided with Ballast Tank, the outside captured on pawl is additionally provided with water depth sensor, motor unit and the controller phase of Ballast Tank
Even, water depth sensor is connected with controller.
5. a kind of self-locking underwater robot docking facilities as claimed in claim 4, which is characterized in that the underwater reclaimer
It further include haulage equipment, the haulage equipment is mounted on the guide rail on water surface ship, and haulage equipment is for grabbing and carrying by catching
Catch the unmanned submarine of pawl capture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910251845.0A CN110104146A (en) | 2019-03-29 | 2019-03-29 | A kind of self-locking underwater robot docking facilities |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910251845.0A CN110104146A (en) | 2019-03-29 | 2019-03-29 | A kind of self-locking underwater robot docking facilities |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110104146A true CN110104146A (en) | 2019-08-09 |
Family
ID=67484896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910251845.0A Pending CN110104146A (en) | 2019-03-29 | 2019-03-29 | A kind of self-locking underwater robot docking facilities |
Country Status (1)
| Country | Link |
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| CN (1) | CN110104146A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112960086A (en) * | 2021-02-03 | 2021-06-15 | 吉林大学 | Seat formula AUV is butt joint platform under water |
| CN114789772A (en) * | 2022-04-12 | 2022-07-26 | 株洲中车时代电气股份有限公司 | Docking device for recovering underwater robot, unmanned ship and recovery method |
| CN115042943A (en) * | 2022-06-19 | 2022-09-13 | 西北工业大学 | Dynamic docking and recovering device of underwater vehicle with variable structure |
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| CN114789772A (en) * | 2022-04-12 | 2022-07-26 | 株洲中车时代电气股份有限公司 | Docking device for recovering underwater robot, unmanned ship and recovery method |
| CN115042943A (en) * | 2022-06-19 | 2022-09-13 | 西北工业大学 | Dynamic docking and recovering device of underwater vehicle with variable structure |
| CN115042943B (en) * | 2022-06-19 | 2023-10-27 | 西北工业大学 | Dynamic docking recovery device of underwater vehicle with variable structure |
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