CN110816794B - General unmanned submersible recovery device - Google Patents
General unmanned submersible recovery device Download PDFInfo
- Publication number
- CN110816794B CN110816794B CN201911283297.6A CN201911283297A CN110816794B CN 110816794 B CN110816794 B CN 110816794B CN 201911283297 A CN201911283297 A CN 201911283297A CN 110816794 B CN110816794 B CN 110816794B
- Authority
- CN
- China
- Prior art keywords
- recovery
- unmanned submersible
- cage body
- throat hoop
- cage
- 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.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
- Accessories Of Cameras (AREA)
Abstract
The invention discloses a universal unmanned submersible recovery device, and relates to the technical field of underwater robot recovery. The device comprises a cage body and a top cross beam; the top cross beam is fixedly connected with the cage body to form a recovery hanging cage; the two ends of the cage body are respectively provided with a front fence and a rear fence, the two sides of the entrance of the cage body are provided with a left-eye camera and a right-eye camera, and the top of the entrance of the cage body 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 a sliding manner in the T-shaped groove, and the top cross beam is connected with the throat hoop through the spherical hinge structure. The invention has the advantages that: the water surface recovery 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 unmanned submersible vehicle cloth is put and recovery operation high risk can be solved.
Description
Technical Field
The invention relates to the technical field of underwater robot recovery, in particular to a universal unmanned submersible recovery device.
Background
With the development of scientific technology, the exploration of ocean resources is more and more, and unmanned submersible is used as a main exploration tool, and recovery and acquisition of data are required after the operation is completed, but the ocean environment is complex and changeable, and especially under severe sea conditions, recovery of unmanned submersible becomes very difficult.
The existing recovery modes mainly comprise two modes, wherein the first mode is that a worker takes a small boat to approach an unmanned submersible, and is butted by a manual auxiliary lifting device to complete recovery; the second is to adopt the floating dock and the lifting platform to carry out underwater docking recovery, the recovery mode can reduce the influence of wind waves, but the small floating dock has weak wind wave resistance, the large floating dock has high manufacturing cost, the mother ship which needs special support, the recovery cost is high, and the recovery cost is not suitable for popularization and use.
Disclosure of Invention
The invention aims to solve the technical problem of providing a universal unmanned submersible recovery device which can solve the problem of high risk of the existing unmanned submersible deployment and recovery operation, and can be applied to most sea conditions, and workers can complete deployment and recovery of various unmanned submersible types on a mother ship.
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 beam is provided with a side beam and a middle beam, the side beam and the middle beam are connected through a connecting beam, a first lifting lug, a second lifting lug and a cable guiding pulley are arranged on the middle beam, the first lifting lug and the second lifting lug are symmetrically arranged, a connecting plate is arranged between the middle beam and the side beam, a detachable camera cable storage box is arranged on the connecting plate, and a convex fixing column is arranged at the bottom of the top beam;
the top of the cage body is provided with a fixed groove corresponding to the fixed column at the bottom of the top cross beam, the fixed column and the fixed groove are fixed through a locking bolt, and the top cross beam is fixedly connected with the cage body to form a recovery hanging cage;
the two ends of the cage body are respectively provided with a front fence and a rear fence, the height of the front fence is low, a left-eye camera and a right-eye camera are symmetrically arranged in the middle of upright posts at two sides of an inlet of the cage body, a top camera is arranged in the middle of a top cross rod at the inlet of the cage body, 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 middle cross beam of the top cross beam is provided with a T-shaped groove at the bottom, a spherical hinge structure is connected in the T-shaped groove in a sliding manner, the top cross beam is connected with the throat hoop 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 inlet and outlet groove and a second bolt inlet and outlet groove are formed in the T-shaped groove, the first sliding bolt and the second sliding bolt are embedded in the T-shaped groove and are locked through nuts, 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 is connected with the first throat hoop through a bolt, the second spherical hinge is connected with the second throat hoop through a bolt, a screw hole is formed in the top of the first throat hoop and the second throat hoop, and the bolt is connected with the first throat hoop and the second throat hoop through a screw hole, and the bolt is fixed through nuts.
Further, a rubber layer is arranged on the inner side of the cage body, a damping and inflating rubber pad is arranged at the inner bottom of the cage body, and an angle seat is arranged at the bottom of the upright rod of the cage body.
Further, the first throat hoop and the second throat hoop are of annular structures, 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 an 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 an annular structure.
Further, the top crossbeam is provided with a distribution rod, the distribution rod is formed by connecting a plurality of hollow rods with threaded joint structures, the end parts of the distribution rod are of claw structures, a cable is arranged in the center of the distribution rod and connected with the claw through a movable block, the movable block is hinged with one end of the claw, the other end of the claw is hinged with the end parts of the distribution rod, the claw is of a V-shaped structure, and a spring is arranged at the joint of the claw clamp and the end parts of the distribution rod.
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 invention can realize the operation of arranging and recovering the unmanned submersible on the mother ship by the staff, and solves the problem of high risk of the unmanned submersible arranging and recovering operation;
3. when the underwater recovery operation mode is adopted, the unmanned submersible enters the recovery cage in an auxiliary way through the underwater vision camera system, so that the safety and accuracy of the recovery process are improved, the recovery difficulty is reduced, and the working efficiency is improved; when the invention is in the water surface recovery working mode, the structure of the component is simple, the operation and maintenance are easy, a power system is not needed during the recovery, and the throat hoop is automatically contracted under the gravity of the unmanned submersible, so as to fix the unmanned submersible;
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 to be recovered, so that the top cross beam is in a horizontal state in the recovery process; and adjusting the diameter of the throat hoop according to the diameter of the unmanned submersible to be recovered, and completing recovery through the throat hoop.
Drawings
FIG. 1 is a schematic illustration of the present invention in an underwater recovery mode of operation;
FIG. 2 is a schematic illustration of the present invention in a surface recovery mode of operation;
FIG. 3 is a schematic illustration of a top beam side view of the present invention;
FIG. 4 is a schematic diagram of another state of the invention from the side of the top rail;
FIG. 5 is a schematic view of the open configuration of the first and second cuffs of the present invention;
FIG. 6 is a schematic view of the structure of the deployment 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;
fig. 8 is a schematic structural view of a first laryngeal cuff of the present invention.
Reference numerals illustrate: 1. a top cross beam; 2. a camera cable storage box; 3. a cable guide pulley; 4. a first lifting lug; 5. the 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. damping inflatable rubber pad; 13. a cage body; 14. a first throat hoop; 15. a second laryngeal cuff; 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. arranging a rod; 24. a hollow rod; 25. and (3) clamping jaws.
Detailed Description
The invention is described in further detail below 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 further described in detail below with reference to the accompanying drawings and detailed description. The following examples will provide those skilled in the art with a more complete understanding of the present invention and are not intended to limit the invention to the embodiments described.
The recovery device of the unmanned submersible is an unpowered recovery device and has two working modes of underwater 30-meter recovery and water surface recovery.
As shown in fig. 1 to 8, the present embodiment adopts the following technical scheme: comprises a cage body 13 and a top cross beam 1; the top beam 1 is provided with a side beam and a middle beam, the side beam and the middle beam are connected through a connecting beam, a first lifting lug 4, a second lifting lug 5 and a cable guiding pulley 3 are arranged on the middle beam, the first lifting lug 4 and the second lifting lug 5 are symmetrically arranged, the lifting lug is a lifting device connected with a mother ship winch, the top beam 1 can be lifted through the lifting device, a connecting plate is arranged between the middle beam and the side beam, a detachable camera cable storage box 2 is arranged on the connecting plate, a camera cable is led into the camera cable storage box 2 and is combined and led out through the cable guiding pulley 3 after being tidied, a battery pack is arranged in the camera cable storage box 2 to supply power, signal transmission can be carried out through Bluetooth equipment during internal power supply, a convex fixed column is arranged at the bottom of the top beam 1, a fixed groove corresponding to the fixed column at the bottom of the top beam 1 is arranged at the top of the cage body 13, the fixed column and the fixed groove are fixed through locking bolts, the cage body 13 and the top beam 1 can be detachably connected together, the top beam 1 can be separately used, the top beam 1 and the cage body 13 are fixedly connected with the cage body 13 to form a recovery cage under water, and the recovery mode is suitable for recovering underwater in a 30-meter working mode, and the recovery cage is formed in a recovery mode under water;
the front fence 10 and the rear fence 9 are respectively arranged at the two ends of the cage body 13, the rear fence 9 is higher, the rear end face of the whole cage body 13 is blocked, the front fence 10 at the entrance is lower, and the entrance of the unmanned submersible is reserved; the left-eye cameras 7 and the right-eye cameras 8 are symmetrically arranged in the middle of the upright posts at the two sides of the entrance of the cage body 13, the top cameras 6 are arranged in the middle of the top cross bar at the entrance of the cage body 13, cables of the left-eye cameras 7, the right-eye cameras 8 and the top cameras 6 are led into the camera cable storage box 2 to form a video signal acquisition module, the three cameras on the cage body 13 are used for acquiring video signals, the left-eye cameras 7 and the right-eye cameras 8 are fixed-focus straight-tube cameras to form a binocular vision system, the positioning of an unmanned submersible is realized, the video signals are transmitted, the top cameras 6 are spherical cameras for judging whether an AUV completely enters the cage body 13, the next recovery can be carried out, and meanwhile, the top cameras 6 can also be arranged to rotate for observing the surrounding underwater environment according to the prior art;
as shown in fig. 2, 7 and 8, which show a water surface recovery working mode, 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 of a common bolt connection structure; the bottom of the middle cross beam of the top cross beam 1 is provided with a T-shaped groove 20, the T-shaped groove 20 is in sliding connection with a spherical hinge structure, the top cross beam 1 is connected with a throat hoop 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, the T-shaped groove 20 is provided with a first bolt inlet and outlet groove 21 and a second bolt inlet and outlet groove 22 for embedding the first sliding bolt 16 and the second sliding bolt 17, the first sliding bolt 16 and the second sliding bolt 17 slide in the T-shaped groove 20 and are locked by nuts, the distance between the first sliding bolt 16 and the second sliding bolt 17 can be adjusted, as shown in fig. 3 and 4, the two sliding bolts can slide in the T-shaped groove 20, the first sliding bolt 16 and the second sliding bolt 17 are tightly fixed by nuts after being adjusted to a proper position, the first sliding bolt 16 and the first spherical hinge 18, the second sliding bolt 17 and the second spherical hinge 19 are connected by the connecting block, the first spherical hinge 18 and the second spherical hinge 19 are provided with a second spherical hinge 19, the first throat hoop and the second throat hoop are fixedly connected with the second throat hoop 14 or the first throat hoop and the second throat hoop through the first spherical hinge 14 and the second throat hoop, the first throat hoop and the second throat hoop are fixedly; the first throat hoop 14 and the second throat hoop 15 are of annular structures, one end of the first throat hoop 14 is connected with a lantern ring, the lantern ring penetrates through the other end of the first throat hoop 14 to form an annular structure, one end of the second throat hoop 15 is connected with the lantern ring, the lantern ring penetrates through the other end of the second throat hoop 15 to form an annular structure, and the first throat hoop 14 and the second throat hoop 15 can be in proper length according to the size of the unmanned submersible 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 damping and inflating rubber pad 12, and the bottom of the upright rod of the cage body 13 is provided with a corner seat 11.
As shown in fig. 6, a special laying rod is shown in fig. 6, the top cross beam 1 is provided with a laying rod 23, the laying rod 23 is formed by connecting a plurality of hollow rods 24 with threaded joint structures, each hollow rod 24 is 2-3 m, the hollow rods 24 can be quickly connected through the threaded joint structures, the total length can be lengthened to 15-20 m as required, the special laying rod is made of carbon fiber, the end part of the laying rod 23 adopts a claw 25 structure, a cable is arranged in the center of the laying rod 23, the cable is connected with the claw 25 through a movable block, the movable block is hinged with one end of the claw 25, the other end of the claw 25 is hinged with the end part of the laying rod 23, the claw 25 is of a V-shaped structure, a spring is arranged at the joint of the claw 25 and the end part of the laying rod 23, the cable is pulled, the claw 25 is closed, the hose can be sleeved by clamping the hose clamp through the claw 25, the hose clamp can be taken down from the unmanned submersible, and the cable is released, and the claw 25 is automatically opened through the spring structure.
Working principle: when sea conditions are severe, recovery work of the unmanned submersible is difficult to carry out under the influence of stormy waves, and an underwater 30-meter recovery work mode can be adopted at the moment: after the unmanned submersible completes the task, the worker remotely controls the unmanned submersible to approach the mother ship, at the moment, the recovery cage formed by the cage body 13 and the top beam 1 is placed at the position of 30 meters under water, the water flow is relatively stable, when the unmanned submersible approaches the recovery cage, the worker can see the unmanned submersible through videos transmitted by the left-eye camera 7 and the right-eye camera 8, under the guidance of binocular vision positioning, the worker completes positioning and accurately drives the unmanned submersible into the recovery cage through remote control, the top camera 6 judges whether the unmanned submersible completely enters the cage, after the unmanned submersible completely enters the recovery cage, the unmanned submersible loses power and falls on the shock-absorbing inflatable rubber cushion 12, and the winch recovers a cable, so that the recovery of the unmanned submersible is completed.
When the sea condition is good, the influence of the stormy waves on the recovery work of the unmanned submersible is not great, and a water surface recovery work mode can be adopted at the moment: after the unmanned submersible is close to a mother ship, a worker remotely controls the unmanned submersible to approach the mother ship, adjusts the first sliding bolt 16 and the second sliding bolt 17 to proper positions according to the size of the unmanned submersible to be recovered, selects proper hoops, opens the first hoops 14 and the second hoops 15, and automatically contracts and tightens the unmanned submersible to prevent the unmanned submersible from falling off due to the fact that the first spherical hinge 18 and the second spherical hinge 19 act on the first hoops 14 and the second hoops 15, the recovery cage is hung on the water surface to be close to the unmanned submersible by using the winch, the worker rotates the first hoops 14 and the second hoops 15 to cover two ends of the unmanned submersible by using the special cloth rod 23, and winches recover cables.
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 placed and recovered by a worker on a mother ship, and the problem of high risk of the unmanned submersible vehicle placement and recovery operation is solved; when the underwater recovery working mode is adopted, the unmanned submersible enters the recovery cage in an auxiliary way through the underwater vision camera system, so that the safety and accuracy of the recovery process are improved, the recovery difficulty is reduced, and the working efficiency is improved; when the device 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 throat hoop is automatically contracted under the gravity of the unmanned submersible, so that the unmanned submersible is fixed; the device 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 to be recovered, so that the top cross beam is in a horizontal state in the recovery process; and adjusting the diameter of the throat hoop according to the diameter of the unmanned submersible to be recovered, and completing recovery through the throat hoop.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
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 beam is provided with a side beam and a middle beam, the side beam and the middle beam are connected through a connecting beam, a first lifting lug, a second lifting lug and a cable guiding pulley are arranged on the middle beam, the first lifting lug and the second lifting lug are symmetrically arranged, a connecting plate is arranged between the middle beam and the side beam, a detachable camera cable storage box is arranged on the connecting plate, and a convex fixing column is arranged at the bottom of the top beam;
the top of the cage body is provided with a fixed groove corresponding to the fixed column at the bottom of the top cross beam, the fixed column and the fixed groove are fixed through a locking bolt, and the top cross beam is fixedly connected with the cage body to form a recovery hanging cage;
the two ends of the cage body are respectively provided with a front fence and a rear fence, the height of the front fence is low, a left-eye camera and a right-eye camera are symmetrically arranged in the middle of upright posts at two sides of an inlet of the cage body, a top camera is arranged in the middle of a top cross rod at the inlet of the cage body, 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 middle cross beam of the top cross beam is provided with a T-shaped groove at the bottom, a spherical hinge structure is connected in the T-shaped groove in a sliding way, the top cross beam is connected with a throat hoop 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, the T-shaped groove is provided with a first bolt inlet and outlet groove and a second bolt inlet and outlet groove for embedding the first sliding bolt and the second sliding bolt, the first sliding bolt and the second sliding bolt slide in the T-shaped groove and are locked through nuts, 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 is connected with the first throat hoop through a bolt, the second spherical hinge is connected with the second throat hoop through a bolt, the top of the first throat hoop and the second throat hoop is provided with a screw hole, and the bolt is connected with the first throat hoop and the second throat hoop through a screw hole and is fixed through the nuts;
the top cross beam is provided with a laying rod, the laying rod is formed by connecting a plurality of hollow rods with threaded joint structures, the end parts of the laying rod are of claw structures, a cable is arranged in the center of the laying rod and connected with the claw through a movable block, the movable block is hinged with one end of the claw, the other end of the claw is hinged with the end parts of the laying rod, the claw is of a V-shaped structure, and a spring is arranged at the connecting part of the claw clamp and the end parts of the laying rod;
the recovery working process is as follows: when the sea condition is severe, an underwater recovery working mode is adopted: after the unmanned submersible completes the task, a worker remotely controls the unmanned submersible to approach a mother ship, at the moment, a recovery cage formed by a cage body and a top cross beam is placed at a position of 30 meters under water, the water flow is relatively stable, when the unmanned submersible approaches the recovery cage, the worker sees the unmanned submersible 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 into the recovery cage through remote control, and the top camera judges whether the unmanned submersible completely enters the cage or not, when the unmanned submersible completely enters the recovery cage, the unmanned submersible loses power and falls on a damping and inflating rubber pad, and a winch recovers a cable, so that the recovery of the unmanned submersible is completed;
when the sea condition is good, a water surface recovery working mode is adopted: after the unmanned submersible completes the task, a worker remotely controls the unmanned submersible to approach a mother ship, adjusts the first sliding bolt and the second sliding bolt to proper positions according to the size of the unmanned submersible to be recovered, selects proper hoops, opens the first hoops and the second hoops, hangs a recovery cage to the water surface to approach the unmanned submersible, uses a cloth rod to rotate the first hoops and the second hoops up, sleeves two ends of the unmanned submersible, and recovers cables by using a winch.
2. A universal unmanned submersible vehicle recovery device according to claim 1, wherein: the inner side of the cage body is provided with a rubber layer, the bottom of the cage body is provided with a damping and inflating rubber pad, and the bottom of the upright rod of the cage body is provided with an angle seat.
3. A universal unmanned submersible vehicle recovery device according to claim 1, wherein: the first throat hoop and the second throat hoop are of annular structures, 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 an 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 an annular structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911283297.6A CN110816794B (en) | 2019-12-13 | 2019-12-13 | General unmanned submersible recovery device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911283297.6A CN110816794B (en) | 2019-12-13 | 2019-12-13 | General unmanned submersible recovery device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110816794A CN110816794A (en) | 2020-02-21 |
| CN110816794B true CN110816794B (en) | 2023-06-13 |
Family
ID=69545372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911283297.6A Active CN110816794B (en) | 2019-12-13 | 2019-12-13 | General unmanned submersible recovery device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110816794B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113277015B (en) * | 2021-04-29 | 2022-08-09 | 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 |
| CN113443078B (en) * | 2021-06-25 | 2023-02-03 | 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 |
| CN115610629B (en) * | 2022-11-15 | 2023-05-16 | 广东智能无人系统研究院(南沙) | ROV-based docking recovery device |
| CN115848604B (en) * | 2023-03-02 | 2023-05-12 | 中水珠江规划勘测设计有限公司 | Submersible fixing device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008100943A2 (en) * | 2007-02-12 | 2008-08-21 | Valkyrie Commissioning Services, Inc. | Subsea pipeline service skid |
| CN106507748B (en) * | 2008-10-31 | 2013-03-13 | 中国船舶重工集团公司第七一九研究所 | A kind of untethered submersible water surface lays retracting device |
| GB201621519D0 (en) * | 2016-12-16 | 2017-02-01 | Subsea 7 Ltd | Subsea garages for unmanned underwater vehicles |
| CN107521641A (en) * | 2017-08-16 | 2017-12-29 | 中船华南船舶机械有限公司 | A kind of submarine launch retracting device and lay recovery method |
| CN108557040A (en) * | 2018-06-22 | 2018-09-21 | 江苏科技大学 | It is a kind of can folding and unfolding cabin formula the underwater relay stations of multi-functional AUV |
| CN207956003U (en) * | 2017-12-21 | 2018-10-12 | 天津深之蓝海洋设备科技有限公司 | Retracting device is laid for unmanned remotely controlled submersible vehicle |
| CN109305305A (en) * | 2018-10-29 | 2019-02-05 | 厦门大学 | A kind of ocean underwater glider extension and retraction system and its lay method |
-
2019
- 2019-12-13 CN CN201911283297.6A patent/CN110816794B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008100943A2 (en) * | 2007-02-12 | 2008-08-21 | Valkyrie Commissioning Services, Inc. | Subsea pipeline service skid |
| CN106507748B (en) * | 2008-10-31 | 2013-03-13 | 中国船舶重工集团公司第七一九研究所 | A kind of untethered submersible water surface lays retracting device |
| GB201621519D0 (en) * | 2016-12-16 | 2017-02-01 | Subsea 7 Ltd | Subsea garages for unmanned underwater vehicles |
| CN107521641A (en) * | 2017-08-16 | 2017-12-29 | 中船华南船舶机械有限公司 | A kind of submarine launch retracting device and lay recovery method |
| CN207956003U (en) * | 2017-12-21 | 2018-10-12 | 天津深之蓝海洋设备科技有限公司 | Retracting device is laid for unmanned remotely controlled submersible vehicle |
| CN108557040A (en) * | 2018-06-22 | 2018-09-21 | 江苏科技大学 | It is a kind of can folding and unfolding cabin formula the underwater relay stations of multi-functional AUV |
| CN109305305A (en) * | 2018-10-29 | 2019-02-05 | 厦门大学 | A kind of ocean underwater glider extension and retraction system and its lay method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110816794A (en) | 2020-02-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110816794B (en) | General unmanned submersible recovery device | |
| WO2020082821A1 (en) | Guide cable based apparatus and method for unmanned vehicle recovering autonomous underwater vehicle | |
| US9828068B2 (en) | Mechanical tether system for a submersible vehicle | |
| WO2019165696A1 (en) | Deep-sea multifunctional long-term in-situ observation system | |
| CN103183112B (en) | Abutting and lifting device for recovering underwater robot | |
| US5593249A (en) | Diverless flowline connection system | |
| CN106428485A (en) | Novel submersible for capturing and recovering AUV through long-distance acousto-optic bidirectional guidance | |
| US11939831B2 (en) | Device, system and method for collecting samples from a bed of a waterbody | |
| NO317224B1 (en) | Underwater relay ± for power and data | |
| GB2530442A (en) | A flowing-water driveable turbine assembly | |
| CN202379066U (en) | Abutting and lifting device for recovering underwater robot | |
| CN107284627A (en) | A kind of UUV Underwater Docking Devices under the conditions of moving base | |
| EP2547859A2 (en) | Subsea well intervention module | |
| CN110816754B (en) | Mechanical arm type cloth-laying recovery system of underwater robot and cloth-laying recovery method thereof | |
| CN109436240A (en) | A kind of underwater robot recycling cone rod-type docking traction mechanism | |
| CN209667332U (en) | A kind of underwater robot recycling cone rod-type docking traction mechanism | |
| US10330072B2 (en) | Power generating systems | |
| CN113895595B (en) | Hybrid-driven anchor chain cleaning and detecting robot and operation method thereof | |
| CN111717353A (en) | Guide type recycling mechanism capable of recycling underwater robot repeatedly | |
| CN211032976U (en) | Universal recovery device for unmanned submersible | |
| CN110683024A (en) | Conveniently-recycled seabed base for underwater stereoscopic observation system | |
| CN112249243A (en) | Material delivery platform based on ocean engineering and delivery method thereof | |
| CN209382234U (en) | A kind of underwater long range tunnel detection robot | |
| CN208278298U (en) | A kind of repeater of unmanned remotely controlled submersible vehicle | |
| CN111114695A (en) | Underwater automatic adjustment and expansion type detection buoy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |