CN114506420A - Full-automatic fast cluster is laid and is retrieved AUV's platform device for ships and light boats - Google Patents
Full-automatic fast cluster is laid and is retrieved AUV's platform device for ships and light boats Download PDFInfo
- Publication number
- CN114506420A CN114506420A CN202210057913.1A CN202210057913A CN114506420A CN 114506420 A CN114506420 A CN 114506420A CN 202210057913 A CN202210057913 A CN 202210057913A CN 114506420 A CN114506420 A CN 114506420A
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- Prior art keywords
- auv
- platform
- transmission
- boats
- cluster
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Classifications
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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
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B25/00—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby
- B63B25/002—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for goods other than bulk goods
- B63B25/006—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for goods other than bulk goods for floating containers, barges or other floating cargo
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/22—Arrangement of ship-based loading or unloading equipment for cargo or passengers of conveyers, e.g. of endless-belt or screw-type
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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
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
- B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
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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
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
- B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
- B66C1/445—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces motor actuated
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
- B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
Abstract
The invention discloses a platform device for ships and boats, which is used for fully automatically and quickly distributing and recovering AUV (autonomous underwater vehicle) in a cluster manner, and comprises a transmission system, an AUV transmission device, an AUV storage device and a hoisting device, wherein the transmission system is arranged at the bottom of the platform, the hoisting device is arranged at the top of the platform, the AUV transmission device and the AUV storage device are arranged in the platform, the AUV transmission device is connected above the transmission system, and the AUV storage device is arranged above the AUV transmission device. The AUV cluster laying and recovering platform is modularized and integrally designed, and the AUV conveying device drives the conveying belt to rotate through the gear, so that the AUV can be conveniently loaded, laid and recovered after pausing at a certain angle; by modularly designing the detachable bearing device, the corresponding bearing device can be quickly replaced to realize the retraction and the installation of different AUVs; the guiding device adopts a flexibly configured modular design, can realize the recovery of AUVs in different directions, and can also ensure the distribution and recovery functions of the AUV conveying device by arranging the guiding device at intervals.
Description
Technical Field
The invention relates to a platform device for ships and boats for distributing and recovering AUVs, in particular to a platform device for ships and boats for distributing and recovering AUVs in a full-automatic rapid cluster manner.
Background
With the development of the ocean electromechanical control technology, human exploration and research on the ocean are continuously expanding towards the deep and far seas. The AUV technology has important significance for improving the surveying and exploiting efficiency of marine resource environment. Particularly, AUV formation is utilized to cooperatively complete various underwater tasks, but in the traditional AUV collecting and releasing process, the AUV recovery mode is that the AUV is lifted and recovered one by one on a mother ship through a suspension cage, and meanwhile, the hook task needs to be completed by artificial participation, so that the recovery mode has the advantages of low recovery efficiency, low success rate, poor autonomy, large influence of storms, long recovery time and various potential safety hazards to operators. The traditional recovery mode obviously cannot complete the efficient recovery of the AUV cluster. In order to improve the use guarantee capability of the AUV cluster, research needs to be performed on an autonomous deploying and retracting technology of the AUV cluster.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a full-automatic fast cluster distribution and recovery platform device for ships and boats, which solves the problems of low recovery efficiency, low success rate, poor autonomy, long recovery time and the like of the traditional AUV recovery device.
The technical scheme is as follows: the device comprises a transmission system, an AUV transmission device, an AUV storage device and a hoisting device, wherein the transmission system is arranged at the bottom of a platform, the hoisting device is arranged at the top of the platform, the AUV transmission device and the AUV storage device are arranged in the platform, the AUV transmission device is connected above the transmission system, and the AUV storage device is arranged above the AUV transmission device.
The transmission system comprises a support transmission mechanism and a support turnover mechanism, the support transmission mechanism comprises a guide rail, a plurality of racks are arranged at the top of the guide rail at intervals, the racks are meshed with a gear transmission mechanism, and gears in the gear transmission mechanism are connected with the support arm through transmission shafts.
The support arms are symmetrically arranged on two sides of the AUV conveying device, and the upper parts of the support arms on the two sides are connected with the AUV conveying device.
The supporting and overturning mechanism comprises a connecting device, the connecting device is symmetrically and slidably connected to two sides of the guide rail, the connecting device is connected with the AUV conveying device through the overturning device, a gear transmission mechanism is connected between the connecting devices on two sides, and the gear transmission mechanism is in transmission connection with the rack guide rail.
A plurality of bearing devices are arranged on a transmission belt of the AUV transmission device at intervals, so that the AUV can be supported and placed, and the AUV can be conveniently hoisted and lifted away from the AUV transmission device.
The end of the bearing device is provided with a guide device, the guide device is used for guiding the AUV to enter the bearing device in a recovery stage, and the modular design capable of being flexibly configured is adopted.
The inner wall of the bearing device is provided with an elastic rubber pad, so that the AUV can be stably stored in the storage device, and the AUV can be protected from being damaged.
The hoisting device comprises a truss, a truss vehicle is installed at the top of the truss, and the bottom of the truss vehicle is connected with a mechanical claw through an electric telescopic device.
And an elastic rubber supporting pad is arranged in the AUV storage device.
Has the advantages that: the AUV cluster distribution and recovery platform is in modular and integrated design, is not limited to two sides of a deck, and can also be arranged in a stern or a cabin, and the AUV conveying device drives the conveying belt to perform rotary motion through the gear, so that the AUV can be conveniently suspended at a certain angle to complete loading, distribution and recovery of the AUV; by modularly designing the detachable bearing device, the corresponding bearing device can be quickly replaced to realize the retraction and the installation of different AUVs; the guide device adopts a flexibly configured modular design, so that AUV recovery in different directions can be realized, and the distribution and recovery functions of the AUV conveying device can be simultaneously ensured by arranging the guide devices at intervals; by designing the AUV storage device, the storage and maintenance of the AUV can be integrated, and each storage position corresponds to an AUV number one by one, so that the hoisting system can be automatically accessed conveniently; the electric telescopic device in the hoisting device can prevent the mechanical claw from shaking irregularly due to the movement of the truss vehicle in the loading process, and ensure the stable loading and unloading of the AUV.
Drawings
FIG. 1 is a schematic view of the overall undeployed structure of the deployment and retrieval device of the present invention;
FIG. 2 is a schematic view of the overall structure of the present invention in its deployed state;
FIG. 3 is a schematic view of the overall structure of the present invention in the unfolded state in the retracted state;
FIG. 4 is a detailed schematic view of the invention in an undeployed state;
FIG. 5 is a detailed view of the recycling state of the present invention;
FIG. 6 is a front view of the present invention in a retrieval state;
FIG. 7 is a schematic view of the drive train and AUV transmission of the present invention;
FIG. 8 is a front view of the drive train and AUV transmission of the present invention;
FIG. 9 is a logic diagram of a deployment control system of the present invention;
FIG. 10 is a logic diagram of the recycling control system of the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1 to 8, the invention includes a transmission system, an AUV transmission device, an AUV storage device 51 and a hoisting device, wherein the transmission system is arranged at the bottom of the platform, the hoisting device is arranged at the top of the platform, the AUV transmission device and the AUV storage device 51 are arranged in the platform, the AUV transmission device is connected above the transmission system, and the AUV storage device 51 is arranged above the AUV transmission device.
As shown in fig. 7, the transmission system can convey the AUV conveyor out of the platform and turn it into water at one end, providing sufficient power and support for the extending and turning action of the AUV conveyor. The AUV conveying device supporting and driving device comprises a supporting transmission mechanism and a supporting turnover mechanism, wherein the supporting transmission mechanism plays a supporting and driving role in the AUV conveying device in a platform and comprises a guide rail 72, a plurality of racks are arranged at the top of the guide rail 72 at intervals, the racks are meshed with a gear transmission mechanism, the gear transmission mechanism is connected with a motor, the tail ends of transmission shafts 77 connected with gears are respectively connected with a supporting arm 87, the supporting arms 87 are symmetrically arranged on two sides of the AUV conveying device, and the upper parts of the supporting arms 87 on the two sides are respectively connected with the AUV conveying device. The gear is driven by the motor to move on the rack guide rail, the supporting arm 87 is driven by the transmission shaft 77 to move forwards, and finally the supporting arm 87 carries the AUV conveying device to move.
Supporting turnover mechanism includes connecting device 73, connecting device 73 symmetry sliding connection is in guide rail 72 both sides, connecting device 73 passes through turnover device 86 and is connected with AUV conveyer, be connected with gear drive between the connecting device 73 of both sides, gear drive is connected with rack guide transmission, drive gear through the motor and move on rack guide, rethread connecting device 73 drives turnover device 86 and moves forward, turnover device 86 carries AUV conveyer at last and moves. The turning device 86 of the present embodiment uses a hydraulic cylinder, but is not limited to use a hydraulic cylinder to perform the turning operation, and may also use an electric cylinder or other devices to turn the AUV transmission device. The support transmission mechanism and the support turnover mechanism are matched together to move the AUV conveying device to the tail end of the platform, and then one end of the AUV conveying device is turned into water through contraction of the hydraulic cylinder.
The AUV conveying device is a power device and a containing device for AUV distribution and recovery, the AUV is convenient to distribute and recover, gears are adopted to drive the conveying belt to perform rotary motion, and the AUV can be conveniently loaded, distributed and recovered by pausing at a certain angle. A plurality of bearing devices 81 are arranged on the conveying belt at intervals, as shown in fig. 8, the bearing devices 81 adopt a modularized detachable semicircular design, an AUV can be supported and placed, the AUV can be conveniently hoisted and lifted away from the AUV conveying device, the inner wall of each bearing device 81 is composed of an elastic rubber pad 82, and damage of the AUV in the conveying process is greatly reduced. The carrying device 81 can be designed into other shapes or sizes, and only needs to be suitable for the specific model of the AUV which is laid and recycled at that time.
As shown in fig. 5 and 6, the end of the carrying device 81 is provided with a guiding device 65, and the guiding device 65 is used for guiding the AUV into the carrying device in the recovery stage, and adopts a flexibly configurable modular design. The guide device 65 is arranged at the top end of the bearing device 81 at different sides of the AUV conveying device, so that the AUV can be recovered in two directions, and the specific installation position can be determined according to specific recovery conditions. The guide device 65 is installed at intervals on the AUV conveying device, so that the AUV conveying device can be ensured to have a bearing device 81 for arrangement or recovery at any time.
As shown in fig. 5, the AUV storage device 51 is an AUV cluster to be deployed or recycled, and is a storage and maintenance area of an AUV, and is designed to have a multi-layer storage structure that can satisfy storage of the entire AUV cluster. The AUV storage device 51 includes an elastic rubber support pad 52 to allow stable storage of the AUV in the storage device and to protect the AUV from damage. And the serial numbers of each pair of supporting pads correspond to the serial numbers of the AUV one by one, so that the hoisting system can be automatically stored and taken conveniently.
As shown in fig. 6, the hoisting device is used for transporting and hoisting the AUV, and comprises a truss 62, a truss trolley 61 is mounted at the top of the truss 62, the bottom of the truss trolley 61 is connected with a mechanical claw 64 through an electric telescopic device 63, and when the AUV reaches the position above the AUV to be loaded, the mechanical claw 64 is extended out by the action of the electric telescopic device 63 to complete the grabbing of the AUV. The electric telescopic device 63 drives the mechanical claw 64 to move, so that the mechanical claw 64 cannot shake indefinitely due to the movement of the truss vehicle 61 in the loading process, the AUV shakes indefinitely, and stable loading and unloading of the AUV are guaranteed.
The deployment and recovery platform can be suitable for full-automatic rapid deployment and recovery of AUV clusters, and the application of the deployment and recovery platform is not limited to two sides of a deck, and the deployment and recovery platform can also be arranged at the stern and inside a cabin, wherein when the deployment platform is arranged inside the cabin, the deployment and recovery platform must be operated by extending out of a ship body from the side of the ship at a position above a waterline.
As shown in fig. 9, the deployment process control flow is: when the distribution and recovery platform receives a distribution instruction, the transmission system starts to act, the support transmission mechanism and the support turnover mechanism simultaneously act at the moment, the support transmission mechanism drives the gear to move on the rack guide rail through the motor, the support arm is driven to move forwards through the connecting shaft, and finally the support arm carries the AUV transmission device to move. The supporting turnover mechanism drives a gear to move on a rack guide rail through a motor, the hydraulic cylinder body is driven to move forwards through the connecting shaft, and finally the hydraulic cylinder body carries the AUV conveying device to move. When the hydraulic cylinder body moves to the tail end of the guide rail, the supporting and overturning mechanism stops moving, and then the AUV conveying device is supported. When the support transmission also moves to the end of the guide rail, the turning action is started. And the hydraulic cylinder in the supporting and overturning mechanism starts to contract so as to complete the overturning action of the AUV transmission device, and one end of the AUV transmission device is positioned in water. After the platform is unfolded, the hoisting device starts to act, the truss vehicle stops moving after moving to the position above the AUV storage device needing to be distributed, the electric telescopic device drives the mechanical claw to grab the AUV, the truss vehicle hoists the AUV to the bearing device at the topmost end of the AUV conveying device after the grabbing action is finished, and the AUV loading action is finished at the moment. And finally, the AUV conveying device drives the conveying belt to rotate through the gear, and AUV distribution is put into water to finally complete the distribution task.
As shown in fig. 10, the recovery process is controlled by: when the AUV receives a recovery instruction, the AUV navigates to the position near the recovery platform, then docking guidance of the final stage is completed through the AUV with the vision module, the conveying device starts to rotate after the AUV is successfully docked, the AUV is conveyed to the top end of the conveying device from the water, and then the conveying device pauses to wait for the hoisting device to unload the AUV. At the moment, the electric telescopic device drives the mechanical claw to grab the AUV from the conveying device and transfer the AUV to a fixed storage position in the AUV storage device through the truss vehicle. The load is then hoisted back to the upper end of the conveyor to await recovery of the next AUV. And after all the AUVs are recovered, the transmission system starts to act, the support turnover mechanism turns over the AUV transmission device to a horizontal posture, and the support turnover mechanism and the support transmission mechanism coordinate to finish the recovery action of the distribution and recovery platform.
Claims (9)
1. The utility model provides a full-automatic quick cluster is laid and is retrieved platform device for boats and ships of AUV, its characterized in that, includes transmission system, AUV conveyer, AUV storage device (51) and hoist device, wherein, transmission system establish in the platform bottom, hoist device install at the platform top, AUV conveyer and AUV storage device (51) install inside the platform, transmission system top be connected with AUV conveyer, AUV conveyer top be equipped with AUV storage device (51).
2. The platform device for the boats that can distribute and recover the AUV in a full-automatic fast cluster manner of claim 1, wherein the transmission system comprises a supporting transmission mechanism and a supporting turnover mechanism, the supporting transmission mechanism comprises a guide rail (72), a plurality of racks are arranged at intervals on the top of the guide rail (72), the racks are engaged with a gear transmission mechanism, and a gear in the gear transmission mechanism is connected with the supporting arm (87) through a transmission shaft.
3. The platform device for the boats and ships with full-automatic fast cluster deployment and recovery of AUV of claim 2, wherein the support arms (87) are symmetrically arranged at both sides of the AUV transmission device, and the upper parts of the support arms (87) at both sides are connected with the AUV transmission device.
4. The platform device for the boats and ships that arrange and retrieve AUV of full-automatic quick cluster according to claim 2, characterized in that, support tilting mechanism include connecting device (73), connecting device (73) symmetry sliding connection is in guide rail (72) both sides, connecting device (73) are connected with AUV conveyer through turning device (86), be connected with gear drive between the connecting device (73) of both sides, gear drive be connected with rack and pinion guide rail transmission.
5. The platform device for boats with AUV deployed and recovered in full-automatic fast cluster manner as claimed in claim 1, wherein the transmission belt of the AUV transmission device is provided with a plurality of bearing devices (81) at intervals.
6. The platform device for boats with automatic fast cluster deployment and recovery of AUV of claim 5, wherein the end of the carrying device (81) is installed with a guiding device (65).
7. The platform device for the boats with the AUV deployed and recovered according to claim 6, wherein the inner wall of the bearing device (81) is provided with an elastic rubber pad (82).
8. The platform device for the boats with the AUV deployed and recovered according to claim 1, wherein the hoisting device comprises a truss (62), a truss vehicle (61) is mounted at the top of the truss (62), and the bottom of the truss vehicle (61) is connected with a mechanical claw (64) through an electric telescopic device (63).
9. The boat platform device for automatically and rapidly arranging and recovering the AUVs in a cluster manner as claimed in claim 1, wherein elastic rubber supporting pads (52) are arranged in the AUV storage device (51).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210057913.1A CN114506420B (en) | 2022-01-19 | 2022-01-19 | Full-automatic rapid cluster deployment and recovery AUV's platform device for boats |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210057913.1A CN114506420B (en) | 2022-01-19 | 2022-01-19 | Full-automatic rapid cluster deployment and recovery AUV's platform device for boats |
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| Publication Number | Publication Date |
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| CN114506420A true CN114506420A (en) | 2022-05-17 |
| CN114506420B CN114506420B (en) | 2023-05-26 |
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| CN202210057913.1A Active CN114506420B (en) | 2022-01-19 | 2022-01-19 | Full-automatic rapid cluster deployment and recovery AUV's platform device for boats |
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Cited By (1)
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| CN116902144A (en) * | 2023-09-11 | 2023-10-20 | 国家深海基地管理中心 | AUV releasing and recovering device and method |
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| CN116902144B (en) * | 2023-09-11 | 2023-12-22 | 国家深海基地管理中心 | AUV releasing and recovering device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114506420B (en) | 2023-05-26 |
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