CN114104200A - Simple unmanned ship throwing and recycling device - Google Patents
Simple unmanned ship throwing and recycling device Download PDFInfo
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- CN114104200A CN114104200A CN202111655585.7A CN202111655585A CN114104200A CN 114104200 A CN114104200 A CN 114104200A CN 202111655585 A CN202111655585 A CN 202111655585A CN 114104200 A CN114104200 A CN 114104200A
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- baffle
- unmanned ship
- fixedly connected
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/40—Use of lowering or hoisting gear
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
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- Cleaning Or Clearing Of The Surface Of Open Water (AREA)
Abstract
The invention provides a simple unmanned ship throwing and recovering device which comprises a flexible net, a simple lifter and a simple amplitude transformer, wherein the flexible net comprises a rectangular net for bearing an unmanned ship, a contraction spring, a connecting structure and pendants, four edges of the rectangular net are supported by the four contraction springs, and four corners of the rectangular net are respectively connected with one pendant; the simple lifter comprises two lifting movable hook units and two pulleys, the simple amplitude transformer comprises an amplitude-variable cross rod, two vertical rods and two ship board fixing devices, the two pulleys are sleeved on the amplitude-variable cross rod at intervals, two ends of the amplitude-variable cross rod are correspondingly fixedly connected with the upper ends of the two vertical rods, and the lower ends of the two vertical rods are respectively connected with one ship board fixing device. The invention integrates and assembles the components such as the flexible netting, the simple lifter, the simple amplitude transformer, the auxiliary device and the like, thereby realizing the efficient, safe and accurate unmanned ship launching and recovery. The system solves the problems of high cost and low efficiency of the current unmanned ship releasing and recovering system.
Description
Technical Field
The invention belongs to the field of ocean engineering application, and particularly relates to a simple unmanned ship launching and recovering device which is suitable for launching and recovering small-sized ocean unmanned ship detection systems in water areas such as a ship foundation, a shore foundation and an empty foundation.
Background
The 21 st century is the oceanic century, and the development of ocean engineering can deepen our understanding of oceans and accelerate the implementation of ocean strategy. And the offshore operation has complex environment, bad working condition and high operation risk, and the marine engineering investigation activity is difficult to be effectively carried out. Therefore, unmanned platforms represented by unmanned ships and underwater robots have strong requirements in oceanographic engineering investigation and have wide application prospects. The innovation and the development of novel platforms and operation means for oceanographic engineering investigation such as unmanned ships, underwater robots and the like are important means for future oceanographic investigation and ocean exploration by human beings.
In the practical application of the unmanned ship, the throwing and the recovery are the basic and necessary links for implementing the operation. At present, the operation of launching and recovering unmanned ships mainly comprises the following two operation modes: (1) the unmanned ship is folded and unfolded manually, is suitable for light and small unmanned ships, and is mainly put in water and recycled by manpower. The limit is that people stand in shallow water or put on a deck, the safety of operators and unmanned ships faces huge threat, and the operation cannot be implemented under certain sea condition conditions. (2) The crane is used for collecting and releasing, and is suitable for collecting and releasing large and medium unmanned ships. The technical difficulty is that the connection and separation of the crane and the unmanned ship are very difficult, manual assistance is required at present, the hooking and unhooking processes are complex, the time and the economic cost are high, and the crane and the unmanned ship are extremely uncontrollable under certain sea conditions.
At present, unmanned ship mainly relies on bank base and the crane operating system of ship base to put in and retrieve. The crane lifting system mainly comprises a lifting system, a telescopic system, a variable amplitude system, a rotary system, an operating system and the like. The lifting system, the telescopic system and the amplitude varying system control the movement in the vertical direction, and the rotating system controls the movement in the horizontal direction. An operator moves in the horizontal direction through the operating system, moves to the position above a target position, then moves the unmanned ship to the water surface through the telescopic system, the amplitude varying system and the lifting system, and realizes connection or disconnection of the lifting system and the unmanned ship through manual auxiliary operation.
As more and more operations are delivered in oceanographic engineering investigation and the expected wide application prospect is achieved, the automatic and efficient requirements of launching and recovering the unmanned ship are continuously improved. The unmanned ship crane lifting system adopted at present mainly has the following problems: (1) the retraction and release are assisted by an operator, particularly in the link of connecting or disconnecting the lifting system with the unmanned ship, the operator needs to drive the ship to an equipment accessory for manual operation, the operation risk is high, the operation is uncontrollable under certain sea condition conditions, and the equipment recovery can take several hours; (2) the crane lifting system is poor in universality, and is usually arranged on large engineering ships and docks, and ordinary ships are not provided with the crane lifting system. (3) The operation of a crane lifting system is complex, professional personnel are required to maintain the operation, and the cost is high.
Disclosure of Invention
The invention aims to solve the technical problem of providing a simple unmanned ship launching and recovering device, which integrates and assembles components such as a flexible net, a simple lifter, a simple amplitude transformer, an auxiliary device and the like, and realizes efficient, safe and accurate unmanned ship launching and recovering. The system solves the problems of high cost and low efficiency of the current unmanned ship releasing and recovering system.
In order to solve the technical problems, the invention provides a simple unmanned ship throwing and recovering device which comprises a flexible net, a simple lifter and a simple amplitude transformer, wherein the flexible net comprises a rectangular net for bearing an unmanned ship, contraction springs, a connecting structure and weights;
the simple lifter comprises two lifting moving hook units and two pulleys, each lifting moving hook unit comprises a movable hook, a moving cross rod and a cable rope, each cable rope comprises two first section cable ropes, two second section cable ropes and a third section cable rope, two ends of the moving cross rod are correspondingly and fixedly connected with the upper ends of the two first section cable ropes, the lower end of the first section cable rope is fixedly connected with the movable hook, the lower ends of the two second section cable ropes are correspondingly and fixedly connected with two ends of the moving cross rod, the upper ends of the two second section cable ropes are fixedly connected with the lower end of the third section cable rope after being fixedly connected, and the upper end of the third section cable rope is wound on the pulleys;
the movable hook is detachably connected with the connecting structure;
the simple amplitude transformer comprises an amplitude-variable cross rod, two vertical rods and two ship board fixers, the two pulleys are sleeved on the amplitude-variable cross rod at intervals, two ends of the amplitude-variable cross rod are correspondingly and fixedly connected with the upper ends of the two vertical rods, and the lower ends of the two vertical rods are respectively connected with one ship board fixer.
The ship board fixer comprises a U-shaped fixer, a first baffle and a second baffle, wherein the U-shaped fixer is fixedly connected with a ship board through screws, the first baffle and the second baffle are fixedly arranged at the upper end of the U-shaped fixer, and the lower end of the vertical rod is arranged between the first baffle and the second baffle to limit the amplitude of the.
The connecting structure comprises a connecting screw rod, a connecting nut and two steel rings, one end of each contraction spring is fixedly connected with the connecting screw rod, the other end of each contraction spring is fixedly connected with the two steel rings, the connecting screw rod at the end part of one contraction spring penetrates through one steel ring of the two steel rings at the end parts of the adjacent contraction springs and then is connected with the connecting nut in a screwing mode, and the movable hook at the lower end of the first cable rope is detachably connected with the other steel ring of the two steel rings.
Preferably, the first baffle is vertically connected to the upper end of the U-shaped fixer, the second baffle is obliquely arranged at the upper end of the U-shaped fixer at an angle of 45 degrees, and the lower end of the vertical rod is arranged between the first baffle and the second baffle to limit the amplitude of 45 degrees.
Preferably, the rectangular netting (in a non-stretch-deformable condition) has a dimension of 150cm in length by 100cm in width.
The technical scheme of the invention has the following beneficial effects:
1. the flexible netting is used for bearing survey equipment such as the unmanned ship and the like, has certain flexibility, is harmless to the unmanned ship, has meshes larger than equipment carried at the lower part of the unmanned ship, and is harmless to detection equipment.
2. When the net is lifted, the telescopic spring can stretch and deform to wrap the unmanned ship together with the net, and when the net sinks underwater, the net can restore the original shape due to disappearance of the stretching force, so that the net is driven to be opened, and the unmanned ship is separated from the net.
3. The invention has the advantages of simple parts, close matching, convenient carrying and transportation, simple disassembly and assembly and low cost. The unmanned ship is conveniently and manually folded and unfolded, external power is not needed, the unmanned ship can be used for various types of ships, and the unmanned ship is suitable for releasing and recovering small and medium unmanned ships and detection equipment in a certain sea condition environment.
4. The invention adopts an integral module design, the mechanism can be moved and expanded, and the ship-based unmanned ship can be used for launching and recovering, and the ship board fixer is slightly changed, so that the ship-based unmanned ship can be suitable for shore-based operation and can be transformed into an unmanned plane landing mode.
5. The device can be widely applied to throwing and recovering of ocean exploration equipment such as underwater robots, water surface buoys and the like.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of a flexible netting device of the present invention;
FIG. 3 is an enlarged view of the structure of the connection structure of the present invention;
FIG. 4 is a schematic structural view of the simple lifter of the present invention;
FIG. 5 is an enlarged view of the configuration of the luffing jib of the present invention;
FIG. 6 is a schematic view of the construction of a simple horn according to the present invention;
fig. 7 is an enlarged view of the structure of the side holder according to the present invention.
Description of reference numerals:
1. rectangular netting; 2. a retraction spring; 3. a connecting structure; 4. a pendant; 5. a pulley; 6. a movable hook; 7. moving the cross bar; 8. a cable; 801. a first length of cable; 802. a second segment of cable; 803. a third segment of cable; 9. a variable amplitude cross bar; 10. erecting a rod; 11. a boat side fixer; 1101. a U-shaped holder; 1102. a first baffle plate; 1103. a second baffle; 1104. and (7) screws.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-7, the invention provides a simple unmanned ship throwing and recovering device, which comprises a flexible net, a simple lifter and a simple amplitude transformer, wherein the flexible net comprises a rectangular net 1 for bearing an unmanned ship, contraction springs 2, connecting structures 3 and pendants 4, four sides of the rectangular net 1 are all supported by one contraction spring 2, the intersecting ends of two adjacent contraction springs 2 are connected by the connecting structures 3, the pendants 4 are respectively connected below four corners of the rectangular net 1, and the net is sunk into water by self weight.
As shown in fig. 3, the connection structure 3 includes a connection screw rod, a connection nut and two steel rings, one end of the contraction spring is fixedly connected with the connection screw rod, the other end of the contraction spring is fixedly connected with the two steel rings, the connection screw rod at the end of one of the contraction springs penetrates through one steel ring of the two steel rings at the end of the adjacent contraction spring and then is screwed with the connection nut, and the movable hook at the lower end of the first section of mooring rope is detachably connected with the other steel ring of the two steel rings.
The simple lifter comprises two lifting moving hook units and two pulleys 5, each lifting moving hook unit comprises a movable hook 6, a moving cross rod 7 and a cable 8, each cable 8 comprises two first sections of cables 801, two second sections of cables 802 and a third section of cable 803, two ends of the moving cross rod 7 are correspondingly and fixedly connected with the upper ends of the two first sections of cables 801, the lower end of the first section of cable 801 is fixedly connected with the movable hook 6, the lower ends of the two second sections of cables 802 are correspondingly and fixedly connected with two ends of the moving cross rod 7, the upper ends of the two second sections of cables 802 are fixedly connected with the lower end of the third section of cable 803 after being fixedly connected, and the upper end of the third section of cable 803 is wound on the pulley 5.
The movable hook 6 is detachably connected with the connecting structure 3, so that the rectangular netting can keep the basic shape before the unmanned ship enters.
The simple amplitude transformer comprises an amplitude-variable cross rod 9, two vertical rods 10 and two ship board fixers 11, the two pulleys 5 are sleeved on the amplitude-variable cross rod 9 at intervals, two ends of the amplitude-variable cross rod 9 are correspondingly and fixedly connected with the upper ends of the two vertical rods 10 (optionally connected through a connecting structure), and the lower ends of the two vertical rods 10 are respectively connected with one ship board fixer 11 (optionally connected through a connecting structure).
The ship board fixer 11 comprises a U-shaped fixer 1101, a first baffle 1102 and a second baffle 1103, the U-shaped fixer 1101 is fixedly connected with a ship board through screws 1104, the first baffle 1102 and the second baffle 1103 are fixedly arranged at the upper end of the U-shaped fixer 1101, and the lower end of the upright 10 is arranged between the first baffle 1102 and the second baffle 1103 to limit the angular amplitude.
In this embodiment, the first baffle is vertically connected to the upper end of the U-shaped fixer, the second baffle is obliquely arranged at the upper end of the U-shaped fixer at an angle of 45 degrees, the lower end of the vertical rod is arranged between the first baffle and the second baffle to limit the amplitude of 45 degrees, and the cable provides the angle change power of the simple amplitude transformer. The moving distance of the simple amplitude transformer in the horizontal direction is about 1.414m, and the minimum lifting distance is 1.414m when the simple amplitude transformer moves in the horizontal direction to the maximum distance.
In this embodiment, the rectangular net has a dimension (under the condition of no stretching deformation) of 150cm in length and 100cm in width, and the whole unmanned ship is wrapped after being stressed and deformed in the process of launching and recovering the unmanned ship.
The elasticity index requirement of the contraction spring is as follows: the bearing weight is 50kg, and the contraction spring is concave upwards when stressed, and is not stressed and returns to the natural state.
The working principle of the invention is as follows:
1. the flexible netting is used for bearing water surface equipment such as unmanned ships and the like, the flexible netting, the peripheral springs and the hoisting rope are combined into the flexible netting, the netting has certain elasticity, and when the net is not stressed, the net is in a horizontal plane shape, and the length is 150cm, and the width is 100 cm;
2. when the net is lifted, the telescopic spring can stretch and deform to wrap the unmanned ship together with the net, when the net sinks underwater, the unmanned ship floats on the water surface, the stretching force on the net disappears, and the spring restores to the original state to drive the net to restore to the original shape, so that the unmanned ship is separated from the net.
3. The flexible netting gear has the advantages of low cost, convenience in carrying, large bearing capacity and no damage to the unmanned ship, and the meshes of the flexible netting gear are larger than equipment carried by the lower part of the unmanned ship and do no damage to detection equipment.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. The simple unmanned ship throwing and recovering device is characterized by comprising a flexible net, a simple lifter and a simple amplitude transformer, wherein the flexible net comprises a rectangular net for bearing an unmanned ship, contraction springs, a connecting structure and pendants;
the simple lifter comprises two lifting moving hook units and two pulleys, each lifting moving hook unit comprises a movable hook, a moving cross rod and a cable rope, each cable rope comprises two first section cable ropes, two second section cable ropes and a third section cable rope, two ends of the moving cross rod are correspondingly and fixedly connected with the upper ends of the two first section cable ropes, the lower end of the first section cable rope is fixedly connected with the movable hook, the lower ends of the two second section cable ropes are correspondingly and fixedly connected with two ends of the moving cross rod, the upper ends of the two second section cable ropes are fixedly connected with the lower end of the third section cable rope after being fixedly connected, and the upper end of the third section cable rope is wound on the pulleys;
the movable hook is detachably connected with the connecting structure;
the simple amplitude transformer comprises an amplitude-variable cross rod, two vertical rods and two ship board fixers, the two pulleys are sleeved on the amplitude-variable cross rod at intervals, two ends of the amplitude-variable cross rod are correspondingly and fixedly connected with the upper ends of the two vertical rods, and the lower ends of the two vertical rods are respectively connected with one ship board fixer.
2. The simple unmanned ship launching and recovering device of claim 1, wherein the ship board fixer comprises a U-shaped fixer, a first baffle and a second baffle, the U-shaped fixer is fixedly connected with the ship board through screws, the first baffle and the second baffle are fixedly arranged at the upper end of the U-shaped fixer, and the lower end of the upright rod is arranged between the first baffle and the second baffle to limit the amplitude of the angle.
3. The simple unmanned ship releasing and recovering device according to claim 1, wherein the connecting structure comprises a connecting screw rod, a connecting nut and two steel rings, one end of the contraction spring is fixedly connected with the connecting screw rod, the other end of the contraction spring is fixedly connected with the two steel rings, the connecting screw rod at one end of one contraction spring penetrates through one steel ring of the two steel rings at the end of the adjacent contraction spring and then is screwed with the connecting nut, and the movable hook at the lower end of the first section of cable rope is detachably connected with the other steel ring of the two steel rings.
4. The improvised unmanned ship launching and recovery device as recited in claim 2, wherein the first baffle is vertically connected to an upper end of the U-shaped holder, the second baffle is disposed at an upper end of the U-shaped holder at an inclination of 45 °, and a lower end of the vertical rod is disposed between the first baffle and the second baffle to define a 45 ° luffing.
5. The improvised unmanned ship launching and recovery device of claim 1, wherein the rectangular netting has a size of 150cm in length and 100cm in width.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111655585.7A CN114104200A (en) | 2021-12-31 | 2021-12-31 | Simple unmanned ship throwing and recycling device |
| CN202211720333.2A CN116101429A (en) | 2021-12-31 | 2022-12-30 | Simple unmanned ship throwing and recycling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111655585.7A CN114104200A (en) | 2021-12-31 | 2021-12-31 | Simple unmanned ship throwing and recycling device |
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| Publication Number | Publication Date |
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| CN114104200A true CN114104200A (en) | 2022-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111655585.7A Pending CN114104200A (en) | 2021-12-31 | 2021-12-31 | Simple unmanned ship throwing and recycling device |
| CN202211720333.2A Pending CN116101429A (en) | 2021-12-31 | 2022-12-30 | Simple unmanned ship throwing and recycling device |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211720333.2A Pending CN116101429A (en) | 2021-12-31 | 2022-12-30 | Simple unmanned ship throwing and recycling device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114954861A (en) * | 2022-06-28 | 2022-08-30 | 广东海洋大学 | Bionic octopus type double-layer AUV (autonomous Underwater vehicle) recycling and putting device |
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- 2021-12-31 CN CN202111655585.7A patent/CN114104200A/en active Pending
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Also Published As
| Publication number | Publication date |
|---|---|
| CN116101429A (en) | 2023-05-12 |
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