CN111319722A - Recovery unit and navigation equipment - Google Patents
Recovery unit and navigation equipment Download PDFInfo
- Publication number
- CN111319722A CN111319722A CN202010239358.5A CN202010239358A CN111319722A CN 111319722 A CN111319722 A CN 111319722A CN 202010239358 A CN202010239358 A CN 202010239358A CN 111319722 A CN111319722 A CN 111319722A
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- Prior art keywords
- storage rack
- locking
- recovery
- unmanned ship
- opening
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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
- B63B25/00—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby
- B63B25/002—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for goods other than bulk goods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to the technical field of unmanned ship recovery, and provides a recovery device and navigation equipment, wherein the recovery device comprises: the recovery cage is internally provided with an accommodating cavity for accommodating the unmanned ship, two ends of the recovery cage are respectively provided with a first opening and a second opening which are communicated with the accommodating cavity, and one end of the recovery cage close to the second opening is provided with a locking rod; the top of the storage rack is provided with a storage platform for storing the unmanned ship, and one end of the storage rack is provided with a locking mechanism butted with the opposite lock rod; the navigation equipment is provided with the recovery device; the recovery device and the navigation equipment provided by the invention have the following advantages: the unmanned ship can be conveniently transferred by matching the recovery cage with the storage rack, and the arrangement is neat; in addition, the first opening and the second opening of the recovery cage are convenient for the unmanned ship to enter and exit; finally, the stability of the transfer of the unmanned ship can be higher through the cooperation between the locking rod and the locking mechanism.
Description
Technical Field
The invention relates to the technical field of unmanned ship recovery, in particular to a recovery device and navigation equipment.
Background
The existing unmanned ship executes tasks in the following specific manner: the mother ship carries a plurality of small unmanned ships to carry out tasks in open sea, the mother ship and the small unmanned ships form a navigation system, and in order to ensure that the whole navigation system can be normally used and work under high sea conditions, a targeted design and research and development work needs to be carried out on three aspects of a rapid distribution and recovery device, a deck transfer device and a small unmanned ship storage device of the small unmanned ships; the existing navigation system has the following problems: the unmanned ship on the mother ship deck has low transfer speed, and the unmanned ship is fixed and stored inconveniently.
Disclosure of Invention
The invention aims to provide a recovery device and navigation equipment, and aims to solve the technical problems that in the prior art, an unmanned ship is low in transfer speed on a mother ship and inconvenient to store.
In order to achieve the above object, the present invention adopts a technical solution that is a recycling apparatus, comprising:
the recovery cage is internally provided with an accommodating cavity for accommodating the unmanned ship, two ends of the recovery cage are respectively provided with a first opening and a second opening which are communicated with the accommodating cavity, and one end of the recovery cage close to the second opening is provided with a locking rod; and
the top of the storage rack is provided with a storage platform for storing the unmanned ship, and one end of the storage rack is provided with a locking mechanism which is in butt joint with the locking rod.
In one embodiment, a door frame for closing the second opening is rotatably arranged at one end of the recovery cage close to the second opening.
In one embodiment, the door frame is provided with a first locking rod for butt joint with locking pliers on the unmanned ship.
In one embodiment, the storage rack comprises two side rails, the two side rails are arranged on two opposite sides of the storage platform, and the distance between the two side rails is slightly larger than the width of the recovery cage.
In one embodiment, one end of the storage rack far away from the locking mechanism is provided with a second locking rod for butting with locking pliers of the unmanned ship.
In one embodiment, the storage rack comprises a plurality of guide wheels, and the plurality of guide wheels are arranged on the storage platform and are positioned between the second locking rod and the locking mechanism.
In one embodiment, the storage rack includes a plurality of legs pivotally coupled to the storage platform, the guide wheel is pivotally coupled to the legs, and the legs are pivotally coupled to the storage platform.
In one embodiment, the storage rack further comprises a control mechanism connected to the locking mechanism and used for controlling the locking mechanism to extend and retract on the storage rack.
In one embodiment, the locking mechanism comprises a first rotating rod fixed on the storage rack, a hook member rotatably connected to the first rotating rod, and a connecting rod connected to one side of the hook member and used for driving the hook member to rotate around the first rotating rod; control mechanism including rotate connect in second dwang on the storage rack, connect in keeping away from of connecting rod hook member's one end and connect in control lever on the second dwang with be used for driving the second dwang rotates and then drives control lever pivoted control pedal.
Another object of the invention is to provide a navigation device provided with the above recovery device.
The recovery device and the navigation equipment provided by the invention have the beneficial effects that:
the unmanned ship can be conveniently transferred between the water surface and the mother ship through the matching between the recovery cage and the storage rack, and meanwhile, the arrangement of the unmanned ship is neat; in addition, the first opening and the second opening of the recovery cage are convenient for the unmanned ship to enter and exit; finally, the locking rod and the locking mechanism are matched, so that the stability between the recovery cage and the storage rack is high when the unmanned ship is transferred, and the safe transfer of the unmanned ship is facilitated.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used 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 that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of a recycling apparatus provided in an embodiment of the present invention;
FIG. 2 is a perspective view of a recycling cage according to an embodiment of the present invention;
fig. 3 is a perspective view of a storage rack according to an embodiment of the present invention.
The figures are numbered:
unmanned ship-1; locking pliers-11;
a recovery cage-2; a locking bar-21; a gantry-22; a first locking lever-23; a guide rail-24; a float-25;
a storage rack-3; a locking mechanism-31; a first rotating rod-311; a hook-312; link-313; a wedge-shaped portion-314; a second locking lever-32; a support bar-33; a guide wheel-34; bracket-35; -36, a control mechanism; a second rotatable shaft-361; control rod-362; a control pedal-363; a guardrail-37;
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected or indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings for convenience in describing the invention, and do not indicate that the device or component must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating relative importance or as indicating a number of technical features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. The following describes a specific implementation of the present invention in more detail with reference to specific embodiments:
as shown in fig. 1 to 3, a recovery apparatus according to an embodiment of the present invention is used for transferring an unmanned ship 1, specifically, capturing the unmanned ship 1 from the water surface, and transferring the unmanned ship to a mother ship; or release the unmanned vessel 1 from the mother vessel to the surface.
The recovery device comprises: a recovery cage 2 and a storage rack 3; an accommodating cavity for accommodating the unmanned ship 1 is formed in the recycling cage 2, a first opening and a second opening which are communicated with the accommodating cavity are formed in two ends of the recycling cage 2 respectively, and a locking rod 21 is arranged at one end, close to the second opening, of the recycling cage 2; the top of the storage rack 3 is provided with a storage platform for storing the unmanned ship 1, and one end of the storage rack 3 is provided with a locking mechanism 31 which is butted with the opposite locking rod 21.
The working principle of the recovery device provided by the embodiment is as follows:
the recovery device is arranged on a mother ship or a dock, and the specific process of putting the unmanned ship 1 is to unlock the locking bar 21 and the locking mechanism 31, namely, the matching between the recovery cage 2 and the storage rack 3 is released, the recovery cage 2 is placed on the water surface, and the unmanned ship 1 is controlled to be driven out of the recovery cage 2;
the specific process of recovering the unmanned ship 1 is to control the unmanned ship 1 to enter the recovery cage 2 from the first opening, move the recovery cage 2 to the storage rack 3, make the locking rod 21 butt-joint on the locking mechanism 31, that is, the recovery cage 2 is fixed on the storage rack 3, and control the unmanned ship 1 to move to the storage rack 3 from the second opening.
The recovery unit that this embodiment provided has:
the unmanned ship 1 can be conveniently transferred between the water surface and a mother ship through the matching between the recovery cage 2 and the storage rack 3, and meanwhile, the arrangement of the unmanned ship 1 is facilitated to be regular; in addition, the unmanned ship 1 can conveniently enter and exit through the first opening and the second opening of the recovery cage 2; finally, the stability between the recovery cage 2 and the storage rack 3 can be high when the unmanned ship 1 is transferred through the matching between the locking rod 21 and the locking mechanism 31, and the unmanned ship 1 is safely transferred.
In one embodiment, the end of the recovery cage 2 adjacent the second opening is rotatably provided with a door 22 for closing the second opening. It will be appreciated that the provision of the portal 22 allows the second opening to be closable, i.e. when the second opening is closed, the recovery cage 2 has only one opening, facilitating the transfer action of the recovery cage 2 after recovery of the unmanned ship 1; meanwhile, after the recovery cage 2 is in butt joint with the storage rack 3, the second opening is opened, and the unmanned ship 1 is convenient to transfer to the storage rack 3 from the second opening.
In one embodiment, the gantry 22 is provided with a first locking bar 23 for docking with the locking clamp 11 on the unmanned ship 1. It will be appreciated that the drone 1 is secured to the interior of the frame by arranging the first locking bar 23 so that when the drone 1 enters the interior of the frame, the locking pliers 11 engage the first locking bar 23. In the embodiment, the design can avoid collision of the unmanned ship 1 in the recovery cage 2 when the recovery cage 2 is transferred to the unmanned ship 1.
In one embodiment, the recovery cage 2 is provided with a guide rail 24 at the opening. It will be appreciated that the guide rail 24 serves to guide the drone 1 from the opening into the housing cavity.
Specifically, the number of the guide rails 24 is two, the two guide rails 24 are oppositely arranged at the opening of the recovery cage 2, and the distance between the two guide rails 24 gradually increases from the opening to a distance. It will be appreciated that the guide rail 24 may be made more guiding by this design.
In one embodiment, the recovery cage 2 is provided with floats 25 on both sides. It can be understood that the floating body 25 can enable the recovery cage 2 to float on the water surface, so that the unmanned ship 1 can conveniently enter the accommodating cavity.
Specifically, the body 25 is arranged in the middle of two sides of the recovery cage 2, the upper half part of the recovery cage 2 is exposed out of the water surface through the design, and the lower half part of the recovery cage 2 is submerged under the water surface, so that the unmanned ship 1 can conveniently enter the accommodating cavity.
In one embodiment, the storage rack 3 comprises two side rails 37, the two side rails 37 being provided on opposite sides of the storage platform, and the distance between the two side rails 37 being slightly larger than the width of the recovery cage 2. It will be appreciated that the docking of the recovery cage 2 may be guided by the guard rail 37 to increase the speed of docking and avoid collisions during docking.
In one embodiment, the end of the storage rack 3 remote from the locking mechanism 31 is provided with a second locking lever 32 for interfacing with the locking clamp 11 of the unmanned ship 1. It can be understood that the second locking lever 32 is arranged so that when the unmanned ship 1 is transferred to the storage rack 3, the second locking lever 32 is in butt joint with the locking pliers 11, and the storage rack 3 fixes the unmanned ship 1. By this design the storage of the unmanned ship 1 can be made more stable.
In one embodiment, the storage rack 3 is provided with a support bar 33 for supporting the second locking bar 32. It will be appreciated that the stability of the second locking bar 32 may be increased by the support bar 33.
Specifically, the number of the support rods 33 is two, and the two support rods 33 are oppositely disposed on two sides of the second locking rod 32.
In one embodiment, the storage rack 3 includes a plurality of guide wheels 34, the plurality of guide wheels 34 being disposed on the storage platform between the second locking bar 32 and the locking mechanism 31. The unmanned ship 1 can be more smoothly transferred at the storage rack 3 by providing a plurality of guide wheels 34.
Specifically, the plurality of guide wheels 34 are divided into two groups, and the two groups of guide wheels 34 are oppositely arranged on the top of the storage rack 3, so that the unmanned ship 1 is guided to be transferred on the storage rack 3 along a preset direction.
In one embodiment, the guide wheels 34 are pivotally attached to the brackets 35, and the brackets 35 are pivotally attached to the storage rack 3.
Specifically, the guide wheels 34 are rotated about a first rotation axis perpendicular to the transfer direction of the unmanned ship 1, which is generally the length direction of the storage rack 3, and the support 35 is rotated about a second rotation axis parallel to the transfer direction of the unmanned ship 1, which is the width direction of the storage rack 3. That is, the guide wheels 34 can be adaptively rotated according to the shape of the bottom of the unmanned ship 1 to be always closely attached to the bottom of the unmanned ship 1, thereby providing a sufficient supporting force.
In one embodiment, the storage rack 3 further comprises a control mechanism 36 connected to the locking mechanism 31 and used for controlling the locking mechanism 31 to extend and retract on the storage rack 3. It will be appreciated that the provision of a control mechanism 36 allows the user to control the locking or unlocking of the locking mechanism 31 to the locking lever 21 for easy operation by the user.
In one embodiment, the locking mechanism 31 includes a first rotating lever 311 fixed to the storage rack 3, a hook member 312 rotatably coupled to the first rotating lever 311, and a link 313 coupled to one side of the hook member 312 and adapted to rotate the hook member 312 about the first rotating lever 311; the control mechanism 36 includes a second rotating rod 361 rotatably connected to the storage rack 3, a control rod 362 connected to an end of the connecting rod 313 remote from the hook member 312 and connected to the second rotating rod 361, and a control pedal 363 for rotating the second rotating rod 361 and thus rotating the control rod 362. Specifically, the hook member 312 can rotate around the first rotating rod 311, the hook member 312 is driven by the connecting rod 313 to rotate, the hook member 312 rotates to enable the hook member 312 to stretch out and draw back on the storage rack 3, namely, to extend out towards the inside of the accommodating cavity or retract back from the inside of the accommodating cavity, and when the hook member 312 extends out towards the inside of the accommodating cavity, the hook member is clamped on the opposite locking rod 21, so that the recycling cage 2 and the storage rack 3 are relatively fixed; when the hook member 312 is retracted, the locking with the locking lever 21 is released, and the recovery cage 2 can be detached from the storage rack 3. Further, the control pedal 363 is controlled by a user, the user can press the control pedal 363 by foot, the control pedal 363 drives the control rod 362 to rotate around the second rotating rod 361, and then the control rod 362 is used for driving the connecting rod 313 to move, and then the connecting rod 313 drives the hook member 312 to rotate. It can be appreciated that the user's manner of operation is facilitated by the above-described design.
In particular, the side of the hook member 312 remote from the link 313 is provided with a protruding wedge-shaped portion 314 towards the storage platform. It can be understood that the hook member 312 is more easily engaged with the counter lock lever 21 by providing the wedge portion 314.
Another object of the invention is to provide a navigation device provided with the above recovery device.
The navigation equipment provided with the recovery device has the advantage that the unmanned ship 1 is convenient to transfer.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A recycling apparatus, comprising:
the recovery cage (2) is internally provided with an accommodating cavity for accommodating the unmanned ship (1), two ends of the recovery cage (2) are respectively provided with a first opening and a second opening which are communicated with the accommodating cavity, and one end of the recovery cage (2) close to the second opening is provided with a locking rod (21); and
the storage rack (3) is provided with a storage platform for storing the unmanned ship (1) at the top, and one end of the storage rack (3) is provided with a locking mechanism (31) which is in butt joint with the locking rod (21).
2. A recovery device as claimed in claim 1, characterized in that the end of the recovery cage (2) close to the second opening is provided with a portal (22) for closing the second opening in a rotating manner.
3. A recovery device according to claim 2, characterized in that the gantry (22) is provided with a first locking lever (23) for docking with a locking tong (11) on the unmanned ship (1).
4. A recycling apparatus according to claim 1, characterized in that said storage rack (3) comprises two side rails (37), two side rails (37) being provided on opposite sides of said storage platform, and the distance between the two side rails (37) being slightly larger than the width of the recycling cage (2).
5. A recovery device according to claim 1, characterized in that the end of the storage rack (3) remote from the locking mechanism (31) is provided with a second locking lever (32) for docking with the locking tongs (11) of the unmanned ship (1).
6. A recovery device according to claim 5, characterized in that said storage rack (3) comprises a plurality of guide wheels (34), said plurality of guide wheels (34) being arranged on said storage platform and between said second locking lever (32) and said locking mechanism (31).
7. A recovery device as claimed in claim 6, characterized in that said storage rack (3) comprises a plurality of brackets (35), said plurality of brackets (35) being rotatably connected to said storage platform, said guide wheel (34) being rotatably connected to said brackets (35), said brackets (35) being rotatably connected to said storage platform.
8. A recycling apparatus according to any one of claims 1 to 7, further comprising a control mechanism (36) connected to said locking mechanism (31) for controlling the extension and retraction of said locking mechanism (31) to and from said storage rack (3).
9. The recycling apparatus as claimed in claim 8, wherein said locking mechanism (31) comprises a first rotating lever (311) fixed to said storage rack (3), a hook member (312) rotatably connected to said first rotating lever (311), and a link (313) connected to one side of said hook member (312) for rotating said hook member (312) around said first rotating lever (311); control mechanism (36) including rotate connect in the second dwang (361) of storage rack (3), connect in keeping away from of connecting rod (313) hook member (312)'s one end just connect in control lever (362) on second dwang (361) and be used for driving second dwang (361) rotate and then drive control lever (362) pivoted control pedal (363).
10. Sailing apparatus, characterized in that it is provided with a recovery device according to any one of claims 1 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010239358.5A CN111319722A (en) | 2020-03-30 | 2020-03-30 | Recovery unit and navigation equipment |
| PCT/CN2020/127170 WO2021196618A1 (en) | 2020-03-30 | 2020-11-06 | Recovery apparatus and navigation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010239358.5A CN111319722A (en) | 2020-03-30 | 2020-03-30 | Recovery unit and navigation equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111319722A true CN111319722A (en) | 2020-06-23 |
Family
ID=71166401
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010239358.5A Pending CN111319722A (en) | 2020-03-30 | 2020-03-30 | Recovery unit and navigation equipment |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111319722A (en) |
| WO (1) | WO2021196618A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021196618A1 (en) * | 2020-03-30 | 2021-10-07 | 珠海云洲智能科技有限公司 | Recovery apparatus and navigation device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114701608B (en) * | 2022-03-29 | 2024-03-15 | 上海大学 | Hanging type anti-separation keel block for deploying and recycling unmanned water surface vehicle |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012069853A2 (en) * | 2010-11-26 | 2012-05-31 | Divex Limited | Apparatus to launch and recover a boat |
| CN108583810B (en) * | 2018-04-16 | 2019-10-29 | 上海海洋大学 | A kind of mobile dock of Portable unmanned ship |
| CN109178224A (en) * | 2018-11-02 | 2019-01-11 | 珠海云洲智能科技有限公司 | A kind of recovery method laying recyclable device and unmanned boat |
| CN109823472A (en) * | 2019-03-26 | 2019-05-31 | 上海大学 | A kind of unmanned boat Quick distributor recyclable device |
| CN212047796U (en) * | 2020-03-30 | 2020-12-01 | 珠海云洲智能科技有限公司 | Storage rack and navigation equipment |
| CN212047795U (en) * | 2020-03-30 | 2020-12-01 | 珠海云洲智能科技有限公司 | Recovery unit and navigation equipment |
| CN111319722A (en) * | 2020-03-30 | 2020-06-23 | 珠海云洲智能科技有限公司 | Recovery unit and navigation equipment |
-
2020
- 2020-03-30 CN CN202010239358.5A patent/CN111319722A/en active Pending
- 2020-11-06 WO PCT/CN2020/127170 patent/WO2021196618A1/en active Application Filing
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021196618A1 (en) * | 2020-03-30 | 2021-10-07 | 珠海云洲智能科技有限公司 | Recovery apparatus and navigation device |
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| Publication number | Publication date |
|---|---|
| WO2021196618A1 (en) | 2021-10-07 |
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