CN110816794A - Universal unmanned submersible recovery device and recovery method - Google Patents
Universal unmanned submersible recovery device and recovery method Download PDFInfo
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- CN110816794A CN110816794A CN201911283297.6A CN201911283297A CN110816794A CN 110816794 A CN110816794 A CN 110816794A CN 201911283297 A CN201911283297 A CN 201911283297A CN 110816794 A CN110816794 A CN 110816794A
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- recovery
- unmanned submersible
- cross beam
- hose clamp
- submersible vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- 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
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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
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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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- 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
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Abstract
The invention discloses a recovery device and a recovery method for a universal unmanned submersible, and relates to the technical field of recovery of underwater robots. It comprises a cage body and a top beam; the top cross beam is provided with a first lifting lug, a second lifting lug, a cable guide pulley and a camera cable storage box, and the top cross beam is fixedly connected with the cage body to form a recovery suspension cage; the two ends of the cage body are respectively provided with a front fence and a rear fence, the two sides of the cage body inlet are provided with a left-eye camera and a right-eye camera, and the top of the cage body inlet is provided with a top camera; the bottom of the middle cross beam of the top cross beam is provided with a T-shaped groove, a spherical hinge structure is connected in the T-shaped groove in a sliding mode, and the top cross beam is connected with the hose clamp through the spherical hinge structure. The invention has the advantages that: the device has two working modes of water surface recovery and underwater recovery, and can select a proper working mode according to different working sea conditions, so that the working efficiency is improved; the problem of high danger of the laying and recovering operation of the unmanned submersible can be solved.
Description
Technical Field
The invention relates to the technical field of underwater robot recovery, in particular to a recovery device and a recovery method of a universal unmanned submersible.
Background
With the development of science and technology, the exploration on ocean resources is more and more, and the unmanned submersible is used as a main exploration tool and needs to recover and collect data after the completion of operation, but the ocean environment is complex and changeable, and particularly under severe sea conditions, the recovery of the unmanned submersible is very difficult.
The existing recovery modes mainly comprise two modes, the first mode is that a worker takes a boat to be close to an unmanned submersible vehicle, and butt joint of a manual auxiliary hoisting device is carried out to complete recovery, the recovery mode is greatly influenced by wind and waves, and when the sea condition is poor, the danger coefficient is high, so that the worker and equipment are easily injured; the second is to adopt floating dock and lift platform to carry out the butt joint recovery under water, this recovery mode can reduce the influence of stormy waves, but small-size floating dock anti-wind wave ability weak, and large-scale floating dock cost is high, needs the mother ship of special support, and the recovery is used costsly, is not fit for using widely.
Disclosure of Invention
The invention aims to solve the technical problem of providing a universal unmanned submersible recovery device and a universal unmanned submersible recovery method, which can solve the problem of high risk of the existing unmanned submersible laying and recovery operation and can be applied to most sea conditions, and workers can lay and recover various types of unmanned submersible on mother ships.
In order to solve the technical problems, the technical scheme of the invention is as follows: comprises a cage body and a top cross beam; the top cross beam is provided with a side cross beam and a middle cross beam, the side cross beam and the middle cross beam are connected through a connecting beam, a first lifting lug, a second lifting lug and a cable guide pulley are mounted on the middle cross beam, the first lifting lug and the second lifting lug are symmetrically arranged, a connecting plate is arranged between the middle cross beam and the side cross beam, a detachable camera cable storage box is mounted on the connecting plate, and a protruding fixing column is arranged at the bottom of the top cross beam;
the top of the cage body is provided with a fixing groove corresponding to a fixing column at the bottom of the top cross beam, the fixing column and the fixing groove are fixed through a locking bolt, and the top cross beam is fixedly connected with the cage body to form a recovery suspension cage;
the cage is characterized in that a front fence and a rear fence are respectively arranged at two ends of the cage, the front fence is low in height, a left-eye camera and a right-eye camera are symmetrically mounted in the middle of upright rods at two sides of an inlet of the cage, a top camera is mounted in the middle of a top cross rod at the inlet of the cage, and cables of the left-eye camera, the right-eye camera and the top camera are led into a camera cable storage box to form a video signal acquisition module;
the bottom of the middle cross beam of the top cross beam is provided with a T-shaped groove, a spherical hinge structure is connected in the T-shaped groove in a sliding manner, the top cross beam is connected with the hose clamp through the spherical hinge structure, the spherical hinge structure comprises a first sliding bolt, a second sliding bolt, a first spherical hinge and a second spherical hinge, a first bolt in-out groove and a second bolt in-out groove for the first sliding bolt and the second sliding bolt to be embedded in are formed in the T-shaped groove, the first sliding bolt and the second sliding bolt slide in the T-shaped groove and are locked through a nut, the first sliding bolt is connected with the first spherical hinge, the second sliding bolt is connected with the second spherical hinge through a connecting block, the first spherical hinge and the second spherical hinge have passive damping, the first spherical hinge is connected with the first hose clamp through a bolt, the second spherical hinge is connected with the second hose clamp through a bolt, the bolt is connected with the bottom of the first spherical hinge and the second spherical hinge, and screw holes are formed in the top of the first hose clamp and the, the bolt is connected with the first hose clamp and the second hose clamp through the screw hole and is fixed through the locknut.
Furthermore, a rubber layer is arranged on the inner side of the cage body, a shock-absorbing inflatable rubber pad is mounted at the bottom in the cage body, and a corner seat is arranged at the bottom of a vertical rod of the cage body.
Furthermore, the first throat hoop and the second throat hoop are of an annular structure, one end of the first throat hoop is connected with a lantern ring, the lantern ring penetrates through the other end of the first throat hoop to form the annular structure, one end of the second throat hoop is connected with the lantern ring, and the lantern ring penetrates through the other end of the second throat hoop to form the annular structure.
Further, the top crossbeam has set cloth and has put the pole, cloth is put the pole and is connected by a plurality of hollow poles of taking the screwed joint structure and is constituteed, and cloth puts the tip of pole and adopts the jack catch structure, and cloth is put the center of pole and is equipped with the hawser, and the hawser passes through the movable block to be connected with the jack catch, the movable block connects with the one end hinge of jack catch, and the other end of jack catch connects with cloth puts the tip hinge of pole, and the jack catch is V type structure, and the dog catch is equipped with the spring with cloth junction of putting the pole tip.
After adopting the structure, the invention has the advantages that:
1. the invention has two working modes of water surface recovery and underwater recovery, and can select a proper working mode according to different working sea conditions, thereby improving the working efficiency;
2. the unmanned submersible vehicle laying and recovery system can realize that workers complete laying and recovery operation of the unmanned submersible vehicle on a mother ship, and solves the problem of high risk of the laying and recovery operation of the unmanned submersible vehicle;
3. when the underwater recovery device is in an underwater recovery working mode, the unmanned submersible enters the recovery cage under the assistance of the underwater vision camera system, so that the safety and the accuracy of the recovery process are improved, the recovery difficulty is reduced, and the working efficiency is improved; when the underwater unmanned submersible vehicle is in a water surface recovery working mode, the components are simple in structure and easy to operate and maintain, a power system is not needed during recovery, and the hose clamp automatically contracts under the gravity of the unmanned submersible vehicle to fix the unmanned submersible vehicle;
4. the invention has the characteristics of wide application range, strong universality and good balance, and the position of the spherical hinge structure in the T-shaped groove is adjusted according to the length and the gravity center position of the unmanned submersible vehicle to be recovered, so that the top cross beam is in a horizontal state in the recovery process; the diameter of the hose clamp is adjusted according to the diameter of the unmanned submersible needing to be recovered, and the recovery is completed through the hose clamp.
Drawings
FIG. 1 is a schematic view of the present invention in a subsea recovery mode of operation;
FIG. 2 is a schematic view of the present invention in a surface recovery mode of operation;
FIG. 3 is a side view of the top rail of the present invention in a position;
FIG. 4 is a schematic side view of a top rail according to another aspect of the present invention;
figure 5 is a schematic view of the opened structure of the first laryngeal cuff and the second laryngeal cuff;
FIG. 6 is a schematic view of the structure of the cloth placement rod of the present invention;
FIG. 7 is an enlarged view of the connection of the first throat hoop to the top rail of the present invention;
figure 8 is a schematic structural view of the first hose clamp of the present invention.
Description of reference numerals: 1. a top cross beam; 2. a camera cable storage box; 3. a cable guide pulley; 4. a first lifting lug; 5. a second lifting lug; 6. a top camera; 7. a left eye camera; 8. a right eye camera; 9. a rear fence; 10. a front fence; 11. a corner seat; 12. a shock-absorbing inflatable rubber pad; 13. a cage body; 14. a first hose clamp; 15. a second hose clamp; 16. a first slide bolt; 17. a second slide bolt; 18. a first spherical hinge; 19. a second spherical hinge; 20. a T-shaped groove; 21. the first bolt enters and exits the groove; 22. the second bolt enters and exits the groove; 23. a cloth placing rod; 24. a hollow shaft; 25. a claw is provided.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and the detailed description. The following examples are presented to enable one of ordinary skill in the art to more fully understand the present invention and are not intended to limit the scope of the embodiments described herein.
The recovery device of the unmanned submersible is an unpowered recovery device, and has two working modes of 30 m underwater recovery and water surface recovery.
As shown in fig. 1 to 8, the following technical solutions are adopted in the present embodiment: comprises a cage body 13 and a top cross beam 1; the top cross beam 1 is provided with a side cross beam and a middle cross beam, the side cross beam and the middle cross beam are connected through a connecting beam, a first lifting lug 4, a second lifting lug 5 and a cable guide pulley 3 are installed on the middle cross beam, the first lifting lug 4 and the second lifting lug 5 are symmetrically arranged, the lifting lugs are lifting devices connected with a winch of a mother ship, the top cross beam 1 can be lifted through the lifting devices, a connecting plate is arranged between the middle cross beam and the side cross beam, a detachable camera cable storage box 2 is installed on the connecting plate, a camera cable is led into the camera cable storage box 2 to be tidied and then is merged and led out through the cable guide pulley 3 and a winch cable, a battery pack can be arranged inside the camera cable storage box 2 to supply power, signal transmission can be carried out through Bluetooth equipment during internal power supply, the bottom of the top cross beam 1 is provided with a convex fixing column, the top of the cage body 13 is provided with, the fixing columns and the fixing grooves are fixed through locking bolts, the cage body 13 is detachably connected with the top cross beam 1 and can be used together, or the top cross beam 1 can be separately and independently used, the top cross beam 1 and the cage body 13 are fixedly connected to form a recovery cage, the recovery cage is suitable for underwater recovery, and fig. 1 shows a 30-meter underwater recovery working mode;
the two ends of the cage body 13 are respectively provided with a front fence 10 and a rear fence 9, the rear side fence 9 is higher in height and blocks the rear end surface of the whole cage body 13, the front fence 10 at the inlet is lower in height, and the unmanned submersible inlet is reserved; a left-eye camera 7 and a right-eye camera 8 are symmetrically arranged in the middle of vertical rods at two sides of an inlet of a cage body 13, a top camera 6 is arranged in the middle of a top cross rod at the inlet of the cage body 13, cables of the left-eye camera 7, the right-eye camera 8 and the top camera 6 are led into a camera cable storage box 2 to form a video signal acquisition module, three cameras on the cage body 13 are used for acquiring video signals, the left-eye camera 7 and the right-eye camera 8 are fixed-focus-distance straight-barrel cameras to form a binocular vision system, positioning of the unmanned submersible is achieved, video signals are transmitted, the top camera 6 is a ball machine and is used for judging whether an AUV completely enters the cage body 13 or not, next-step recovery can be carried out, and meanwhile according to the prior art, the top camera 6 can also be set to be rotary and used for observing the surrounding underwater environment;
as shown in fig. 2, 7 and 8, which are water surface recovery modes, the top beam 1 is separated from the cage 13, recovery is realized only through the top beam 1, the camera cable storage box 2 can be detached from the top beam 1 to reduce weight, and the camera cable storage box 2 and the top beam 1 are common bolt connection structures; the bottom of the middle cross beam of the top cross beam 1 is provided with a T-shaped groove 20, a spherical hinge structure is connected in the T-shaped groove 20 in a sliding manner, the top cross beam 1 is connected with the hose clamp through the spherical hinge structure, the spherical hinge structure comprises a first sliding bolt 16, a second sliding bolt 17, a first spherical hinge 18 and a second spherical hinge 19, a first bolt in-and-out groove 21 and a second bolt in-and-out groove 22 for embedding the first sliding bolt 16 and the second sliding bolt 17 are formed in the T-shaped groove 20, the first sliding bolt 16 and the second sliding bolt 17 slide in the T-shaped groove 20 and are locked through a nut, the distance between the first sliding bolt 16 and the second sliding bolt 17 can be adjusted, as shown in figures 3 and 4, the two sliding bolts can slide in the T-shaped groove 20, the unmanned submersible vehicle can be recovered according to the length and the gravity center position, the vehicle can be adjusted to a proper position and then screwed and fixed through the nut, and the first sliding bolt 16 and the, The second sliding bolt 17 is connected with the second spherical hinge 19 through a connecting block, the first spherical hinge 18 and the second spherical hinge 19 have passive damping and keep stable under the condition of no stress or small stress, the first spherical hinge 18 is connected with the first throat hoop 14 through a bolt, the second spherical hinge 19 is connected with the second throat hoop 15 through a bolt, the bolt is connected with the bottoms of the first spherical hinge 18 and the second spherical hinge 19, screw holes are formed in the tops of the first throat hoop 14 and the second throat hoop 15, and the bolt is connected with the first throat hoop 14 and the second throat hoop 15 through the screw holes and fixed through a locknut; the first hose clamp 14 and the second hose clamp 15 are of annular structures, one end of the first hose clamp 14 is connected with a lantern ring, the lantern ring penetrates through the other end of the first hose clamp 14 to form an annular structure, one end of the second hose clamp 15 is connected with the lantern ring, the lantern ring penetrates through the other end of the second hose clamp 15 to form an annular structure, and the first hose clamp 14 and the second hose clamp 15 can be selected to be of proper lengths according to the size of the unmanned submersible vehicle which needs to be recovered.
The inner side of the cage body 13 is provided with a rubber layer, the bottom in the cage body 13 is provided with a shock-absorbing inflatable rubber pad 12, and the bottom of the vertical rod of the cage body 13 is provided with a corner seat 11.
As shown in fig. 6, the special laying rod is provided, the top beam 1 is provided with a laying rod 23, the laying rod 23 is formed by connecting a plurality of hollow rods 24 with a screw joint structure, each hollow rod 24 is 2-3 m, the hollow rods 24 can be quickly connected through the screw joint structure, the total length can be lengthened to 15-20 m according to needs, the laying rod 23 is made of carbon fiber, the end part of the laying rod 23 adopts a jaw 25 structure, the center of the laying rod 23 is provided with a cable, the cable is connected with the jaw 25 through a movable block, the movable block is hinged with one end of the jaw 25, the other end of the jaw 25 is hinged with the end part of the laying rod 23, the jaw 25 is a V-shaped structure, the joint of the jaw 25 and the end part of the laying rod 23 is provided with a spring for pulling the cable, the jaw 25 is closed, the jaw 25 can clamp the hose clamp to sleeve the unmanned submersible vehicle, and can also take the hose clamp off the unmanned submersible vehicle to loosen, the spring structure causes the jaws 25 to open automatically.
The working principle is as follows: when the sea condition is severe, the recovery work of the unmanned submersible is difficult to carry out under the influence of wind waves, and the recovery work mode of 30 meters underwater can be adopted: after the unmanned submersible vehicle completes the task, a worker remotely controls the unmanned submersible vehicle to approach a mother ship, at the moment, a recovery cage formed by a cage body 13 and a top cross beam 1 is placed at a position 30 meters under water, water flow is relatively stable, when the unmanned submersible vehicle approaches the recovery cage, the worker can see the unmanned submersible vehicle through videos transmitted by a left-eye camera 7 and a right-eye camera 8, under the guidance of binocular vision positioning, the worker completes positioning and accurately drives the unmanned submersible vehicle into the recovery cage through remote control, whether the unmanned submersible vehicle completely enters the cage is judged through a top camera 6, and after the unmanned submersible vehicle completely enters the recovery cage, the unmanned submersible vehicle loses power and falls on a shock-absorbing inflatable rubber pad 12, and a cable is recovered through a winch to complete recovery of the unmanned submersible vehicle.
When sea conditions are good, the recovery work of the unmanned submersible is not greatly influenced by wind waves, and a water surface recovery work mode can be adopted: after the unmanned underwater vehicle completes the task, a worker remotely controls the unmanned underwater vehicle to approach a mother ship, adjusts a first sliding bolt 16 and a second sliding bolt 17 to proper positions according to the size of the unmanned underwater vehicle to be recovered, selects a proper hose clamp, and opens a first hose clamp 14 and a second hose clamp 15, as shown in figure 5, the first hose clamp 14 and the second hose clamp 15 can be opened and fixed due to the action of a first spherical hinge 18 and a second spherical hinge 19, a winch lifts a recovery cage to the water surface to be close to the unmanned underwater vehicle, the worker uses a special cloth rod 23 to rotate the first hose clamp 14 and the second hose clamp 15 to close, the two ends of the unmanned underwater vehicle are sleeved, a winch recovers cables, under the action of the gravity of the unmanned underwater vehicle, a sleeve ring on the first hose clamp 14 and the second hose clamp 15 slides down along the end parts of the first hose clamp 14 and the second hose clamp 15 to automatically retract and fix the unmanned underwater vehicle, prevent the unmanned submersible from falling off.
The specific embodiment has two working modes of water surface recovery and underwater recovery, and can select a proper working mode according to different working sea conditions, so that the working efficiency is improved; the unmanned submersible vehicle can be laid and recovered on a mother ship by workers, and the problem of high risk of the unmanned submersible vehicle laying and recovering operation is solved; when the underwater recovery working mode is adopted, the unmanned submersible enters the recovery cage through the underwater vision camera system in an auxiliary mode, so that the safety and the accuracy of the recovery process are improved, the recovery difficulty is reduced, and the working efficiency is improved; when the underwater unmanned submersible vehicle is in a water surface recovery working mode, the structure of the component is simple, the operation and the maintenance are easy, a power system is not needed during the recovery, and the hose clamp automatically contracts under the gravity of the unmanned submersible vehicle to fix the unmanned submersible vehicle; the method has the characteristics of wide application range, strong universality and good balance, and the position of the spherical hinge structure in the T-shaped groove is adjusted according to the length and the gravity center position of the unmanned submersible vehicle to be recovered, so that the top cross beam is in a horizontal state in the recovery process; the diameter of the hose clamp is adjusted according to the diameter of the unmanned submersible needing to be recovered, and the recovery is completed through the hose clamp.
The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The utility model provides a general unmanned submersible recovery unit which characterized in that: comprises a cage body and a top cross beam; the top cross beam is provided with a side cross beam and a middle cross beam, the side cross beam and the middle cross beam are connected through a connecting beam, a first lifting lug, a second lifting lug and a cable guide pulley are mounted on the middle cross beam, the first lifting lug and the second lifting lug are symmetrically arranged, a connecting plate is arranged between the middle cross beam and the side cross beam, a detachable camera cable storage box is mounted on the connecting plate, and a protruding fixing column is arranged at the bottom of the top cross beam;
the top of the cage body is provided with a fixing groove corresponding to a fixing column at the bottom of the top cross beam, the fixing column and the fixing groove are fixed through a locking bolt, and the top cross beam is fixedly connected with the cage body to form a recovery suspension cage;
the cage is characterized in that a front fence and a rear fence are respectively arranged at two ends of the cage, the front fence is low in height, a left-eye camera and a right-eye camera are symmetrically mounted in the middle of upright rods at two sides of an inlet of the cage, a top camera is mounted in the middle of a top cross rod at the inlet of the cage, and cables of the left-eye camera, the right-eye camera and the top camera are led into a camera cable storage box to form a video signal acquisition module;
the bottom of the middle cross beam of the top cross beam is provided with a T-shaped groove, a spherical hinge structure is connected in the T-shaped groove in a sliding manner, the top cross beam is connected with the hose clamp through the spherical hinge structure, the spherical hinge structure comprises a first sliding bolt, a second sliding bolt, a first spherical hinge and a second spherical hinge, a first bolt in-out groove and a second bolt in-out groove for the first sliding bolt and the second sliding bolt to be embedded in are formed in the T-shaped groove, the first sliding bolt and the second sliding bolt slide in the T-shaped groove and are locked through a nut, the first sliding bolt is connected with the first spherical hinge, the second sliding bolt is connected with the second spherical hinge through a connecting block, the first spherical hinge and the second spherical hinge have passive damping, the first spherical hinge is connected with the first hose clamp through a bolt, the second spherical hinge is connected with the second hose clamp through a bolt, the bolt is connected with the bottom of the first spherical hinge and the second spherical hinge, and screw holes are formed in the top of the first hose clamp and the, the bolt is connected with the first hose clamp and the second hose clamp through the screw hole and is fixed through the locknut.
2. The universal unmanned submersible vehicle retrieval device of claim 1, wherein: the inner side of the cage body is provided with a rubber layer, the bottom in the cage body is provided with a shock-absorbing inflatable rubber pad, and the bottom of a vertical rod of the cage body is provided with a corner seat.
3. The universal unmanned submersible vehicle retrieval device of claim 1, wherein: the first hose clamp and the second hose clamp are of annular structures, one end of the first hose clamp is connected with a lantern ring, the lantern ring penetrates through the other end of the first hose clamp to form an annular structure, one end of the second hose clamp is connected with the lantern ring, and the lantern ring penetrates through the other end of the second hose clamp to form an annular structure.
4. The universal unmanned submersible vehicle retrieval device of claim 1, wherein: the top crossbeam has set cloth and has put the pole, cloth is put the pole and is connected by a plurality of hollow poles of taking the screwed joint structure and form, and cloth puts the tip of pole and adopts the jack catch structure, and cloth is put the center of pole and is equipped with the hawser, and the hawser passes through the movable block to be connected with the jack catch, the movable block connects with the one end hinge of jack catch, and the other end of jack catch connects with cloth puts the tip hinge of pole, and the jack catch is V type structure, and the dog catch is equipped with the spring with cloth junction of putting the pole tip.
5. A method of recovering a submersible vehicle recovery device according to claim 1, wherein: the working process is as follows: when the sea condition is severe, an underwater recovery working mode is adopted: after the unmanned submersible vehicle completes a task, a worker remotely controls the unmanned submersible vehicle to approach a mother ship, a recovery cage composed of a cage body and a top cross beam is placed at a position 30 meters under water, water flow is relatively stable, when the unmanned submersible vehicle approaches the recovery cage, the worker sees the unmanned submersible vehicle through videos transmitted by a left-eye camera and a right-eye camera, under the guidance of binocular vision positioning, the worker completes positioning and accurately drives the unmanned submersible vehicle into the recovery cage through remote control, whether the unmanned submersible vehicle completely enters the cage is judged through the top camera, when the unmanned submersible vehicle completely enters the recovery cage, the unmanned submersible vehicle loses power and falls on a damping inflatable rubber pad, and a winch recovers a cable to complete recovery of the unmanned submersible vehicle;
when sea conditions are good, a water surface recovery working mode is adopted: after the unmanned submersible vehicle completes a task, a worker remotely controls the unmanned submersible vehicle to approach a mother ship, the first sliding bolt and the second sliding bolt are adjusted to proper positions according to the size of the unmanned submersible vehicle to be recovered, a proper hose clamp is selected, the first hose clamp and the second hose clamp are opened, a winch lifts a recovery cage to the water surface to approach the unmanned submersible vehicle, the worker uses a cloth rod to rotatably close the first hose clamp and the second hose clamp to sleeve the two ends of the unmanned submersible vehicle, the winch recovers a cable, under the action of the gravity of the unmanned submersible vehicle, the lantern rings on the first hose clamp and the second hose clamp slide down along the end portions of the first hose clamp and the second hose clamp to automatically contract and fix the unmanned submersible vehicle, the unmanned submersible vehicle cannot fall off, and the winch recovers the cable to complete recovery of the unmanned submersible vehicle.
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Cited By (6)
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| CN112896455A (en) * | 2021-01-25 | 2021-06-04 | 上海大学 | Novel boat frame for laying and recycling unmanned sea boat |
| CN112960085A (en) * | 2021-01-29 | 2021-06-15 | 广船国际有限公司 | Winding and unwinding devices of large-scale unmanned underwater vehicle |
| CN113277015A (en) * | 2021-04-29 | 2021-08-20 | 中国科学院沈阳自动化研究所 | Modular slide capture rod type recovery device for autonomous recovery of underwater robots |
| CN113443078A (en) * | 2021-06-25 | 2021-09-28 | 中国船舶重工集团公司第七一三研究所 | Automatic hanging flower basket device of laying and retrieving of unmanned ship of general type |
| CN115610629A (en) * | 2022-11-15 | 2023-01-17 | 广东智能无人系统研究院 | Butt joint recovery unit based on ROV |
| CN115848604A (en) * | 2023-03-02 | 2023-03-28 | 中水珠江规划勘测设计有限公司 | Submersible fixing device |
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| CN112896455A (en) * | 2021-01-25 | 2021-06-04 | 上海大学 | Novel boat frame for laying and recycling unmanned sea boat |
| CN112896455B (en) * | 2021-01-25 | 2022-05-17 | 上海大学 | A keel block that is used for unmanned ship at sea to lay and retrieve |
| CN112960085A (en) * | 2021-01-29 | 2021-06-15 | 广船国际有限公司 | Winding and unwinding devices of large-scale unmanned underwater vehicle |
| CN113277015A (en) * | 2021-04-29 | 2021-08-20 | 中国科学院沈阳自动化研究所 | Modular slide capture rod type recovery device for autonomous recovery of underwater robots |
| CN113443078A (en) * | 2021-06-25 | 2021-09-28 | 中国船舶重工集团公司第七一三研究所 | Automatic hanging flower basket device of laying and retrieving of unmanned ship of general type |
| CN115610629A (en) * | 2022-11-15 | 2023-01-17 | 广东智能无人系统研究院 | Butt joint recovery unit based on ROV |
| CN115848604A (en) * | 2023-03-02 | 2023-03-28 | 中水珠江规划勘测设计有限公司 | Submersible fixing device |
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