CN114919716B - Butt-joint enclasping system for recovering underwater glider - Google Patents
Butt-joint enclasping system for recovering underwater glider Download PDFInfo
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- CN114919716B CN114919716B CN202210528076.6A CN202210528076A CN114919716B CN 114919716 B CN114919716 B CN 114919716B CN 202210528076 A CN202210528076 A CN 202210528076A CN 114919716 B CN114919716 B CN 114919716B
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- docking
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- 230000007246 mechanism Effects 0.000 claims abstract description 129
- 238000003032 molecular docking Methods 0.000 claims abstract description 64
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000005286 illumination Methods 0.000 claims description 7
- 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
- 210000001503 joint Anatomy 0.000 claims description 4
- 239000002245 particle Substances 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 238000004064 recycling Methods 0.000 abstract description 3
- 238000011084 recovery Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000009826 distribution Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 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
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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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
Abstract
A butt-joint enclasping system for recovering an underwater glider relates to the technical field of the underwater gliders, and comprises a butt-joint mechanism, an enclasping mechanism and a remote control mechanism; the enclasping mechanism is arranged at the bottom of the docking mechanism, the docking mechanism runs on the sea surface under the control of the remote control mechanism and is docked with the glider, and after docking, the enclasping mechanism enclasps the glider under the control of the remote control mechanism. The invention provides a docking and enclasping system for recycling an underwater glider, which comprises a docking mechanism, an enclasping mechanism and a remote control mechanism, wherein the docking mechanism can navigate on the water surface under the control of the remote control mechanism and dock with the glider, and after docking, the enclasping mechanism can enclasp the glider, so that the glider can be recycled under open sea or complex sea conditions.
Description
Technical Field
The invention relates to the technical field of underwater gliders, in particular to a butt-joint enclasping system for recycling an underwater glider.
Background
The underwater glider (hereinafter referred to as a 'glider') is a novel underwater docking mechanism, has the characteristics of small energy consumption, high efficiency, large endurance, low manufacturing cost and maintenance cost, reusability, capability of being thrown in a large amount and the like, and meets the needs of long-time and large-range ocean exploration.
The glider has no power after working, and most gliders are manually salvaged through fishing boats under the condition of offshore low sea conditions. Manual salvaging usually adopts the form of string bag and stay bar hook, and is difficult to salvage the glider that the surface is smooth and does not have the hook point equally, and personnel risk is great. And for the conditions of open sea and large wind waves, effective recovery is difficult to realize.
Disclosure of Invention
The invention provides a docking and enclasping system for recycling an underwater glider, which comprises a docking mechanism, an enclasping mechanism and a remote control mechanism, wherein the docking mechanism can navigate on the water surface under the control of the remote control mechanism and dock with the glider, and after docking, the enclasping mechanism can enclasp the glider, so that the glider can be recycled under open sea or complex sea conditions.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
A butt-joint enclasping system for recovering an underwater glider comprises a butt-joint mechanism, an enclasping mechanism and a remote control mechanism; the enclasping mechanism is arranged at the bottom of the docking mechanism, the docking mechanism runs on the sea surface under the control of the remote control mechanism and is docked with the glider, and after docking, the enclasping mechanism enclasps the glider 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 lighting lamp, wherein the main body frame is of an inverted U-shaped structure, the front end of the U-shaped structure is welded with the guide protection frame, the buoyancy material is fixed on the upper surface of the guide protection frame through bolts and used for balancing the buoyancy of the docking mechanism, the upper end of the guide protection frame is fixedly connected with the main control cabin, a controller is arranged in the main control cabin and is in signal connection with the 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; the two sides of the front end of the guide protection frame are fixedly connected with elastic guide frames respectively; the top of the front end of the guide protection frame is respectively provided with a first camera and a first lighting lamp, and the first camera and the first lighting lamp are electrically connected with the controller; the vertical horizontal propeller comprises a horizontal propeller and a vertical propeller 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 propeller and the vertical propeller through wires.
Preferably, the guiding protection frames are divided into a left group and a right group, a guiding space for butting the glider is formed between the two groups of guiding protection frames, the top ends of the two groups of guiding protection frames are fixedly connected, and the tail ends of the two groups of guiding protection frames are fixedly connected with the main body frame; 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, an elastic rubber layer is arranged on the metal rod body close to one side of the guide space, and rubber protruding particles are arranged on the elastic rubber layer.
Preferably, the enclasping mechanism is a manipulator structure, the top end of the manipulator structure is connected with the top end of the guide protection frame, and the manipulator structure is positioned 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.
Preferably, the enclasping mechanism comprises a guide rod, a clamping arm, a transmission mechanism, a connecting frame, a second camera and a second illuminating lamp, wherein the connecting frame comprises a bottom plate and connecting lugs arranged on two sides of the top end of the bottom plate, the clamping arm comprises a first clamping arm and a second clamping arm which are arranged on two sides of the bottom plate, the bottom end of the connecting lug is fixedly connected with the middle part of the top end of the bottom plate, connecting holes are respectively formed in the tops of 2 free ends of the connecting lug, and the connecting frame is connected with the top end of a guide protection frame corresponding to the upper part of the guide space; the bottom plate is provided with 1 group of parallel plates respectively at the top ends of the front side and the rear side of the connecting lugs, 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 in meshed connection 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 out of the corresponding parallel plates and is fixedly connected with the 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 drive of the underwater motor; the front end and the rear end of the bottom plate are respectively provided with a guide rod used for guiding the glider, the second camera and the second illuminating lamp are installed on corresponding bases, are fixed on the inner side of the guide protection frame through bolts and are used for providing illumination and video information acquisition for the enclasping mechanism, and the second illuminating lamp, the second camera and the underwater motor are respectively electrically connected with the controller through wires.
Preferably, the guide rod is of an inverted V-shaped structure, the top ends of the 2 guide rods are fixedly connected through a connecting rod, the connecting rod is fixedly connected with the lower surface of the bottom plate, an elastic rubber layer is arranged on the outer surface of the guide rod, and a plurality of elastic bulges are arranged on the outer surface of the top end of the inner side of the inverted V-shaped structure.
Preferably, the first clamping arm and the second clamping arm 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 the clamping hooks, and a plurality of elastic bulges are uniformly distributed on the inner surface of the 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 corresponding direction fender bracket 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 hinge, when the engaging lug revolute the axis of rotation under the pulling of loop wheel machine, gag lever post and spacing groove block, when the block, the mechanism of holding tightly with the glider of holding level.
The butt-joint enclasping system for recovering the underwater glider has the beneficial effects that:
1. the invention can complete the recovery of the glider under the 3-level sea condition and can complete the recovery of the glider with probability under the 4-level sea condition; 2. according to the invention, the recovery of the glider can be completed only by an operator on the mother ship in a remote control manner, and the manual salvage and recovery of the glider are not required.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention:
fig. 2 is a schematic diagram of a docking mechanism and a clasping mechanism according to the present invention:
FIG. 3 is a schematic view of the docking mechanism capturing a glider through a hugging mechanism;
FIG. 4 is a schematic structural view of the hugging mechanism according to the present invention;
FIG. 5 is a schematic structural view of a connecting frame of the enclasping mechanism of the present invention;
FIG. 6 is a schematic view of the structure of the guide rod of the clasping mechanism of the present invention;
FIG. 7 is a schematic view of the structure of the clamping arm of the hugging mechanism of the present invention;
FIG. 8 is a schematic structural view of a transmission mechanism of the hugging mechanism of the present invention;
FIG. 9 is a schematic view of the docking mechanism of the present invention;
1. A docking mechanism; 2. a clasping mechanism; 3. a crane connecting piece; 4. a crane; 5. a remote control mechanism; 6. an auxiliary power distribution device; 7. a glider; 8. a mother ship; 9. a guide protection frame; 10. a guide space;
11. a protection plate; 12. a vertical horizontal propeller; 13. a buoyancy 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 limit rod;
21. a guide rod; 21-1, a front guide bar; 21-2, a connecting rod; 21-3, a rear guide rod;
22. A clamping arm; 22-1, a first clamping arm; 22-2, a second clamping arm; 22-3, clamping hooks; 22-4, connecting rods; 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 limit groove;
25. a second camera; 26. a second illumination lamp; 27. a driven shaft; 28. a connection hole; 29. and (3) rotating the shaft.
Detailed Description
The following detailed description of the embodiments of the present invention in a stepwise manner is provided merely as a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, but any modifications, equivalents, improvements, etc. within the spirit and principles 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 positional or positional relationship indicated by the terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, and specific orientation configuration and operation, and thus should not be construed as limiting the present invention.
Example 1:
A docking and enclasping system for recovering an underwater glider, as shown in figures 1-9, comprises a docking mechanism 1, an enclasping mechanism 2 and a remote control mechanism 5; the enclasping mechanism 2 is arranged at the bottom of the docking mechanism 1, the docking mechanism 1 runs on the sea surface under the control of the remote control mechanism 5 and is docked with the glider 7, and after docking, the enclasping mechanism 2 enclasps the glider 7 under the control of the remote control mechanism 5.
In this embodiment, the docking mechanism is remotely controlled by the remote control mechanism to travel on the sea surface, and after reaching the position of the glider, the docking mechanism guides the glider to a preset position at the bottom of the docking mechanism by traveling, and then the glider is clasped by the clasping mechanism.
Example 2:
on the basis of embodiment 1, this embodiment further discloses:
as shown in fig. 2 and 3, the docking mechanism comprises a main body frame (not shown in the drawings), 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, wherein the main body frame is 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 is used for balancing the buoyancy 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 in the drawings) is arranged in the main control cabin 15, the controller 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 in the drawings) preset in the main control cabin 15; the two sides of the front end of the guide protection frame 9 are respectively fixedly connected with an elastic guide frame 14; the top of the front end of the guide protection frame 9 is respectively provided with a first camera 16 and a first lighting lamp 17, and the first camera and the first lighting lamp are electrically connected with a controller; the vertical horizontal propeller 12 includes a horizontal propeller (not shown) and a vertical propeller (not shown) respectively mounted on the main body frame or the guide protection frame, and is used for enabling the docking mechanism to complete various actions on the water surface, and the controller is electrically connected with the horizontal propeller and the vertical propeller respectively through wires.
In this embodiment, the signal connection between the controller and the remote control mechanism may be wired or wireless, and will not be described in detail because of the prior art.
Example 3:
on the basis of embodiment 2, this embodiment further discloses:
As shown in fig. 3 and 9, the guiding and protecting frames 9 are divided into two groups, a guiding space for docking the glider 7 is formed between the two groups of guiding and protecting frames 9, the top ends of the two groups of guiding and protecting frames 9 are fixedly connected, and the tail ends of the two groups of guiding and protecting 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, an elastic rubber layer (not shown in the figure) is arranged on the metal rod body close to one side of the guide space, and rubber protruding particles are arranged on the elastic rubber layer.
In this embodiment, the purpose of setting up the elastic rubber layer is in order to avoid causing the damage to the glider shell in the butt joint process, and wherein the structure of glider is as shown in fig. 3, and the shape of similar rocket ship is equipped with the glider at the rear end of glider, in the butt joint process, elastic guide frame 14 has not only played the guide effect, can also avoid the glider to collide with and 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 during guiding.
Example 4:
On the basis of embodiment 3, this embodiment further discloses:
As shown in fig. 1-9, the enclasping mechanism is a manipulator structure, the top end of the manipulator structure is connected with the top end of the guiding protection frame 9, and the manipulator structure is located in the guiding space, and when the glider enters the working range of the manipulator structure through the guiding space, the manipulator structure grabs the glider.
In this embodiment, the manipulator structure may be any device capable of realizing the function of a glider, 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 enclasping mechanism comprises a guide rod 21, a clamping arm 22, a transmission mechanism 23, a connecting frame 24, a second camera 25 and a second illuminating lamp 26, wherein 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 arm 22 comprises a first clamping arm 22-1 and a second clamping arm 22-2 arranged on two sides of the bottom plate, the bottom end of the connecting lug is fixedly connected with the middle part of the top end of the bottom plate, connecting holes 28 are respectively formed in the tops of 2 free ends of the connecting lugs, and the connecting frame 24 is connected with the top end of a corresponding guide protection frame 9 above the guide space 10; the bottom plate 24-2 is provided with 1 group of parallel plates 23-5 at the top of the front and back sides of the connecting lug 24-1, 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 each driving shaft penetrates out of the corresponding parallel plates and is fixedly connected with the 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 fixedly connected with a driving shaft and a driven shaft respectively and are opened or closed under the drive of the underwater motor 23-1; the front end and the rear end of the bottom plate are respectively provided with a guide rod 21 for guiding the glider, the second camera 25 and the second illuminating lamp 26 are arranged on corresponding bases, are fixed on the inner side of the guide protection frame through bolts and are used for providing illumination and video information acquisition for the enclasping mechanism, and the second illuminating lamp, the second camera and the underwater motor are respectively electrically connected with the controller through wires.
In this embodiment, the remote control mechanism 5 receives the video signal transmitted from the controller to the second camera 25, and then controls the underwater motor to open and tighten the first clamping arm 22-1 and the second clamping arm 22-2 of the tightening mechanism, thereby capturing and laying the glider.
Example 6:
on the basis of example 5, this example further discloses:
As shown in fig. 4 and 6, the guide rods 21 are of inverted V-shaped structures, the top ends of the 2 guide rods 21 are fixedly connected through a connecting rod 21-2, the connecting rod is fixedly connected with the lower surface of the bottom plate 24-2, an elastic rubber layer (not shown in the drawings) 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 each inverted V-shaped structure.
In this embodiment, the glider is guided between the first clamping arm 22-1 and the second clamping arm 22-2 by the guide bar which is pushed down on the one hand and prevents the glider from moving to the left and right side greatly on the other hand, and after the glider is set to the set value, the glider can be clamped by the first clamping arm 22-1 and the second clamping arm 22-2.
Example 7:
on the basis of example 6, this example further discloses:
As shown in fig. 4 and 7, the first clamping arm and the second clamping arm respectively comprise 2 clamping hooks 22-3 which are parallel to each other, the 2 clamping hooks are fixedly connected 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 example 7, this example further discloses:
As shown in fig. 4,5 and 9, the connecting lug 24-1 penetrates through the top end of the guiding protection frame 9 and is connected with the crane connecting piece 3 through a pin shaft penetrating through the connecting hole 28, a limiting groove 24-3 is further formed in the side wall of the connecting lug, a limiting rod 19 is arranged at the top end of the corresponding guiding protection frame 9, a rotating shaft 29 is arranged at the front end of the bottom plate through a connecting seat, a connecting seat 18 is arranged at the top of the guiding protection frame 9, 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 combined with the limiting groove clamp 24-3, and when the connecting lug is clamped, the clasping mechanism 2 smoothes the clasped glider 7. That is, before the butt joint, the connecting lugs are limited by the limiting rods, so that the clasping mechanism cannot rotate downwards around the rotating shaft.
Example 9:
The embodiment discloses a mode for recovering a glider based on the above embodiment, which is specifically as follows:
As shown in fig. 1, the system is operated on the water surface by means of a mother ship 8, and is specifically configured to include a docking mechanism 1 for sailing on the water surface and searching for a glider target, 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, in the recovery process, dock the glider through docking mechanism, after docking, hug the glider through hugging closely the mechanism, then connect the lifting hook and the docking mechanism of hoist and mount the crane through hoist and mount 3, when the hoist lifts by crane, the glider is leveled, then hoist docking mechanism with the glider to the mother ship together through the hoist to the recovery to the glider has been accomplished, in this process, auxiliary power 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 upper part of the docking mechanism 1, the lifting hook of the crane is connected with the docking mechanism through the crane connecting piece 3, the docking mechanism 1 is hoisted into water, and the crane connecting piece 3 is separated from the docking mechanism. The docking mechanism 1 travels to the front of the glider 7, releasing the clamping arm 22. The docking mechanism 1 is adjusted to be opposite to the glider 7 through the image system, and the docking mechanism 1 is quickly docked to the glider 7. After the glider 7 enters the clamping position, the clamping arm 22 is closed, and the glider 7 is held tightly. The docking mechanism 1 is controlled to travel 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 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, disconnects the crane connecting piece 3 from the docking mechanism, and returns to the non-working state.
Claims (3)
1. A dock system of holding tightly for retrieving glider under water, characterized by: comprises a butt joint mechanism, a enclasping mechanism and a remote control mechanism; the enclasping mechanism is arranged at the bottom of the docking mechanism, the docking mechanism runs on the sea surface under the control of the remote control mechanism and is docked with the glider, and after docking, the enclasping mechanism enclasps the glider under the control of the remote control mechanism;
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 lighting lamp, wherein the main body frame is of an inverted U-shaped structure, the front end of the U-shaped structure is welded with a guide protection frame, the buoyancy material is fixed on the upper surface of the guide protection frame through bolts and used for balancing the buoyancy of the docking mechanism, the upper end of the guide protection frame is fixedly connected with the main control cabin, a controller is arranged in the main control cabin and is in signal connection with the 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; the two sides of the front end of the guide protection frame are fixedly connected with elastic guide frames respectively; the top of the front end of the guide protection frame is respectively provided with a first camera and a first lighting lamp, and the first camera and the first lighting lamp are electrically connected with the controller; the vertical horizontal propeller comprises a horizontal propeller and a vertical propeller 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 propeller and the vertical propeller through wires;
The guide protection frames are divided into a left group and a right group, a guide space for butting the glider 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 frame; 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, an elastic rubber layer is arranged on the metal rod body at one side close to the guide space, and rubber bulge particles are arranged on the elastic rubber layer;
The enclasping mechanism is a manipulator structure, the top end of the manipulator structure is connected with the top end of the guide protection frame, the manipulator structure is positioned 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;
The clamping mechanism comprises a guide rod, a clamping arm, a transmission mechanism, a connecting frame, a second camera and a second illuminating lamp, wherein the connecting frame comprises a bottom plate and connecting lugs arranged on two sides of the top end of the bottom plate, the clamping arm comprises a first clamping arm and a second clamping arm which are arranged on two sides of the bottom plate, the bottom end of the connecting lug is fixedly connected with the middle part of the top end of the bottom plate, connecting holes are respectively formed in the tops of 2 free ends of the connecting lug, and the connecting frame is connected with the top end of a corresponding guide protection frame above a guide space; the bottom plate is provided with 1 group of parallel plates respectively at the top ends of the front side and the rear side of the connecting lugs, 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 in meshed connection 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 out of the corresponding parallel plates and is fixedly connected with the 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 drive of the underwater motor; the front end and the rear end of the bottom plate are respectively provided with a guide rod used for guiding the glider, the second camera and the second illumination lamp are arranged on the corresponding base and are fixed on the inner side of the guide protection frame through bolts and used for providing illumination and video information acquisition for the enclasping mechanism, and the second illumination lamp, the second camera and the underwater motor are respectively and electrically connected with the controller through leads;
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, an elastic rubber layer is arranged on the outer surface of each guide rod, and a plurality of elastic bulges are arranged on the outer surface of the top end of the inner side of each inverted V-shaped structure;
The glider is the shape of rocket tube, is equipped with the glider wing at the rear end of glider, and when the manipulator structure snatched the action, the glider wing cooperatees with the elasticity leading truck, and the glider is located the organism top and the guide bar cooperation in the guide space, the front end of elasticity leading truck upwards incline to set up backward.
2. A docking hugging system for retrieving an underwater glider according to claim 1 and wherein: the first clamping arm and the second clamping arm 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 protrusions are uniformly distributed on the inner surface of each elastic rubber plate.
3. A docking hugging system for retrieving an underwater glider according to claim 2 and wherein: the connecting lug runs 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 connecting lug on still be equipped with the spacing groove, the top of corresponding direction fender bracket 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 hinge, when the connecting lug revolute the axis of rotation under the pulling of loop wheel machine and rotate, gag lever post and spacing groove block, when the block, the mechanism of holding tightly with the glider of holding 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN114919716A (en) | 2022-08-19 |
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