CN114506420B - Full-automatic rapid cluster deployment and recovery AUV's platform device for boats - Google Patents
Full-automatic rapid cluster deployment and recovery AUV's platform device for boats Download PDFInfo
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- CN114506420B CN114506420B CN202210057913.1A CN202210057913A CN114506420B CN 114506420 B CN114506420 B CN 114506420B CN 202210057913 A CN202210057913 A CN 202210057913A CN 114506420 B CN114506420 B CN 114506420B
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- auv
- platform
- recovery
- transmission
- conveying device
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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
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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
- B63B27/22—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
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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
- B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Ship Loading And Unloading (AREA)
- Refuse Collection And Transfer (AREA)
Abstract
The invention discloses a full-automatic rapid cluster deployment and recovery AUV (autonomous Underwater vehicle) boat platform device which comprises a transmission system, an AUV conveying 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 conveying device and the AUV storage device are arranged in the platform, the AUV conveying device is connected above the transmission system, and the AUV storage device is arranged above the AUV conveying device. According to the invention, the AUV cluster distribution and recovery platform is modularized and integrally designed, and the AUV conveying device drives the conveying belt to perform rotary motion through the gear, so that the AUV is convenient to finish loading, distribution and recovery of the AUV in a certain angle suspension action; the detachable bearing device is designed in a modularized manner, so that the corresponding bearing device can be replaced quickly to realize the retraction of different AUVs; the guiding device adopts a flexibly configured modularized design, so that AUV recovery in different directions can be realized, and the guiding device can be arranged at intervals, so that the distribution and recovery functions of the AUV conveying device can be ensured at the same time.
Description
Technical Field
The invention relates to a ship platform device for distributing and recovering AUV, in particular to a ship platform device for fully-automatic and rapid cluster distributing and recovering AUV.
Background
With the development of ocean electromechanical control technology, the exploration and research of the ocean by human beings is continuously expanding to deep sea and open sea. AUV technology is important to improve the efficiency of exploration and production of marine resource environments. In particular, AUV formation is utilized to cooperatively complete various underwater tasks, but in the process of recovering and releasing the AUV from the traditional AUV, the AUV is recovered by lifting and recovering the AUV on a mother ship one by one through a lifting cage, and meanwhile, the hooking task needs to be completed manually. 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, an independent retraction technology of the AUV cluster needs to be researched.
Disclosure of Invention
The invention aims to: the invention aims to provide a full-automatic rapid cluster deployment and recovery AUV boat platform device, 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 invention 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 supporting transmission mechanism and a supporting turnover mechanism, the supporting 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 the gear transmission mechanism, and gears in the gear transmission mechanism are connected with the supporting arms through transmission shafts.
The supporting arms are symmetrically arranged on two sides of the AUV conveying device, and the upper parts of the supporting arms on two sides are connected with the AUV conveying device.
The supporting turnover mechanism comprises connecting devices, the connecting devices are symmetrically and slidably connected to two sides of the guide rail, the connecting devices are connected with the AUV conveying device through the turnover device, gear transmission mechanisms are connected between the connecting devices on the two sides, and the gear transmission mechanisms are in transmission connection with the rack guide rail.
A plurality of bearing devices are arranged on the 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 part of the bearing device is provided with a guiding device, the guiding device is used for guiding the AUV to enter the bearing device in the recovery stage, and the flexibly-configurable modularized design 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 can be protected from being damaged.
The hoisting device comprises a truss, wherein a truss vehicle is arranged at the top of the truss, and the bottom of the truss vehicle is connected with a mechanical claw through an electric telescopic device.
An elastic rubber supporting pad is arranged in the AUV storage device.
The beneficial effects are that: the AUV cluster distribution and recovery platform is modularized and integrally designed, the application of the AUV cluster distribution and recovery platform is not limited to two sides of a deck, the AUV cluster distribution and recovery platform can be arranged in a stern and a cabin, and an AUV conveying device drives a conveying belt to carry out rotary motion through a gear, so that the AUV can be conveniently suspended at a certain angle to finish loading, distribution and recovery of the AUV; the detachable bearing device is designed in a modularized manner, so that the corresponding bearing device can be replaced quickly to realize the retraction of different AUVs; the guiding device adopts a flexibly configured modularized design, so that AUV recovery in different directions can be realized, and the guiding device can be arranged at intervals, so that the laying and recovery functions of the AUV conveying device can be ensured at the same time; the AUV storage device is designed, so that the storage and maintenance of the AUV can be integrated, each storage position corresponds to the AUV number one by one, and the automatic access of the hoisting system is facilitated; the electric telescopic device in the hoisting device can prevent the mechanical claw from shaking variably due to movement of the truss in the loading process, and stable loading and unloading of the AUV are ensured.
Drawings
FIG. 1 is a schematic view showing the overall structure of the cloth recovery apparatus of the present invention without being unfolded;
FIG. 2 is a schematic view of the overall structure of the present invention in a deployed state;
FIG. 3 is a schematic view of the overall structure of the recovery state deployment of the present invention;
FIG. 4 is a detailed schematic of the undeployed state of the invention;
FIG. 5 is a detailed schematic diagram of the recycling state of the present invention;
FIG. 6 is a front view of the recovery state of the present invention;
FIG. 7 is a schematic diagram of a transmission system and AUV transfer apparatus of the present invention;
FIG. 8 is a front view of the transmission system and AUV transfer apparatus 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 a recovery control system according to the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 to 8, the invention comprises 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 a 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 transfer the AUV transfer device out of the platform and turn it over into the water at one end, providing sufficient power and support for the extending and turning actions of the AUV transfer device. Including supporting drive mechanism and supporting tilting mechanism, support drive mechanism plays support and transmission effect to AUV conveyer in the platform, including guide rail 72, guide rail 72 top interval is equipped with many racks, and the rack meshes with gear drive mechanism, and gear drive mechanism is connected with the motor, all is connected with support arm 87 with the end of gear-connected transmission shaft 77, and support arm 87 symmetry sets up in AUV conveyer both sides, and the upper portion of both sides support arm 87 all is connected with AUV conveyer. The gear is driven to move on the rack guide rail by the motor, the supporting arm 87 is driven to move forwards by the transmission shaft 77, and finally the supporting arm 87 carries the AUV conveying device to move.
The supporting turnover mechanism comprises connecting devices 73, the connecting devices 73 are symmetrically and slidingly connected to two sides of the guide rail 72, the connecting devices 73 are connected with the AUV conveying device through turnover devices 86, a gear transmission mechanism is connected between the connecting devices 73 on two sides and is in transmission connection with the rack guide rail, a motor drives a gear to move on the rack guide rail, the turnover devices 86 are driven to move forwards through the connecting devices 73, and finally the turnover devices 86 carry the AUV conveying device to move. The turning device 86 of the present embodiment employs a hydraulic cylinder, wherein the turning operation is not limited to being performed by using a hydraulic cylinder, but may be performed by using an electric cylinder or by using other devices to cause the AUV transmitting device to perform the turning operation. The supporting transmission mechanism and the supporting turnover mechanism are matched together to move the AUV conveying device to the tail end of the platform, and one end of the AUV conveying device is turned over into water through contraction of the hydraulic cylinder.
The AUV conveying device is a power device and a holding device for AUV arrangement and recovery, is convenient for arranging and recovering the AUV, adopts a gear to drive a conveying belt to carry out rotary motion, and is convenient for suspending action at a certain angle to finish loading, arrangement and recovery of the AUV. The conveyer belt is last to be equipped with a plurality of bearing devices 81 at intervals, as shown in fig. 8, and bearing devices 81 adopts the detachable semicircular design of modularization, can hold in the palm the AUV, can be convenient for again hoist and mount the AUV with hang away AUV conveyer, and bearing devices 81 inner wall comprises elastic rubber pad 82, greatly reduces the damage of AUV in the conveying process. The carrying device 81 may be designed in other shapes or sizes, and is only suitable for the specific model of the AUV that is placed and recovered at the time.
As shown in fig. 5 and 6, the end of the carrier 81 is provided with a guide 65, the guide 65 being used for guiding the AUV into the carrier during the recovery phase, with a flexibly configurable modular design. The guide device 65 is installed at the top end of the bearing device 81 at different sides of the AUV conveying device, so that the AUV can be recovered bidirectionally, and the specific installation position can be determined according to the specific recovery condition. The guide device 65 is installed at intervals on the AUV conveyor, so that the AUV conveyor can be ensured to have the bearing device 81 for laying or recycling at any time.
As shown in fig. 5, the AUV storage device 51 is an AUV cluster to be placed or recovered, is a storage and maintenance area of the AUV, and is designed to have a multi-layer storage structure so as to satisfy the storage of the entire AUV cluster. The AUV storage device 51 includes an elastic rubber support pad 52, which can stably store the AUV in the storage device and protect the AUV from damage. Each pair of supporting pad numbers corresponds to the AUV numbers one by one, and the hoisting system can be conveniently and automatically accessed.
As shown in fig. 6, the hoisting device is used for carrying and hoisting an AUV, and comprises a truss 62, wherein a truss car 61 is installed at the top of the truss 62, the bottom of the truss car 61 is connected with a mechanical claw 64 through an electric telescopic device 63, and when the AUV to be loaded is reached, the mechanical claw 64 is moved by the electric telescopic device 63 to extend out to complete the capturing of the AUV. The electric telescopic device 63 drives the mechanical claw 64 to move, so that the mechanical claw 64 cannot shake variably due to movement of the truss car 61 in the loading process, and therefore the AUV can shake variably, and stable loading and unloading of the AUV are ensured.
The deployment and recovery platform of the invention is applicable to the full-automatic rapid deployment and recovery of AUV clusters, and is not limited to the application on both sides of the deck, but can be arranged at the stern or inside the cabin, wherein the deployment and recovery platform must be arranged at a position above the waterline when arranged inside the cabin, and is operated by extending the hull at the side of the ship.
As shown in fig. 9, the layout process control flow is: when the cloth recycling platform receives the cloth instruction, the transmission system starts to act, at the moment, the supporting transmission mechanism and the supporting turnover mechanism act simultaneously, the supporting transmission mechanism drives the gear to move on the rack guide rail through the motor, the supporting arm is driven to move forwards through the connecting shaft, and finally the supporting arm carries the AUV conveying device to move. The supporting turnover mechanism drives the gear to move on the rack guide rail by the motor, the hydraulic cylinder body is driven to move forwards by 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 turnover mechanism stops moving and plays a role of supporting the AUV conveying device. When the support transmission is also moved to the end of the rail, the tilting action is started at this time. The hydraulic cylinder in the supporting turnover mechanism starts to shrink so as to complete the turnover of the AUV conveying device, and one end of the hydraulic cylinder is positioned in water. When the platform is unfolded, the hoisting device starts to act, the truss car stops moving after moving to the position above the AUV storage device to be laid, the electric telescopic device drives the mechanical claw to grab the AUV, and after the grabbing action is completed, the truss car hoistes the AUV to the bearing device at the topmost end of the AUV conveying device, and then the AUV loading action is completed. Finally, the AUV conveying device drives the conveying belt to perform rotary motion through the gears, and the AUV is placed into water to finally finish the placement task.
As shown in fig. 10, the recovery process control method is as follows: when the AUV receives the recycling instruction, the AUV sails to the vicinity of the recycling platform, then the final-stage docking guidance is completed through the AUV self-contained vision module, the conveying device starts the turning action after the AUV is successfully docked, the AUV is conveyed from water to the top end of the conveying device, and then the conveying device pauses the action to wait for the hoisting device to unload the AUV. At the moment, the electric telescopic device drives the mechanical claw to grasp the AUV from the conveying device, and the AUV is transferred to a fixed storage position in the AUV storage device through the truss. The hoist load then returns to the upper end of the conveyor to await recovery of the next AUV. When all the AUVs are recovered, the transmission system starts to act, the supporting turnover mechanism turns the AUV conveying device to a horizontal posture, and meanwhile, the supporting turnover mechanism is coordinated with the supporting transmission mechanism to complete the recovery action of the cloth recovery platform.
Claims (6)
1. The full-automatic rapid cluster deployment and recovery AUV platform device for boats is characterized by comprising a transmission system, an AUV conveying 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 conveying device and the AUV storage device (51) are arranged in the platform, the AUV conveying device is connected to the transmission system, and the AUV storage device (51) is arranged above the AUV conveying device;
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 the top of the guide rail (72) at intervals, the racks are meshed with the gear transmission mechanism, gears in the gear transmission mechanism are connected with supporting arms (87) through transmission shafts, the supporting arms (87) are symmetrically arranged on two sides of an AUV transmission device, and the upper parts of the supporting arms (87) on two sides are connected with the AUV transmission device;
the supporting turnover mechanism comprises connecting devices (73), the connecting devices (73) are symmetrically and slidably connected to two sides of the guide rail (72), the connecting devices (73) are connected with the AUV conveying device through turnover devices (86), gear transmission mechanisms are connected between the connecting devices (73) on two sides, and the gear transmission mechanisms are connected with the rack guide rail in a transmission mode.
2. The full-automatic rapid cluster deployment and recovery AUV boat platform device according to claim 1, wherein a plurality of bearing devices (81) are arranged on a transmission belt of the AUV transmission device at intervals.
3. A full automatic fast cluster deployment and recovery AUV platform apparatus for boats according to claim 2, wherein the end of the carrier (81) is fitted with a guide (65).
4. A full-automatic rapid cluster deployment and recovery AUV platform device for boats according to claim 3, wherein the inner wall of the carrying device (81) is provided with an elastic rubber pad (82).
5. The full-automatic rapid cluster deployment and recovery AUV platform device for boats of claim 1, wherein the hoisting device comprises a truss (62), a truss car (61) is arranged at the top of the truss (62), and the bottom of the truss car (61) is connected with a mechanical claw (64) through an electric telescopic device (63).
6. The full-automatic rapid cluster deployment and recovery AUV platform device for boats of claim 1, wherein an elastic rubber support pad (52) is 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 |
|---|---|
| CN114506420A CN114506420A (en) | 2022-05-17 |
| CN114506420B true CN114506420B (en) | 2023-05-26 |
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| Application Number | Title | Priority Date | Filing Date |
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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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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2969574B1 (en) * | 2010-12-23 | 2013-11-01 | Eca | DEVICE FOR BRIDGING AND RECOVERING A MARINE MACHINE, AND METHOD FOR LAUNCHING AND RECOVERING. |
| CN103183113B (en) * | 2011-12-28 | 2015-06-10 | 中国科学院沈阳自动化研究所 | Underwater robot recovery system and recovery method thereof |
| CN103183111B (en) * | 2011-12-28 | 2016-08-17 | 中国科学院沈阳自动化研究所 | A kind of underwater robot recovery traction apparatus |
| CN104890835B (en) * | 2015-06-09 | 2017-05-24 | 哈尔滨工程大学 | Submersible vehicle recycling and laying device capable of recycling and laying at two stages |
| CN107351999B (en) * | 2017-08-16 | 2023-09-12 | 中船华南船舶机械有限公司 | Deep submersible vehicle cloth placement recovery system and cloth placement recovery method |
| EP3797319B1 (en) * | 2018-05-23 | 2023-08-30 | Blue Ocean Seismic Services Limited | An autonomous data acquisition system |
| CN110667777B (en) * | 2019-09-17 | 2020-11-10 | 浙江大学 | Sliding cable type foldable laying device applied to underwater robot and laying method thereof |
| CN110789672A (en) * | 2019-12-10 | 2020-02-14 | 鹏城实验室 | AUV cluster surface of water cloth puts device |
| CN212738472U (en) * | 2020-08-24 | 2021-03-19 | 王平 | Device for recovering unmanned underwater vehicle and small objects on water surface at sea |
| CN214057840U (en) * | 2020-10-14 | 2021-08-27 | 苏州极视光科技有限公司 | Ship-based underwater robot throwing and recycling device |
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