CN111572716A - Unmanned ship recovery method and unmanned ship recovery system used for same - Google Patents
Unmanned ship recovery method and unmanned ship recovery system used for same Download PDFInfo
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- CN111572716A CN111572716A CN202010434619.9A CN202010434619A CN111572716A CN 111572716 A CN111572716 A CN 111572716A CN 202010434619 A CN202010434619 A CN 202010434619A CN 111572716 A CN111572716 A CN 111572716A
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- 238000011084 recovery Methods 0.000 title claims abstract description 86
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000002360 preparation method Methods 0.000 claims abstract description 5
- 238000007667 floating Methods 0.000 claims description 37
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 11
- 238000003032 molecular docking Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000004064 recycling Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 206010040007 Sense of oppression Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
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- 238000002474 experimental method Methods 0.000 description 1
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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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Abstract
The application relates to the technical field of unmanned ships, and provides an unmanned ship recovery system and an unmanned ship recovery method; the unmanned ship recovery system comprises a capturing piece and a recovery device which are arranged on a mother ship, and a lifting hook and a traction assembly which are arranged on the unmanned ship. The unmanned ship recovery method comprises the following steps: preparing: setting equipment on the mother ship and the unmanned ship to be in a recovery preparation state; parking: the unmanned ship is parked near the mother ship; traction: the unmanned ship is connected with the mother ship through a traction assembly on the unmanned ship, and then the catching piece on the mother ship is pulled to the lifting hook on the unmanned ship through the traction assembly so as to enable the catching piece to be connected with the lifting hook; and (3) recovering: and the unmanned ship is recovered by a recovery device on the mother ship. This application pulls the lifting hook on unmanned ship through the seizure piece of traction assembly on with mother's ship for catch once and can catch the lifting hook, improved the seizure efficiency of catching a piece to unmanned ship, reduced mother's on-board staff's working strength and operation danger.
Description
Technical Field
The application belongs to the technical field of unmanned ships, and particularly relates to an unmanned ship recovery method and an unmanned ship recovery system used for the same.
Background
When the unmanned ship moves on the sea, the stability of the platform is reduced under the influence of external wind, waves, currents and other uncertain factors, and particularly, the unmanned ship with small size and light weight is influenced more severely. The recovery of the unmanned ship is generally carried out by capturing the unmanned ship by a capturing member on the mother ship and then returning the unmanned ship to the mother ship through a mechanical deck on the mother ship. However, in high sea conditions, the mother ship and the unmanned ship are both in irregular swinging and rolling states, the uncertainty of the mutual motion rules causes that the capturing part is more difficult to complete the capturing success rate of the unmanned ship, and meanwhile, the labor intensity and operation danger of workers on the mother ship are increased due to frequent operation.
Disclosure of Invention
The embodiment of the application aims to provide a recovery method of an unmanned ship, so as to solve the technical problem that the capture success rate is low when the unmanned ship is recovered in the prior art.
In order to achieve the purpose, the technical scheme adopted by the application is as follows: provided is an unmanned ship recovery method, comprising the following steps:
preparing: setting equipment on the mother ship and the unmanned ship to be in a recovery preparation state;
parking: docking the unmanned vessel to the vicinity of the parent vessel;
traction: the unmanned ship is connected with the mother ship through a traction assembly on the unmanned ship, and then the catching piece on the mother ship is pulled to the lifting hook on the unmanned ship through the traction assembly so as to be connected with the lifting hook;
and (3) recovering: and recovering the unmanned ship through a recovery device on the mother ship.
In a possible embodiment, the preparing step comprises:
a traction hole is formed in a lifting hook of the unmanned ship;
a traction rope is passed through the traction hole;
the drawing step comprises:
sending both ends of the hauling rope to the mother ship;
connecting one end of the hauling cable with the catching piece;
connecting one end of the catching piece to a recovery device;
and pulling the other end of the traction rope to pull the catching piece to the lifting hook and draw the position of the recovery device close to the unmanned ship.
In a possible embodiment, the preparing step further comprises:
preparing a catapult on the unmanned ship;
fixing two ends of the traction rope on floating balls respectively, and accommodating the two floating balls in the ejector;
preparing a trap on the mother ship;
the drawing step comprises:
launching the floating ball to the water surface through an ejector;
catching the floating ball to a mother ship through the catcher;
the floating ball is released, and one end of the traction rope is connected with the catching piece;
the catching member is pulled to the hook by pulling the other end of the pulling rope.
In a possible embodiment, the catching member is a pocket net, the pocket net comprises a plurality of criss-cross net wires, each net wire forms a net knot at the staggered connection position, and a connecting buckle is further formed at one corner of the pocket net;
one end of the traction rope is connected with the net knot of the net bag, and the connecting buckle is connected with the execution end of the recovery device; and after the traction, the lifting hook hooks the net knot of the traction rope.
In a possible embodiment, the drawing hole is arranged on the inner side of the lifting hook, and an anti-falling device for preventing the catching piece from falling off is arranged at the opening of the lifting hook.
The unmanned ship recovery method provided by the application has the beneficial effects that: according to the unmanned ship recovery method provided by the embodiment of the application, the traction assembly is arranged on the unmanned ship and connected with the mother ship, and the traction assembly is easily connected with the mother ship due to the fact that no requirement is made on the connection position; the catch part on the mother ship is pulled to the lifting hook on the unmanned ship through the traction assembly, so that the catch part can catch the lifting hook once, the catch efficiency of the catch part on the unmanned ship is improved, the recovery efficiency of the unmanned ship is improved, and the working intensity and the operation danger of workers on the mother ship are reduced.
Based on the same conception, the application also provides an unmanned ship recovery system, which is used in the unmanned ship recovery method; the unmanned ship recovery system comprises a capturing part arranged on a mother ship, a lifting hook arranged on the unmanned ship, a traction assembly and a recovery device, wherein the traction assembly can be connected between the capturing part and the lifting hook and can pull the capturing part to the lifting hook so as to form connection with the lifting hook, and the recovery device is connected to the capturing part and is used for recovering the capturing part and the unmanned ship together.
In a possible embodiment, the traction assembly comprises a traction hole arranged on the hook and a traction rope penetrating through the traction hole; one end of the traction rope is used for being connected with the catching part, and the other end of the traction rope is used for being pulled by workers or pulling equipment.
In a possible embodiment, two ends of the traction rope are respectively fixed on a floating ball before traction, and an ejector for ejecting the floating ball is arranged on the unmanned ship; and the mother ship is provided with a catcher for catching the floating ball.
In a possible embodiment, the catching member is a net, the net comprises a plurality of criss-cross net wires, each net wire forms a net knot at the staggered connection position, each net wire is staggered and enclosed to form a plurality of net openings, and the hook can pass through the net openings and be hooked on the net knots under the traction of the traction ropes.
In a possible embodiment, the drawing hole is arranged on the inner side of the lifting hook, and an anti-falling device for preventing the catching piece from falling off is arranged at the opening of the lifting hook.
The application provides unmanned ship recovery system's beneficial effect lies in: the unmanned ship recovery system that this application embodiment provided, through increased the traction assembly on unmanned ship, pull the lifting hook on unmanned ship through the catching piece that traction assembly will be mother on the ship to make catching piece once can catch the lifting hook, improved the catching efficiency of catching piece to unmanned ship, and then improved unmanned ship's recovery efficiency, reduced mother on-board staff's working strength and operation danger.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments or the conventional technology will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without any creative effort.
Fig. 1 is a schematic perspective view of an unmanned ship recovery system provided in an embodiment of the present application;
FIG. 2 is a schematic view of the unmanned ship, the capturing member, the towing assembly and the recycling device in FIG. 1;
FIG. 3 is a schematic structural view of the unmanned ship of FIG. 2;
FIG. 4 is a schematic diagram of the connection between the purse net of FIG. 2 and the actuator of the recycling device;
FIG. 5 is a schematic view of the connection of the net, hook and tow assembly of FIG. 2;
FIG. 6 is a schematic view of the hook, the pulling assembly and the anti-separation device shown in FIG. 3;
FIG. 7 is an exploded view of FIG. 6;
fig. 8 is a schematic flow chart of a recovery method of an unmanned ship according to an embodiment of the present application.
Wherein, in the figures, the respective reference numerals:
10. a parent vessel; 20. an unmanned ship; 30. a capturing member; 31. net-holding; 311. a network cable; 312. net knots; 313. a network port; 314. a connecting buckle; 40. a recovery device; 41. an execution end; 50. a hook; 51. an opening; 52. a traction block; 53. a mounting seat; 531. a first limiting surface; 60. a traction assembly; 61. a drawing hole; 62. a hauling rope; 63. a floating ball; 70. an ejector; 80. a trap; 90. an anti-drop device; 91. a rotating shaft; 92. a drop-off prevention member; 921. a second limiting surface; 93. a reset member.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application 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 present application and are not intended to limit the present application.
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 to the other element or be 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, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1 to 3, a description will now be given of an unmanned ship recovery system according to an embodiment of the present application. The unmanned ship recovery system is used for recovering the unmanned ship 20 to the mother ship 10, and has a high recovery and capture success rate.
The unmanned ship recovery system includes a catch member 30, a recovery device 40, a hook 50, and a tow assembly 60. The catching member 30 and the recovery device 40 are both provided on the mother ship 10, and the hook 50 and the towing unit 60 are both provided on the unmanned ship 20. The towing assembly 60 can be connected between the catching member 30 and the hook 50 and can tow the catching member 30 to the hook 50 to form a connection with the hook 50, the recovery device 40 is an existing machinery deck on the mother vessel 10, and the recovery device 40 is connected to the catching member 30 and is used to recover the catching member 30 together with the unmanned ship 20 to the mother vessel 10.
Specifically, the towing unit 60 is connected to the capturing member 30 and the hook 50, respectively, the capturing member 30 is connected to the recovery unit 40, the capturing member 30 is towed to the hook 50 by the towing unit 60, and the capturing member 30 is recovered to the mother ship 10 together with the unmanned ship 20 by the recovery unit 40. In addition, the pulling assembly 60 is connected to the catch 30 and the hook 50, respectively, as will be described in detail later.
In the unmanned ship recovery system in this embodiment, the traction assembly 60 is added to the unmanned ship 20, and the capturing part 30 on the mother ship 10 is pulled to the hook 50 on the unmanned ship 20 through the traction assembly 60, so that the capturing part 30 can capture the hook 50 once, the capturing efficiency of the capturing part 30 on the unmanned ship 20 is improved, the recovery efficiency of the unmanned ship 20 is improved, and the working strength and the working danger of workers on the mother ship 10 are reduced.
In a specific embodiment, referring to fig. 3, the pulling assembly 60 includes a pulling hole 61 and a pulling rope 62, the pulling hole 61 is disposed on the hook 50, the pulling rope 62 is disposed through the pulling hole 61, one end of the pulling rope 62 is used for forming a connection with the capturing member 30, and the other end of the pulling rope 62 is used for being pulled by a worker or pulling equipment. When the tractor works, one end of the traction rope 62 penetrates through the traction hole 61, and two ends of the traction rope 62 are respectively positioned at two axial ends of the traction hole 61; then, one end of the pulling rope 62 is fed to the mother vessel 10, and the worker standing on the mother vessel 10 connects one end of the pulling rope 62 to the catching member 30, connects the catching member 30 to the actuating end 41 of the recovery device 40, and pulls the other end of the pulling rope 62, thereby connecting the hook 50, the catching member 30, and the recovery device 40. When the worker pulls the other end of the pulling rope 62, the catching member 30 moves along the pulling rope 62 toward the hook 50 and finally forms a connection with the hook 50, and the actuating end 41 of the recovering device 40 is close to the unmanned ship 20, so that the unmanned ship 20 and the catching member 30 can be directly recovered together through the recovering device 40.
Referring to fig. 3, a pulling block 52 is disposed on the hook 50, the pulling block 52 is integrally formed with the hook 50, and a pulling hole 61 penetrates the pulling block 52.
In the embodiment, referring to fig. 3, both ends of the pulling rope 62 are respectively fixed to a floating ball 63 before pulling, the unmanned ship 20 is provided with an ejector 70 for ejecting the floating ball 63, and the mother ship 10 is provided with a catcher 80 for catching the floating ball 63. When the tractor 62 actually works, after passing through the traction hole 61, two ends of the traction rope 62 are directly fixed on a floating ball 63 respectively, and the floating ball 63 is accommodated in the ejector 70; the float ball 63 is then launched to the surface of the water by the catapult 70, the float ball 63 is caught to the mother ship 10 by the catcher 80, the float ball 63 is released, and one end of the traction rope is connected to the catcher 30. The present embodiment sends both ends of the hauling rope 62 to the mother ship 10 by the combined action of the floating ball 63, the ejector 70 and the catcher 80, and has a simple structure, easy availability and convenient operation. In addition, in other embodiments of the present application, two ends of the pulling rope 62 may be fixed to two different floating balls 63, respectively.
Specifically, the floating ball 63 may be a ball structure having a density lower than that of water and capable of floating on the water surface.
In an embodiment, referring to fig. 2, 4 and 5, the catching member 30 is a net 31, the net 31 includes a plurality of criss-cross net lines 311, each net line 311 forms a net knot 312 at the criss-cross connection position, each net line 311 forms a plurality of net openings 313 by criss-cross enclosure, and the hook 50 passes through the net openings 313 and hooks on the net knots 312. In actual operation, one end of the pulling rope 62 is connected to the net knot 312 of the net 31, and specifically, one end of the pulling rope 62 is connected to the net knot 312 of the net 31 at a middle position, that is, the worker binds one end of the pulling rope 62 to the net knot 312 of the net 31 at a middle position. Then after towing, the hook 50 is just hooked at the knot 312 of the tow rope 62 under the guidance of the tow rope 62, thereby forming a quick connection of the hook 50 to the net 31. And a connection is formed at the net knot 312, which is firmly connected.
Referring to fig. 4, a connecting buckle 314 is formed at a corner of the net 31, and the connecting buckle 314 is connected to the actuating end 41 of the recycling device 40. Specifically, the actuating end 41 of the recycling device 40 is a hook-shaped structure, and the connecting buckle 314 is a closed structure, so that the connecting buckle 314 is directly hooked at the actuating end 41 of the recycling device 40 during installation, and the operation is convenient.
In an embodiment, referring to fig. 6 and 7, the pulling hole 61 is disposed inside the hook 50, and the axial direction of the pulling hole 61 is perpendicular to the central plane of the hook 50. The central plane of the hook 50 is the overall central plane, and the hook 50 is symmetrically arranged on the central plane. With such an arrangement of the towing holes 61, the net knots 312 of the net 31 can enter the inner side of the hook 50 by being driven by the towing holes 61, so that the net 31 is connected to the hook 50.
The opening 51 of the hook 50 is provided with a retaining means 90 for preventing the catching member 30 from being unhooked. In the drawing step, after the net knot 312 of the net 31 is drawn to the inner side of the hook 50, the first anti-falling device 90 of the opening 51 of the hook 50 can prevent the catching member 30 from being unhooked, so that the net 31 and the hook 50 are firmly connected, and the recovery of the net 31 and the hook 50 by the recovery device 40 is facilitated.
In a specific embodiment, referring to fig. 6 and 7, a mounting seat 53 is disposed on an inner side of the hook 50 near the opening 51, and the anti-falling device 90 includes a rotating shaft 91, an anti-falling member 92 and a reset member 93. The rotating shaft 91 is rotatably disposed on the mounting seat 53, the axial direction of the rotating shaft 91 is the same as the axial direction of the traction hole 61, the anti-falling part 92 is mounted on the rotating shaft 91, and the reset part 93 is connected to the anti-falling part 92 and the mounting seat 53. The escape preventing member 92 can be rotated toward the inside of the hook 50 by the pocket net 31 and can be restored by the restoring member 93. Meanwhile, be equipped with between anticreep piece 92 and the mount pad 53 and carry out spacing limit structure to the stroke of anticreep piece 92 rotation outwards, it is also that anticreep piece 92 can be rotatory to the inboard of lifting hook 50 at the drive of pocket net 31, however, the rotatory stroke of anticreep piece 92 direction receives limit structure's restriction for anticreep piece 92 can not be in the counter-rotation under the oppression of pocket net 31, and then prevents that pocket net 31 from deviating from the opening 51 of lifting hook 50.
Referring to fig. 7, the limiting structure includes a first limiting surface 531 disposed on the mounting base 53 and a second limiting surface 921 disposed on the anti-slip member 92. The second stopper surface 921 can abut against the first stopper surface 531 after the anti-slip member 92 is reset, and prevent the anti-slip member 92 from continuing to rotate. Through the arrangement of the first limiting surface 531 and the second limiting surface 921, the anti-dropping element 92 can not be reversely separated from the opening 51 of the hook 50, thereby preventing the pull rope 62 and the net 31 from being unhooked.
In a specific embodiment, referring to fig. 6, the pulling hole 61 is disposed at a position opposite to the opening 51 of the hook 50, so that the pulling rope 62 can rapidly pass the knot 312 of the net 31 through the opening 51 of the hook 50 and into the inner side of the hook 50, thereby improving the pulling accuracy of the pulling rope 62 and increasing the pulling speed of the pulling rope 62.
Referring to fig. 6, the pulling hole 61 is disposed near the connection between the retaining device 90 and the hook 50, that is, the pulling hole 61 is disposed near the mounting seat 63, so that the force of the net 31 on the retaining member 92 mainly acts on the retaining member 92 near the rotating shaft 91, thereby reducing the reverse thrust of the net 31 on the retaining member 92.
In a specific embodiment, referring to fig. 6, the axis of the pull hole 61 is parallel to the central symmetry plane of the hook 50. And the axial direction of the drawing hole 61 is perpendicular to the central plane of the hook 50. The central plane of the hook 50 is the overall central plane, and the hook 50 is symmetrically arranged on the central plane. With such an arrangement of the towing holes 61, the net knots 312 of the net 31 can enter the inner side of the hook 50 by being driven by the towing holes 61, so that the net 31 is connected to the hook 50.
Referring to fig. 8, the present application further provides a method for recovering a unmanned ship, including the steps of:
s10: preparing: setting the equipment on both the parent vessel 10 and the unmanned vessel 20 to a recovery-ready state;
specifically, the equipment in operation of the unmanned ship 20 is closed and recovered, and the equipment required by the recovery operation on the unmanned ship 20 is set to be in a working state so as to be recovered. Also, the equipment on the mother vessel 10 corresponding to the recovery work needs to be used is set to a working state so that the unmanned ship 20 can be recovered.
S20: parking: docking the unmanned ship 20 to the vicinity of the mother ship 10;
specifically, the optimal recovery distance between the unmanned ship 20 and the mother ship 10 may be calculated according to a plurality of experiments, and the unmanned ship 20 may be directly parked at the position of the optimal recovery distance during recovery.
S30: traction: the coupling is made with the mother vessel 10 by the towing unit 60 of the unmanned vessel 20, and then the catching member 30 of the mother vessel 10 is towed to the hook 50 of the unmanned vessel 20 by the towing unit 60 and the catching member 30 is made to be coupled with the hook 50.
Specifically, in the preparation step, the towing assembly 60 and the hook 50 are prepared on the unmanned ship 20, and then the catching member 30 is prepared on the mother ship 10; the towing assembly 60 of the unmanned vessel 20 is first coupled to the mother vessel 10 in the towing step, and specifically, since there is no requirement for a coupling position, a portion of the towing assembly 60 may be directly thrown into the mother vessel 10 or otherwise coupled to the mother vessel 10. The catchment 30 is then pulled onto the unmanned hook 50 by the pulling assembly 60 and the catchment 30 is brought into connection with the hook 50.
S40: and (3) recovering: the unmanned ship 20 is recovered by the recovery device 40 of the parent ship 10.
Specifically, a deck machine is provided on the mother ship 10, and the unmanned ship 20 is retrieved to the mother ship 10 by the deck machine.
According to the unmanned ship recovery method, the traction assembly 60 is arranged on the unmanned ship 20, the traction assembly 60 is connected with the mother ship 10, and the traction assembly 60 is easily connected with the mother ship 10 as no requirement is made on the connection position; the catching member 30 on the mother ship 10 is pulled to the hook 50 on the unmanned ship 20 through the pulling assembly 60, so that the catching member 30 can catch the hook 50 at one time, the catching efficiency of the catching member 30 on the unmanned ship 20 is improved, the recovery efficiency of the unmanned ship 20 is further improved, and the working intensity and the working danger of workers on the mother ship 10 are reduced.
In a specific embodiment, the preparing step comprises: a traction hole 61 is arranged on the hook 50 of the unmanned ship 20; a pull cord 62 is passed through the pull hole 61. When pulling, one end of the pulling rope 62 is passed through the pulling hole 61, and the two ends of the pulling rope 62 are respectively located at the two axial ends of the pulling hole 61.
Correspondingly, the traction step comprises the following steps:
the mother ship 10 acquires both ends of the pulling rope 62;
specifically, both ends of the pulling rope 62 may be directly thrown to the mother ship 10 through other structures, both ends of the pulling rope 62 may be thrown to the water surface, and then both ends of the pulling rope 62 are obtained on the water surface through a structure on the mother ship 10, or both ends of the pulling rope 62 may be directly obtained to the mother ship 10 from other structures on the mother ship 10.
Connecting one end of a pull string 62 to the catch 30; specifically by a worker tying one end of the pull cord 62 to the capture member 30.
One end of the catching member 30 is connected to the recovering device 40. The purpose is to bring the actuating end of the retrieval device 40 together with the catch 30 towards the hook 50.
The other end of the pull line 62 is pulled to pull the catch 30 to the hook 50 and pull the recovery device 40 closer to the unmanned boat 20.
Specifically, because haulage rope 62 runs through traction hole 61, and the one end of haulage rope 62 is connected with catching piece 30, then when staff tractive haulage rope 62's the other end, catching piece 30 will be along haulage rope 62 landing to traction hole 61 department, because traction hole 61 locates on lifting hook 50 to make lifting hook 50 hook catching piece 30, and then realize catching piece 30 and catch lifting hook 50 fast. Further, since the recovery device 40 is connected to the catcher 30, the actuating end 41 of the recovery device 40 approaches the hook 50 simultaneously with the catcher 30, and after the catcher 30 is connected to the hook 50, the recovery device 40 recovers the catcher 30 together with the unmanned ship 20.
In an embodiment, referring to fig. 1 and 3, the preparation step further includes:
preparing the ejector 70 on the unmanned ship 20; specifically, the ejector 70 may be provided beside the hook 50, so that the remaining space of the unmanned ship 20 is sufficiently large. .
Fixing two ends of the hauling rope 62 on a floating ball 63 respectively, and accommodating the floating ball 63 in the ejector 70; specifically, the floating ball 63 may be a ball structure having a density lower than that of water and capable of floating on the water surface. The two ends of the pulling rope 62 can be bound on the surface of the floating ball 63, or holes can be formed in the floating ball 63, and then the pulling rope 62 passes through the holes and is fixed.
Preparing the trap 80 on the mother vessel 10; specifically, the catcher 80 is any rod-shaped object on the mother ship 10, such as a ship gun, which can catch the floating ball 63.
Correspondingly, the traction step comprises the following steps:
launching the float ball 63 to the surface of the water by means of the ejector 70;
catching the floating ball 63 to the mother ship 10 by the catcher 80;
the floating ball 63 is released, and one end of the traction rope is connected with the catching piece 30;
the catch 30 is pulled to the hook 50 by pulling the other end of the pull cord.
Wherein the ejection of the ejector 70 can be set by the general control system, for example, when the general control system detects that the unmanned ship 20 is docked near the mother ship 10, the general control system controls the ejector 70 to eject the floating ball 63 to the water surface. The catcher 80 may be a device that a worker manually catches the float 63 to the mother ship 10, and then the worker removes both ends of the pulling rope 62 from the float 63, and ties one end of the pulling rope 62 to the catching member 30 while connecting one end of the catching member 30 to the actuating end 41 of the recovery device 40. Finally, the worker pulls the other end of the pulling rope 62, so that the catching member 30 slides to the hook 50 along with the pulling rope 62, thereby achieving the quick catching of the hook 50 by the catching member 30. Of course, in other embodiments of the present application, the other end of the pull-cord 62 may be pulled by a mechanical device when too much pulling force is required. And are not intended to be limiting herein.
The application realizes that the two ends of the hauling cable 62 are sent to the mother ship 10 through the ejector 70, the floating ball 63 and the catcher 80. It should be understood that in other embodiments of the present application, two ends of the hauling rope 62 may be directly fed to the mother ship 10 through the catapult 70, for example, two heavy balls are tied to two ends of the hauling rope 62, and then the two heavy balls are directly catapulted to the mother ship 10 through the catapult 70, and at this time, only the aligned position of the catapult 70 is adjusted, and then the worker is scattered. Simple structure and convenient operation.
In the specific embodiment, referring to fig. 4, the catching member 30 is a net 31, the net 31 includes a plurality of criss-cross net lines 311, each net line 311 forms a net knot 312 at the criss-cross connection, and the net lines 311 form a plurality of net openings 313 in a criss-cross surrounding manner. One end of the pulling rope 62 is connected to the net knot 312 of the net 31, and one end of the pulling rope 62 is specifically connected to the net knot 312 of the net 31 at the middle position, that is, the worker binds one end of the pulling rope 62 to the net knot 312 of the net 31 at the middle position. Then after towing, the hook 50 is just hooked at the knot 312 of the tow rope 62 under the guidance of the tow rope 62, thereby forming a quick connection of the hook 50 to the net 31. And a connection is formed at the net knot 312, which is firmly connected.
Referring to fig. 4, a connecting buckle 314 is formed at a corner of the net 31, and the connecting buckle 314 is connected to the actuating end 41 of the recycling device 40. Specifically, the actuating end 41 of the recovery device 40 is a hook-shaped structure, and the connecting buckle 314 is a closed structure, so that the connecting buckle 314 is directly hooked at the actuating end of the recovery device 40 during installation, and the operation is convenient.
In the specific embodiment, referring to fig. 6, the pulling hole 61 is disposed inside the hook 50, and the axial direction of the pulling hole 61 is perpendicular to the central plane of the hook 50. The central plane of the hook 50 is the overall central plane, and the hook 50 is symmetrically arranged on the central plane. With such an arrangement of the towing holes 61, the net knots 312 of the net 31 can enter the inner side of the hook 50 by being driven by the towing holes 61, so that the net 31 is connected to the hook 50.
The opening 51 of the hook 50 is provided with a retaining means 90 for preventing the catching member 30 from being unhooked. In the drawing step, after the net knot 312 of the net 31 is drawn to the inner side of the hook 50, the anti-falling device 90 at the opening 51 of the hook 50 can prevent the catching member 30 from being unhooked, so that the net 31 and the hook 50 are firmly connected, and the recovery device 40 can recover the net 31 and the hook 50 conveniently.
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 recovery method of an unmanned ship is characterized in that: the method comprises the following steps:
preparing: setting equipment on the mother ship and the unmanned ship to be in a recovery preparation state;
parking: docking the unmanned vessel to the vicinity of the parent vessel;
traction: the unmanned ship is connected with the mother ship through a traction assembly on the unmanned ship, and then the catching piece on the mother ship is pulled to the lifting hook on the unmanned ship through the traction assembly so as to be connected with the lifting hook;
and (3) recovering: and recovering the unmanned ship through a recovery device on the mother ship.
2. The unmanned ship recovery method of claim 1, wherein: the preparing step includes:
a traction hole is formed in a lifting hook of the unmanned ship;
a traction rope is passed through the traction hole;
the drawing step comprises:
sending both ends of the hauling rope to the mother ship;
connecting one end of the hauling cable with the catching piece;
connecting one end of the catching piece to a recovery device;
and pulling the other end of the traction rope to pull the catching piece to the lifting hook and draw the position of the recovery device close to the unmanned ship.
3. The unmanned ship recovery method of claim 2, wherein: the preparing step further comprises:
preparing a catapult on the unmanned ship;
fixing two ends of the traction rope on floating balls respectively, and accommodating the floating balls in the ejector;
preparing a trap on the mother ship;
the drawing step comprises:
launching the floating ball to the water surface through an ejector;
catching the floating ball to a mother ship through the catcher;
the floating ball is released, and one end of the traction rope is connected with the catching piece;
the catching member is pulled to the hook by pulling the other end of the pulling rope.
4. The unmanned ship recovery method according to claim 2 or 3, wherein: the catching piece is a pocket net which comprises a plurality of criss-cross net wires, net knots are formed at the criss-cross connection positions of the net wires, and connecting buckles are further formed at one corner of the pocket net;
one end of the traction rope is connected with the net knot of the net bag, and the connecting buckle is connected with the execution end of the recovery device; and after the traction, the lifting hook hooks the net knot of the traction rope.
5. The unmanned ship recovery method according to claim 2 or 3, wherein: the traction hole is arranged on the inner side of the lifting hook, and an anti-drop device for preventing the catching part from being unhooked is arranged at the opening of the lifting hook.
6. The utility model provides an unmanned ship recovery system which characterized in that: for use in the unmanned marine recovery method of any one of claims 1 to 5; the unmanned ship recovery system comprises a capturing part arranged on a mother ship, a lifting hook arranged on the unmanned ship, a traction assembly and a recovery device, wherein the traction assembly can be connected between the capturing part and the lifting hook and can pull the capturing part to the lifting hook so as to form connection with the lifting hook, and the recovery device is connected to the capturing part and is used for recovering the capturing part and the unmanned ship together.
7. The unmanned marine recovery system of claim 6, wherein: the traction assembly comprises a traction hole arranged on the lifting hook and a traction rope penetrating through the traction hole; one end of the traction rope is used for being connected with the catching part, and the other end of the traction rope is used for being pulled by workers or pulling equipment.
8. The unmanned marine recovery system of claim 7, wherein: two ends of the traction rope are respectively fixed on the floating ball before traction, and an ejector for ejecting the floating ball is arranged on the unmanned ship; and the mother ship is provided with a catcher for catching the floating ball.
9. The unmanned marine recovery system of claim 7, wherein: the catching piece is a net, the net comprises a plurality of criss-cross net wires, net knots are formed at the staggered connection positions of the net wires, the net wires are staggered and enclosed to form a plurality of net openings, and the lifting hook can penetrate through the net openings under the traction of the traction rope and be hooked on the net knots.
10. The unmanned marine recovery system of claim 7, wherein: the traction hole is arranged on the inner side of the lifting hook, and an anti-drop device for preventing the catching part from being unhooked is arranged at the opening of the lifting hook.
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| CN202010434619.9A CN111572716A (en) | 2020-05-21 | 2020-05-21 | Unmanned ship recovery method and unmanned ship recovery system used for same |
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