CN114919716A - A butt joint system of hugging for retrieving glider under water - Google Patents
A butt joint system of hugging for retrieving glider under water Download PDFInfo
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- CN114919716A CN114919716A CN202210528076.6A CN202210528076A CN114919716A CN 114919716 A CN114919716 A CN 114919716A CN 202210528076 A CN202210528076 A CN 202210528076A CN 114919716 A CN114919716 A CN 114919716A
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- 210000001503 joint Anatomy 0.000 title abstract description 21
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 130
- 238000003032 molecular docking Methods 0.000 claims abstract description 56
- 230000005540 biological transmission Effects 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 6
- 238000005286 illumination Methods 0.000 claims description 5
- 239000002245 particle Substances 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 238000011084 recovery Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 description 6
- 238000009826 distribution Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/16—Apparatus engaging vessels or objects
- B63C7/20—Apparatus engaging vessels or objects using grabs
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- Ocean & Marine Engineering (AREA)
- Mechanical Means For Catching Fish (AREA)
- Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
Abstract
A butt joint enclasping system for recovering an underwater glider relates to the technical field of underwater gliders and comprises a butt joint mechanism, an enclasping mechanism and a remote control mechanism; the clasping mechanism is arranged at the bottom of the docking mechanism, the docking mechanism runs on the sea under the control of the remote control mechanism and is docked with the glider, and after docking, the clasping mechanism clasps the glider under the control of the remote control mechanism. The invention provides a butt joint and clasping system for recovering underwater gliders, which comprises a butt joint mechanism, a clasping mechanism and a remote control mechanism, wherein the butt joint mechanism can sail on the water surface under the control of the remote control mechanism and is in butt joint with the gliders, and after butt joint, the clasping mechanism can clasp the gliders tightly, so that the recovery of the gliders under a far sea or complex sea condition can be realized through the system.
Description
Technical Field
The invention relates to the technical field of underwater gliders, in particular to a butt joint enclasping system for recovering an underwater glider.
Background
An underwater glider (hereinafter referred to as a 'glider') is a novel underwater docking mechanism, has the characteristics of low energy consumption, high efficiency, large endurance, low manufacturing cost and maintenance cost, reusability, capability of being put in a large amount and the like, and meets the requirement of long-time and large-range ocean exploration.
After the glider works, no power is provided, and most of the gliders are manually salvaged by fishing boats under the condition of offshore low sea conditions. The manual fishing usually adopts the form of string bag and brace hook, and is equally difficult to the glider fishing that the surface is smooth and has no hook point, and personnel's risk is great. And for the situation of open sea and large wind waves, effective recovery is difficult to realize.
Disclosure of Invention
The invention provides a butt joint and clasping system for recovering underwater gliders, which comprises a butt joint mechanism, a clasping mechanism and a remote control mechanism, wherein the butt joint mechanism can sail on the water surface under the control of the remote control mechanism and is in butt joint with the gliders, and after butt joint, the clasping mechanism can clasp the gliders tightly, so that the recovery of the gliders under a far sea or complex sea condition can be realized through the system.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a butt joint clasping system for recovering an underwater glider comprises a butt joint mechanism, a clasping mechanism and a remote control mechanism; the holding mechanism is arranged at the bottom of the docking mechanism, the docking mechanism runs on the sea under the control of the remote control mechanism and is docked with the glider, and after docking, the holding mechanism holds the glider tightly under the control of the remote control mechanism.
Preferably, the docking mechanism comprises a main body frame, a vertical horizontal propeller, a buoyancy material, an elastic guide frame, a main control cabin, a first camera and a first illuminating lamp, the main body frame is integrally of an inverted U-shaped structure, a guide protection frame is welded at the front end of the U-shaped structure, the buoyancy material is fixed on the upper surface of the guide protection frame through bolts and used for buoyancy balancing of the docking mechanism, the main control cabin is fixedly connected to the upper end of the guide protection frame, a controller is arranged in the main control cabin and is in signal connection with a remote control mechanism, and the controller is electrically connected with a power supply of a roadbed or a storage battery preset in the main control cabin through an umbilical cable; elastic guide frames are fixedly connected to two sides of the front end of the guide protection frame respectively; the top part of the front end of the guide protection frame is respectively provided with a first camera and a first illuminating lamp, and the first camera and the first illuminating lamp are electrically connected with the controller; the vertical and horizontal thruster comprises a horizontal thruster and a vertical thruster which are respectively arranged on the main body frame or the guide protection frame, and the controller is respectively and electrically connected with the horizontal thruster and the vertical thruster through wires.
Preferably, the guide protection frames are divided into a left group and a right group, a guide space for butting the gliders is formed between the two groups of guide protection frames, the top ends of the two groups of guide protection frames are fixedly connected, and the tail ends of the two groups of guide protection frames are fixedly connected with the main body framework; the elastic guide frames are respectively arranged at the front ends of the two groups of guide protection frames, and the two groups of elastic guide frames are opened in a V shape; the guide protection frame and the elastic guide frame are formed by welding metal rod bodies, elastic rubber layers are arranged on the metal rod bodies close to one side of the guide space, and rubber protruding particles are arranged on the elastic rubber layers.
Preferably, the enclasping mechanism be the manipulator structure, the top of manipulator structure be connected with the top of direction fender bracket, and the manipulator structure is located the guide space, when the glider gets into the working range of manipulator structure through the guide space, the manipulator structure snatch the glider.
Preferably, the clasping mechanism comprises a guide rod, clamping arms, a transmission mechanism, a connecting frame, a second camera and a second illuminating lamp, the connecting frame comprises a bottom plate and connecting lugs arranged on two sides of the top end of the bottom plate, the clamping arms comprise a first clamping arm and a second clamping arm arranged on two sides of the bottom plate, the bottom ends of the connecting lugs are fixedly connected with the middle of the top end of the bottom plate, the top parts of 2 free ends of the connecting lugs are respectively provided with a connecting hole, and the connecting frame is connected with the top end of the corresponding guide protection frame above the guide space; the top ends of the bottom plates, which are positioned at the front side and the rear side of the connecting lug, are respectively provided with 1 group of parallel plates, the transmission mechanism comprises a driving gear arranged at one side in each group of parallel plates, a driven gear arranged at the other side in each group of parallel plates, a driving shaft, a driven shaft and an underwater motor, the driving gear is meshed with the driven gear, 2 driving gears are fixedly connected through the driving shaft penetrating through the corresponding parallel plates, one end of the driving shaft penetrates through the outer sides of the corresponding parallel plates and is fixedly connected with an output shaft of the underwater motor, the underwater motor is fixedly connected with the connecting frame through a mounting seat, and 2 driven gears are fixedly connected through the driven shaft penetrating through the corresponding parallel plates; the top ends of the first clamping arm and the second clamping arm are respectively and fixedly connected with the driving shaft and the driven shaft and are driven by the underwater motor to open or close; the front end and the back end of bottom plate be equipped with the guide bar that is used for leading the glider respectively, second camera and second light install on corresponding base to it is inboard to be fixed in the direction fender bracket through the bolt, and be used for providing illumination and video information collection for holding mechanism tightly, second light, second camera, underwater motor pass through wire and controller electric connection respectively.
Preferably, the guide rods are of inverted V-shaped structures, the top ends of the 2 guide rods are fixedly connected through connecting rods, the connecting rods are fixedly connected with the lower surface of the bottom plate, elastic rubber layers are arranged on the outer surfaces of the guide rods, and a plurality of elastic bulges are arranged on the outer surfaces of the top ends of the inner sides of the inverted V-shaped structures.
Preferably, the first clamping arm and the second clamping arm respectively comprise 2 clamping hooks which are parallel to each other, the 2 clamping hooks are fixedly connected through a connecting rod, the top ends of the 2 clamping hooks are fixedly connected with the driving shaft or the driven shaft, an elastic rubber plate is arranged on the inner surface of each clamping hook, and a plurality of elastic bulges are uniformly distributed on the inner surface of each elastic rubber plate.
Preferably, the engaging lug run through the top of direction fender bracket to be connected with the loop wheel machine connecting piece through the round pin axle that passes the connecting hole, the lateral wall of engaging lug on still be equipped with the spacing groove, the top of the direction fender bracket that corresponds is equipped with the gag lever post, the front end of bottom plate install the axis of rotation through the connecting seat, the top of direction fender bracket be equipped with the connecting seat, the axis of rotation articulated with the connecting seat, when the engaging lug revolves the axis of rotation and rotates under the pulling of loop wheel machine, gag lever post and spacing groove block, when the block, the mechanism of holding tightly will hold the glider and draw level.
The invention discloses a butt joint clasping system for recovering underwater gliders, which has the following beneficial effects:
1. the invention can complete the recovery of gliders under the 3-level sea condition, and can complete the recovery of gliders with probability under the 4-level sea condition; 2. the invention can complete the recovery of the glider only by remote control of an operator on the mother ship without manual salvage and recovery of the personnel.
Drawings
Fig. 1, a schematic structural diagram of an embodiment of the present invention:
fig. 2 is a schematic diagram of the docking mechanism and the clasping mechanism of the present invention:
FIG. 3 is a schematic view of the docking mechanism of the present invention capturing gliders via a clasping mechanism;
FIG. 4 is a schematic structural view of the clasping mechanism of the present invention;
FIG. 5 is a schematic structural view of a connecting frame of the clasping mechanism of the present invention;
FIG. 6 is a schematic structural view of a guide rod of the clasping mechanism of the present invention;
FIG. 7 is a schematic view of the clamp arm of the clasping mechanism of the present invention;
FIG. 8 is a schematic structural view of a transmission mechanism of the clasping mechanism of the present invention;
FIG. 9 is a schematic structural view of the docking mechanism of the present invention;
1. a docking mechanism; 2. a clasping mechanism; 3. a crane connector; 4. a crane; 5. a remote control mechanism; 6. an auxiliary power distribution device; 7. a glider; 8. a parent vessel; 9. a guide protection frame; 10. a guide space;
11. a protection plate; 12. a vertical horizontal thruster; 13. a buoyant material; 14. an elastic guide frame; 15. a main control cabin; 16. a first camera; 17. a first illumination lamp; 18. a connecting seat; 19. a limiting rod;
21. a guide bar; 21-1, a front guide rod; 21-2, connecting rod; 21-3, a rear guide rod;
22. a clamp arm; 22-1, a first clamping arm; 22-2, a second clamping arm; 22-3, a clamping hook; 22-4, a connecting rod; 22-5, an elastic rubber plate;
23. a transmission mechanism; 23-1, an underwater motor; 23-2, a driving shaft; 23-3, a driving gear; 23-4, a driven gear; 23-5, parallel plates;
24. a connecting frame; 24-1, connecting lugs; 24-2, a bottom plate; 24-3, a limiting groove;
25. a second camera; 26. a second illumination lamp; 27. a driven shaft; 28. connecting holes; 29. and rotating the shaft.
Detailed Description
In the following, embodiments of the present invention are described in detail in a stepwise manner, which is merely a preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are only used for describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation and a specific orientation configuration and operation, and thus, the present invention is not to be construed as being limited thereto.
Example 1:
a docking and clasping system for recovering underwater gliders, as shown in fig. 1-9, comprises a docking mechanism 1, a clasping mechanism 2 and a remote control mechanism 5; the clasping mechanism 2 is arranged at the bottom of the docking mechanism 1, the docking mechanism 1 runs on the sea under the control of the remote control mechanism 5 and is docked with the glider 7, and after docking, the clasping mechanism 2 clasps the glider 7 under the control of the remote control mechanism 5.
In this embodiment, remote control docking mechanism drives on the sea through remote control mechanism, and after arriving glider position, docking mechanism guides the glider through driving and gets into the preset position department of docking mechanism bottom, then holds the glider tightly through holding the mechanism.
Example 2:
on the basis of embodiment 1, this embodiment further discloses:
as shown in fig. 2 and 3, the docking mechanism includes a main frame (not shown), a vertical horizontal propeller 12, a buoyancy material 13, an elastic guide frame 14, a main control cabin 15, a first camera 16 and a first illuminating lamp 17, the main frame is integrally of an inverted U-shaped structure, a guide protection frame 9 is welded at the front end of the U-shaped structure, the buoyancy material 13 is fixed on the upper surface of the guide protection frame 9 through bolts and used for buoyancy balancing of the docking mechanism, the upper end of the guide protection frame 9 is also fixedly connected with the main control cabin 15, a controller (not shown) is arranged in the main control cabin 15 and is in signal connection with the remote control mechanism 5, and the controller is electrically connected with a power supply of a roadbed through an umbilical cable or is electrically connected with a storage battery (not shown) preset in the main control cabin 15; elastic guide frames 14 are fixedly connected to two sides of the front end of the guide protection frame 9 respectively; the top part of the front end of the guide protection frame 9 is respectively provided with a first camera 16 and a first illuminating lamp 17, and the first camera and the first illuminating lamp are electrically connected with a controller; the vertical and horizontal thruster 12 includes a horizontal thruster (not shown) and a vertical thruster (not shown) respectively mounted on the main body frame or the guide protection frame, and is used to make the docking mechanism perform various actions on the water surface, and the controller is electrically connected to the horizontal thruster and the vertical thruster respectively through wires.
In this embodiment, the signal connection between the controller and the remote control mechanism may be wired or wireless, which is not described in detail since it is the prior art.
Example 3:
on the basis of embodiment 2, this embodiment further discloses:
as shown in fig. 3 and 9, the guiding protection frames 9 are divided into a left group and a right group, a guiding space for butting the glider 7 is formed between the two groups of guiding protection frames 9, the top ends of the two groups of guiding protection frames 9 are fixedly connected, and the tail ends of the two groups of guiding protection frames 9 are fixedly connected with the main body frame; the elastic guide frames 14 are respectively arranged at the front ends of the two groups of guide protection frames 9, and the two groups of elastic guide frames 14 are opened in a V shape; the guide protection frame 9 and the elastic guide frame 14 are formed by welding metal rod bodies, elastic rubber layers (not shown in the figure) are arranged on the metal rod bodies close to one side of the guide space, and rubber protruding particles are arranged on the elastic rubber layers.
In this embodiment, the purpose of setting up the elastic rubber layer is in order to avoid docking in-process to cause the damage to glider shell, and wherein the structure of glider is as shown in fig. 3, and the shape of similar rocket tube is equipped with the glider at the rear end of glider, and in docking in-process, elastic guide 14 has not only played the guide effect, still can avoid the glider to collide with rather than bring the damage. The cross-sectional dimensions of the guiding space should be adapted to the cross-sectional dimensions of the glider so that the glider can be limited in the guiding process.
Example 4:
on the basis of embodiment 3, the present embodiment further discloses:
as shown in fig. 1 to 9, the clasping mechanism is a manipulator structure, the top end of the manipulator structure is connected with the top end of the guide protection frame 9, and the manipulator structure is located in the guide space, and when the glider enters the working range of the manipulator structure through the guide space, the manipulator structure grabs the glider.
In this embodiment, the manipulator structure may be any device capable of realizing the function of holding the glider tightly, and is not limited to the structure disclosed in the present invention.
Example 5:
on the basis of embodiment 4, this embodiment further discloses:
the clasping mechanism comprises a guide rod 21, clamping arms 22, a transmission mechanism 23, a connecting frame 24, a second camera 25 and a second illuminating lamp 26, the connecting frame 24 comprises a bottom plate 24-2 and connecting lugs 24-1 arranged on two sides of the top end of the bottom plate, the clamping arms 22 comprise first clamping arms 22-1 and second clamping arms 22-2 arranged on two sides of the bottom plate, the bottom ends of the connecting lugs are fixedly connected with the middle of the top end of the bottom plate, the top parts of 2 free ends of the connecting lugs are respectively provided with a connecting hole 28, and the connecting frame 24 is connected with the top end of a corresponding guide protection frame 9 above the guide space 10; the top ends of the bottom plate 24-2, which are positioned at the front side and the rear side of the connecting lug 24-1, are respectively provided with 1 group of parallel plates 23-5, the transmission mechanism comprises a driving gear 23-3 arranged at one side in each group of parallel plates, a driven gear 23-4 arranged at the other side in each group of parallel plates, a driving shaft 23-2, a driven shaft 27 and an underwater motor 23-1, the driving gears are meshed with the driven gears, 2 driving gears are fixedly connected through the driving shafts penetrating through the corresponding parallel plates, one end of the driving shaft penetrates through the outer sides of the corresponding parallel plates and is fixedly connected with an output shaft of the underwater motor 23-1, the underwater motor is fixedly connected with the connecting frame 24 through a mounting seat, and 2 driven gears 23-4 are fixedly connected through the driven shafts 27 penetrating through the corresponding parallel plates; the top ends of the first clamping arm 22-1 and the second clamping arm 22-2 are respectively and fixedly connected with the driving shaft and the driven shaft and are driven by the underwater motor 23-1 to open or close; the front and back end of bottom plate be equipped with the guide bar 21 that is used for leading the glider respectively, second camera 25 and second light 26 install on corresponding base to it is inboard to be fixed in the direction fender bracket through the bolt, and be used for providing illumination and video information collection for holding mechanism tightly, second light, second camera, underwater motor pass through wire and controller electric connection respectively.
In this embodiment, the remote control mechanism 5 receives a video signal from the controller of the second camera 25, and controls the underwater motor to open and close the first clamping arm 22-1 and the second clamping arm 22-2 of the clasping mechanism, so as to capture and deploy the glider.
Example 6:
on the basis of embodiment 5, the present embodiment further discloses:
as shown in fig. 4 and 6, the guide rods 21 are of an inverted V-shaped structure, the top ends of 2 guide rods 21 are fixedly connected through connecting rods 21-2, the connecting rods are fixedly connected with the lower surface of the bottom plate 24-2, an elastic rubber layer (not shown in the figure) is arranged on the outer surface of each guide rod, and a plurality of elastic protrusions are arranged on the outer surface of the top end of the inner side of the inverted V-shaped structure.
In this embodiment, the glider is brought within the range of the guide bar, and the guide bar is pressed down against the glider on the one hand, and on the other hand, the glider is prevented from moving largely to the left and right sides, so that the glider is guided between the first clamp arm 22-1 and the second clamp arm 22-2, and then the glider can be clamped by the first clamp arm 22-1 and the second clamp arm 22-2.
Example 7:
on the basis of embodiment 6, the present embodiment further discloses:
as shown in fig. 4 and 7, each of the first clamping arm and the second clamping arm includes 2 clamping hooks 22-3 parallel to each other, the 2 clamping hooks are fixedly connected with each other through a connecting rod 22-4, the top ends of the 2 clamping hooks are fixedly connected with a driving shaft or a driven shaft, an elastic rubber plate 22-5 is arranged on the inner surface of each clamping hook, and a plurality of elastic protrusions are uniformly distributed on the inner surface of each elastic rubber plate.
Example 8:
on the basis of embodiment 7, this embodiment further discloses:
as shown in fig. 4, 5 and 9, the connecting lug 24-1 penetrates through the top end of the guide protection frame 9 and is connected with the crane connecting piece 3 through a pin shaft penetrating through the connecting hole 28, the side wall of the connecting lug is further provided with a limiting groove 24-3, the top end of the corresponding guide protection frame 9 is provided with a limiting rod 19, the front end of the bottom plate is provided with a rotating shaft 29 through the connecting seat, the top of the guide protection frame 9 is provided with the connecting seat 18, the rotating shaft 29 is hinged with the connecting seat 18, when the connecting lug rotates around the rotating shaft under the pulling of the crane, the limiting rod 19 is engaged with the limiting groove 24-3, and when the lug is engaged, the clasping mechanism 2 pulls the held glider 7 to be flat. That is to say, before the butt joint, the engaging lug receives the restriction of gag lever post, can make the mechanism of clasping can not rotate around the axis of rotation downwards.
Example 9:
this embodiment discloses a mode of retrieving glider on the basis of above embodiment, specifically as follows:
as shown in fig. 1, the system works by operating on the water surface by a mother ship 8, and is specifically configured to include a docking mechanism 1 for navigating on the water surface and searching for a target of a glider, a clasping mechanism 2 arranged at the bottom end of the docking mechanism 1 and used for clasping the glider, a crane 4 arranged on the mother ship 8 and used for hoisting the docking mechanism, a crane connecting piece 3 used for connecting the docking mechanism 1 and a crane hook, a remote control mechanism 5 arranged on the mother ship and used for remotely controlling the docking mechanism, and an auxiliary power distribution device 6 arranged on the mother ship and used for providing power and communication signals for the docking mechanism and the remote control mechanism 5.
When this embodiment is implemented, at the recovery in-process, through docking mechanism butt joint glider, after the butt joint, through holding the mechanism tightly and holding the glider, then connect the lifting hook and the docking mechanism of hoist through loop wheel machine connecting piece 3, when the hoist hoists, the glider is evened up, then hoist docking mechanism and take the glider together through the hoist and hoist mother ship to accomplish the recovery to the glider, at this in-process, supplementary distribution device 6 provides power and communication signal for docking mechanism and remote control mechanism.
The working principle of the invention is as follows:
in the process of recovering the glider, the crane 4 is started, the lifting hook moves to the position above the docking mechanism 1, the lifting hook and the docking mechanism of the crane are connected through the crane connecting piece 3, the docking mechanism 1 is hoisted, water enters the docking mechanism 1, and the crane connecting piece 3 and the docking mechanism are separated. The docking mechanism 1 travels ahead of the glider 7, releasing the clamp arm 22. The docking mechanism 1 is adjusted to be over against the glider 7 through the image system, and the docking mechanism 1 is docked to the glider 7 quickly. After the glider 7 enters the gripping position, the gripping arms 22 are closed, clasping the glider 7. The docking mechanism 1 is controlled to run to the vicinity of the mother ship 8, the crane 4 is connected with the docking mechanism through the crane connecting piece 3, the crane 4 lifts the whole body of the docking mechanism and the glider to a bracket on the mother ship, and the docking mechanism releases the clamping arm 22 to release the glider 7. The crane 4 lifts the docking mechanism 1 to the bracket, disengages the crane connector 3 from the docking mechanism, and returns to the non-operating state.
Claims (8)
1. A butt-hugging system for recovering underwater gliders, characterized by: comprises a docking mechanism, a clasping mechanism and a remote control mechanism; the clasping mechanism is arranged at the bottom of the docking mechanism, the docking mechanism runs on the sea under the control of the remote control mechanism and is docked with the glider, and after docking, the clasping mechanism clasps the glider under the control of the remote control mechanism.
2. A butt-hugging system for recovering underwater gliders according to claim 1, wherein: the docking mechanism comprises a main body frame, a vertical horizontal propeller, a buoyancy material, an elastic guide frame, a main control cabin, a first camera and a first illuminating lamp, wherein the main body frame is integrally of an inverted U-shaped structure, a guide protection frame is welded at the front end of the U-shaped structure, the buoyancy material is fixed on the upper surface of the guide protection frame through bolts and is used for buoyancy balancing of the docking mechanism, the main control cabin is fixedly connected to the upper end of the guide protection frame, a controller is arranged in the main control cabin and is in signal connection with a remote control mechanism, and the controller is electrically connected with a power supply of a roadbed through an umbilical cable or is electrically connected with a storage battery preset in the main control cabin; elastic guide frames are fixedly connected to two sides of the front end of the guide protection frame respectively; the top part of the front end of the guide protection frame is respectively provided with a first camera and a first illuminating lamp, and the first camera and the first illuminating lamp are electrically connected with the controller; the vertical and horizontal thruster comprises a horizontal thruster and a vertical thruster which are respectively arranged on the main body frame or the guide protection frame, and the controller is respectively electrically connected with the horizontal thruster and the vertical thruster through leads.
3. A butt-hugging system for recovering underwater gliders according to claim 2, wherein: the guide protection frames are divided into a left group and a right group, a guide space for butting the gliders is formed between the two groups of guide protection frames, the top ends of the two groups of guide protection frames are fixedly connected, and the tail ends of the two groups of guide protection frames are fixedly connected with the main body framework; the elastic guide frames are respectively arranged at the front ends of the two groups of guide protection frames, and the two groups of elastic guide frames are opened in a V shape; the guide protection frame and the elastic guide frame are formed by welding metal rod bodies, elastic rubber layers are arranged on the metal rod bodies close to one side of the guide space, and rubber protruding particles are arranged on the elastic rubber layers.
4. A butt-hugging system for recovering underwater gliders, according to claim 3, wherein: the mechanism of holding tightly be the manipulator structure, the top of manipulator structure be connected with the top of direction fender bracket, and the manipulator structure is located the guide space, when the glider gets into the working range of manipulator structure through the guide space, the manipulator structure snatch the glider.
5. A butt-hugging system for recovering underwater gliders, according to claim 4, wherein: the clasping mechanism comprises a guide rod, clamping arms, a transmission mechanism, a connecting frame, a second camera and a second illuminating lamp, the connecting frame comprises a bottom plate and connecting lugs arranged on two sides of the top end of the bottom plate, the clamping arms comprise a first clamping arm and a second clamping arm arranged on two sides of the bottom plate, the bottom ends of the connecting lugs are fixedly connected with the middle part of the top end of the bottom plate, the top parts of 2 free ends of the connecting lugs are respectively provided with a connecting hole, and the connecting frame is connected with the top end of a corresponding guide protection frame above the guide space; the top ends of the bottom plates, which are positioned at the front side and the rear side of the connecting lug, are respectively provided with 1 group of parallel plates, the transmission mechanism comprises a driving gear arranged at one side in each group of parallel plates, a driven gear arranged at the other side in each group of parallel plates, a driving shaft, a driven shaft and an underwater motor, the driving gear is meshed with the driven gear, 2 driving gears are fixedly connected through the driving shaft penetrating through the corresponding parallel plates, one end of the driving shaft penetrates through the outer sides of the corresponding parallel plates and is fixedly connected with an output shaft of the underwater motor, the underwater motor is fixedly connected with the connecting frame through a mounting seat, and 2 driven gears are fixedly connected through the driven shaft penetrating through the corresponding parallel plates; the top ends of the first clamping arm and the second clamping arm are respectively and fixedly connected with the driving shaft and the driven shaft and are opened or closed under the driving of the underwater motor; the front end and the back end of bottom plate be equipped with the guide bar that is used for leading the glider respectively, second camera and second light install on corresponding base to it is inboard to be fixed in the direction fender bracket through the bolt, and be used for providing illumination and video information collection for holding mechanism tightly, second light, second camera, underwater motor pass through wire and controller electric connection respectively.
6. A butt-hugging system for recovering underwater gliders, according to claim 5, wherein: the guide rods are of inverted V-shaped structures, the top ends of the 2 guide rods are fixedly connected through connecting rods, the connecting rods are fixedly connected with the lower surface of the bottom plate, elastic rubber layers are arranged on the outer surfaces of the guide rods, and a plurality of elastic bulges are arranged on the outer surfaces of the top ends of the inner sides of the inverted V-shaped structures.
7. A butt-hugging system for recovering underwater gliders according to claim 6, wherein: the first clamping arm and the second clamping arm respectively comprise 2 clamping hooks which are parallel to each other, the 2 clamping hooks are fixedly connected through a connecting rod, the top ends of the 2 clamping hooks are fixedly connected with a driving shaft or a driven shaft, an elastic rubber plate is arranged on the inner surface of each clamping hook, and a plurality of elastic bulges are uniformly distributed on the inner surface of each elastic rubber plate.
8. A butt-hugging system for recovering underwater gliders according to claim 7, wherein: the engaging lug run through the top of direction fender bracket to be connected with the loop wheel machine connecting piece through the round pin axle that passes the connecting hole, the lateral wall of engaging lug on still be equipped with the spacing groove, the top of the direction fender bracket that corresponds is equipped with the gag lever post, the front end of bottom plate install the axis of rotation through the connecting seat, the top of direction fender bracket be equipped with the connecting seat, axis of rotation and connecting seat articulated, when the engaging lug revolves the axis of rotation and rotates under the pulling of loop wheel machine, gag lever post and spacing groove block, when the block is fashionable, the mechanism of holding tightly will hold the glider of holding and draw level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210528076.6A CN114919716B (en) | 2022-05-16 | 2022-05-16 | Butt-joint enclasping system for recovering underwater glider |
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| CN114919716B (en) | 2024-05-07 |
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