CN110723255A - Unmanned ship laying and recycling device based on rope parallel robot - Google Patents
Unmanned ship laying and recycling device based on rope parallel robot Download PDFInfo
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- CN110723255A CN110723255A CN201911015610.8A CN201911015610A CN110723255A CN 110723255 A CN110723255 A CN 110723255A CN 201911015610 A CN201911015610 A CN 201911015610A CN 110723255 A CN110723255 A CN 110723255A
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- mounting plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/40—Use of lowering or hoisting gear
- B63B23/48—Use of lowering or hoisting gear using winches for boat handling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/40—Use of lowering or hoisting gear
- B63B23/48—Use of lowering or hoisting gear using winches for boat handling
- B63B23/52—Use of lowering or hoisting gear using winches for boat handling with control of winches from boat
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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses an unmanned ship laying and recovering device based on a rope parallel robot, which relates to the technical field of unmanned ship laying and recovering and comprises a robot, a butt joint device and a controller, wherein the robot comprises an upper mounting plate, a middle mounting plate, a lower mounting plate, an adjusting cylinder, a connecting piece and at least three adjusting components, each adjusting component comprises a guide bracket, a rope guide, an adjusting rope, a winding device, a connecting bracket and a camera, the upper mounting plate, the middle mounting plate and the lower mounting plate are sequentially arranged from top to bottom, and a cylinder rod of the adjusting cylinder extends to the lower part of the lower mounting plate; the docking device comprises a guide device and a cylinder rod clamping device and is used for being installed on a ship board of the unmanned ship, and a sensing device is installed below the guide device; the adjusting cylinder, the winding device, the camera, the cylinder rod clamping device and the sensing device are all connected with the controller. The device is fast in butt joint speed and good in environmental adaptability, automatic laying and recycling of the unmanned boat are achieved, and laying and recycling efficiency is improved.
Description
Technical Field
The invention relates to the technical field of unmanned boat deployment and recovery, in particular to an unmanned boat deployment and recovery device based on a rope parallel robot.
Background
In the 21 st century of rapid development of science and technology, with the progress of science and technology and the shortage of land resources, people pay more attention to ocean resources, the development strength is increased continuously, and the development is carried out continuously to deeper and wider oceans. At present, the unmanned ship technology is widely applied to the fields of military, marine scientific investigation, submarine exploration and the like. However, efficient and rapid deployment and recovery of unmanned boats is always a problem.
Disclosure of Invention
In order to solve the technical problems, the invention provides the unmanned boat laying and recycling device based on the rope parallel robot, which has the advantages of high butting speed and good environmental adaptability, realizes the automatic laying and recycling of the unmanned boat and improves the laying and recycling efficiency.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides an unmanned ship laying and recovering device based on a rope parallel robot, which comprises a robot, a butt joint device and a controller, wherein the robot comprises an upper mounting plate, a middle mounting plate, a lower mounting plate, an adjusting cylinder, a connecting piece and at least three adjusting components, each adjusting component comprises a guide support, a rope guide, an adjusting rope, a winding device, a connecting support and a camera, the upper mounting plate, the middle mounting plate and the lower mounting plate are sequentially arranged from top to bottom, the connecting piece is fixed on the upper surface of the upper mounting plate, the connecting piece is used for connecting a ship crane on a mother ship, the guide supports are connected with the upper mounting plate and the lower mounting plate, the rope guide is fixed on the outer side of the guide supports, the winding device is mounted on the upper surface of the middle mounting plate, and the connecting supports are fixed on the upper end of the lower mounting plate, the camera is mounted on the connecting support, one end of the adjusting rope is wound on the winding device, the other end of the adjusting rope penetrates through the rope guider to be connected with the upper end of the connecting support, the adjusting cylinder is fixed on the lower mounting plate, and a cylinder rod of the adjusting cylinder extends to the lower part of the lower mounting plate; the docking device comprises a guide device and a cylinder rod clamping device, the guide device and the cylinder rod clamping device are used for being installed on a ship board of the unmanned ship, the cylinder rod clamping device can extend into the guide device to clamp a cylinder rod of the adjusting cylinder, a sensing device is installed below the guide device, and the sensing device is used for detecting the position of the cylinder rod of the adjusting cylinder; the adjusting cylinder, the winding device, the camera, the cylinder rod clamping device and the sensing device are all connected with the controller.
Preferably, the rope director includes the connecting block and is fixed in the guide sleeve of connecting block one side, adjust the rope and pass the connecting block with guide sleeve extends the outside, the guide bracket outside is provided with the mounting groove, the connecting block with mounting groove structure phase-match, the connecting block set up in the mounting groove and with guide bracket fixed connection.
Preferably, the guide bracket includes an upper guide bracket and a lower guide bracket, the upper guide bracket is fixed to the lower surface of the upper mounting plate, the lower guide bracket is fixed to the upper surface of the middle mounting plate, and the upper guide bracket is fixedly connected with the lower guide bracket.
Preferably, the line winding device includes step motor, transmission gear group and winder, step motor with the winder is fixed in the upper surface of well mounting panel, step motor passes through transmission gear group with the winder is connected, adjust the rope twine in on the winder, step motor with the controller is connected.
Preferably, the guiding device comprises a fixed support, an upper guiding support, a lower guiding support and a horn-shaped guiding cover, the fixed support is used for being installed on a ship board of the unmanned ship, the upper guiding support is installed at the top end of the side face of the fixed support, the lower guiding support is installed at the bottom end of the side face of the fixed support, the upper end and the lower end of the horn-shaped guiding cover are respectively and fixedly connected with the upper guiding support and the lower guiding support, two clamping holes are symmetrically formed in two sides of the lower portion of the horn-shaped guiding cover, and the sensing device is arranged below the horn-shaped guiding cover.
Preferably, the cylinder rod clamping device comprises two clamping assemblies symmetrically arranged on two sides of the horn-shaped guide cover, each clamping assembly comprises a cylinder seat, a clamping cylinder and a clamping block, the cylinder seats are used for being fixed on a boat deck of an unmanned boat, the clamping cylinders are fixed on the cylinder seats, the clamping cylinders are connected with the controller, one ends, close to the horn-shaped guide cover, of the clamping cylinders are connected with the clamping blocks, and one clamping block can penetrate through one clamping hole and extend into the horn-shaped guide cover.
Preferably, the sensing device is a pressure sensor or a photoelectric sensor.
Preferably, the connecting piece is a ball-type hinge seat.
Preferably, the lower end of the cylinder rod of the adjusting cylinder is provided with a spherical connector.
Compared with the prior art, the invention has the following technical effects:
the invention provides a rope parallel robot-based unmanned ship laying and recovering device which comprises a robot, a butt joint device and a controller, wherein the robot comprises an upper mounting plate, a middle mounting plate, a lower mounting plate, an adjusting cylinder, a connecting piece and at least three adjusting components, the butt joint device comprises a guide device and a cylinder rod clamping device, the guide device and the cylinder rod clamping device are used for being mounted on a ship plate of an unmanned ship, and the cylinder rod clamping device can extend into the guide device to clamp a cylinder rod. Therefore, the device adopts closed-loop motion control, and has high precision and high docking speed; the movement of the robot in the XY direction is controlled by adopting at least three adjusting ropes, the influence of the environment is small, and the environment adaptability is good; the automatic arrangement and recovery of the unmanned ship are realized, the arrangement and recovery efficiency of the unmanned ship is greatly improved, the labor intensity of workers is reduced, and meanwhile, the seaman is guaranteed to have a safe working environment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic perspective view of a crane on a mother ship for lifting an unmanned ship through an unmanned ship deployment and recovery device based on a rope parallel robot according to the present invention;
FIG. 2 is a front view of FIG. 1;
FIG. 3 is a schematic structural diagram of the unmanned boat deployment and recovery device based on the rope parallel robot provided by the invention;
FIG. 4 is an exploded view of the robot of the present invention;
fig. 5 is an exploded view of the docking assembly of the present invention.
Description of reference numerals: 1. a connecting member; 2. an upper mounting plate; 3. a middle mounting plate; 4. a lower mounting plate; 5. an upper guide bracket; 6. a lower guide bracket; 7. adjusting the rope; 8. connecting blocks; 9. a guide sleeve; 10. a stepping motor; 11. a drive gear set; 12. a reel; 13. an adjusting cylinder; 14. connecting a bracket; 15. a camera; 16. a horn-shaped guide cover; 17. fixing a bracket; 18. an upper guide bracket; 19. a lower guide bracket; 20. a cylinder block; 21. a clamping cylinder; 22. a clamping block; 23. a deck of the unmanned boat; 24. a spherical connector.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a rope parallel robot-based unmanned boat laying and recycling device which is high in butt joint speed and good in environmental adaptability, realizes automatic laying and recycling of unmanned boats, and improves laying and recycling efficiency.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1-5, the present embodiment provides an unmanned ship deployment and recovery device based on a rope parallel robot, comprising a robot, a docking device and a controller, wherein the robot comprises an upper mounting plate 2, a middle mounting plate 3, a lower mounting plate 4, an adjusting cylinder 13, a connecting member 1 and at least three adjusting assemblies, each adjusting assembly comprises a guide bracket, a rope guide, an adjusting rope 7, a wire winding device, a connecting bracket 14 and a camera 15, the upper mounting plate 2, the middle mounting plate 3 and the lower mounting plate 4 are sequentially arranged from top to bottom, the connecting member 1 is fixed on the upper surface of the upper mounting plate 2, the connecting member 1 is used for connecting a marine crane on a mother ship, the guide bracket is connected with the upper mounting plate 2 and the lower mounting plate 4, the rope guide is fixed on the outer side of the guide bracket, the wire winding device is mounted on the upper surface of the middle mounting plate 3, the connecting, the camera 15 is installed on the connecting support 14, specifically, the camera 15 can be replaced by other sensors capable of achieving aiming and positioning functions, one end of the adjusting rope 7 is wound on the winding device, the other end of the adjusting rope 7 penetrates through the rope guide to be connected with the upper end of the connecting support 14, the adjusting cylinder 13 is fixed on the lower mounting plate 4, and the cylinder rod of the adjusting cylinder 13 extends to the lower part of the lower mounting plate 4; the docking device comprises a guide device and a cylinder rod clamping device, the guide device and the cylinder rod clamping device are used for being installed on a ship plate 23 of the unmanned ship, the cylinder rod clamping device can extend into the guide device to clamp a cylinder rod of the adjusting cylinder 13, a sensing device is installed below the guide device, and the sensing device is used for detecting the position of the cylinder rod of the adjusting cylinder 13; the adjusting cylinder 13, the winding device, the camera 15, the cylinder rod clamping device and the sensing device are all connected with a controller, and the controller is installed on a mother ship. In this embodiment, the upper mounting plate 2, the middle mounting plate 3 and the lower mounting plate 4 have the same shape, and the area of the middle mounting plate 3 is larger than that of the lower mounting plate 4. The adjusting components are arranged to be three, the three adjusting components are evenly distributed along the circumferential direction of the robot, and the adjusting rope 7 is a steel wire rope special for the robot.
When in work, the butt joint device is arranged on a ship plate 23 of the unmanned ship, when a mother ship runs to a proper sea area where the unmanned ship is arranged and recovered, the robot is hoisted by a ship crane, and the robot is positioned above the unmanned boat by extending a proper distance on the sea surface, at the moment, the crane rope is lowered to enable the robot to be in a proper position, and by utilizing a camera 15 or a sensor arranged at the lower part of the robot, aiming and positioning the unmanned ship, controlling the coiling device by the controller to realize the coiling and uncoiling of the three adjusting ropes 7 so as to control the movement of the lower mounting plate 4 and the adjusting cylinder 13 in the XY direction, i.e. in the horizontal direction until the cylinder rod of the adjustment cylinder 13 is above the docking device, the controller controls the cylinder rod of the adjustment cylinder 13 to extend into the guide device of the docking device, which will gradually bring the cylinder rod of the adjustment cylinder 13 into the normal position. The sensing device below the guiding device can detect whether the cylinder rod of the adjusting cylinder 13 extends to a proper distance, and when a corresponding signal is detected, the controller drives the cylinder rod clamping device to clamp and fix the cylinder rod of the adjusting cylinder 13, so that the connection between the mother ship and the unmanned ship is completed. And then the robot is hoisted by the ship crane, and the unmanned ship can be hoisted and recovered. Similarly, the distribution process of the unmanned ship is similar to the recovery process of the unmanned ship.
Therefore, the unmanned boat distribution and recovery device based on the rope parallel robot in the embodiment adopts closed-loop motion control, and is high in precision and high in docking speed; the robot is controlled to move in the XY direction by adopting at least three adjusting ropes 7, is less influenced by the environment and has good environmental adaptability; the automatic arrangement and recovery of the unmanned ship are realized, the arrangement and recovery efficiency of the unmanned ship is greatly improved, the labor intensity of workers is reduced, and meanwhile, the seaman is guaranteed to have a safe working environment. The unmanned ship laying and recovering device based on the rope parallel robot in the embodiment further has the advantages of high static stability, reliable operation and simple structure, can improve the operation efficiency and simplify the non-operation flow in the laying and recovering work of the complex sea area environment, and can also improve the space utilization rate of a mother ship and the unmanned ship.
As shown in fig. 4, the rope guider includes connecting block 8 and the guide sleeve 9 that is fixed in connecting block 8 one side, adjusts rope 7 and passes connecting block 8 and guide sleeve 9 and extend the outside, and the guide bracket outside is provided with the mounting groove, connecting block 8 and mounting groove structure phase-match, connecting block 8 set up in the mounting groove and with guide bracket fixed connection, and guide sleeve 9 is located the connecting block 8 outside. In this embodiment, the mounting groove is a circular groove, and the connecting block 8 is a cylindrical thin block.
In order to facilitate the disassembly and the installation, the guide bracket is arranged to be a split structure and comprises an upper guide bracket 5 and a lower guide bracket 6, the upper guide bracket 5 is fixed on the lower surface of the upper mounting plate 2, the lower guide bracket 6 is fixed on the upper surface of the middle mounting plate 3, and the upper guide bracket 5 is fixedly connected with the lower guide bracket 6.
Specifically, the winding device comprises a stepping motor 10, a transmission gear set 11 and a winder 12, wherein the stepping motor 10 and the winder 12 are fixed on the upper surface of the middle mounting plate 3, the stepping motor 10 is connected with the winder 12 through the transmission gear set 11, the adjusting rope 7 is wound on the winder 12, and the stepping motor 10 is connected with the controller. In this embodiment, the transmission gear set 11 includes a first gear and a second gear engaged with each other, the first gear is connected to the stepping motor 10, and the second gear is connected to the reel 12.
As shown in fig. 5, the guiding device includes a fixed bracket 17, an upper guiding bracket 18, a lower guiding bracket 19 and a trumpet-shaped guiding cover 16, the fixed bracket 17 is used for being installed on a boat deck 23 of the unmanned boat, the upper guiding bracket 18 is installed at the top end of the side surface of the fixed bracket 17, the lower guiding bracket 19 is installed at the bottom end of the side surface of the fixed bracket 17, the upper guiding bracket 18 and the lower guiding bracket 19 are located at the same side, the upper end and the lower end of the trumpet-shaped guiding cover 16 are respectively and fixedly connected with the upper guiding bracket 18 and the lower guiding bracket 19, two clamping holes are symmetrically arranged at two sides of the lower part of the trumpet-shaped guiding cover 16, a sensing device is arranged below the trumpet-shaped guiding cover 16, the sensing device is used for, when the bottom of the docking device is touched, the controller controls the cylinder rod clamping device to move, and the cylinder rod extending out of the lower portion of the robot is fixed. In this embodiment, the sensing device is a pressure sensor or a photoelectric sensor.
Specifically, cylinder rod clamping device includes that two symmetries set up in the centre gripping subassembly of tubaeform guide housing 16 both sides, and the centre gripping subassembly includes cylinder block 20, centre gripping cylinder 21 and grip block 22, and cylinder block 20 is used for being fixed in on the ship board 23 of unmanned ship, and on centre gripping cylinder 21 was fixed in cylinder block 20, centre gripping cylinder 21 was connected with the controller, and the one end that centre gripping cylinder 21 is close to tubaeform guide housing 16 is connected with grip block 22, and a grip block 22 can pass a centre gripping hole and extend in tubaeform guide housing 16. In this embodiment, the structure of the two opposite side surfaces of the clamping block 22 is matched with the cylinder rod of the adjusting cylinder 13, and the controller drives the two clamping blocks 22 to move towards each other to clamp the cylinder rod of the adjusting cylinder 13.
Specifically, a spherical connector 24 is arranged at the lower end of the cylinder rod of the adjusting cylinder 13, and is mainly used for assisting the cylinder rod of the adjusting cylinder 13 to enter the horn-shaped guide cover 16, and meanwhile, a sensor can be added to the spherical connector 24 for assisting positioning.
In this embodiment, the connecting member 1 is a spherical hinge seat, which can keep the robot in a horizontal position after being lifted by the crane.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. The unmanned ship laying and recovering device based on the rope parallel robot is characterized by comprising a robot, a butt joint device and a controller, wherein the robot comprises an upper mounting plate, a middle mounting plate, a lower mounting plate, an adjusting cylinder, a connecting piece and at least three adjusting components, each adjusting component comprises a guide support, a rope guide, an adjusting rope, a winding device, a connecting support and a camera, the upper mounting plate, the middle mounting plate and the lower mounting plate are sequentially arranged from top to bottom, the connecting piece is fixed on the upper surface of the upper mounting plate and used for connecting a ship crane on a mother ship, the guide supports are connected with the upper mounting plate and the lower mounting plate, the rope guide is fixed on the outer side of the guide supports, the winding device is mounted on the upper surface of the middle mounting plate, and the connecting supports are fixed at the upper end of the lower mounting plate, the camera is mounted on the connecting support, one end of the adjusting rope is wound on the winding device, the other end of the adjusting rope penetrates through the rope guider to be connected with the upper end of the connecting support, the adjusting cylinder is fixed on the lower mounting plate, and a cylinder rod of the adjusting cylinder extends to the lower part of the lower mounting plate; the docking device comprises a guide device and a cylinder rod clamping device, the guide device and the cylinder rod clamping device are used for being installed on a ship board of the unmanned ship, the cylinder rod clamping device can extend into the guide device to clamp a cylinder rod of the adjusting cylinder, a sensing device is installed below the guide device, and the sensing device is used for detecting the position of the cylinder rod of the adjusting cylinder; the adjusting cylinder, the winding device, the camera, the cylinder rod clamping device and the sensing device are all connected with the controller.
2. The unmanned ship deployment and recovery device based on rope parallel robot of claim 1, wherein the rope guider comprises a connecting block and a guiding sleeve fixed on one side of the connecting block, the adjusting rope passes through the connecting block and the guiding sleeve and extends to the outside, a mounting groove is arranged on the outside of the guiding support, the connecting block is matched with the mounting groove in structure, and the connecting block is arranged in the mounting groove and fixedly connected with the guiding support.
3. The unmanned ship based on rope parallel robot of claim 2, characterized in that, the guide bracket comprises an upper guide bracket and a lower guide bracket, the upper guide bracket is fixed on the lower surface of the upper mounting plate, the lower guide bracket is fixed on the upper surface of the middle mounting plate, and the upper guide bracket and the lower guide bracket are fixedly connected.
4. The unmanned ship deployment and retrieval device based on rope parallel robot of claim 1, wherein the line winding device comprises a stepping motor, a transmission gear set and a winder, the stepping motor and the winder are fixed on the upper surface of the middle mounting plate, the stepping motor is connected with the winder through the transmission gear set, the adjusting rope is wound on the winder, and the stepping motor is connected with the controller.
5. The unmanned ship deployment and recovery device based on rope parallel robot as claimed in claim 1, wherein the guiding device comprises a fixed bracket, an upper guiding bracket, a lower guiding bracket and a trumpet-shaped guiding cover, the fixed bracket is used for being mounted on a ship board of the unmanned ship, the upper guiding bracket is mounted at the top end of the side surface of the fixed bracket, the lower guiding bracket is mounted at the bottom end of the side surface of the fixed bracket, the upper end and the lower end of the trumpet-shaped guiding cover are respectively and fixedly connected with the upper guiding bracket and the lower guiding bracket, two clamping holes are symmetrically arranged on two sides of the lower part of the trumpet-shaped guiding cover, and the sensing device is arranged below the trumpet-shaped guiding cover.
6. The unmanned ship deployment and recovery device based on rope parallel robot of claim 5, wherein the cylinder rod clamping device comprises two clamping assemblies symmetrically arranged on both sides of the trumpet-shaped guide cover, the clamping assemblies comprise a cylinder block, a clamping cylinder and clamping blocks, the cylinder block is used for being fixed on a ship board of an unmanned ship, the clamping cylinder is fixed on the cylinder block and connected with the controller, one end of the clamping cylinder, which is close to the trumpet-shaped guide cover, is connected with the clamping blocks, and one clamping block can extend into the trumpet-shaped guide cover through one clamping hole.
7. The unmanned ship deployment and retrieval device based on rope parallel robot of claim 1, wherein said sensing device is a pressure sensor or a photoelectric sensor.
8. The unmanned boat deployment and retrieval device based on rope parallel robot of claim 1, wherein the connecting piece is a spherical hinge mount.
9. The unmanned ship deployment and recovery device based on rope parallel robot as claimed in claim 1, wherein the lower end of the cylinder rod of the adjusting cylinder is provided with a spherical connector.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911015610.8A CN110723255B (en) | 2019-10-24 | 2019-10-24 | Unmanned ship laying and recycling device based on rope parallel robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911015610.8A CN110723255B (en) | 2019-10-24 | 2019-10-24 | Unmanned ship laying and recycling device based on rope parallel robot |
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| CN110723255A true CN110723255A (en) | 2020-01-24 |
| CN110723255B CN110723255B (en) | 2020-07-14 |
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| CN112793716A (en) * | 2021-01-20 | 2021-05-14 | 自然资源部第二海洋研究所 | General buoy winding and unwinding devices |
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| CN110723255B (en) | 2020-07-14 |
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