CN112875544B - Rope-driven AUV recovery cabin control system mounted on marine crane - Google Patents
Rope-driven AUV recovery cabin control system mounted on marine crane Download PDFInfo
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- CN112875544B CN112875544B CN202110032028.3A CN202110032028A CN112875544B CN 112875544 B CN112875544 B CN 112875544B CN 202110032028 A CN202110032028 A CN 202110032028A CN 112875544 B CN112875544 B CN 112875544B
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- recovery
- auv
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- cabin
- rope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/52—Floating cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
- B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/12—Driving gear incorporating electric motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/14—Power transmissions between power sources and drums or barrels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/30—Rope, cable, or chain drums or barrels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a rope-driven AUV recovery cabin control system installed on a marine crane, which comprises a crane main body, a rope retracting and releasing positioning module and a recovery cabin. The crane main body comprises a main arm, a folding arm, a telescopic arm and a rotary joint, wherein a fixed plate is arranged at the upper end of the telescopic arm of the crane, a rope winding and unwinding positioning module is arranged on the fixed plate, the rope winding and unwinding positioning module comprises a sliding table and a winch, and a sliding block is arranged on the sliding table. When the AUV deviates from the position of the recovery cabin under the action of certain wind and wave force, the recovery cabin can be twisted to be opposite to the AUV through the elastic fit of the four ropes. The recycling tank in the recycling bin is designed in a cross mode, and the AUV clamp is designed in an embedded mode. And after the AUV enters the recovery cabin, the clamp in the corresponding direction is lifted to clamp the AUV. The position of the recovery cabin in the recovery process can be adjusted according to the position of the AUV, so that the AUV can be accurately and efficiently recovered.
Description
Technical Field
The invention relates to the field of AUV recovery control, in particular to a rope-driven AUV recovery cabin control system installed on a marine crane.
Background
Under the influence of positioning accuracy, complex sea conditions and the like, in order to prevent the AUV from being damaged due to collision, the current AUV cannot independently and accurately enter a recovery cabin carried on a mother ship, and efficient recovery is realized. Currently, the AUV recovery mainly adopts a manual mode, and the general flow is as follows: the AUV automatically cruises or is manually remotely controlled to a sea surface which is at a safe distance from the mother ship, the mother ship is driven by manpower to be close to the AUV after putting down the boat, then the AUV is connected and locked in a mode of manual hooks and the like, and finally the mother ship is hoisted to the ship. The recovery mode has extremely low efficiency and cannot meet the recovery requirement of AUV. The method of recovering by using a fishing net is also adopted abroad, and the general flow is as follows: the method comprises the steps that a fishing net is scattered on a certain sea surface which is a safe distance away from a mother ship in advance, then the AUV automatically cruises or is manually remotely controlled to the sea surface, and then the AUV is put in a pocket through the recovery fishing net.
Disclosure of Invention
According to the problems in the prior art, the invention discloses a rope-driven AUV recovery cabin control system installed on a marine crane, which aims to improve the existing manual recovery mode, provide a rope-driven AUV recovery cabin installed on a marine crane and application thereof, improve the AUV recovery efficiency and meet the cluster AUV recovery requirements, and comprises: the device comprises a crane main body, a rope winding and unwinding positioning module and a recovery cabin;
the crane main body comprises a main arm, a folding arm, a telescopic arm and a rotary joint, wherein one end of the main arm is hinged to the rotary joint, the other end of the main arm is connected with the folding arm, the folding arm is connected with the telescopic arm, a first hydraulic oil cylinder is arranged on the main arm, one end of the first hydraulic oil cylinder is hinged to the rotary joint, the other end of the first hydraulic oil cylinder is hinged to the main arm, a second hydraulic oil cylinder is arranged on the folding arm, one end of the second hydraulic oil cylinder is hinged to the main arm, the other end of the second hydraulic oil cylinder is hinged to the folding arm, a third hydraulic oil cylinder is arranged on the telescopic arm, and one end of the third hydraulic oil cylinder is hinged to the telescopic arm, and the other end of the third hydraulic oil cylinder is hinged to the folding arm;
the rope retracting and releasing positioning module comprises a sliding table and a winch, a sliding block is arranged on the sliding table, and a connecting piece connected with the winch is arranged on the sliding block;
the recovery cabin comprises a cabin body, wherein four rolling doors are arranged in four directions of the cabin body, the rolling doors are connected with a fixing device for controlling the rolling doors to move, lifting lugs are fixedly connected to the top of the cabin body, lifting hooks are connected to the lifting lugs, the lifting hooks are connected with four recovery cables, and the number of the recovery cables is four; the bottom of the recovery cabin is provided with a cross-shaped recovery tank, wherein clamps are arranged in four directions of the recovery tank, the clamps are connected with the recovery tank through connecting columns, and a sensor for detecting the motion state information of the AUV is arranged at the bottom of the recovery tank.
The upper end fixedly connected with fixed plate of flexible arm, receive and release rope positioning module fixed connection on the fixed plate.
The connecting piece includes crossbeam, longeron, the fixed plate of connecting the winch and prevents that the strengthening rib that the connecting piece takes place to buckle.
The winch is provided with a motor, a speed reducer, a cable drum and a lifting hook.
The number of the rolling doors is four, and each rolling door is provided with a motor and a fixing part of the rolling door.
The clamps are all provided with motors, embedded in the recovery tank and made of elastic soft materials.
Due to the adoption of the technical scheme, the rope-driven AUV recovery cabin control system arranged on the marine crane provided by the invention adopts four recovery cables to control the position of the AUV recovery cabin in real time, and the four recovery cables are retracted and positioned by the cooperative action of the crane and the retraction cable positioning module, so that the recovery cabin can further move in six directions, namely front, back, left, right, up and down. When the AUV floats on the sea surface to wait for recovery, the position of the recovery cabin is adjusted to be close to the AUV, and the four directions of the recovery cabin are respectively provided with the roller shutter doors, so that the AUV can conveniently enter the recovery cabin in different directions. When the AUV deviates from the position of the recovery cabin under the action of certain wind and wave force, the recovery cabin can be twisted to be opposite to the AUV through the elastic fit of the four ropes. The recycling groove in the recycling bin is designed in a cross shape, and the AUV clamp is designed in an embedded mode. And after the AUV enters the recovery cabin, the clamp in the corresponding direction is lifted to clamp the AUV. The position of the recovery cabin in the recovery process can be adjusted according to the position of the AUV, so that the AUV can be accurately and efficiently recovered.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is an overall structural view of an AUV recovery cabin control system according to the present invention;
FIG. 2 is a schematic structural diagram of a retractable rope positioning module according to an embodiment of the present invention;
FIG. 3 is a schematic view of the recovery compartment according to an embodiment of the present invention;
FIG. 4 is a schematic view of a recycling tank according to an embodiment of the present invention
FIG. 5 is a schematic view of a recycling tank according to an embodiment of the present invention
In the figure: 1. the crane comprises a crane main body, 2, a rotary joint, 3, a first hydraulic oil cylinder, 4, a main arm, 5, a second hydraulic oil cylinder, 6, a folding arm, 7, a third hydraulic oil cylinder, 8, a telescopic arm, 9, a fixing plate, 10, a rope retracting and positioning module, 11, a recovery cabin of an AUV, 10.1, a winch, 10.2, a connecting piece connected with the winch, 10.3, a sliding block, 10.4, a sliding table, 11.1, a recovery rope, 11.2, a lifting hook, 11.3, a lifting lug, 11.4, a cabin bottom, 11.5, a rolling door, 11.6, a driving device for controlling the rolling door to work, 11.7, a cabin top, 11.4.1, a recovery groove, 11.4.2, a clamp, 11.4.3, the AUV, 11.4.4, a clamp, 11.4.5, a connecting column, 11.4.6 and a sensor.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following describes the technical solutions in the embodiments of the present invention clearly and completely with reference to the drawings in the embodiments of the present invention:
as shown in fig. 1 and 2, the rope-driven AUV recovery compartment control system installed on a marine crane specifically includes:
comprises a crane main body, a rope retracting and releasing positioning module and a recovery cabin; the crane main body 1 comprises a main arm 4, a folding arm 6 and a telescopic arm 8 rotary joint 2, wherein a first hydraulic oil cylinder 3 is arranged on the main arm 4 to realize the amplitude changing function of the crane, a second hydraulic oil cylinder 5 is arranged on the folding arm 6, one end of the second hydraulic oil cylinder is hinged to the folding arm 6, the other end of the second hydraulic oil cylinder is hinged to the main arm 4, a third hydraulic oil cylinder 7 is arranged on the telescopic arm 8, one end of the third hydraulic oil cylinder is hinged to the folding arm 6, and the other section of the third hydraulic oil cylinder is hinged to the telescopic arm 8 to realize the telescopic function. The design mode enables the telescopic arm 8 to be in a state of being parallel to the ground through the matching of a plurality of hydraulic oil cylinders, the main arm 4 and the folding arm 6 even if the ship is subjected to certain wind and wave force. Fixed plate 9 is installed to the upper end of flexible arm, receive and releases rope orientation module 10 and fix on fixed plate 9, receive and release rope orientation module and include slip table 10.4, winch 10.1, be equipped with slider 10.3 on the slip table 10.4, be equipped with the connecting piece 10.2 of connecting the winch on the slider 10.3, be equipped with the strengthening rib of preventing buckling on the connecting piece 10.2, such design just can realize AUV and retrieve the removal of cabin in left and right directions, the flexible function alright messenger of flexible arm 8 in the cooperation can realize this recovery cabin the removal of arbitrary direction all around.
As shown in fig. 3 and 4, the recovery compartment 11 of the AUV comprises a roof 11.7, four shutters 11.5 and a floor 11.4, the design of the four shutters 11.5 allowing the AUV to recover whatever direction it is close to the recovery compartment. The cabin roof 11.7 is provided with lifting lugs and driving devices 11.6 for controlling the operation of the rolling door, and the cabin bottom 11.4 comprises a recovery groove 11.4.1 and a clamp 11.4.2.
The winch is characterized by further comprising four recovery cables 11.1, wherein one ends of the recovery cables 11.1 are wound on a cable drum of the winch, and the other ends of the recovery cables 11.1 are connected with the lifting lugs 11.3 on the top of the recovery cabin through holes of the lifting hooks 11.2. The stable lifting of the AUV recovery cabin can be realized through the design mode of the four recovery cables, when the AUV floats on the sea surface, one cabin door of the recovery cabin is just opposite to the AUV to recover the AUV through the telescopic arm 8, the retractable rope positioning module and the adjustment of the recovery cables, if storm suddenly causes the direction of the AUV to deviate from the direction of the recovery cabin, the cabin door of the recovery cabin can be just opposite to the AUV again to recover the AUV through the elastic fit of the four recovery cables 11.1. The design mode can realize the movement of the AUV recovery cabin in the left and right directions, and the recovery cabin can realize the movement in any directions of front, back, left and right by matching with the telescopic function of the upper telescopic arm 8. The design of the four tambour doors 11.5 allows the AUV to recover whatever direction it is close to the recovery compartment.
Furthermore, a motor is installed on the sliding table, and the output end of the motor is connected with the screw rod through a coupler located on the sliding table. The slider is equipped with crossbeam, longeron, connects the winch fixed plate and prevents that the strengthening rib that the connecting piece takes place to buckle.
Furthermore, the winch is provided with a motor, a winch frame, a cable drum and a fixing plate fixed on the sliding block connecting piece.
Further, as shown in fig. 5, four rolling doors 11.5 of the recovery compartment are provided with motors to realize the opening and closing of the rolling doors without interference. The recovery tank 11.4.1 is provided with a cross-shaped structure in four directions, and the bottom of the recovery tank 11.4.1 is provided with a sensor 11.4.6. The clips 11.4.2 are embedded in the four recycling grooves 11.4.1 and connected with the recycling grooves 11.4.1 through connecting posts 11.4.5, the clips 11.4.2 are made of elastic soft materials, and each clip is provided with a motor. The cross structure of the recovery tank 11.4.1 can cooperate with the roller shutter door in four directions of the recovery cabin to recover the AUV and the clamp cannot interfere, the clamp 11.4.2 adopts an embedded hidden design, and has the advantages of not interfering the recovery cabin to recover the AUV, because the clamp 11.4.2 in each direction is embedded in the recovery tank 11.4.1 at ordinary times, only after the AUV is recovered into the recovery tank 11.4.1, the sensor senses that the AUV has entered the recovery tank 11.4.1, at the moment, two clamps in opposite directions can be lifted to clamp the AUV, and the clamp is made of elastic soft materials, and the sensor 11.4.6 on the surface of the AUV cannot be damaged.
The invention discloses a rope-driven AUV recovery cabin control system installed on a marine crane, which adopts four recovery cables to control the position of an AUV recovery cabin in real time, and the four recovery cables are retracted and positioned by the cooperative action of a crane and a retraction rope positioning module, so that the recovery cabin can move in six directions, namely front, back, left, right, up and down, and the AUV can be accurately and efficiently recovered.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. A rope drive type AUV recovery cabin control system installed on a marine crane is characterized by comprising: the device comprises a crane main body, a rope winding and unwinding positioning module and a recovery cabin;
the crane main body comprises a main arm (4), a folding arm (6), a telescopic arm (8) and a rotary joint (2), one end of the main arm (4) is hinged to the rotary joint (2), the other end of the main arm is connected with the folding arm (6), the folding arm (6) is connected with the telescopic arm (8), a first hydraulic cylinder (3) is arranged on the main arm (4), one end of the first hydraulic cylinder (3) is hinged to the rotary joint (2), the other end of the first hydraulic cylinder is hinged to the main arm (4), a second hydraulic cylinder (5) is arranged on the folding arm (6), one end of the second hydraulic cylinder (5) is hinged to the main arm (4), the other end of the second hydraulic cylinder is hinged to the folding arm (6), a third hydraulic cylinder (7) is arranged on the telescopic arm (8), and one end of the third hydraulic cylinder (7) is hinged to the telescopic arm (8), and the other end of the third hydraulic cylinder (7) is hinged to the folding arm (6);
the rope reeling and unreeling positioning module comprises a sliding table (10.4) and a winch (10.1), a sliding block (10.3) is arranged on the sliding table (10.4), and a connecting piece (10.2) connected with the winch is arranged on the sliding block (10.3);
the recovery cabin is provided with four rolling doors (11.5) in four directions of the cabin body, the rolling doors (11.5) are connected with fixing devices (11.6) for controlling the movement of the rolling doors, lifting lugs (11.3) are fixedly connected to the cabin top (11.7) of the cabin body, lifting hooks (11.2) are connected to the lifting lugs (11.3), the lifting hooks (11.2) are connected with four recovery ropes (11.1); the bottom of the recovery cabin is provided with a cross-shaped recovery tank (11.4.1), wherein clamps (11.4.2) are arranged in four directions of the recovery tank (11.4.1), the clamps (11.4.2) are connected with the recovery tank (11.4.1) through connecting columns (11.4.5), and the bottom of the recovery tank (11.4.1) is provided with a sensor (11.4.6) for detecting the motion state information of the AUV.
2. The control system of claim 1, further characterized by: the upper end fixedly connected with fixed plate (9) of flexible arm (8), receive and release rope positioning module fixed connection on fixed plate (9).
3. The control system of claim 1, further characterized by: the connecting piece (10.2) comprises a reinforcing rib for preventing the connecting piece from being bent.
4. The control system of claim 1, further characterized by: the winch (10.1) is provided with a motor, a speed reducer, a cable drum and a lifting hook.
5. The control system of claim 3, further characterized by: the number of the rolling doors (11.5) is four, wherein each rolling door (11.5) is provided with a motor and a fixing part of the rolling door.
6. The control system of claim 3, further characterized by: the clamps (11.4.2) are all provided with motors, the clamps are embedded in the recovery groove (11.4.1), and the clamps (11.4.2) are made of elastic soft materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110032028.3A CN112875544B (en) | 2021-01-11 | 2021-01-11 | Rope-driven AUV recovery cabin control system mounted on marine crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110032028.3A CN112875544B (en) | 2021-01-11 | 2021-01-11 | Rope-driven AUV recovery cabin control system mounted on marine crane |
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| Publication Number | Publication Date |
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| CN112875544A CN112875544A (en) | 2021-06-01 |
| CN112875544B true CN112875544B (en) | 2022-08-30 |
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| CN202110032028.3A Active CN112875544B (en) | 2021-01-11 | 2021-01-11 | Rope-driven AUV recovery cabin control system mounted on marine crane |
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| CN114104995A (en) * | 2021-11-17 | 2022-03-01 | 大连海事大学 | Movable ring rail type series mechanical arm stabilizing device |
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| CN204661082U (en) * | 2015-02-28 | 2015-09-23 | 徐州建机工程机械有限公司 | Electric rolling gate-type cage |
| CN206538117U (en) * | 2016-08-30 | 2017-10-03 | 河南省中原奥起实业有限公司 | A kind of folding-jib crane trouble free service mechanism |
| CN109422194A (en) * | 2017-08-30 | 2019-03-05 | 中广核研究院有限公司 | Underwater equipment is launched and recycling hanging basket |
| CN110816754A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Mechanical arm type deployment and recovery system of underwater robot and deployment and recovery method thereof |
| CN111572737A (en) * | 2020-05-28 | 2020-08-25 | 大连海事大学 | AUV capturing and guiding method based on acoustic and optical guidance |
| CN211594782U (en) * | 2019-11-29 | 2020-09-29 | 巢湖市银环航标有限公司 | Retrieve auxiliary device suitable for buoy |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2823485B1 (en) * | 2001-04-13 | 2003-08-01 | Eca | DEVICE FOR LAUNCHING AND RECOVERING AN UNDERWATER VEHICLE AND METHOD OF IMPLEMENTING |
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2021
- 2021-01-11 CN CN202110032028.3A patent/CN112875544B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204661082U (en) * | 2015-02-28 | 2015-09-23 | 徐州建机工程机械有限公司 | Electric rolling gate-type cage |
| CN206538117U (en) * | 2016-08-30 | 2017-10-03 | 河南省中原奥起实业有限公司 | A kind of folding-jib crane trouble free service mechanism |
| CN109422194A (en) * | 2017-08-30 | 2019-03-05 | 中广核研究院有限公司 | Underwater equipment is launched and recycling hanging basket |
| CN110816754A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Mechanical arm type deployment and recovery system of underwater robot and deployment and recovery method thereof |
| CN211594782U (en) * | 2019-11-29 | 2020-09-29 | 巢湖市银环航标有限公司 | Retrieve auxiliary device suitable for buoy |
| CN111572737A (en) * | 2020-05-28 | 2020-08-25 | 大连海事大学 | AUV capturing and guiding method based on acoustic and optical guidance |
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