CN110203335A - A kind of unmanned surface vehicle voluntary recall device - Google Patents
A kind of unmanned surface vehicle voluntary recall device Download PDFInfo
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- CN110203335A CN110203335A CN201910475563.9A CN201910475563A CN110203335A CN 110203335 A CN110203335 A CN 110203335A CN 201910475563 A CN201910475563 A CN 201910475563A CN 110203335 A CN110203335 A CN 110203335A
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- 230000002747 voluntary effect Effects 0.000 title claims abstract description 14
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 9
- 230000035807 sensation Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000004064 recycling Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000007 visual 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
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/40—Use of lowering or hoisting gear
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of automation equipments.Purpose is to provide a kind of unmanned surface vehicle voluntary recall device, which should be able to smoothly be recovered to unmanned boat on lash ship.Technical solution is: a kind of unmanned surface vehicle voluntary recall device, including the supervisory control desk being set on lash ship；It is characterized by: the device further includes the first control platform equipped with handgrip, is mounted on revolving platform for drive the hoistable platform of the first control platform vertical shift, being mounted in the second control platform for the revolving platform that drives hoistable platform to move horizontally and be mounted on and be used to drive the second control platform of revolving platform on lash ship；The revolving platform includes the pedestal being fixed in the second control platform, the column being rotatably positioned on pedestal, is fixed at the top of column and the boom of extending transversely, the slide unit that can be slided along the length direction of boom, the swing mechanism for driving column to rotate and the walking mechanism for driving slide unit to slide on boom.
Description
Technical field
The present invention relates to a kind of automation equipments, are specifically related to a kind of unmanned surface vehicle voluntary recall device.
Background technique
Unmanned surface vehicle is that one kind can be in the small-size water surface motion platform of water surface progress autonomous navigation, it can complete ring
The work such as border perception, target acquisition, mapping.In addition, militarily, unmanned surface vehicle for hydrological environment prospecting, clearance,
It is antisubmarine, or even have important purposes in terms of carrying out target strike.Therefore, various countries carry out grinding for unmanned boat technology one after another
Study carefully, and develop the unmanned boat platform of numerous models, has also obtained many applications.
Due to the limitation of cruising ability etc., unmanned boat needs lash ship to recycle it after fixed sea area completion task,
With complementary capabilities, and detected and acquired measurement data etc..However sea situation is complicated, wave of the sea waves unmanned boat not
It is fixed, while lash ship is also waved by wave effect, realizes that the steadily recycling between unmanned boat is extremely difficult.
Summary of the invention
The purpose of the present invention is overcoming the shortcomings of in above-mentioned background technique, a kind of unmanned surface vehicle voluntary recall dress is provided
It sets, which should be able to smoothly be recovered to unmanned boat on lash ship.
The technical scheme is that
A kind of unmanned surface vehicle voluntary recall device, including the supervisory control desk being set on lash ship；It is characterized by: the dress
To set further include the first control platform equipped with handgrip, is mounted on revolving platform for driving the first control platform vertical shift
Hoistable platform is mounted on the revolving platform in the second control platform for driving hoistable platform to move horizontally and is mounted on lash ship
On for driving the second control platform of revolving platform；The revolving platform include the pedestal being fixed in the second control platform,
Be rotatably positioned the column on pedestal, be fixed at the top of column and the boom of extending transversely, can be along the length of boom
Slide unit, the swing mechanism for driving column to rotate and the vehicle with walking machine for driving slide unit to slide on boom of direction sliding
Structure；First control platform and the second control platform are six-degree-of-freedom parallel connection mechanism；The hoistable platform is scissors mechanism；
The supervisory control desk connects first control platform, hoistable platform, revolving platform and the by wired or wireless equipment
Two control platforms.
The six-degree-of-freedom parallel connection mechanism include upper mounting plate, lower platform and be mounted between upper mounting plate and lower platform six
Root telescopic rod.
The swing mechanism includes the turning motor being fixed on the base, the driving gear, coaxial by turning motor driving
It is fixed on the driven gear engaged on column with driving gear；The walking mechanism includes the rack gear and tooth being arranged on boom
Item engagement driving gear, be arranged on slide unit movable motor, to driving gear transmit movable motor power worm and gear
Retarder.
The scissors mechanism includes quadrilateral connecting rod structure and oil pump cylinder structure.
First control platform is equipped with camera, which is connected to supervisory control desk by wired or wireless equipment.
The handgrip is grapple or manipulator.
The beneficial effects of the present invention are:
The Six Degree-of-Freedom Parallel Platform that the present invention uses can effectively eliminate wave of the sea and wave influence caused by lash ship,
The continuous variation for successfully managing unmanned boat position and posture caused by wave of the sea, guarantee handgrip position and posture it is constant,
The Dock With Precision Position for realizing handgrip and unmanned boat hanging ring, provides a Stationary Random Environments for the recycling of unmanned boat；It was recycled in unmanned boat
Cheng Zhong combines the small range of the first control platform to adjust, it is ensured that recycling by the grand movement of revolving platform, hoistable platform
Crawl precision is also ensured while efficiency；Revolving platform, all using rigidly fixing, further ensures tune with hoistable platform
Whole precision.
Detailed description of the invention
Fig. 1 is one of schematic perspective view of the invention.
Fig. 2 is use state diagram of the invention.
Fig. 3 is the structural schematic diagram of the second control platform and swing mechanism in the present invention.
Fig. 4 is the structural schematic diagram of the first control platform, walking mechanism and hoistable platform in the present invention.
Fig. 5 is the structural schematic diagram of six-degree-of-freedom parallel connection mechanism in the present invention.
Specific embodiment
Below in conjunction with Figure of description, the invention will be further described, but the invention is not limited to following embodiments.
As shown in Figure 1, a kind of unmanned surface vehicle voluntary recall device, including the first control platform 1, the second control platform 2,
Hoistable platform 3, revolving platform 4.First control platform is equipped with handgrip 5, and the second control platform is mounted on lash ship, turns round
For driving hoistable platform transverse shifting in the second control platform, hoistable platform is mounted on revolving platform and is used for stage+module
The first control platform is driven to go up and down.
As shown in figure 5, first control platform and the second control platform are six-degree-of-freedom parallel connection mechanism.Described six certainly
Included upper mounting plate 8.1 and lower platform 8.2 arranged up and down by degree parallel institution and is mounted on six between upper mounting plate and lower platform
Root telescopic rod 8.3 (is driven in telescopic rod equipped with motor).The both ends of this six roots of sensation telescopic rod pass through Hooke's hinge respectively, and (Tu Zhong is saved
Slightly) connection upper mounting plate and lower platform, and two adjacent telescopic rods are arranged in V-shaped or inverted v-shaped (every telescopic rod work
For the half of V-shaped, while the half as inverted v-shaped)；As seen from the figure: six roots of sensation telescopic rod is sequentially with V-shaped and inverted v-shaped
It is alternatively arranged, the top of six roots of sensation telescopic rod is located on the circumference of the same circle, and the bottom end of six roots of sensation telescopic rod also is located at another circle
Circumference on, two round sizes are identical.
As shown in figure 3, the revolving platform includes pedestal 4.1, arranges and be rotatably positioned on pedestal vertically
Column 4.2, it is horizontally disposed and be fixed at the top of column boom 4.3, can along the sliding rail on boom slide slide unit 4.4,
Swing mechanism for driving column to rotate and the walking mechanism for driving slide unit to slide.The pedestal is fixed on the second control
On the upper mounting plate of platform processed.The sliding rail arranges that slide unit is equipped with the cunning with sliding rail corresponding matching along the length direction of boom
It takes turns, sliding rail and pulley is omitted in figure.
The swing mechanism includes turning motor 6.1, driving gear 6.2 and driven gear 6.3.The turning motor and bottom
Seat is fixed, and driving gear is driven by turning motor, and driven gear is fixed on column and engages with driving gear.The row
Walk mechanism include the rack gear 7.1 (rack gear be parallel to sliding rail arrangement) being arranged on boom, the driving gear 7.2 being engaged with rack,
Movable motor 7.3 and worm reducer 7.4 in slide unit are set, and worm reducer is driven by movable motor, worm reducer
Output shaft the driving gear is installed.
The hoistable platform is scissors mechanism.The scissors mechanism includes quadrilateral connecting rod component and oil pump oil cylinder group
Part, oil pump cylinder component (omitting in figure) is for driving quadrilateral connecting rod component flexible.The top of the quadrilateral connecting rod component
On slide unit and bottom is mounted on to be mounted on the upper mounting plate of the first control platform.The second control platform is arranged in the handgrip
On lower platform, grapple or manipulator (grapple or manipulator be the prior art) is can be used in handgrip；Obviously, quadrilateral connecting rod component is stretched
When contracting, handgrip moves up and down.The camera 9 of monitoring is additionally provided on the lower platform of second control；The camera
Supervisory control desk is connected to also by wired or wireless equipment.
Six-degree-of-freedom parallel connection mechanism, scissors mechanism, wired and wireless device in the present invention are existing product, can be outer
Purchase obtains.
The present invention is mounted on lash ship, can start to carry out recovery operation, specific works when unmanned boat 10 is close to lash ship
Mode is as follows:
Swing mechanism first turns to boom above sea, then the distal end of walking mechanism Mobile Slide to boom, lifting
Platform falls the first control platform again, and the operator positioned at supervisory control desk observes handgrip using the picture of camera shooting in real time
At a distance from unmanned boat, six-freedom degree is adjusted by the second control platform in real time to stablize position and the posture of boom, simultaneously
Adjust the position of handgrip in real time by walking mechanism and hoistable platform；When being close to certain distance with unmanned boat, walking mechanism
Stop working and lock with hoistable platform, by the first control platform small range adjust handgrip position and posture, make handgrip by
Gradually close to unmanned boat and the hanging ring 10-1 on unmanned boat is hooked, slings unmanned boat finally by hoistable platform and pass through revolving platform
Unmanned boat is recovered on lash ship.
The present invention can also configure Visual Tracking System, automatically control the dynamic of each platform using the image of cam feedback
Make, further increases the accuracy and reliability of crawl unmanned boat.
Claims (6)
1. a kind of unmanned surface vehicle voluntary recall device, including the supervisory control desk being set on lash ship；It is characterized by: the device
It further include that the first control platform (1) equipped with handgrip (5) is mounted on revolving platform for driving the first control platform to move vertically
Dynamic hoistable platform (3) is mounted on revolving platform (4) on the second control platform (2) for driving hoistable platform to move horizontally
And it is mounted on lash ship for driving the second control platform of revolving platform；The revolving platform includes being fixed on the second control
Pedestal (4.1) on platform, the column (4.2) being rotatably positioned on pedestal are fixed at the top of column and extending transversely
Boom (4.3), can along the length direction of boom slide slide unit (4.4), for drive column rotate swing mechanism and
Walking mechanism for driving slide unit to slide on boom；First control platform and the second control platform are six degree of freedom
Parallel institution；The hoistable platform is scissors mechanism；The supervisory control desk connects described first by wired or wireless equipment
Control platform, hoistable platform, revolving platform and the second control platform.
2. a kind of unmanned surface vehicle voluntary recall device according to claim 1, it is characterised in that: the six degree of freedom is simultaneously
Online structure includes upper mounting plate (8.1), lower platform (8.2) and the six roots of sensation telescopic rod being mounted between upper mounting plate and lower platform
(8.3)。
3. a kind of unmanned surface vehicle voluntary recall device according to claim 2, it is characterised in that: the swing mechanism packet
It includes the turning motor (6.1) being fixed on the base, the driving gear (6.2) driven by turning motor, be coaxially fixed on column
The driven gear (6.3) engaged with driving gear；The walking mechanism includes the rack gear (7.1) and rack gear being arranged on boom
The driving gear (7.2) of engagement, the movable motor (7.3) being arranged on slide unit transmit movable motor power to driving gear
Worm type of reduction gearing (7.4).
4. a kind of unmanned surface vehicle voluntary recall device according to claim 3, it is characterised in that: the scissors mechanism packet
Include quadrilateral connecting rod structure and oil pump cylinder structure.
5. a kind of unmanned surface vehicle voluntary recall device according to claim 4, it is characterised in that: first control is flat
Platform is equipped with camera (9), which is connected to supervisory control desk by wired or wireless equipment.
6. a kind of unmanned surface vehicle voluntary recall device according to claim 5, it is characterised in that: the handgrip is grapple
Or manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910475563.9A CN110203335A (en) | 2019-06-03 | 2019-06-03 | A kind of unmanned surface vehicle voluntary recall device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910475563.9A CN110203335A (en) | 2019-06-03 | 2019-06-03 | A kind of unmanned surface vehicle voluntary recall device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110667777A (en) * | 2019-09-17 | 2020-01-10 | 浙江大学 | Sliding cable type foldable laying device applied to underwater robot and laying method thereof |
| CN111846117A (en) * | 2020-07-21 | 2020-10-30 | 哈尔滨理工大学 | Autonomous recovery device and recovery method for unmanned surface vehicle |
| CN113335455A (en) * | 2021-06-23 | 2021-09-03 | 江苏科技大学 | Unmanned ship collecting and releasing system and method |
| CN113636020A (en) * | 2021-06-23 | 2021-11-12 | 上海大学 | Modular docking mechanism for unmanned boat |
| CN113734376A (en) * | 2021-08-16 | 2021-12-03 | 飞马滨(青岛)智能科技有限公司 | Underwater rigid body downward detection device |
| CN114789773A (en) * | 2022-04-25 | 2022-07-26 | 江苏科技大学 | Marine unmanned ship collecting and releasing system based on four-degree-of-freedom hybrid mechanism |
| CN114954793A (en) * | 2022-04-19 | 2022-08-30 | 江苏科技大学 | System and method for high sea state deployment and recovery of unmanned ship |
| CN115027636A (en) * | 2022-07-21 | 2022-09-09 | 上海大学 | High-pressure water jet cleaning equipment based on unmanned ship platform |
| CN114789773B (en) * | 2022-04-25 | 2024-06-28 | 江苏科技大学 | Marine unmanned ship receive and releases system based on four degrees of freedom series-parallel mechanism |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110667777A (en) * | 2019-09-17 | 2020-01-10 | 浙江大学 | Sliding cable type foldable laying device applied to underwater robot and laying method thereof |
| CN111846117A (en) * | 2020-07-21 | 2020-10-30 | 哈尔滨理工大学 | Autonomous recovery device and recovery method for unmanned surface vehicle |
| CN113335455A (en) * | 2021-06-23 | 2021-09-03 | 江苏科技大学 | Unmanned ship collecting and releasing system and method |
| CN113636020A (en) * | 2021-06-23 | 2021-11-12 | 上海大学 | Modular docking mechanism for unmanned boat |
| CN113636020B (en) * | 2021-06-23 | 2022-06-07 | 上海大学 | Modular docking mechanism for unmanned boat |
| CN113335455B (en) * | 2021-06-23 | 2022-07-19 | 江苏科技大学 | Unmanned ship collecting and releasing system and method |
| CN113734376A (en) * | 2021-08-16 | 2021-12-03 | 飞马滨(青岛)智能科技有限公司 | Underwater rigid body downward detection device |
| CN114954793A (en) * | 2022-04-19 | 2022-08-30 | 江苏科技大学 | System and method for high sea state deployment and recovery of unmanned ship |
| CN114789773A (en) * | 2022-04-25 | 2022-07-26 | 江苏科技大学 | Marine unmanned ship collecting and releasing system based on four-degree-of-freedom hybrid mechanism |
| CN114789773B (en) * | 2022-04-25 | 2024-06-28 | 江苏科技大学 | Marine unmanned ship receive and releases system based on four degrees of freedom series-parallel mechanism |
| CN115027636A (en) * | 2022-07-21 | 2022-09-09 | 上海大学 | High-pressure water jet cleaning equipment based on unmanned ship platform |
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